Multivariable control method and system based on caliper seat type box pressing machine

Abstract

The invention relates to a multivariable control method and system based on a caliper seat type box pressing machine, and the method comprises the steps: a jacking oil cylinder of the box pressing machine jacks up a caliper seat assembly, and four sand box supporting columns jack up a sand box body from the bottom to be separated from rollers on a sand box body conveying roller way; then the output shafts of the two locking oil cylinders upwards push the power arm of the locking pressing arm to act, the pressing claw is pressed downwards through the resisting arm of the locking pressing arm, and the pressing claw is clamped into the sand box body so as to lock the sand box body, and the method further comprises the steps that M1, the sand box body is conveyed to a pouring area, image data information of the sand box body is obtained in real time based on an airborne camera, and the image data information is sent to the casting area; and displacement data information of the output shaft of the jacking oil cylinder is obtained in real time based on the first linear displacement sensor. The box pressing machine can be dynamically adjusted according to the state of the sand box body so as to meet the requirements of different working conditions, the control accuracy of the box pressing machine is improved, and the problem that the sand box body is abraded due to insufficient closing or too tight closing of the sand box body is solved.

Description

Technical Field

[0001] The present invention relates to the field of mechanical automation technology, and in particular to a multivariable control method and system based on a caliper seat type box press. Background Art

[0002] During the forging process of the flywheel, the mold needs to be poured. In this process, the sand box body is an indispensable device. The sand box body is divided into an upper sand box and a lower sand box. During the pouring of molten iron, the closure of the sand box body must be ensured at all times to prevent the molten iron from overflowing from the gap between the upper sand box and the lower sand box. In the traditional pouring process, the caliper-type box press needs to be operated manually. The operation process needs to be based on manual experience to judge whether the closure of the sand box body meets the pouring requirements. Therefore, the sand box body may not be closed enough or closed too tightly, resulting in wear of the sand box body. Therefore, how to optimize the control of the box press has become a problem that we urgently need to solve.

[0003] In the prior art, a Chinese patent (application number: 202121927971.2, publication number: CN215998617U) discloses a caliper seat type box press, including a frame and a caliper seat assembly. A sand box conveying roller composed of two rows of multiple rollers is provided on the top of the left side of the frame. A caliper seat assembly is slidably installed on the right side of the frame. A portion of the left side of the caliper seat assembly extends to the bottom of the sand box conveying roller. A locking pressure arm is hinged on the top of the caliper seat assembly. A lifting cylinder is provided at the bottom of the frame. The output shaft of the lifting cylinder is connected to the caliper seat assembly. A locking cylinder is provided on the right side of the caliper seat assembly. The output shaft of the locking cylinder is hinged to the power arm of the locking pressure arm. This scheme does not accurately control and adjust the lifting cylinder and the locking cylinder, which may easily lead to problems such as insufficient or over-tight closing of the sand box. Summary of the invention

[0004] In view of the above problems, the present invention provides a multivariable control method and system based on a caliper seat type box press, which can not only dynamically adjust the box press according to the state of the sand box body to meet the requirements of different working conditions, but also improve the control accuracy of the box press, and solve the problem of wear of the sand box body due to insufficient or excessive closing of the sand box body.

[0005] In order to achieve the above-mentioned purpose and other related purposes, the technical solution provided by the present invention is as follows:

[0006] A multivariable control method based on a caliper seat type box press, the method includes the following steps: the lifting cylinder of the box press lifts the caliper seat assembly, four sand box support columns lift the sand box body from the bottom to separate it from the rollers on the sand box body conveying roller, and then the output shafts of the two locking oil cylinders push the power arm of the locking pressure arm upward to move, and the pressure claw is pressed down by the resistance arm of the locking pressure arm, and the pressure claw is clamped into the sand box body to lock the sand box body, and the method also includes:

[0007] M1. The sand box is transported to the casting area, and the image data of the sand box is obtained in real time based on the onboard camera, the displacement data of the output shaft of the lifting cylinder is obtained in real time based on the first linear displacement sensor, and the displacement data of the output shaft of the locking cylinder is obtained in real time based on the second linear displacement sensor;

[0008] M2. Based on the image data information of the sand box body, the thickness of the sand box body is estimated by using an improved image distance algorithm to obtain data information on the thickness of the sand box body;

[0009] M3. Based on the data information of the thickness of the sand box body, the displacement data information of the output shaft of the jacking cylinder and the displacement data information of the output shaft of the locking cylinder, the relative displacement of the output shaft of the jacking cylinder and the output shaft of the locking cylinder is optimized by using the whale optimization algorithm based on the adaptive feedback adjustment factor to obtain the optimized relative displacement data information of the output shaft of the jacking cylinder and the output shaft of the locking cylinder;

[0010] M4. Based on the optimized relative displacement data information of the output shafts of the jacking cylinder and the locking cylinder, an improved best adaptation algorithm is used to dynamically allocate and adjust the displacement of the output shafts of the jacking cylinder and the locking cylinder, and output the control data information of the jacking cylinder and the locking cylinder.

[0011] Furthermore, in step M2, the improved image distance algorithm is used to estimate the thickness of the sand box body, including:

[0012] M21. Based on the image data information of the sand box, a pixel coordinate system is constructed, and the coordinates of each pixel in the sand box image are marked to obtain the pixel coordinate matrix data information of the sand box image;

[0013] M22. Based on the pixel coordinate matrix data information of the sand box image, establish the distance function S of the sand box image,

[0014]

[0015] Where n is the sample size, x i is the coordinate of the i-th pixel point of the sand box image, x j is the coordinate of the jth pixel point of the sand box image, α iis the distance error parameter of the coordinates of the i-th pixel point of the sand box image, β j is the coordinate distance error parameter of the jth pixel of the sand box image, and the distance of the sand box image is calculated to obtain the image distance data information of the sand box;

[0016] M23. Based on the image distance data information of the sand box, a sand box image distance optimization function G is established.

[0017]

[0018] Among them, y is the image distance data information of the sand box body, λ1 and λ2 are the distance optimization factors of the sand box body, and the thickness of the sand box body is calculated to obtain the data information of the thickness of the sand box body.

[0019] Furthermore, the distance error parameter α of the coordinates of the i-th pixel point of the sand box image is i The constraints are:

[0020]

[0021] The distance error parameter β of the coordinates of the jth pixel point of the sand box image j The constraints are:

[0022]

[0023] Furthermore, the distance optimization factor λ1 of the sand box is,

[0024]

[0025] The distance optimization factor λ2 of the sand box is,

[0026]

[0027] Among them, y is the image distance data information of the sand box.

[0028] Further, in step M3, the whale optimization algorithm based on the adaptive feedback adjustment factor optimizes the relative displacement of the jacking cylinder output shaft and the locking cylinder output shaft, including:

[0029] M31. Based on the data information of the thickness of the sand box body, the displacement data information of the output shaft of the lifting cylinder and the displacement data information of the output shaft of the locking cylinder, the whale population is initialized, the population size N is set, the number of iterations L is determined, and the initialized whale population data information is obtained;

[0030] M32. Based on the initialized whale population data information, construct the fitness function H of the population individuals,

[0031]

[0032] Among them, r is the data information of the whale population after initialization, ω1, ω2 and ω3 are the fitness optimization factors of the population individuals, and the fitness values ​​of the population individuals are calculated to obtain the fitness value data information of the population individuals;

[0033] M33. Based on the fitness value data information of the population individuals, establish a relative displacement optimization function Q of the lifting cylinder output shaft and the locking cylinder output shaft with an adaptive feedback adjustment factor,

[0034]

[0035] Among them, h is the fitness value data information of the population individual, θ1, θ2 and θ3 are the adaptive feedback adjustment factors of the relative displacement of the output shaft of the jacking cylinder and the output shaft of the locking cylinder. The relative displacement of the output shaft of the jacking cylinder and the output shaft of the locking cylinder is optimized to obtain the optimized relative displacement data information of the output shaft of the jacking cylinder and the locking cylinder.

[0036] Furthermore, the adaptive feedback adjustment factors θ1, θ2 and θ3 of the relative displacement of the output shaft of the lifting cylinder and the output shaft of the locking cylinder are:

[0037]

[0038]

[0039]

[0040] Among them, h is the fitness value data information of the population individual, ρ1, ρ2 and ρ3 are the fitness covariance constant parameters, η1 and η2 are the fitness error constant parameters, and γ1 and γ2 are the fitness weight coefficients.

[0041] Furthermore, in step M4, the dynamically allocating and adjusting the displacements of the output shafts of the lifting cylinder and the locking cylinder using the improved best adaptation algorithm includes:

[0042] M41. The relative displacement data information of the optimized lifting cylinder and the locking cylinder output shaft is segmented according to a fixed step size to obtain segmented sequence data information of the relative displacement of the optimized lifting cylinder and the locking cylinder output shaft;

[0043] M42. Based on the optimized relative displacement segmented sequence data information of the output shaft of the lifting cylinder and the locking cylinder, a dynamic distribution function F of the displacement of the output shaft of the lifting cylinder and the locking cylinder is established.

[0044]

[0045]

[0046] Among them, z is the optimized segmented sequence data information of the relative displacement of the output shaft of the lifting cylinder and the locking cylinder, and δ1, δ2 and δ3 are the dynamic control constant parameters of the displacement of the output shaft of the lifting cylinder and the locking cylinder;

[0047] M43. Based on the dynamic distribution function F of the displacement of the output shafts of the jacking cylinder and the locking cylinder, the displacement of the output shafts of the jacking cylinder and the locking cylinder is dynamically allocated and adjusted, and the control data information of the jacking cylinder and the locking cylinder is output.

[0048] Furthermore, the method further comprises:

[0049] M5. Based on the control data information of the lifting cylinder and the locking cylinder, a preset threshold is set. If the control data of the lifting cylinder and the locking cylinder is greater than the preset threshold, a warning is issued. If the control data of the lifting cylinder and the locking cylinder is less than the preset threshold, normal operation is performed.

[0050] In order to achieve the above-mentioned objectives and other related objectives, the present invention also provides a multivariable control system based on a caliper seat type box press, including a computer device, which is programmed or configured to execute any one of the steps of the multivariable control method based on the caliper seat type box press.

[0051] The present invention has the following positive effects:

[0052] 1. The present invention calculates the thickness of the sand box body by adopting an improved image distance algorithm, and optimizes the relative displacement of the output shaft of the jacking cylinder and the output shaft of the locking cylinder in combination with the whale optimization algorithm based on the adaptive feedback adjustment factor. It can not only accurately calculate the relative displacement of the output shaft of the jacking cylinder and the output shaft of the locking cylinder, but also solve the problem of wear of the sand box body caused by insufficient or excessive closure of the sand box body, and no manual participation is required throughout the process, thereby reducing manual labor and improving production efficiency.

[0053] 2. The present invention adopts an improved optimal adaptation algorithm to dynamically allocate and adjust the displacement of the output shafts of the lifting cylinder and the locking cylinder. It can not only dynamically adjust the box press according to the state of the sand box body to meet the requirements of different working conditions, but also reduce the energy consumption during the operation of the sand box machine, thereby reducing energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a schematic diagram of the method flow of the present invention;

[0055] Figure 2 A schematic diagram of the flow of the improved image distance algorithm of the present invention;

[0056] Figure 3 It is a flow chart of the whale optimization algorithm based on the adaptive feedback adjustment factor of the present invention;

[0057] Figure 4 A schematic diagram of a flow chart of an improved best adaptation algorithm of the present invention;

[0058] Figure 5 It is a schematic structural diagram of the caliper seat type box pressing machine of the present invention.

[0059] Explanation of the numbers in the figure: 1-box press, 2-lifting cylinder, 3-locking cylinder, 4-sand box body, 5-locking pressing arm, 6-pressing claw, 7-sand box supporting column, 8-second linear displacement sensor, 9-first linear displacement sensor, 10-camera. DETAILED DESCRIPTION

[0060] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0061] Example 1: Figure 1 or Figure 5 As shown, a multivariable control method based on a caliper seat type box press is shown, the method includes the lifting cylinder 2 of the box press 1 lifting the caliper seat assembly, four sand box support columns 7 lifting the sand box body 4 from the bottom to separate it from the rollers on the sand box body conveying roller, and then the output shafts of the two locking cylinders 3 push the power arm of the locking pressure arm 5 upward to move, and the pressure claw 6 is pressed down by the resistance arm of the locking pressure arm 5, and the pressure claw 6 is clamped into the sand box body 4 to lock the sand box body 4, and the method also includes:

[0062] M1. The sand box body 4 is transported to the casting area, and the image data information of the sand box body 4 is obtained in real time based on the onboard camera 10, the displacement data information of the output shaft of the jacking cylinder 2 is obtained in real time based on the first linear displacement sensor 9, and the displacement data information of the output shaft of the locking cylinder 3 is obtained in real time based on the second linear displacement sensor 8;

[0063] M2. Based on the image data information of the sand box body, the thickness of the sand box body is estimated by using an improved image distance algorithm to obtain data information on the thickness of the sand box body;

[0064] M3. Based on the data information of the thickness of the sand box body, the displacement data information of the output shaft of the jacking cylinder and the displacement data information of the output shaft of the locking cylinder, the relative displacement of the output shaft of the jacking cylinder and the output shaft of the locking cylinder is optimized by using the whale optimization algorithm based on the adaptive feedback adjustment factor to obtain the optimized relative displacement data information of the output shaft of the jacking cylinder and the output shaft of the locking cylinder;

[0065] M4. Based on the optimized relative displacement data information of the output shafts of the jacking cylinder and the locking cylinder, an improved best adaptation algorithm is used to dynamically allocate and adjust the displacement of the output shafts of the jacking cylinder and the locking cylinder, and output the control data information of the jacking cylinder and the locking cylinder.

[0066] In this embodiment, if Figure 2 As shown, in step M2, the improved image distance algorithm estimates the thickness of the sand box body including:

[0067] M21. Based on the image data information of the sand box, a pixel coordinate system is constructed, and the coordinates of each pixel in the sand box image are marked to obtain the pixel coordinate matrix data information of the sand box image;

[0068] M22. Based on the pixel coordinate matrix data information of the sand box image, establish the distance function S of the sand box image,

[0069]

[0070] Where n is the sample size, x i is the coordinate of the i-th pixel point of the sand box image, x j is the coordinate of the jth pixel point of the sand box image, α i is the distance error parameter of the coordinates of the i-th pixel point of the sand box image, β j is the coordinate distance error parameter of the jth pixel of the sand box image, and the distance of the sand box image is calculated to obtain the image distance data information of the sand box;

[0071] M23. Based on the image distance data information of the sand box, a sand box image distance optimization function G is established.

[0072]

[0073] Among them, y is the image distance data information of the sand box body, λ1 and λ2 are the distance optimization factors of the sand box body, and the thickness of the sand box body is calculated to obtain the data information of the thickness of the sand box body.

[0074] In this embodiment, the distance error parameter α of the coordinates of the i-th pixel point of the sand box image is i The constraints are:

[0075]

[0076] The distance error parameter β of the coordinates of the jth pixel point of the sand box image j The constraints are:

[0077]

[0078] In this embodiment, the distance optimization factor λ1 of the sand box body is,

[0079]

[0080] The distance optimization factor λ2 of the sand box is,

[0081]

[0082] Among them, y is the image distance data information of the sand box.

[0083] In this embodiment, if Figure 3 As shown, in step M3, the whale optimization algorithm based on the adaptive feedback adjustment factor optimizes the relative displacement of the output shaft of the lifting cylinder and the output shaft of the locking cylinder, including:

[0084] M31. Based on the data information of the thickness of the sand box body, the displacement data information of the output shaft of the lifting cylinder and the displacement data information of the output shaft of the locking cylinder, the whale population is initialized, the population size N is set, the number of iterations L is determined, and the initialized whale population data information is obtained;

[0085] M32. Based on the initialized whale population data information, construct the fitness function H of the population individuals,

[0086]

[0087] Among them, r is the data information of the whale population after initialization, ω1, ω2 and ω3 are the fitness optimization factors of the population individuals, and the fitness values ​​of the population individuals are calculated to obtain the fitness value data information of the population individuals;

[0088] M33. Based on the fitness value data information of the population individuals, establish a relative displacement optimization function Q of the lifting cylinder output shaft and the locking cylinder output shaft with an adaptive feedback adjustment factor,

[0089]

[0090] Among them, h is the fitness value data information of the population individual, θ1, θ2 and θ3 are the adaptive feedback adjustment factors of the relative displacement of the output shaft of the jacking cylinder and the output shaft of the locking cylinder. The relative displacement of the output shaft of the jacking cylinder and the output shaft of the locking cylinder is optimized to obtain the optimized relative displacement data information of the output shaft of the jacking cylinder and the locking cylinder.

[0091] In this embodiment, the adaptive feedback adjustment factors θ1, θ2 and θ3 of the relative displacement of the jacking cylinder output shaft and the locking cylinder output shaft are:

[0092]

[0093]

[0094]

[0095] Among them, h is the fitness value data information of the population individual, ρ1, ρ2 and ρ3 are the fitness covariance constant parameters, η1 and η2 are the fitness error constant parameters, and γ1 and γ2 are the fitness weight coefficients.

[0096] Embodiment 2: Based on the multivariable control method based on the caliper seat type box press in Embodiment 1, the present invention is further illustrated and described below.

[0097] like Figure 1 or Figure 5 As shown, a multivariable control method based on a caliper seat type box press is shown, the method includes the lifting cylinder 2 of the box press 1 lifting the caliper seat assembly, four sand box support columns 7 lifting the sand box body 4 from the bottom to separate it from the rollers on the sand box body conveying roller, and then the output shafts of the two locking cylinders 3 push the power arm of the locking pressure arm 5 upward to move, and the pressure claw 6 is pressed down by the resistance arm of the locking pressure arm 5, and the pressure claw 6 is clamped into the sand box body 4 to lock the sand box body 4, and the method also includes:

[0098] M1. The sand box body 4 is transported to the casting area, and the image data information of the sand box body 4 is obtained in real time based on the onboard camera 10, the displacement data information of the output shaft of the jacking cylinder 2 is obtained in real time based on the first linear displacement sensor 9, and the displacement data information of the output shaft of the locking cylinder 3 is obtained in real time based on the second linear displacement sensor 8;

[0099] M2. Based on the image data information of the sand box body, the thickness of the sand box body is estimated by using an improved image distance algorithm to obtain data information on the thickness of the sand box body;

[0100] M3. Based on the data information of the thickness of the sand box body, the displacement data information of the output shaft of the jacking cylinder and the displacement data information of the output shaft of the locking cylinder, the relative displacement of the output shaft of the jacking cylinder and the output shaft of the locking cylinder is optimized by using the whale optimization algorithm based on the adaptive feedback adjustment factor to obtain the optimized relative displacement data information of the output shaft of the jacking cylinder and the output shaft of the locking cylinder;

[0101] M4. Based on the optimized relative displacement data information of the output shafts of the jacking cylinder and the locking cylinder, an improved best adaptation algorithm is used to dynamically allocate and adjust the displacement of the output shafts of the jacking cylinder and the locking cylinder, and output the control data information of the jacking cylinder and the locking cylinder.

[0102] In this embodiment, in step M4, the dynamically allocating and adjusting the displacements of the output shafts of the lifting cylinder and the locking cylinder using the improved best adaptation algorithm includes:

[0103] M41. The relative displacement data information of the optimized lifting cylinder and the locking cylinder output shaft is segmented according to a fixed step size to obtain segmented sequence data information of the relative displacement of the optimized lifting cylinder and the locking cylinder output shaft;

[0104] M42. Based on the optimized relative displacement segmented sequence data information of the output shaft of the lifting cylinder and the locking cylinder, a dynamic distribution function F of the displacement of the output shaft of the lifting cylinder and the locking cylinder is established.

[0105]

[0106]

[0107] Among them, z is the optimized segmented sequence data information of the relative displacement of the output shaft of the lifting cylinder and the locking cylinder, and δ1, δ2 and δ3 are the dynamic control constant parameters of the displacement of the output shaft of the lifting cylinder and the locking cylinder;

[0108] M43. Based on the dynamic distribution function F of the displacement of the output shafts of the jacking cylinder and the locking cylinder, the displacement of the output shafts of the jacking cylinder and the locking cylinder is dynamically allocated and adjusted, and the control data information of the jacking cylinder and the locking cylinder is output.

[0109] In this embodiment, the method further includes:

[0110] M5. Based on the control data information of the lifting cylinder and the locking cylinder, a preset threshold is set. If the control data of the lifting cylinder and the locking cylinder is greater than the preset threshold, a warning is issued. If the control data of the lifting cylinder and the locking cylinder is less than the preset threshold, normal operation is performed.

[0111] In this embodiment, if the preset threshold is "10", the control data of the lifting cylinder is "8", and the control data of the locking cylinder is "3", so that the sum of the control data of the lifting cylinder and the control data of the locking cylinder is "11", which is greater than the preset threshold, the production requirements are not met, and the process returns to step M2 to re-estimate the control data of the lifting cylinder and the locking cylinder until it is less than the preset threshold.

[0112] In this embodiment, the present invention provides a multivariable control system based on a caliper seat type box press, including a computer device, which is programmed or configured to execute any one of the steps of the multivariable control method based on the caliper seat type box press.

[0113] In this embodiment, the present invention provides a computer-readable storage medium, on which is stored a computer program programmed or configured to execute any one of the improved Yolov5 pedestrian detection methods described above.

[0114] Any reference to memory, storage, database or other media used in the embodiments provided in the present application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM) and memory bus dynamic RAM (RDRAM).

[0115] In summary, the present invention can not only dynamically adjust the box press according to the state of the sand box body to meet the requirements of different working conditions, but also improve the control accuracy of the box press, and solve the problem of wear of the sand box body caused by insufficient or excessive closing of the sand box body.

[0116] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A multivariable control method based on a caliper seat type box press, the method includes the lifting cylinder of the box press lifts the caliper seat assembly, four sand box support columns lift the sand box body from the bottom to separate it from the rollers on the sand box body conveying roller, and then the output shafts of the two locking oil cylinders push the power arm of the locking pressure arm upward to move, and the pressure claw is pressed down by the resistance arm of the locking pressure arm, and the pressure claw is clamped into the sand box body to lock the sand box body, characterized in that The method further comprises: M1. The sand box is transported to the casting area, and the image data of the sand box is obtained in real time based on the onboard camera, the displacement data of the output shaft of the lifting cylinder is obtained in real time based on the first linear displacement sensor, and the displacement data of the output shaft of the locking cylinder is obtained in real time based on the second linear displacement sensor; M2. Based on the image data information of the sand box body, the thickness of the sand box body is estimated by using an improved image distance algorithm to obtain data information on the thickness of the sand box body; M3. Based on the data information of the thickness of the sand box body, the displacement data information of the output shaft of the jacking cylinder and the displacement data information of the output shaft of the locking cylinder, the relative displacement of the output shaft of the jacking cylinder and the output shaft of the locking cylinder is optimized by using the whale optimization algorithm based on the adaptive feedback adjustment factor to obtain the optimized relative displacement data information of the output shaft of the jacking cylinder and the output shaft of the locking cylinder; M4. Based on the optimized relative displacement data information of the output shafts of the jacking cylinder and the locking cylinder, an improved best adaptation algorithm is used to dynamically allocate and adjust the displacement of the output shafts of the jacking cylinder and the locking cylinder, and output the control data information of the jacking cylinder and the locking cylinder.

2. The multivariable control method based on the caliper seat box press according to claim 1 is characterized in that: In step M2, the improved image distance algorithm is used to estimate the thickness of the sand box body, including: M21. Based on the image data information of the sand box, a pixel coordinate system is constructed, and the coordinates of each pixel in the sand box image are marked to obtain the pixel coordinate matrix data information of the sand box image; M22. Based on the pixel coordinate matrix data information of the sand box image, establish the distance function S of the sand box image, Where n is the sample size, x i is the coordinate of the i-th pixel point of the sand box image, x j is the coordinate of the jth pixel point of the sand box image, α i is the distance error parameter of the coordinates of the i-th pixel point of the sand box image, β j is the coordinate distance error parameter of the jth pixel of the sand box image, and the distance of the sand box image is calculated to obtain the image distance data information of the sand box; M23. Based on the image distance data information of the sand box, a sand box image distance optimization function G is established. Among them, y is the image distance data information of the sand box body, λ1 and λ2 are the distance optimization factors of the sand box body, and the thickness of the sand box body is calculated to obtain the data information of the thickness of the sand box body.

3. The multivariable control method based on the caliper seat box press according to claim 2 is characterized in that: The distance error parameter α of the coordinates of the i-th pixel point of the sand box image i The constraints are: The distance error parameter β of the coordinates of the jth pixel point of the sand box image j The constraints are:

4. The multivariable control method based on the caliper seat box press according to claim 2 is characterized in that: The distance optimization factor λ1 of the sand box is, The distance optimization factor λ2 of the sand box is, Among them, y is the image distance data information of the sand box.

5. The multivariable control method based on the caliper seat box press according to claim 1 is characterized in that: In step M3, the whale optimization algorithm based on the adaptive feedback adjustment factor optimizes the relative displacement of the output shaft of the lifting cylinder and the output shaft of the locking cylinder, including: M31. Based on the data information of the thickness of the sand box body, the displacement data information of the output shaft of the lifting cylinder and the displacement data information of the output shaft of the locking cylinder, the whale population is initialized, the population size N is set, the number of iterations L is determined, and the initialized whale population data information is obtained; M32. Based on the initialized whale population data information, construct the fitness function H of the population individuals, Among them, r is the data information of the whale population after initialization, ω1, ω2 and ω3 are the fitness optimization factors of the population individuals, and the fitness values ​​of the population individuals are calculated to obtain the fitness value data information of the population individuals; M33. Based on the fitness value data information of the population individuals, establish a relative displacement optimization function Q of the lifting cylinder output shaft and the locking cylinder output shaft with an adaptive feedback adjustment factor, Among them, h is the fitness value data information of the population individual, θ1, θ2 and θ3 are the adaptive feedback adjustment factors of the relative displacement of the output shaft of the jacking cylinder and the output shaft of the locking cylinder. The relative displacement of the output shaft of the jacking cylinder and the output shaft of the locking cylinder is optimized to obtain the optimized relative displacement data information of the output shaft of the jacking cylinder and the locking cylinder.

6. The multivariable control method based on the caliper seat box press according to claim 5 is characterized in that: The adaptive feedback adjustment factors θ1, θ2 and θ3 of the relative displacement of the lifting cylinder output shaft and the locking cylinder output shaft are: Among them, h is the fitness value data information of the population individual, ρ1, ρ2 and ρ3 are the fitness covariance constant parameters, η1 and η2 are the fitness error constant parameters, and γ1 and γ2 are the fitness weight coefficients.

7. The multivariable control method based on the caliper seat box press according to claim 5 is characterized in that: The constraints for the fitness optimization factors ω1, ω2 and ω3 of the individuals in the population are:

8. The multivariable control method based on the caliper seat box press according to claim 1 is characterized in that: In step M4, the dynamically allocating and adjusting the displacements of the output shafts of the lifting cylinder and the locking cylinder using the improved best adaptation algorithm includes: M41. The relative displacement data information of the optimized lifting cylinder and the locking cylinder output shaft is segmented according to a fixed step size to obtain segmented sequence data information of the relative displacement of the optimized lifting cylinder and the locking cylinder output shaft; M42. Based on the optimized relative displacement segmented sequence data information of the output shaft of the lifting cylinder and the locking cylinder, a dynamic distribution function F of the displacement of the output shaft of the lifting cylinder and the locking cylinder is established. Among them, z is the optimized segmented sequence data information of the relative displacement of the output shaft of the lifting cylinder and the locking cylinder, and δ1, δ2 and δ3 are the dynamic control constant parameters of the displacement of the output shaft of the lifting cylinder and the locking cylinder; M43. Based on the dynamic distribution function F of the displacement of the output shafts of the jacking cylinder and the locking cylinder, the displacement of the output shafts of the jacking cylinder and the locking cylinder is dynamically allocated and adjusted, and the control data information of the jacking cylinder and the locking cylinder is output.

9. The multivariable control method based on the caliper seat box press according to claim 1 is characterized in that: The method further comprises: M5. Based on the control data information of the lifting cylinder and the locking cylinder, a preset threshold is set. If the control data of the lifting cylinder and the locking cylinder is greater than the preset threshold, a warning is issued. If the control data of the lifting cylinder and the locking cylinder is less than the preset threshold, normal operation is performed.

10. A multivariable control system based on a caliper-type box press, comprising a computer device, characterized in that: The computer device is programmed or configured to execute the steps of the multivariable control method based on the caliper seat box press according to any one of claims 1 to 9.

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