An adaptive control system for electric multi-stage telescopic cylinder

Abstract

The present application proposes an adaptive control system for an electric multi-stage telescopic cylinder, which relates to the technical field of telescopic cylinder control. Tasks are decomposed according to handling requirements; pressure and displacement sensors are set at multiple telescopic cylinders; monitoring data in a monitoring window are extracted to obtain multiple pressure and displacement data sets; a balance analysis is performed on the pressure, displacement distance set and displacement speed set to determine the handling balance degree; the parameter configuration space of the telescopic cylinder is retrieved, and the electric control parameters of multiple telescopic cylinders under the monitoring window are searched and optimized based on the handling balance degree using the space as a constraint, so as to solve the technical problems that the existing control process of electric multi-stage telescopic cylinders often has poor control accuracy and stability, and the control adaptability is not enough, which leads to poor operation results and affects production efficiency, and achieves the technical effect of accurate control and efficient operation of electric multi-stage telescopic cylinders in various environments.

Description

Technical Field

[0001] The invention relates to the technical field of telescopic cylinder control, and in particular to an adaptive control system of an electric multi-stage telescopic cylinder. Background Art

[0002] The electric multi-stage telescopic cylinder is composed of multiple cylinder barrels and screw rods nested together. The cylinder barrels are telescopically moved by rotating the screw rods. It is often used in object handling scenarios. In traditional control methods, electric multi-stage telescopic cylinders often use fixed control parameters, which are difficult to adapt to complex and changing working environments. Especially when in contact with different environments, the same set of control parameters may not be able to achieve good control effects in all environments. In addition, when the electric cylinder is in a changing environment, or the force acting on the environment is different, the environment's equivalent stiffness, damping and other parameters will also change, further increasing the difficulty of control.

[0003] In summary, the existing electric multi-stage telescopic cylinder control process often has poor control accuracy and stability, and insufficient control adaptability, which in turn leads to poor operating results and affects production efficiency. Summary of the invention

[0004] The present application provides an adaptive control system for an electric multi-stage telescopic cylinder, which is used to solve the technical problems in the existing electric multi-stage telescopic cylinder control process, such as poor control accuracy and stability, insufficient control adaptability, which in turn leads to poor operating results and affects production efficiency.

[0005] The present application provides an adaptive control system for an electric multi-stage telescopic cylinder, the system comprising:

[0006] A task decomposition module is used to decompose the task based on the target handling requirements and obtain handling information, wherein the handling information includes the configuration data of the electric multi-stage telescopic cylinder; a positioning sensor module is used to extract multiple telescopic cylinders from the configuration data of the electric multi-stage telescopic cylinder, and respectively set multiple pressure sensors and multiple displacement sensors at the multiple telescopic cylinders, wherein the multiple telescopic cylinders have multiple position identifiers; a data acquisition module is used to extract the monitoring data of the multiple pressure sensors and the multiple displacement sensors in the first monitoring window, and obtain multiple first pressure data sets and multiple first displacement data sets, wherein the multiple first displacement data sets include multiple first displacement distance sets and multiple first displacement speed sets; a balance analysis module is used to analyze the multiple A first pressure data set, a plurality of first displacement distance sets and the plurality of first displacement speed sets are subjected to a balance analysis to determine a first transport balance degree, wherein the first transport balance degree includes a plurality of first pressure adjustment directions and a plurality of first displacement adjustment directions; a parameter configuration module is used to retrieve the parameter configuration space of the plurality of telescopic cylinders, and based on the first transport balance degree, a plurality of first electric control parameters of the plurality of telescopic cylinders under the first monitoring window are searched and optimized according to the plurality of first pressure adjustment directions and the plurality of first displacement adjustment directions to generate a target electric control parameter set, wherein the target electric control parameter set includes a plurality of target electric control parameters, and each target electric control parameter corresponds to a telescopic cylinder.

[0007] It is intended to adopt an adaptive control system of an electric multi-stage telescopic cylinder proposed in the present application, obtain handling information by performing task decomposition based on target handling requirements, wherein the handling information includes configuration data of the electric multi-stage telescopic cylinder; extract multiple telescopic cylinders from the configuration data of the electric multi-stage telescopic cylinder, and respectively set multiple pressure sensors and multiple displacement sensors at the multiple telescopic cylinders, wherein the multiple telescopic cylinders have multiple position identifiers; extract the monitoring data of the multiple pressure sensors and the multiple displacement sensors in a first monitoring window, obtain multiple first pressure data sets and multiple first displacement data sets, wherein the multiple first displacement data sets include multiple first displacement distance sets and multiple first displacement speed sets; perform balance analysis on the multiple first pressure data sets, the multiple first displacement distance sets and the multiple first displacement speed sets to determine the first handling balance degree, wherein the first transport balance degree includes multiple first pressure adjustment directions and multiple first displacement adjustment directions; the parameter configuration space of the multiple telescopic cylinders is called up, and the parameter configuration space is used as a constraint. Based on the first transport balance degree, the multiple first electric control parameters of the multiple telescopic cylinders under the first monitoring window are searched and optimized according to the multiple first pressure adjustment directions and the multiple first displacement adjustment directions to generate a target electric control parameter set, wherein the target electric control parameter set includes multiple target electric control parameters, each target electric control parameter corresponds to a telescopic cylinder, so as to solve the technical problems that the existing electric multi-stage telescopic cylinder control process often has poor control accuracy and stability, and the control adaptability is not enough, which leads to poor operation effect and affects production efficiency, and achieves the technical effect of precise control and efficient operation of the electric multi-stage telescopic cylinder in various environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 A schematic diagram of the structure of an adaptive control system of an electric multi-stage telescopic cylinder provided in an embodiment of the present application.

[0009] Figure 2 A schematic diagram of the structure of a balance analysis module in an adaptive control system of an electric multi-stage telescopic cylinder provided in an embodiment of the present application.

[0010] Explanation of the reference numerals: task decomposition module 11, positioning sensing module 12, data acquisition module 13, balance analysis module 14, parameter configuration module 15. DETAILED DESCRIPTION

[0011] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0012] The embodiment of the present application provides an adaptive control system for an electric multi-stage telescopic cylinder, such as Figure 1 As shown, the system comprises:

[0013] The task decomposition module 11 is used to decompose the task based on the target handling requirement and obtain handling information, wherein the handling information includes the configuration data of the electric multi-stage telescopic cylinder.

[0014] Specifically, first clarify the specific requirements of the handling task, including the type of objects to be handled (such as heavy machinery parts, precision instruments, etc.), size, weight, starting and ending points of the handling, handling paths (whether it includes special terrain such as turns, ups and downs), handling speed requirements, safety requirements, etc. According to the task, analyze the various challenges and constraints that may be encountered during the handling process, such as the stability of the object, the complexity of the handling environment (such as narrow space, high temperature, humidity, etc.), and the requirements for handling accuracy and speed. Break down complex handling tasks into several manageable subtasks or steps, for example, break down the handling task into object grabbing, moving, positioning, and releasing. Finally, according to the weight, size, and complexity of the handling path of the handled object, determine the number and model of the required electric multi-stage telescopic cylinders, including the maximum thrust, maximum stroke, maximum speed, and accuracy requirements of each telescopic cylinder, which will directly affect the stability and efficiency of the handling. And determine the layout and installation method of the telescopic cylinders on the handling equipment to ensure that they can work together and meet the handling needs. If the handling task requires a special handling platform or fixture, it is necessary to collect the design parameters and performance requirements of the platform or fixture. After understanding and complying with relevant safety regulations and standards, the telescopic cylinder configuration parameter information and other related information after the above tasks are split are integrated to obtain the final handling information.

[0015] By breaking down tasks based on target handling requirements and obtaining handling information including the configuration data of the electric multi-stage telescopic cylinder, it provides strong support for subsequent handling work and improves the intelligence of handling.

[0016] The positioning sensor module 12 is used to extract multiple telescopic cylinders from the configuration data of the electric multi-stage telescopic cylinder, and respectively set multiple pressure sensors and multiple displacement sensors at the multiple telescopic cylinders, wherein the multiple telescopic cylinders have multiple position identifiers.

[0017] Optionally, extract relevant information of all telescopic cylinders from the configuration data of the electric multi-stage telescopic cylinder, including model, specification, quantity, installation location, etc. Then, determine the specific position of each telescopic cylinder in space according to the overall design of the handling equipment and the requirements of the handling task, and mark the installation position of each telescopic cylinder on the handling equipment. Digital marks (such as numbers) can be used to distinguish different telescopic cylinders. Next, according to the performance parameters of the telescopic cylinder and the requirements of the handling task, select appropriate pressure sensors and displacement sensors to monitor the compression cylinder. These sensors should have sufficient accuracy, stability and reliability to meet the monitoring requirements during the handling process. Install pressure sensors and displacement sensors at appropriate positions of each telescopic cylinder, where the pressure sensor is usually installed on the cylinder body or piston of the telescopic cylinder to monitor the pressure changes in the cylinder; the displacement sensor is installed on the outside or inside of the telescopic cylinder to monitor the displacement of the piston.

[0018] Furthermore, a unique position identifier is assigned to each telescopic cylinder. This identifier can be a number, a letter, or a combination thereof, which is used to uniquely identify each telescopic cylinder in the control system and the monitoring system. The position identifier of each telescopic cylinder is recorded in the configuration data and associated with the corresponding sensor data. In this way, the specific telescopic cylinder and sensor can be quickly located through the position identifier during the subsequent monitoring and control process. Finally, the output signal of the sensor is connected to the data acquisition system or the control system to ensure that the sensor data can be transmitted to the monitoring interface or the control algorithm in real time and accurately to complete the monitoring of the overall handling status.

[0019] In the actual operation process, before the handling task begins, the entire system needs to be tested, including sensor calibration, accuracy and real-time performance of data acquisition, response speed of control algorithm, etc. Through testing, it can be ensured that the system can operate stably and reliably during the handling process.

[0020] Through the above steps, multiple telescopic cylinders in the electric multi-stage telescopic cylinder configuration data can be successfully extracted, and pressure sensors and displacement sensors can be set for them, and unique position identifiers can be assigned, laying a solid foundation for subsequent monitoring and control work.

[0021] The data acquisition module 13 is used to extract the monitoring data of the multiple pressure sensors and the multiple displacement sensors in the first monitoring window to obtain multiple first pressure data sets and multiple first displacement data sets, wherein the multiple first displacement data sets include multiple first displacement distance sets and multiple first displacement speed sets.

[0022] Exemplarily, the start time and end time of the first monitoring window are clearly defined to ensure that all pressure sensors and displacement sensors collect data synchronously within the time window. The monitoring data within the monitoring window is extracted from all pressure sensors to form multiple first pressure data sets, each set corresponds to the data of a pressure sensor, and the set contains all the pressure value records within the time period. At the same time, multiple first displacement data sets are monitored, wherein the multiple first displacement data sets include multiple first displacement distance sets and multiple first displacement speed sets. The displacement distance data is extracted from all displacement sensors to form multiple first displacement distance sets, each set also corresponds to the data of a displacement sensor, and the set contains all the displacement distance records within the time period; and the displacement speed usually needs to be calculated based on the displacement distance and time, and the speed can be estimated by differentiating the displacement distance data (considering the time interval), thereby obtaining multiple first displacement speed sets, which also correspond to each displacement sensor. In addition, in order to ensure accurate analysis of the monitoring data, the data in the set can also be processed, including data cleaning, timestamp alignment, and data formatting.

[0023] Through the above steps, the monitoring data can be effectively extracted and processed from multiple pressure sensors and displacement sensors to form a useful data set, laying a solid foundation for subsequent in-depth analysis and control diagnosis, and ensuring the accuracy of adaptive control.

[0024] The balance analysis module 14 is used to perform balance analysis on the multiple first pressure data sets, the multiple first displacement distance sets and the multiple first displacement speed sets to determine a first transport balance degree, wherein the first transport balance degree includes multiple first pressure adjustment directions and multiple first displacement adjustment directions.

[0025] Furthermore, the balance analysis aims to evaluate the coordination and stability of each part during the handling process, so as to identify possible imbalance points and propose adjustment directions. Specifically, ensure that all data sets (pressure, displacement distance, displacement speed) are on the same time scale and are normalized for comparison between different dimensions. At the same time, confirm that the timestamps or sampling frequencies of all data sets are consistent for synchronous analysis. Furthermore, the pressure balance index is defined based on the relative difference or standard deviation between the data of each pressure sensor to evaluate the uniformity of the pressure distribution. Considering the synchronization and consistency of the displacement distance and displacement speed, the displacement balance index is defined to evaluate the coordination of each telescopic cylinder during the handling process.

[0026] Next, calculate the relative difference or standard deviation between each pressure data set, identify pressure anomalies or areas with uneven pressure distribution, and determine the first pressure adjustment direction based on the analysis results, such as increasing or decreasing the pressure support in a specific area, to complete the pressure balance analysis; and analyze the displacement distance and displacement speed data, evaluate the synchronization and coordination of each telescopic cylinder, use statistical methods (such as correlation coefficient, covariance, etc.) to quantify the correlation between displacement data, and then identify telescopic cylinders with inconsistent or lagging displacements, and determine the first displacement adjustment direction based on the analysis results, such as adjusting the telescopic speed or start-up sequence of the telescopic cylinder, so as to complete the displacement balance analysis. Finally, combine the pressure balance index and the displacement balance index to calculate a comprehensive balance score, namely the first handling balance. Formulate specific adjustment strategies based on the first pressure adjustment direction and the first displacement adjustment direction, identify areas or telescopic cylinders that need to be focused on, and propose corresponding improvement measures.

[0027] Through the above steps, a balance analysis can be systematically performed on multiple pressure data sets, displacement distance sets and displacement speed sets, and the first transport balance degree and its adjustment direction can be determined, thereby improving the stability of the transport system.

[0028] The parameter configuration module 15 is used to retrieve the parameter configuration space of the multiple telescopic cylinders, and use the parameter configuration space as a constraint to search and optimize the multiple first electric control parameters of the multiple telescopic cylinders under the first monitoring window based on the first handling balance degree, according to the multiple first pressure adjustment directions and the multiple first displacement adjustment directions, to generate a target electric control parameter set, wherein the target electric control parameter set includes multiple target electric control parameters, and each target electric control parameter corresponds to a telescopic cylinder.

[0029] Specifically, the allowable range of the electric control parameters of each telescopic cylinder is retrieved from the system configuration or database. These parameters may include current, voltage, frequency, acceleration, deceleration, etc. These parameter ranges are combined to form a multi-dimensional parameter configuration space, and each dimension represents an electric control parameter of a telescopic cylinder. Furthermore, based on the first handling balance, the optimization goal is set to improve the overall balance during the handling process, which can be achieved by minimizing pressure difference, displacement inconsistency, or a combination thereof. An evaluation function (i.e., the objective function) is defined according to the optimization goal, which can quantify the handling balance under the current electric control parameter set. According to the complexity of the problem and the size of the parameter configuration space, a suitable search optimization algorithm is selected for parameter optimization. Common algorithms include genetic algorithms, particle swarm optimization, simulated annealing, etc. A set of initial electric control parameter sets is randomly generated in the parameter configuration space as the search starting point, and the handling balance under the current electric control parameter set is calculated using the evaluation function. A new electric control parameter set is searched in the parameter configuration space according to the first pressure adjustment direction and the first displacement adjustment direction. If the newly found electric control parameter set can provide a better handling balance (i.e., the evaluation function value is better), the current optimal solution is updated. Repeat the evaluation, search, and update process until the stop condition is met (such as reaching the maximum number of iterations, the evaluation function value converges, etc.). Finally, the optimal electric control parameter set is extracted from the search and optimization process, that is, the target electric control parameter set. In addition, if conditions permit, the target electric control parameter set can also be actually tested or simulated to ensure that it can achieve the expected balance effect in the actual handling process.

[0030] Through the above steps, the electric control parameters of multiple telescopic cylinders can be searched and optimized based on the first transport balance, generating a set of target electric control parameters that can improve the transport balance, thereby improving the adaptability and optimization efficiency of the telescopic cylinder control.

[0031] Furthermore, the system further comprises:

[0032] The first pressure balance analysis unit is used to perform a balance analysis on the plurality of first pressure data sets by using a box plot method to obtain a first pressure balance degree and the plurality of first pressure adjustment directions.

[0033] The data aggregation analysis unit is used to perform data aggregation analysis on the multiple first displacement distance sets and the first displacement speed sets respectively, and perform balance analysis according to the analysis results to obtain the first displacement balance degree and the multiple first displacement adjustment directions.

[0034] The first transport balance generating unit is configured to perform weighted calculation on the first pressure balance and the first displacement balance to generate the first transport balance.

[0035] Optionally, a box plot is drawn for each first pressure data set. The box plot can intuitively show the distribution of the data, including the median, quartiles, outliers, etc. By comparing the box plots of different pressure data sets, it is observed whether their distributions are similar, especially the difference between the median and the interquartile range, and the number of outliers. The first pressure balance degree can then be quantified based on the statistics of the box plot (such as the coefficient of variation of the interquartile range, the proportion of outliers, etc.). Finally, based on the analysis results of the box plot, it is determined which telescopic cylinders need to adjust their pressures (such as increase or decrease), as well as the general direction of the adjustment.

[0036] Furthermore, cluster analysis is performed on the first displacement distance set, such as using a clustering algorithm to group similar displacement distance patterns. Similarly, cluster analysis is performed on the first displacement speed set to identify common features of speed changes. The synchronization and consistency of displacement distance and speed are analyzed within each cluster group, and the displacement characteristics and speed characteristics between different cluster groups are compared to identify potential imbalance points. Finally, based on the results of the cluster analysis and inter-group comparison, the first displacement balance is quantified, and statistical quantities such as standard deviation and correlation coefficient can be considered for measurement. According to the results of the balance analysis, determine which telescopic cylinders' displacement distance or speed needs to be adjusted, as well as the direction of adjustment (such as speeding up or slowing down the speed, adjusting the telescopic sequence, etc.).

[0037] Next, according to the characteristics and requirements of the handling task, corresponding weights are assigned to the first pressure balance and the first displacement balance, and the weight assignment can be set based on expert experience, historical data, or specific requirements of the task. Then, the first pressure balance and the first displacement balance are weighted and summed using the assigned weights to obtain the first handling balance.

[0038] Through the above steps, the box plot method and other data analysis techniques can be systematically used to evaluate and optimize the balance during the handling process, thereby improving the stability of the handling.

[0039] Furthermore, the system further comprises:

[0040] The first pressure box construction unit is configured to construct a plurality of first pressure boxes based on the plurality of first pressure data sets.

[0041] The pressure data extraction unit is used to extract a plurality of target pressure data sets located within a plurality of interquartile ranges in the plurality of first pressure boxes.

[0042] The pressure data calculation unit is used to perform mean calculation on the multiple target pressure data sets to determine multiple target pressure values.

[0043] The first displacement balance generating unit is used to calculate the fluctuation variance of the plurality of target pressure values, and use the inverse of the calculation result as the first displacement balance.

[0044] The first displacement adjustment direction determining unit is used to calculate the average of the multiple target pressure values ​​to obtain a first pressure average value, and perform difference calculation on the multiple target pressure values ​​based on the first pressure average value to determine multiple first displacement adjustment directions.

[0045] Furthermore, due to the different nature of pressure data and displacement and velocity data, pressure data is usually a value that fluctuates around a value within a certain range, while displacement is data that gradually increases, and displacement velocity is data that gradually increases or decreases, so different processing methods should be used for corresponding analysis. Specifically, the data in multiple first pressure data sets (these data are arranged in chronological order or other logical order in advance) are boxed to form multiple first pressure boxes. The box here can be understood as a subset or segment of the data, which is usually used for data analysis and visualization. Next, the data sets within multiple interquartile ranges are extracted from these boxes, wherein the interquartile range refers to the interquartile range, that is, the difference between the third quartile and the first quartile, which is used to measure the degree of discreteness of the data. The purpose of this step is to filter out those data points that are relatively concentrated and have small fluctuations for subsequent analysis. Then, the mean of the selected multiple target pressure data sets is calculated to obtain multiple target pressure values. The mean is a commonly used statistic to describe the central trend of the data set. For pressure data that fluctuates around a central value, the mean can better reflect its average level. Then, the fluctuation variance of these target pressure values ​​is calculated. Variance is a statistic that measures the degree of data dispersion. The smaller the variance, the more concentrated the data and the more stable the system. After calculating the variance, the inverse of the calculation result is used as the first displacement balance, thereby obtaining an indicator that is proportional to stability. The smaller the variance (that is, the more stable the data), the larger its inverse (the first displacement balance), indicating that the system is more balanced. Finally, the mean of multiple target pressure values ​​is calculated to obtain the first pressure mean. Then, based on this mean, the difference calculation is performed on each target pressure value to determine the adjustment direction. If a target pressure value is less than the first pressure mean, it indicates that the pressure at that point needs to be increased (that is, the adjustment direction is to increase pressure); conversely, if it is greater than the first pressure mean, it indicates that the pressure needs to be reduced.

[0046] By counting and analyzing the pressure data, we can not only evaluate the stability of the system, but also determine the specific direction of adjusting the pressure. This method is very effective when processing data that fluctuates around a central value, and can provide strong support for accurate optimization and adjustment of the system.

[0047] Furthermore, the system further comprises:

[0048] A clustering analysis unit is used to align the multiple first displacement distance sets and the multiple first displacement speed sets based on time series, cluster the displacement distances and displacement speeds of the multiple telescopic cylinders at the same time node, and obtain K first displacement distance clusters and K first displacement speed clusters, wherein K is the number of data collection times of the pressure sensor and the displacement sensor in the first monitoring window.

[0049] The cluster calculation unit is used to perform fluctuation variance calculation on the K first displacement distance clusters and the K first displacement velocity clusters respectively, and determine the K first displacement distance fluctuation variances and the K first displacement velocity fluctuation variances.

[0050] The first data concentration analysis unit is used to perform data concentration analysis on the K first displacement distance fluctuation variances and the K first displacement speed fluctuation variances respectively to obtain the first displacement distance balance degree and the first displacement speed balance degree.

[0051] A weighted analysis unit is used to perform a weighted analysis on the first displacement distance balance degree and the first displacement speed balance degree to generate the first displacement balance degree.

[0052] Exemplarily, the displacement distance and displacement speed data of multiple telescopic cylinders are aligned based on the time series (i.e., time nodes) to ensure that the data of all telescopic cylinders are collected at the same time point, so that effective comparison and analysis can be performed. Then, the displacement distances and displacement speeds of multiple telescopic cylinders at the same time node are clustered respectively, so that similar displacement distance and displacement speed values ​​are grouped together to form K first displacement distance clusters and K first displacement speed clusters. Here, K is equal to the number of data collection times of the pressure sensor and the displacement sensor in the first monitoring window, which means that the data at each time point is considered and clustered separately.

[0053] Furthermore, for each cluster (including displacement distance and displacement speed), its fluctuation variance is calculated. Fluctuation variance is an indicator to measure the degree of data dispersion. The smaller the variance, the closer the data in the cluster is, that is, the more consistent the displacement distance or speed of multiple telescopic cylinders at the same time point. The first displacement distance fluctuation variance reflects the degree of dispersion of the displacement distances of different telescopic cylinders at the same time point; the first displacement speed fluctuation variance reflects the degree of dispersion of the displacement speeds of different telescopic cylinders at the same time point. Furthermore, by further data concentration analysis of the fluctuation variances at all time points, two important indicators can be obtained, including the first displacement distance balance and the first displacement speed balance. Among them, the first displacement distance balance is used to measure the degree of consistency of the displacement distance of all telescopic cylinders in the entire monitoring window; the first displacement speed balance is used to measure the degree of consistency of the displacement speed of all telescopic cylinders in the entire monitoring window. Finally, the first displacement distance balance and the first displacement speed balance are weighted analyzed to generate a comprehensive evaluation indicator, namely the first displacement balance. This balance combines the factors of displacement distance and speed, and more comprehensively reflects the performance of multiple telescopic cylinders in terms of synchronization and consistency.

[0054] Through data alignment, clustering, fluctuation variance calculation, data concentration analysis and weighted analysis, the displacement and speed synchronization of multiple telescopic cylinders within a specific time period are effectively evaluated. This method is of great significance for ensuring the stable operation of the mechanical system and improving production efficiency.

[0055] Furthermore, if Figure 2 As shown, the system also includes:

[0056] The first displacement distance fluctuation identification space construction unit is used to construct the first displacement distance fluctuation identification space based on the K first displacement distance fluctuation variances, wherein the horizontal axis of the first displacement distance fluctuation identification space is time, and the vertical axis is the displacement distance fluctuation variance, and the first displacement distance fluctuation identification space includes K distance scatter points, and each scatter point corresponds to a first displacement distance fluctuation variance.

[0057] The first ordinate mean value determination unit is used to extract the maximum ordinate value and the minimum ordinate value of the K distance scatter points for mean calculation to determine the first ordinate mean value.

[0058] The first starting analysis straight line construction unit is used to construct a first starting analysis straight line, wherein the first starting analysis straight line is a straight line passing through the first ordinate mean and parallel to the ordinate of the first displacement distance fluctuation identification space.

[0059] The scatter point quantity statistics unit is used to respectively count the upper distance scatter point quantity located above the first starting analysis straight line and the lower distance scatter point quantity located below the first starting analysis straight line in the first displacement distance fluctuation identification space, compare the sizes of the upper distance scatter point quantity and the lower distance scatter point quantity, and obtain a concentrated analysis direction.

[0060] The first displacement distance balance degree determining unit is used to perform data concentration analysis in the first displacement distance fluctuation identification space based on the first starting analysis straight line and the concentrated analysis direction to determine the first displacement distance balance degree.

[0061] The first displacement velocity balance degree determining unit is used to perform data-intensive analysis on the K first displacement velocity fluctuation variances to determine the first displacement velocity balance degree.

[0062] Specifically, according to the first displacement distance fluctuation variance at K time points, an identification space is constructed on a two-dimensional plane, and its horizontal axis is marked as time and the vertical axis is marked as fluctuation variance, so that the fluctuation variance corresponding to each time point will form a scattered point in the space. Among them, the first displacement distance fluctuation identification space is a two-dimensional space, which is used to visualize the displacement distance fluctuation variance of multiple telescopic cylinders at different time points, and it can intuitively reflect the change of displacement distance fluctuation over time. In the identification space, the displacement distance fluctuation variance corresponding to each time point is represented as a point (scatter point), so there are a total of K such scattered points, and K is the number of data collection times.

[0063] Furthermore, the maximum and minimum values ​​of the ordinate are extracted from the K distance scatter points, and then the mean of these two values ​​is calculated to obtain the first ordinate mean, which will be used as the baseline for subsequent analysis. In the recognition space, a straight line parallel to the ordinate axis is drawn based on the first ordinate mean, i.e., the first starting analysis straight line, which divides the space into two areas, the upper and lower areas. Furthermore, the upper distance scatter points above the first starting analysis straight line and the lower distance scatter points below the straight line are counted, and the sizes of these two quantities are compared to determine which direction the scatter points are more concentrated or abnormal. This comparison result will guide the subsequent data concentration analysis direction.

[0064] Next, the data is further analyzed in the identification space according to the determined concentrated analysis direction. If the upper scatter volume is large, it may mean that at certain time points, the displacement distance fluctuates greatly, and the reasons for these time points need to be focused on. By deeply analyzing the data at these time points, the instability of the system can be evaluated, and the first displacement distance balance can be determined accordingly. Similarly, if the lower scatter volume is large, corresponding analysis is also required. For the K first displacement speed fluctuation variances, similar data concentration analysis methods are used to directly perform statistical analysis on these fluctuation variances, such as calculating the mean, standard deviation, etc., to evaluate the consistency of multiple telescopic cylinders in displacement speed. Finally, the first displacement speed balance is determined based on these statistical results.

[0065] By constructing a fluctuation recognition space, calculating the mean to determine the analysis benchmark, dividing the analysis area, statistically analyzing the scatter distribution and determining the analysis direction, and centrally processing data based on these analyses, the fluctuations of multiple telescopic cylinders in displacement distance and speed were effectively evaluated. This process not only intuitively shows the trend of fluctuations over time, but also determines the balance between displacement distance and speed through quantitative analysis, providing a scientific basis for the evaluation of system stability and consistency. Through these steps, potential problems can be discovered and solved in a timely manner to optimize system performance.

[0066] Furthermore, the system further comprises:

[0067] The stage start analysis straight line obtaining unit is used to move the first start analysis straight line toward the concentrated analysis direction according to a preset moving step length to obtain the stage start analysis straight line.

[0068] A target analysis line obtaining unit is used to update the stage starting analysis line as the starting point when the starting analysis density of the first starting analysis line is less than or equal to the stage analysis density of the stage starting analysis line, and to perform iterative updating in the first displacement distance fluctuation identification space until the difference in stage analysis density between two stage starting analysis lines obtained in two adjacent iterations is less than a preset density difference, then stop the iteration, and take the stage analysis line corresponding to the maximum value of the stage analysis density during the iteration process as the target analysis line.

[0069] The target first displacement distance fluctuation variance obtaining unit is used to calculate the average of multiple distance scatter points whose distance to the target analysis straight line is less than or equal to a preset moving step length, and obtain the target first displacement distance fluctuation variance.

[0070] The numerical adjustment unit is used to take the inverse of the target first displacement distance fluctuation variance as the first displacement distance balance degree.

[0071] Optionally, the first starting analysis line is moved according to the concentrated analysis direction (i.e., the upper part or the lower part) according to a preset moving step length to obtain a new line, called the stage starting analysis line, so as to achieve the purpose of more detailed exploration of the distribution of fluctuation variance in different regions. The preset moving step length refers to a fixed value set in advance to control the moving distance of the first starting analysis line in the recognition space.

[0072] Further, the stage analysis density of the current stage starting analysis line is calculated and compared with the starting analysis density of the first starting analysis line. If the starting analysis density is less than or equal to the stage analysis density (indicating that the new straight line position may be more helpful in finding the concentrated area of ​​the fluctuation variance), the stage starting analysis line is updated to a new starting point, and continues to move according to the preset step length, and repeats this process for iterative update. The iteration will continue until the difference in the stage analysis density of the two stage starting analysis lines obtained in two adjacent iterations is less than the preset density difference. The starting analysis density refers to the ratio of the number of distance scatter points in a certain area above or below the first starting analysis line to the area of ​​the area, reflecting the density of the scatter points in the area; similarly, the stage analysis density is the scatter point density in a certain area above or below the stage starting analysis line. The preset density difference refers to the threshold used to determine whether the iteration is stopped. When the difference in the stage analysis density obtained from two adjacent iterations is less than this value, it is considered that a relatively stable distribution area has been found. The preset density difference is set by those skilled in the art and is not specifically limited here.

[0073] During the iteration process, the stage analysis density of each iteration is recorded. After the iteration stops, the stage starting analysis line corresponding to the maximum value of the stage analysis density is selected as the target analysis line. This line represents the area where the fluctuation variance is most concentrated, which is of great significance for evaluating the stability of the displacement distance. Finally, the mean of all distance scatter points whose distance to the target analysis line is less than or equal to the preset moving step is calculated to obtain the fluctuation variance of the target first displacement distance. This variance refers to the mean of multiple distance scatter points near the target analysis line (the distance is less than or equal to the preset moving step), which reflects the average level of the fluctuation variance in the area. Then, the inverse of the fluctuation variance of the target first displacement distance is taken as the balance degree of the first displacement distance. Since the smaller the fluctuation variance, the better the stability, the larger its inverse, the higher the balance degree. In this way, the balance degree of the first displacement distance can become an indicator for quantitatively evaluating the stability of the displacement distance of the system.

[0074] By iteratively optimizing the position of the analysis straight line, the area where the displacement distance fluctuation is most concentrated is accurately located, and the target fluctuation variance is calculated accordingly. This process not only improves the accuracy of the analysis, but also quantifies the balance of the displacement distance through the inverse of the fluctuation variance. It can effectively evaluate the stability of the system and provide a reliable basis for optimizing the control strategy, ensuring that the telescopic cylinder remains highly synchronized and consistent during operation.

[0075] Furthermore, the system further comprises:

[0076] The cluster statistical unit is used to respectively count multiple displacement distance adjustment direction sets and multiple displacement speed adjustment direction sets of multiple telescopic cylinders in the K first displacement distance clusters and the K first displacement speed clusters.

[0077] The frequency analysis unit is used to use the adjustment direction with the highest frequency in the multiple displacement distance adjustment direction sets and the multiple displacement speed adjustment direction sets as the multiple first displacement adjustment directions of the multiple telescopic cylinders.

[0078] Exemplarily, clustering algorithms are used to cluster the displacement distance and displacement speed data of the telescopic cylinders to form K displacement distance clusters and K displacement speed clusters. The division of these clusters is based on the similarity of the data, so that the data points (i.e., telescopic cylinders) in the same cluster show strong correlation in the corresponding features (displacement distance or displacement speed). For each displacement distance cluster and displacement speed cluster, the displacement distance adjustment direction and displacement speed adjustment direction of all telescopic cylinders therein are analyzed and counted. Specifically, the adjustment behavior of each telescopic cylinder in a specific time period can be determined by checking the control instructions or system logs. Then, these adjustment directions are classified into different sets to form multiple displacement distance adjustment direction sets and multiple displacement speed adjustment direction sets. Next, the frequency of the adjustment directions in each set is counted, that is, the number of times each adjustment direction (such as increasing distance, reducing distance, accelerating, and decelerating) appears in the set is calculated, and the adjustment direction with the highest frequency of occurrence is selected as the representative adjustment direction of the set. Next, two representative adjustment directions (i.e., one from the displacement distance adjustment direction set and one from the displacement speed adjustment direction set) are determined as the first displacement adjustment directions of the multiple telescopic cylinders. That is to say, in most cases, in order to achieve the best performance or efficiency, the system will tend to adopt these adjustment directions to guide the displacement and speed adjustment of the telescopic cylinder. Through this process, the adjustment behavior of the telescopic cylinder can be optimized based on actual data, thereby improving the operating efficiency and stability of the entire system.

[0079] Furthermore, the system further comprises:

[0080] The first fine-tuning bandwidth configuration unit is configured to configure a first fine-tuning bandwidth according to the first transport balance degree.

[0081] The first parameter fine-tuning unit is used to fine-tune the multiple first electric control parameters based on the first fine-tuning bandwidth according to the multiple first pressure adjustment directions and the multiple first displacement adjustment directions to generate multiple fine-tuning first electric control parameters.

[0082] The fitness analysis unit is used to perform fitness analysis on the multiple fine-tuning first electric control parameters using a fitness analysis network layer to generate fine-tuning fitness.

[0083] The second parameter fine-tuning unit is used to fine-tune the multiple first electric control parameters again according to the first fine-tuning bandwidth, according to the multiple first pressure adjustment directions and the multiple first displacement adjustment directions, to generate multiple stage first electric control parameters, wherein the multiple stage first electric control parameters include stage fitness.

[0084] A search and optimization unit is used to search and optimize based on the multiple stage first electric control parameters when the stage fitness is greater than or equal to the fine-tuning fitness until a preset number of search and optimization times is met, and the multiple stage first electric control parameters corresponding to the maximum value of the search stage fitness are used as multiple target electric control parameters.

[0085] The parameter summarizing unit is used to summarize the multiple target electric control parameters to generate the target electric control parameter set.

[0086] Specifically, a suitable fine-tuning bandwidth is configured according to the determined first handling balance. The fine-tuning bandwidth determines the range and step size of the subsequent electric control parameter adjustment, aiming to maximize the response speed and accuracy of the system while ensuring stability. Next, the configured first fine-tuning bandwidth is used to fine-tune multiple initial electric control parameters (such as voltage, current, frequency, etc.), and the direction of the fine-tuning is based on the previously determined multiple first pressure adjustment directions and multiple first displacement adjustment directions. A new set of electric control parameters, i.e., multiple fine-tuning first electric control parameters, is generated through fine-tuning.

[0087] Construct a fitness analysis network layer, which is a pre-trained neural network model used to evaluate the fitness of the fine-tuned electric control parameters. The fitness analysis network layer contains multiple hidden layers, activation functions, and output layers, where the output layer outputs a numerical value representing the fitness. The fine-tuned first electric control parameter is input into the fitness analysis network layer. The network calculates the fine-tuning fitness of each control parameter through its internal complex nonlinear mapping relationship. This fitness reflects the quality of the control parameter under the current system state.

[0088] Further, based on the result of the first fine-tuning and fitness analysis, more refined fine-tuning can be performed. This fine-tuning is still based on the first fine-tuning bandwidth, but more factors may be considered (such as fine-tuning history, fitness change trend, etc.). Through fine-tuning again, multiple stages of first electric control parameters are generated, each stage including a set of control parameters and corresponding stage fitness.

[0089] After generating multiple stage first electric control parameters, the system starts the search and optimization process. This process compares the fitness of different stages and selects the control parameters with higher fitness as candidate solutions. When the stage fitness is greater than or equal to any previous fine-tuning fitness, it is considered that the current control parameter may be closer to the optimal solution, and then the search and optimization continues until the preset number of searches is reached. Finally, the multiple stage first electric control parameters corresponding to the maximum stage fitness during the search process are used as multiple target electric control parameters. Through the above steps, the neural network model can be used to intelligently optimize the electric control parameters, thereby improving the performance and stability of the entire system.

[0090] Through the technical solutions of the above-mentioned embodiments, the present application provides an adaptive control system for an electric multi-stage telescopic cylinder, which solves the technical problems in the existing control process of the electric multi-stage telescopic cylinder, such as poor control accuracy and stability, insufficient control adaptability, and thus poor operating results and affecting production efficiency, and achieves the technical effect of precise control and efficient operation of the electric multi-stage telescopic cylinder in various environments.

[0091] The above specific implementation manner does not constitute a limitation to the protection scope of the present application. It should be understood by those skilled in the art that various modifications, combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application. In some cases, the actions or steps recorded in the present application can be performed in an order different from that in the embodiment and can still achieve the desired results. In addition, the process depicted in the accompanying drawings does not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Claims

1. An adaptive control system for an electric multi-stage telescopic cylinder, characterized in that: The system comprises: A task disassembly module, used to perform task disassembly based on target handling requirements and obtain handling information, wherein the handling information includes configuration data of the electric multi-stage telescopic cylinder; A positioning sensor module, used for extracting a plurality of telescopic cylinders from the configuration data of the electric multi-stage telescopic cylinder, and respectively arranging a plurality of pressure sensors and a plurality of displacement sensors at the plurality of telescopic cylinders, wherein the plurality of telescopic cylinders have a plurality of position identifiers; a data acquisition module, configured to extract monitoring data of the plurality of pressure sensors and the plurality of displacement sensors within a first monitoring window, and obtain a plurality of first pressure data sets and a plurality of first displacement data sets, wherein the plurality of first displacement data sets include a plurality of first displacement distance sets and a plurality of first displacement velocity sets; a balance analysis module, configured to perform a balance analysis on the plurality of first pressure data sets, the plurality of first displacement distance sets, and the plurality of first displacement speed sets to determine a first transport balance degree, wherein the first transport balance degree includes a plurality of first pressure adjustment directions and a plurality of first displacement adjustment directions; a parameter configuration module, for retrieving the parameter configuration space of the plurality of telescopic cylinders, and taking the parameter configuration space as a constraint, searching and optimizing the plurality of first electric control parameters of the plurality of telescopic cylinders under the first monitoring window according to the plurality of first pressure adjustment directions and the plurality of first displacement adjustment directions based on the first handling balance, to generate a target electric control parameter set, wherein the target electric control parameter set includes a plurality of target electric control parameters, and each target electric control parameter corresponds to a telescopic cylinder; A first pressure balance analysis unit, configured to perform a balance analysis on the plurality of first pressure data sets using a box plot method to obtain a first pressure balance degree and the plurality of first pressure adjustment directions; a data aggregation analysis unit, configured to perform data aggregation analysis on the plurality of first displacement distance sets and the first displacement speed set respectively, and perform balance analysis according to the analysis results to obtain a first displacement balance degree and the plurality of first displacement adjustment directions; The first transport balance generating unit is configured to perform weighted calculation on the first pressure balance and the first displacement balance to generate the first transport balance.

2. The adaptive control system of an electric multi-stage telescopic cylinder according to claim 1, characterized in that: include: A first pressure box construction unit, configured to construct a plurality of first pressure boxes based on the plurality of first pressure data sets; A pressure data extraction unit, used for extracting a plurality of target pressure data sets located within a plurality of interquartile ranges in the plurality of first pressure boxes; a pressure data calculation unit, configured to perform mean calculation on the plurality of target pressure data sets to determine a plurality of target pressure values; a first displacement balance generating unit, configured to calculate the fluctuation variance of the plurality of target pressure values, and use the inverse of the calculation result as the first displacement balance; The first displacement adjustment direction determining unit is used to calculate the average of the multiple target pressure values ​​to obtain a first pressure average value, and perform difference calculation on the multiple target pressure values ​​based on the first pressure average value to determine multiple first displacement adjustment directions.

3. The adaptive control system of an electric multi-stage telescopic cylinder according to claim 1, characterized in that: include: a clustering analysis unit, configured to align the plurality of first displacement distance sets and the plurality of first displacement speed sets respectively based on a time sequence, cluster the displacement distances and displacement speeds of the plurality of telescopic cylinders at the same time node, and obtain K first displacement distance clusters and K first displacement speed clusters, wherein K is the number of data collection times of the pressure sensor and the displacement sensor in the first monitoring window; A cluster calculation unit, used for performing fluctuation variance calculation on the K first displacement distance clusters and the K first displacement velocity clusters respectively, to determine the fluctuation variances of the K first displacement distances and the fluctuation variances of the K first displacement velocities; A first data centralized analysis unit is used to perform data centralized analysis on the K first displacement distance fluctuation variances and the K first displacement speed fluctuation variances respectively to obtain a first displacement distance balance degree and a first displacement speed balance degree; A weighted analysis unit is used to perform a weighted analysis on the first displacement distance balance degree and the first displacement speed balance degree to generate the first displacement balance degree.

4. The adaptive control system of an electric multi-stage telescopic cylinder according to claim 3, characterized in that: include: A first displacement distance fluctuation identification space construction unit, configured to construct a first displacement distance fluctuation identification space based on the K first displacement distance fluctuation variances, wherein the abscissa axis of the first displacement distance fluctuation identification space is time, the ordinate axis is the displacement distance fluctuation variance, and the first displacement distance fluctuation identification space includes K distance scatter points, each scatter point corresponding to a first displacement distance fluctuation variance; A first ordinate mean value determining unit, used for extracting the maximum ordinate value and the minimum ordinate value of the K distance scatter points for mean calculation, and determining the first ordinate mean value; A first starting analysis straight line construction unit, used to construct a first starting analysis straight line, wherein the first starting analysis straight line is a straight line passing through the first ordinate mean and parallel to the ordinate of the first displacement distance fluctuation identification space; a scatter point quantity statistics unit, used to respectively count the upper distance scatter point quantity located above the first starting analysis straight line and the lower distance scatter point quantity located below the first starting analysis straight line in the first displacement distance fluctuation identification space, compare the upper distance scatter point quantity with the lower distance scatter point quantity, and obtain a concentrated analysis direction; A first displacement distance balance degree determining unit, configured to perform data concentration analysis in the first displacement distance fluctuation identification space based on the first starting analysis straight line and the concentrated analysis direction, to determine a first displacement distance balance degree; The first displacement velocity balance determination unit is used to perform data-intensive analysis on the K first displacement velocity fluctuation variances to determine the first displacement velocity balance.

5. The adaptive control system of an electric multi-stage telescopic cylinder according to claim 4, characterized in that: include: a stage starting analysis straight line obtaining unit, configured to move the first starting analysis straight line toward the concentrated analysis direction according to a preset moving step length, to obtain a stage starting analysis straight line; a target analysis line obtaining unit, for, when the starting analysis density of the first starting analysis line is less than or equal to the stage analysis density of the stage starting analysis line, updating the stage starting analysis line as the starting point, performing iterative updating in the first displacement distance fluctuation identification space, until the stage analysis density difference between two stage starting analysis lines obtained in two adjacent iterations is less than a preset density difference, stopping iteration, and taking the stage analysis line corresponding to the maximum value of the stage analysis density during the iteration as the target analysis line; A target first displacement distance fluctuation variance obtaining unit is used to calculate the average of a plurality of distance scatter points whose distance to the target analysis straight line is less than or equal to a preset moving step length, and obtain the target first displacement distance fluctuation variance; The numerical adjustment unit is used to take the inverse of the target first displacement distance fluctuation variance as the first displacement distance balance degree.

6. The adaptive control system of an electric multi-stage telescopic cylinder according to claim 3, characterized in that: include: A cluster statistical unit, used for respectively counting a plurality of displacement distance adjustment direction sets and a plurality of displacement speed adjustment direction sets of a plurality of telescopic cylinders in the K first displacement distance clusters and the K first displacement speed clusters; The frequency analysis unit is used to use the adjustment direction with the highest frequency in the multiple displacement distance adjustment direction sets and the multiple displacement speed adjustment direction sets as the multiple first displacement adjustment directions of the multiple telescopic cylinders.

7. The adaptive control system of an electric multi-stage telescopic cylinder according to claim 1, characterized in that: include: A first fine-tuning bandwidth configuration unit, configured to configure a first fine-tuning bandwidth according to the first transport balance degree; A first parameter fine-tuning unit, configured to fine-tune the plurality of first electric control parameters based on the first fine-tuning bandwidth according to the plurality of first pressure adjustment directions and the plurality of first displacement adjustment directions, to generate a plurality of fine-tuned first electric control parameters; A fitness analysis unit, used for performing fitness analysis on the plurality of fine-tuning first electric control parameters using a fitness analysis network layer to generate a fine-tuning fitness; a second parameter fine-tuning unit, configured to fine-tune the plurality of first electric control parameters again according to the first fine-tuning bandwidth, in accordance with the plurality of first pressure adjustment directions and the plurality of first displacement adjustment directions, to generate a plurality of stage first electric control parameters, wherein the plurality of stage first electric control parameters include stage fitness; A search optimization unit, configured to search and optimize based on the multiple stage first electric control parameters when the stage fitness is greater than or equal to the fine-tuning fitness, until a preset number of search optimization times is met, and use the multiple stage first electric control parameters corresponding to the maximum value of the search stage fitness as multiple target electric control parameters; The parameter summarizing unit is used to summarize the multiple target electric control parameters to generate the target electric control parameter set.

Images