Hydraulic control system for raise boring machine motor disengagement

Abstract

The invention discloses a hydraulic control system for motor separation of a raise boring machine, and particularly relates to the technical field of hydraulic control. The first motor module and the second motor module respectively drive the gear in different modes; the direction valve module controls the flow direction of hydraulic oil; the first and second reversing modules and the logic valve module manage hydraulic oil distribution; the hydraulic pipeline module is responsible for hydraulic oil conveying and oil returning. The system can be switched between a guide hole mode and a reaming mode; a guide hole mode and a reaming mode can be rapidly and stably switched, precise control over the flow direction of hydraulic oil is guaranteed through cooperative work of the direction valve module and the logic valve module, downtime and efficiency losses caused by mode switching are reduced, the problem that equipment is overloaded or insufficient due to uneven flow distribution is solved, and the service life of the equipment is prolonged. The stability and safety of the system are improved, and the overall working efficiency of the raise boring machine is improved by optimizing control and distribution of the hydraulic system.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic control, and more particularly to a hydraulic control system for motor disengagement of a raise boring machine. Background Art

[0002] During the operation of a roof drilling rig, it is often necessary to switch between different working modes to adapt to different engineering requirements. In traditional drilling rig systems, the motor disengagement operation usually relies on a free wheel. This method has some shortcomings in practical applications, such as the inability to efficiently adjust the flow distribution of hydraulic oil, resulting in the inability to fully utilize the performance of the equipment under certain working conditions. Especially when switching working modes, it is difficult for existing systems to achieve fast and smooth switching, resulting in uneven distribution of hydraulic oil and uneven equipment load. The design of traditional systems is difficult to meet this demand. Therefore, a hydraulic control system for motor disengagement of a roof drilling rig is proposed to solve the above problems. Summary of the invention

[0003] To achieve the above object, the present invention provides the following technical solutions: A hydraulic control system for motor disengagement of a raise boring machine includes a hydraulic pump module for providing hydraulic oil required by the system; The first motor module (M1) receives hydraulic oil and drives the gear in the hole expansion mode, and enters a follow-up state in the hole guide mode; The second motor module (M2) receives hydraulic oil in both the expansion mode and the guide mode and drives the gear; Directional valve module, which controls the flow direction of hydraulic oil through electrical signals to achieve switching between the guide hole mode and the expansion hole mode; The first reversing module loses the one-way function in the guide hole mode, and opens the oil circuit to make the first motor module (M1) enter the follow-up state; The second reversing module, in the guide hole mode, together with the first reversing module and the first motor module, forms a hydraulic oil circuit of the pump working condition, and in the expansion hole mode, is used to ensure that the hydraulic oil enters the first motor module, and at this time, the first reversing module and the second reversing module are both in the one-way valve mode; The logic valve module cuts off the hydraulic oil originally supplied to the first motor module (M1) in the pilot hole mode, causing it to enter a follow-up state, and resumes the supply in the expansion hole mode; Hydraulic pipeline module, responsible for conveying hydraulic oil and returning oil; The hydraulic control system switches between a hole guiding mode and a hole expanding mode. In the hole guiding mode, the directional valve module controls the flow direction of the hydraulic oil when it is powered on, so that the first motor module (M1) is disengaged and enters a follow-up state, and the second motor module (M2) receives all the hydraulic oil. In the hole expanding mode, when the directional valve module is not powered on, the hydraulic oil output by the hydraulic pump module is distributed to the first motor module (M1) and the second motor module (M2) at the same time.

[0004] In a preferred embodiment, the directional valve module controls the switching of the power-on state through an electrical signal to control the flow direction of the hydraulic oil to meet the needs of different working modes.

[0005] In a preferred embodiment, the first reversing module loses its one-way function in the guide hole mode, and opens the oil circuit to make the first motor module (M1) enter a follow-up state and no longer receive hydraulic oil.

[0006] In a preferred embodiment, the logic valve module cuts off the hydraulic oil originally supplied to the first motor module (M1) in the pilot hole mode, causing it to enter a follow-up state, and resumes the supply in the expansion hole mode.

[0007] In a preferred embodiment, when the hydraulic control system is in the hole expansion mode, the directional valve module is in an unpowered state, and the hydraulic oil output by the hydraulic pump module is simultaneously distributed to the first motor module (M1) and the second motor module (M2), so that the two drive the gears together to ensure the stable operation of the system.

[0008] In a preferred embodiment, the hydraulic pump module (Pump 1) provides the required total flow in both the pilot hole mode and the expansion hole mode, but in the pilot hole mode the flow is completely supplied to the second motor module (M2).

[0009] In a preferred embodiment, the hydraulic control system controls the flow direction and flow rate of the hydraulic oil through a hydraulic pump module, a directional valve module and a logic valve module, and the logic for switching between different working modes is as follows: Calculate the current flow rate of the target control loop using the flow rate formula , the flow formula is: ; A represents the cross-sectional area of ​​the hydraulic pipeline, v represents the flow rate of the hydraulic oil, Q represents the flow rate of the hydraulic oil, and then according to the working requirements of the system, set the target flow rate of the hydraulic oil required by the first motor module (M1) and the second motor module (M2). and ; The target control circuit refers to the hydraulic oil control circuit of the first motor module (M1) or the second motor module (M2); Use the PID control algorithm to adjust the flow rate so that the actual flow rate of the target control loop is close to the target flow rate. The PID control algorithm adjustment logic is: ; Indicates the hydraulic flow value adjusted by the output of the PID controller of the target control loop. Indicates the predetermined flow target value of the target control loop, Indicates the current flow rate of the target control loop. is the proportional gain, which affects the proportional term of the error. The controller output is proportional to the current error. The calculation formula is: ; is the integral gain, which is used to eliminate steady-state errors. The integral term takes into account the cumulative effect of the error over time. The calculation formula is: ; This item is used to help the system eliminate long-term deviations when reaching the target flow; is the differential gain, which predicts the changing trend of the error. The differential term reflects the speed of error change. The calculation formula is: ; This item is used to reduce the oscillation and overshoot of the system response, where: It represents the difference between the system state of the current target control loop and the expected state. P represents the proportional control amount of the proportional part, I represents the integral control amount of the integral part, and D represents the differential control amount of the differential part.

[0010] Technical effects and advantages of the present invention: The present invention can switch between the guide hole mode and the expansion hole mode quickly and smoothly. This function ensures the accurate distribution of hydraulic oil in different operation stages, reducing the downtime and efficiency loss caused by mode switching. In the guide hole mode, by cutting off the hydraulic oil supply of the first motor module (M1), the system realizes the follow-up state of the motor, effectively reducing the consumption of hydraulic oil. This design not only reduces energy consumption, but also reduces unnecessary mechanical wear, thereby extending the service life of the equipment. The coordinated work of the directional valve module and the logic valve module ensures the accurate control of the flow direction of the hydraulic oil, avoids the problem of equipment overload or shortage caused by uneven flow distribution, and improves the stability and safety of the system.

[0011] The present invention adopts a modular design, and each functional module is independent and clear. This structure not only simplifies the design and installation process of the system, but also makes daily maintenance and fault diagnosis easier, reducing maintenance costs. By optimizing the control and distribution of the hydraulic system, the system improves the overall working efficiency of the borehole drilling rig. In the guide hole mode, M1 is disengaged from work, reducing unnecessary mechanical operations, helping to reduce the failure rate and ensure operational safety. Due to the optimization of the use of hydraulic oil, the system reduces the total consumption of hydraulic oil and reduces the impact on the environment. In addition, the reduced energy consumption also helps to reduce carbon emissions and improve the environmental performance of the system. The hydraulic control system of the present invention not only improves the operating efficiency and safety of the borehole drilling rig, but also reduces operating costs and environmental impacts, and has broad application prospects and market value. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to facilitate understanding by those skilled in the art, the present invention is further described below in conjunction with the accompanying drawings; Figure 1 A schematic diagram of the principle of a hydraulic control system for motor disengagement of a raise boring machine.

[0013] Figure 2 The present invention is a structural schematic diagram of a hydraulic control system for motor disengagement of a raise drilling rig. DETAILED DESCRIPTION

[0014] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0015] Reference Figure 1 - Figure 2 The following embodiments are obtained: Embodiment 1: A hydraulic control system for motor disengagement of a skydrilling rig, comprising: a hydraulic pump module, a first motor module, a second motor module, a directional valve module, a first reversing module, a second reversing module, and a hydraulic pipeline module, which are communicatively connected. The hydraulic pump module is used to provide the hydraulic oil required by the system; the first motor module (M1) receives hydraulic oil and drives gears in the hole expansion mode, and enters the follow-up state in the hole guide mode; the second motor module (M2) receives hydraulic oil and drives gears in both the hole expansion mode and the hole guide mode; the directional valve module controls the flow direction of the hydraulic oil through electrical signals to achieve switching between the hole guide mode and the hole expansion mode; the first reversing module loses its one-way function in the hole guide mode, opens the oil circuit to allow the first motor module (M1) to enter the follow-up state; the second reversing module, in the hole guide mode, together with the first reversing module and M1, forms a hydraulic oil circuit for the pump working condition, and in the hole expansion mode, is used to ensure that the hydraulic oil enters M1, and at this time, the first reversing module and the second reversing module are both in the one-way valve mode (the hydraulic oil can be transferred from Figure 2The tip of the hydraulic oil flows to the round end, and cannot flow from the round end to the tip of the hydraulic oil. The second reversing module has only a one-way valve function and no other functions (it can be understood as a rectifier function, which prevents the hydraulic oil from passing through the first reversing module from the second reversing module in the hole expansion mode, and allows the hydraulic oil from the first reversing module to pass through the second reversing module to provide the first motor module with the hydraulic oil required for following in the hole expansion mode after the first reversing module loses its one-way function in the hole guide mode); a logic valve module, which cuts off the hydraulic oil originally supplied to the first motor module (M1) in the hole guide mode, so that it enters the following state, and resumes the supply in the hole expansion mode; a hydraulic pipeline module, which is responsible for conveying hydraulic oil and returning oil; the hydraulic control system switches between the hole guide mode and the hole expansion mode, wherein in the hole guide mode, the directional valve module controls the flow direction of the hydraulic oil when it is powered on, so that the first motor module (M1) is disengaged and enters the following state, and the second motor module (M2) receives all the hydraulic oil; in the hole expansion mode, when the directional valve module is not powered on, the hydraulic oil output by the hydraulic pump module is simultaneously distributed to the first motor module (M1) and the second motor module (M2).

[0016] The directional valve module controls the switching of the power-on state through an electrical signal to control the flow direction of the hydraulic oil to meet the needs of different working modes. The first reversing module (check valve 1) loses its one-way function in the guide hole mode, opens the oil circuit to make the first motor module (M1) enter the follow-up state and no longer receive hydraulic oil. The logic valve module cuts off the hydraulic oil originally supplied to the first motor module (M1) in the guide hole mode, making it enter the follow-up state, and resumes the supply in the expansion hole mode. When the hydraulic control system is in the expansion hole mode, the directional valve module is in the non-powered state, and the hydraulic oil output by the hydraulic pump module is simultaneously distributed to the first motor module (M1) and the second motor module (M2), so that the two drive the gears together to ensure the stable operation of the system. The hydraulic pump module (pump 1) provides the required total flow in both the guide hole mode and the expansion hole mode, but in the guide hole mode, the flow is completely supplied to the second motor module (M2).

[0017] The main function of the logic valve module is to manage and control the flow direction of the hydraulic oil to ensure the normal operation of the system in different modes. Specific functions include: Hydraulic oil flow direction management: In the guide hole mode, the logic valve module cuts off the hydraulic oil originally supplied to the first motor module (M1), so that M1 enters the follow-up state and no longer participates in the driving work. This control ensures that the hydraulic oil is centrally supplied to the second motor module (M2) to achieve the disengagement of M1. System mode switching: The logic valve module participates in the switching of system modes. When the system switches from the expansion mode to the guide hole mode, the logic valve module will reconfigure the flow direction of the hydraulic oil to ensure that the hydraulic oil is supplied according to the requirements of the guide hole mode.

[0018] The function of the hydraulic pump module (pump 1) is to provide the hydraulic oil required by the system. In the guide hole mode and the expansion hole mode, the output flow of the hydraulic pump module is used to drive the motor modules (M1 and M2) to ensure the normal operation of the system.

[0019] Function of the first motor module (M1): In the hole expansion mode, it receives hydraulic oil and drives the gears together with the second motor module (M2) to perform normal working functions. In the hole guide mode, M1 enters the follow-up state and no longer receives hydraulic oil, thus being out of work.

[0020] The second motor module (M2) functions as follows: In the hole expansion mode, it receives hydraulic oil and drives the gears together with the first motor module (M1). In the hole guide mode, M2 receives hydraulic oil alone and performs the system's working functions to ensure the stable operation of the equipment.

[0021] Function of the directional valve module: Control the flow direction of the hydraulic oil. The directional valve is powered or not powered by an electrical signal to switch the system's working mode. In the guide hole mode, the directional valve module is powered and distributes the hydraulic oil to M2; in the expansion hole mode, the directional valve module is not powered and the hydraulic oil is distributed to both M1 and M2.

[0022] Function of the first reversing module: In the guide hole mode, it loses the one-way function and opens the oil circuit to make the first motor module (M1) enter the follow-up state. In the expansion hole mode, it participates in the normal circulation of hydraulic oil to ensure the operation of the system.

[0023] Function of the second reversing module: In the guide hole mode, it forms a hydraulic oil circuit with the first reversing module and M1 for pump operation. In the expansion hole mode, it is used to ensure that the hydraulic oil enters M1. At this time, the first reversing module and the second reversing module are both in the one-way valve mode (the hydraulic oil can be Figure 2 The tip of the valve flows to the round end, but cannot flow from the round end to the tip of the valve. The second reversing module has only a one-way valve function and no other functions (it can be understood as a rectification function, which prevents the hydraulic oil from passing through the first reversing module from the second reversing module in the hole expansion mode, and allows the hydraulic oil to pass through the second reversing module from the first reversing module to provide the first motor module with the hydraulic oil required for follow-up after the first reversing module loses its one-way function in the hole guide mode).

[0024] Function of the hydraulic pipeline module: It is responsible for delivering hydraulic oil to each motor module and control valve. It connects the hydraulic pump module, motor module, directional valve module and other components to ensure the correct flow of hydraulic oil in the system.

[0025] Pilot hole mode: The system is set to pilot hole mode, which is usually selected by the operator or automatically detected and switched. State of the directional valve module: Directional valve module: In pilot hole mode, the directional valve is controlled by an electrical signal, that is, the directional valve is in the energized state. This means that the directional valve is in another position and the flow direction of the hydraulic oil will be switched. Operation of the first reversing module and the logic valve module: As the directional valve module is energized, the first reversing module and the logic valve module will start to work. First, the logic valve module will cut off the hydraulic oil originally supplied to M1, and at the same time, the first reversing module will lose its one-way function, opening the oil circuit so that M1 enters the pumping state (no longer drives the gear to work) under the joint action of the logic valve module and the first reversing module. Operation of the motor module: The first motor module (M1) and the second motor module (M2): The hydraulic oil provided by the hydraulic pump module (pump 1) is all distributed to M2. M1 follow-up work (disengaged state): M1 will enter the follow-up mode in the pilot hole mode, no longer receive hydraulic oil, and will perform the working function of the pump. Normal operation of M2: M2 works normally and receives all the hydraulic oil distributed by pump 1. M2 drives the gear alone to ensure the stable operation of the system. Flow consumption: Hydraulic oil consumption: In the guide hole mode, the hydraulic oil output by the hydraulic pump module (pump 1) is consumed by M2, and the flow is completely distributed to M2. M1 will enter the follow-up state to ensure the normal operation of the system in the guide hole mode.

[0026] Hole expansion mode: The system is set to hole expansion mode, which is usually selected by the operator or automatically detected and switched. Hydraulic pump module (pump 1): Pump 1 provides the hydraulic oil required by the system, and the total flow Q is delivered to the motor module through the hydraulic pipeline. The first motor module (M1) and the second motor module (M2): M1 and M2 receive hydraulic oil and drive the same gear at the same time to enable the system to operate normally. The power output of M1 and M2 enables the mechanical equipment to operate stably. The status of the directional valve module: Directional valve module: In the hole expansion mode, the directional valve is not controlled by an electrical signal, that is, the directional valve is in an unpowered state. This means that the directional valve remains in the initial default position and no hydraulic flow direction is switched. The operation of the motor module: The first motor module (M1) and the second motor module (M2): When the directional valve is not powered, the hydraulic oil provided by the hydraulic pump module (pump 1) is distributed to M1 and M2. M1 works normally: M1 continues to operate in the hole expansion mode, receives hydraulic oil and drives the gear, and performs its normal working functions. M2 works normally: At the same time, M2 also continues to work, receiving its allocated hydraulic oil, and drives the same gear together with M1 to ensure the stable operation of the system. Flow consumption: Hydraulic oil consumption: In the expansion mode, when the hydraulic oil output by the hydraulic pump module (pump 1) is consumed by M1 and M2, the flow of the two is not redistributed or bypassed, ensuring the normal operation of the system in the expansion mode.

[0027] Embodiment 2: In different working modes, the present invention adjusts the flow rate of hydraulic oil according to system requirements to ensure stable and efficient operation of the hydraulic system. The hydraulic control system controls the flow direction and flow rate of hydraulic oil through a hydraulic pump module, a directional valve module and a logic valve module. The logic for switching different working modes is as follows: Calculate the current flow rate of the target control loop using the flow rate formula , the flow formula is: A represents the cross-sectional area of ​​the hydraulic pipeline, v represents the flow rate of the hydraulic oil, and Q represents the flow rate of the hydraulic oil. Then, according to the working requirements of the system, the target flow rate of the hydraulic oil required by the first motor module (M1) and the second motor module (M2) is set. and ; The target control circuit refers to the hydraulic oil control circuit of the first motor module (M1) or the second motor module (M2); Use the PID control algorithm to adjust the flow rate so that the actual flow rate of the target control loop is close to the target flow rate. The PID control algorithm adjustment logic is: ; Indicates the hydraulic flow value adjusted by the output of the PID controller of the target control loop. Indicates the predetermined flow target value of the target control loop, Indicates the current flow rate of the target control loop. In the pilot hole mode, monitors and adjusts the flow distribution of the first motor (M1) and the second motor (M2) to ensure efficient operation of the system. is the proportional gain, which affects the proportional term of the error. The controller output is proportional to the current error. The calculation formula is: ; is the integral gain, which is used to eliminate steady-state errors. The integral term takes into account the cumulative effect of the error over time. The calculation formula is: ; This item is used to help the system eliminate long-term deviations when reaching the target flow; is the differential gain, which predicts the changing trend of the error. The differential term reflects the speed of error change. The calculation formula is: ; This item is used to reduce the oscillation and overshoot of the system response, where: It represents the difference between the system state of the current target control loop and the expected state. In the target control loop, the error is used to determine the intensity of the control action to be applied. The control output is calculated based on the error and is used to adjust the actuators in the system to make the actual flow closer to the target flow. For example, for the control loop of M1, the control output may adjust the corresponding valve opening size or pump speed. P represents the proportional control amount of the proportional part, I represents the integral control amount of the integral part, and D represents the differential control amount of the differential part.

[0028] PID controllers achieve flow regulation by adjusting the actuators (such as valves, pumps, etc.) in their respective control loops. For different control loops, this regulation ensures that the actual flow of each component is as close to the target flow as possible. In hydraulic systems, in most cases, such as in the expansion mode, multiple flow targets need to be adjusted simultaneously to ensure the overall stability and efficiency of the system. This requires multiple PID controllers to work in coordination to ensure both the individual needs of each component and the optimal overall performance of the system.

[0029] The above formulas are all dimensionless and numerical calculations. The formula is a formula for the most recent real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters in the formula are set by technicians in this field according to actual conditions.

[0030] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0031] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0032] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0033] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A hydraulic control system for motor disengagement of a raise boring machine, characterized in that: include: A hydraulic pump module is used to provide the hydraulic oil required by the system; The first motor module receives hydraulic oil and drives the gear in the hole expansion mode and enters a follow-up state in the hole guide mode; A second motor module receives hydraulic oil in both the hole expansion mode and the hole guide mode to drive the gear; Directional valve module, which controls the flow direction of hydraulic oil through electrical signals to achieve switching between the guide hole mode and the expansion hole mode; The first reversing module loses the one-way function in the guide hole mode, and opens the oil circuit to make the first motor module enter the follow-up state; The second reversing module, in the guide hole mode, together with the first reversing module and the first motor module, forms a hydraulic oil circuit of the pump working condition, and in the expansion hole mode, is used to ensure that the hydraulic oil enters the first motor module, and at this time, the first reversing module and the second reversing module are both in the one-way valve mode; The logic valve module cuts off the hydraulic oil originally supplied to the first motor module in the hole guiding mode, causing it to enter the follow-up state, and resumes the supply in the hole expanding mode; Hydraulic pipeline module, responsible for conveying hydraulic oil and returning oil; The hydraulic control system switches between a guide hole mode and a hole expansion mode; The directional valve module controls the switching of the power-on state through electrical signals to control the flow direction of the hydraulic oil to meet the needs of different working modes; The first reversing module loses its one-way function in the guide hole mode, opens the oil circuit and puts the first motor module into a follow-up state and no longer receives hydraulic oil; The logic valve module cuts off the hydraulic oil originally supplied to the first motor module in the guide hole mode, causing it to enter a follow-up state, and resumes the supply in the expansion hole mode; When the hydraulic control system is in the hole expansion mode, the directional valve module is in a non-powered state, and the hydraulic oil output by the hydraulic pump module is distributed to the first motor module and the second motor module at the same time, so that the two drive the gears together to ensure the stable operation of the system; The hydraulic pump module provides the required total flow in both the pilot hole mode and the expansion hole mode, but in the pilot hole mode the flow is completely supplied to the second motor module; The hydraulic control system controls the flow direction and flow of hydraulic oil through the hydraulic pump module, directional valve module and logic valve module to achieve the switching of different working modes. The specific logic is: Calculate the current flow rate of the target control loop using the flow rate formula , the flow formula is: ; A represents the cross-sectional area of ​​the hydraulic pipeline, v represents the flow rate of the hydraulic oil, Q represents the flow rate of the hydraulic oil, and then according to the working requirements of the system, the target flow rate of the hydraulic oil required by the first motor module and the second motor module is set and ; The target control circuit refers to the hydraulic oil control circuit of the first motor module or the second motor module; Use the PID control algorithm to adjust the flow rate so that the actual flow rate of the target control loop is close to the target flow rate. The PID control algorithm adjustment logic is: ; Indicates the hydraulic flow value adjusted by the output of the PID controller of the target control loop. Indicates the predetermined flow target value of the target control loop, Indicates the current flow rate of the target control loop. is the proportional gain, which affects the proportional term of the error. The controller output is proportional to the current error. The calculation formula is: ; is the integral gain, which is used to eliminate steady-state errors. The integral term takes into account the cumulative effect of the error over time. The calculation formula is: ; This item is used to help the system eliminate long-term deviations when reaching the target flow; is the differential gain, which predicts the changing trend of the error. The differential term reflects the speed of error change. The calculation formula is: ; This item is used to reduce the oscillation and overshoot of the system response, where: It represents the difference between the system state of the current target control loop and the expected state. P represents the proportional control amount of the proportional part, I represents the integral control amount of the integral part, and D represents the differential control amount of the differential part.

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