A multi-cylinder coordinated operation method and system based on adaptive control

Abstract

The present invention relates to the technical field of hydraulic cylinder push-slide operation, a multi-cylinder cooperative operation method and system based on adaptive control, including: judging whether the first middle slot reaches the initial stage line position, when reaching, calculating and controlling the real-time oil inlet speed according to the first real-time displacement error, monitoring the second control propulsion speed according to the real-time oil inlet speed, pushing the first middle slot at a fixed speed and fixed point according to the second control propulsion speed and the terminal stage line position, judging whether there is an adjacent middle slot, if so, identifying the adjacent oil inlet speed, using the adjacent middle slot, the adjacent oil inlet speed, the second control propulsion speed, and the adjacent push hydraulic cylinder to respectively update the first middle slot, the initial oil inlet speed, the initial correction propulsion speed, and the first push hydraulic cylinder, and returning to the step of pushing the first middle slot to move. The present invention can solve the problem that it takes a lot of manpower to manually monitor the pushing process of the push hydraulic cylinder.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic cylinder push-slide operation, and in particular to a multi-cylinder coordinated operation method and system based on adaptive control. Background Art

[0002] In the multi-cylinder hydraulic system of the driving machine, the coordinated motion control between the hydraulic cylinders is the key to achieve precise control. The push operation can push the coal wall cut by the coal mining machine to the scraper conveyor by using the multi-cylinder hydraulic system.

[0003] Affected by the complex working environment and equipment execution errors, the straightness of the hydraulic support will deviate after multiple pushing cycles. In addition, since the pushing hydraulic cylinder is affected by large load and variable load conditions when working, adjacent hydraulic cylinders are prone to coupling. For example, the pushing hydraulic cylinder pushes the middle groove of the scraper conveyor to move toward the coal wall. Because the middle grooves are connected by dumbbell pins, there is a certain margin in the connection between the two. When the adjacent pushing hydraulic cylinders are pushed, when the displacement difference exceeds the margin of the connection between the dumbbell pin and the middle groove, a coupling force will be generated, which will not only reduce the service life of the dumbbell pin, but also directly affect the precise control of straightness. At present, the pushing process of the pushing hydraulic cylinder is mainly monitored manually, which requires a lot of manpower. Summary of the invention

[0004] The present invention provides a multi-cylinder cooperative operation method and system based on adaptive control, the main purpose of which is to solve the problem that manual monitoring of the pushing process of the pushing hydraulic cylinder requires a lot of manpower.

[0005] To achieve the above object, the present invention provides a multi-cylinder coordinated operation method based on adaptive control, comprising:

[0006] According to a preset initial oil inlet speed, a first middle trough of the scraper conveyor is pushed to move by using a pre-built first push hydraulic cylinder, and a first real-time advancing speed of the first middle trough is monitored;

[0007] Determining whether the first middle slot reaches a preset initial stage line position according to the first real-time advancing speed;

[0008] When the first middle slot reaches the initial stage line position, the first real-time propulsion speed is subjected to propulsion error calculation according to the preset initial correction propulsion speed to obtain the first real-time displacement error;

[0009] According to the first real-time displacement error, the real-time oil inlet speed is calculated and controlled using a pre-constructed oil inlet control formula, wherein the oil inlet control formula is as follows:

[0010] ;

[0011] in, Indicates the real-time oil inlet speed regulation. Indicates the initial oil inlet speed, represents the fine-tuning coefficient, Indicates the time it takes for the first middle slot to reach the initial stage line position. represents the first real-time displacement error, Represents the hydraulic area of ​​the first shift hydraulic cylinder;

[0012] The first middle tank is moved according to the real-time oil inlet speed, and the second regulated propulsion speed of the first middle tank is monitored;

[0013] According to the second controlled propulsion speed and the preset terminal stage line position, the first middle slot is pushed at a fixed speed and fixed point;

[0014] Determine whether there is a preset adjacent middle slot to the first middle slot;

[0015] If the first middle groove has an adjacent middle groove, then identify the adjacent push hydraulic cylinder corresponding to the adjacent middle groove, and identify the adjacent oil inlet speed of the adjacent middle groove according to the second control propulsion speed;

[0016] Using the adjacent middle groove, adjacent oil inlet speed, second regulating propulsion speed, and adjacent push hydraulic cylinder, respectively update the first middle groove, initial oil inlet speed, initial correction propulsion speed, and first push hydraulic cylinder, and return to the above step of using the pre-built first push hydraulic cylinder to push the first middle groove of the scraper conveyor to move according to the preset initial oil inlet speed;

[0017] If the first middle tank does not have an adjacent middle tank, the multi-cylinder coordinated operation based on adaptive control is completed.

[0018] Optionally, judging whether the first middle slot reaches a preset initial stage line position according to the first real-time advancing speed includes:

[0019] Drawing a first propulsion speed curve in a pre-constructed real-time speed coordinate system according to the first real-time propulsion speed, wherein the horizontal axis of the real-time speed coordinate system represents time and the vertical axis represents real-time speed;

[0020] The first propulsion speed curve is integrated with the moving distance using the following formula to obtain the first real-time integrated distance:

[0021] ;

[0022] in, represents the first real-time integrated distance, t represents the pushing time of the first real-time pushing speed, Indicates the first real-time advancement speed;

[0023] Obtaining the line position of the starting stage, and calculating the first stage distance according to the line position of the starting stage and the line position of the initial stage;

[0024] Determining whether the first real-time integrated distance is equal to the first stage distance;

[0025] If the first real-time integrated distance is not equal to the first stage distance, the first middle slot has not reached the initial stage line position;

[0026] If the first real-time integrated distance is equal to the first stage distance, the first middle slot reaches the initial stage line position.

[0027] Optionally, the calculating the propulsion error of the first real-time propulsion speed according to the preset initial correction propulsion speed to obtain the first real-time displacement error includes:

[0028] Draw a corrected propulsion speed line segment in the real-time speed coordinate system according to the initial corrected propulsion speed;

[0029] The pre-constructed speed accumulation error formula is used to perform a difference integral calculation on the correction propulsion speed line segment and the first propulsion speed curve to obtain a first real-time displacement error.

[0030] Optionally, the speed cumulative error formula is as follows:

[0031] ;

[0032] in, Indicates the initial correction advance speed.

[0033] Optionally, the moving the first middle tank according to the regulated real-time oil inlet speed and monitoring the second regulated propulsion speed of the first middle tank includes:

[0034] According to the preset speed detection time, the first middle slot is moved by adjusting the real-time oil inlet speed to obtain a second real-time propulsion speed;

[0035] Draw a second propulsion speed curve in the real-time speed coordinate system according to the second real-time propulsion speed;

[0036] Calculating a second real-time cumulative displacement of the second propulsion speed curve according to a preset speed cumulative integral formula;

[0037] According to the second real-time accumulated displacement, the second control propulsion speed is calculated using a pre-constructed speed equivalent formula, wherein the speed equivalent formula is as follows:

[0038] ;

[0039] in, Indicates the second regulation advancement speed, Indicates the second real-time accumulated displacement, Indicates the speed detection duration.

[0040] Optionally, the speed cumulative integral formula is as follows:

[0041] ;

[0042] in, Indicates the second real-time advance speed.

[0043] Optionally, the method of pushing the first middle slot at a fixed speed and a fixed point according to the second controlled propulsion speed and a preset terminal stage line position includes:

[0044] According to the second controlled propulsion speed, the first middle slot is pushed at a constant speed to obtain a constant speed middle slot;

[0045] According to the second controlled propulsion speed, the second real-time propulsion distance of the constant speed middle groove is calculated using the following formula:

[0046] ;

[0047] in, Indicates the second real-time pushing distance, Indicates the duration of the second regulation advancement speed;

[0048] According to the line position in the initial stage, the line position in the final stage and the second real-time accumulated displacement, the second advancing distance threshold is calculated using the following formula:

[0049] ;

[0050] in, Indicates the second advancement distance threshold, Indicates the line height of the line in the initial stage, Indicates the line height of the termination stage line, Indicates the absolute value symbol;

[0051] Determining whether the second real-time pushing distance is equal to the second pushing distance threshold;

[0052] If the second real-time pushing distance is not equal to the second pushing distance threshold, return to the above step of pushing the first middle slot at a constant speed according to the second controlled pushing speed;

[0053] If the second real-time pushing distance is equal to the second pushing distance threshold, the pushing of the first middle slot is stopped, and the fixed-speed and fixed-point pushing of the first middle slot is completed.

[0054] Optionally, before identifying the adjacent oil inlet speed of the adjacent middle groove according to the second regulated propulsion speed, the method further includes:

[0055] Extracting oil inlet speed gradients in a preset oil inlet speed gradient set in sequence, performing a hydraulic propulsion speed test on the adjacent push hydraulic cylinder according to the oil inlet speed gradient, and obtaining a real-time gradient test speed;

[0056] Calculating a real-time gradient test average speed of the real-time gradient test speed;

[0057] Constructing a corresponding relationship between the average speed of the real-time gradient test and the average speed-oil speed of the oil inlet speed gradient;

[0058] An average speed-oil speed relationship table is constructed according to the average speed-oil speed correspondence relationship.

[0059] Optionally, after completing the multi-cylinder coordinated operation based on adaptive control, the method further includes:

[0060] Obtain the positioning middle slot for completing the fixed speed and fixed point push;

[0061] Using the termination stage line position to measure the straightness of the positioning middle groove, and obtain the offset value of each positioning middle groove;

[0062] The position of the positioning middle slot is fine-tuned according to the offset value until the offset value is smaller than a preset offset threshold.

[0063] To achieve the above object, the present invention further provides a multi-cylinder coordinated operation system based on adaptive control, comprising:

[0064] The initial stage pushing module is used to push the first middle trough of the scraper conveyor to move according to the preset initial oil inlet speed by using the pre-built first push hydraulic cylinder, and monitor the first real-time pushing speed of the first middle trough;

[0065] The real-time oil inlet speed calculation module is used to determine whether the first middle slot reaches the preset initial stage line position according to the first real-time propulsion speed; when the first middle slot reaches the initial stage line position, the propulsion error of the first real-time propulsion speed is calculated according to the preset initial correction propulsion speed to obtain the first real-time displacement error; according to the first real-time displacement error, the real-time oil inlet speed is calculated and controlled using the pre-constructed oil inlet control formula, wherein the oil inlet control formula is as follows:

[0066] ;

[0067] in, Indicates the real-time oil inlet speed regulation. Indicates the initial oil inlet speed, represents the fine-tuning coefficient, Indicates the time it takes for the first middle slot to reach the initial stage line position. represents the first real-time displacement error, Represents the hydraulic area of ​​the first shift hydraulic cylinder;

[0068] A fixed-speed and fixed-point pushing module is used to move the first middle tank according to the real-time oil inlet speed, and monitor the second regulated pushing speed of the first middle tank; according to the second regulated pushing speed and the preset termination stage line position, the first middle tank is pushed at a fixed speed and fixed point;

[0069] The adjacent circulation pushing module is used to determine whether there is a preset adjacent middle slot in the first middle slot; if there is an adjacent middle slot in the first middle slot, the adjacent pushing hydraulic cylinder corresponding to the adjacent middle slot is identified, and the adjacent oil inlet speed of the adjacent middle slot is identified according to the second controlled pushing speed; the adjacent middle slot, the adjacent oil inlet speed, the second controlled pushing speed, and the adjacent pushing hydraulic cylinder are used to respectively update the first middle slot, the initial oil inlet speed, the initial correction pushing speed, and the first pushing hydraulic cylinder, and return to the above step of using the pre-built first pushing hydraulic cylinder to push the first middle slot of the scraper conveyor to move according to the preset initial oil inlet speed.

[0070] In order to solve the above problem, the present invention further provides an electronic device, the electronic device comprising:

[0071] a memory storing at least one instruction; and

[0072] The processor executes the instructions stored in the memory to implement the multi-cylinder coordinated operation method based on adaptive control as described above.

[0073] In order to solve the above problems, the present invention also provides a computer-readable storage medium, in which at least one instruction is stored. The at least one instruction is executed by a processor in an electronic device to implement the above-mentioned multi-cylinder collaborative operation method based on adaptive control.

[0074] In order to solve the problem described in the background technology, the present invention first monitors the first real-time propulsion speed through a preset initial stage line position, and then calculates the first real-time displacement error of the first real-time propulsion speed. Specifically, when monitoring the first real-time propulsion speed, it is necessary to use the first push hydraulic cylinder to push the first middle slot of the scraper conveyor to move according to the initial oil inlet speed, so as to achieve the purpose of monitoring the first real-time propulsion speed of the first middle slot. In the monitoring process, it is judged whether the first middle slot has reached the initial stage line position according to the first real-time propulsion speed. When the first middle slot reaches the initial stage line position, the propulsion error of the first real-time propulsion speed can be calculated according to the initial correction propulsion speed to obtain the first real-time displacement error. Then, according to the first real-time displacement error, the real-time oil inlet speed is calculated and regulated using a pre-constructed oil inlet control formula. At this time, the first middle slot can be moved according to the regulated real-time oil inlet speed, and the second regulated propulsion speed of the first middle slot can be monitored. When the first real-time propulsion speed is regulated to the second regulated propulsion speed, the second regulated propulsion speed of the first middle slot can be calculated according to the second regulated propulsion speed. The first middle slot is pushed at a fixed speed and a fixed point according to the propulsion speed and the preset termination stage line position. Since the first middle slot may be the last middle slot, it is necessary to determine whether there is an adjacent middle slot for the first middle slot. If there is an adjacent middle slot for the first middle slot, the adjacent push hydraulic cylinder corresponding to the adjacent middle slot is identified. Since it is necessary to keep the speed of the first middle slot and the adjacent middle slot consistent as much as possible, the adjacent oil inlet speed of the adjacent middle slot can be identified according to the second controlled propulsion speed, and then the adjacent middle slot, the adjacent oil inlet speed, the second controlled propulsion speed, and the adjacent push hydraulic cylinder are used to update the first middle slot, the initial oil inlet speed, the initial correction propulsion speed, and the first push hydraulic cylinder respectively, and return to the above step of using the pre-built first push hydraulic cylinder to push the first middle slot of the scraper conveyor to move according to the preset initial oil inlet speed. If there is no adjacent middle slot for the first middle slot, it indicates that the first middle slot is the last middle slot. At this time, it is equivalent to completing the fixed-speed and fixed-point push of the first middle slot, and the multi-cylinder collaborative operation based on adaptive control can be completed. Therefore, the present invention can solve the problem that it takes a lot of manpower to manually monitor the shifting process of the shifting hydraulic cylinder. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] Figure 1 A schematic flow chart of a multi-cylinder coordinated operation method based on adaptive control provided by an embodiment of the present invention;

[0076] Figure 2 A functional module diagram of a multi-cylinder cooperative operation system based on adaptive control provided by an embodiment of the present invention;

[0077] Figure 3A schematic diagram of the structure of an electronic device for implementing the multi-cylinder coordinated operation method based on adaptive control provided by an embodiment of the present invention.

[0078] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0079] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0080] The embodiment of the present application provides a multi-cylinder collaborative operation method based on adaptive control. The execution subject of the multi-cylinder collaborative operation method based on adaptive control includes but is not limited to at least one of the electronic devices such as a server and a terminal that can be configured to execute the method provided by the embodiment of the present application. In other words, the multi-cylinder collaborative operation method based on adaptive control can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, etc.

[0081] Reference Figure 1 FIG. 1 is a flow chart of a method for coordinated operation of multiple cylinders based on adaptive control according to an embodiment of the present invention. In this embodiment, the method for coordinated operation of multiple cylinders based on adaptive control includes:

[0082] S1. According to a preset initial oil inlet speed, a pre-built first-stage push hydraulic cylinder is used to push the first-stage middle trough of the scraper conveyor to move, and a first real-time advancement speed of the first-stage middle trough is monitored.

[0083] It can be explained that the initial oil inlet speed refers to the pre-set speed of inputting hydraulic oil from the oil inlet of the first push hydraulic cylinder, and the first push hydraulic cylinder refers to the push hydraulic cylinder in the first position during the pushing operation. The pushing operation refers to the process of using the push hydraulic cylinder to push the coal wall cut by the coal mining machine onto the conveyor on the coal mining working face.

[0084] Furthermore, the scraper conveyor, also known as a chain conveyor, is a conveyor that uses a scraper chain to pull and transport bulk materials in a trough. When working, the head transmission component starts to drive the sprocket on the head shaft to rotate. The scraper chain bypasses the sprocket to run in a stepless closed cycle. As the scraper chain circulates, the coal or material is moved horizontally along the open chute until it reaches the head of the head and then unloaded. The scraper conveyor is mainly composed of a middle trough, a chain, a scraper and a traction system. The middle trough is the main part of the scraper conveyor, which is used to bear and transport materials. The first middle trough refers to the middle trough in the first position during the pushing operation (that is, the middle trough corresponding to the first push hydraulic cylinder). The first real-time propulsion speed refers to the real-time speed of driving the first middle trough to propel according to the initial oil inlet speed.

[0085] It can be explained that the push hydraulic cylinder includes: hydraulic cylinder, dumbbell pin and hydraulic support and other components. In the pushing operation, the push hydraulic cylinder pushes the middle slot of the scraper conveyor to move toward the coal wall. Because the middle slots are connected by dumbbell pins, there is a certain margin between the dumbbell pins connected between adjacent hydraulic cylinders. When the adjacent push hydraulic cylinders are in operation, if the displacement difference between the two does not exceed the margin of the dumbbell pin, no coupling force will be generated. Otherwise, coupling will occur. When excessive coupling occurs, it will not only reduce the service life of the dumbbell pin, but also directly affect the precise control of the straightness of the pushing operation. The margin refers to the difference between the maximum load and the rated load of the dumbbell pin under normal working conditions. Each push hydraulic cylinder pushes a middle slot correspondingly. The push hydraulic cylinders arranged in sequence use the push hydraulic cylinders to push the corresponding middle slot to a predetermined position in turn during the pushing operation.

[0086] S2. Determine whether the first middle slot reaches a preset initial stage line position according to the first real-time advancing speed.

[0087] It can be explained that the initial stage line position refers to the spatial horizontal line position used to determine whether the next adjacent pushing hydraulic cylinder of the pushing hydraulic cylinder is started. In the pushing operation, it is generally necessary to push all the middle slots to the same horizontal line, and all the middle slots cannot be pushed up at the same time. Therefore, the middle slots need to be pushed up to the specified spatial horizontal line position in sequence. In the process of pushing the middle slots in sequence, when the previous middle slot is pushed up to the initial stage line position, it is necessary to start pushing the next middle slot immediately, because pushing two adjacent middle slots requires two adjacent pushing hydraulic cylinders to push, and the two adjacent pushing hydraulic cylinders are connected by dumbbell pins. If the distance between the two adjacent pushing hydraulic cylinders is too large, the dumbbell pin will cause wear or even breakage. Therefore, it is necessary to start pushing the next middle slot immediately when the previous middle slot is pushed up to the initial stage line position (that is, the height difference between the two pushing hydraulic cylinders cannot be greater than the connection margin of the dumbbell pin). The line position in the initial stage may be 0.07 m above the horizontal plane where the unactivated push hydraulic cylinders are located, that is, when the previous push hydraulic cylinder rises 0.07 m, the next adjacent push hydraulic cylinder begins to push the corresponding middle groove upward.

[0088] In the embodiment of the present invention, judging whether the first middle slot reaches a preset initial stage line position according to the first real-time advancement speed includes:

[0089] Drawing a first propulsion speed curve in a pre-constructed real-time speed coordinate system according to the first real-time propulsion speed, wherein the horizontal axis of the real-time speed coordinate system represents time and the vertical axis represents real-time speed;

[0090] The first propulsion speed curve is integrated with the moving distance using the following formula to obtain the first real-time integrated distance:

[0091] ;

[0092] in, represents the first real-time integrated distance, t represents the pushing time of the first real-time pushing speed, Indicates the first real-time advancement speed;

[0093] Obtaining the line position of the starting stage, and calculating the first stage distance according to the line position of the starting stage and the line position of the initial stage;

[0094] Determining whether the first real-time integrated distance is equal to the first stage distance;

[0095] If the first real-time integrated distance is not equal to the first stage distance, the first middle slot has not reached the initial stage line position;

[0096] If the first real-time integrated distance is equal to the first stage distance, the first middle slot reaches the initial stage line position.

[0097] It can be explained that the starting stage line position refers to the spatial horizontal plane position of the push hydraulic press when it is not started. The first stage distance refers to the distance difference between the starting stage line position and the initial stage line position.

[0098] S3. When the first middle slot reaches the initial stage line position, a propulsion error is calculated for the first real-time propulsion speed according to a preset initial correction propulsion speed to obtain a first real-time displacement error.

[0099] Furthermore, the initial correction advancing speed refers to the preset standard speed of the first middle slot reaching the initial stage line position, for example: the initial correction advancing speed can be 0.05m / s. The first real-time displacement error refers to the difference integral of the first real-time advancing speed and the initial correction advancing speed.

[0100] In the embodiment of the present invention, the calculation of the propulsion error of the first real-time propulsion speed according to the preset initial correction propulsion speed to obtain the first real-time displacement error includes:

[0101] Draw a corrected propulsion speed line segment in the real-time speed coordinate system according to the initial corrected propulsion speed;

[0102] The pre-constructed speed accumulation error formula is used to perform a difference integral calculation on the correction propulsion speed line segment and the first propulsion speed curve to obtain a first real-time displacement error.

[0103] It can be understood that the corrected propulsion speed line segment refers to a line segment whose vertical axis value is the initial corrected propulsion speed and is within the first real-time propulsion speed propulsion time period.

[0104] In detail, the speed cumulative error formula is as follows:

[0105] ;

[0106] in, Indicates the initial correction advance speed.

[0107] S4. According to the first real-time displacement error, a pre-constructed oil inlet control formula is used to calculate and control the real-time oil inlet speed.

[0108] It can be understood that the regulated real-time oil inlet speed refers to the oil inlet speed after the oil inlet speed of the push hydraulic cylinder is regulated according to the first real-time displacement error.

[0109] In detail, the oil inlet control formula is as follows:

[0110] ;

[0111] in, Indicates the real-time oil inlet speed regulation. Indicates the initial oil inlet speed, represents the fine-tuning coefficient, Indicates the time it takes for the first middle slot to reach the initial stage line position. represents the first real-time displacement error, represents the hydraulic area of ​​the first shift hydraulic cylinder.

[0112] It is understandable that the larger the first real-time displacement error is, the more unstable the push hydraulic cylinder is and the larger the push deviation is. Therefore, it is necessary to reduce the oil inlet speed to reduce the push speed of the push hydraulic cylinder to gain more adjustment time and improve safety.

[0113] S5. Move the first middle tank according to the regulated real-time oil inlet speed, and monitor the second regulated propulsion speed of the first middle tank.

[0114] It is understandable that after obtaining the real-time oil inlet speed, the real-time oil inlet speed can be used to control the pushing speed of the push hydraulic cylinder, and then the push hydraulic cylinder is used to push the first middle tank. The second controlled pushing speed refers to the rising speed of the first middle tank when the first middle tank is pushed according to the real-time oil inlet speed.

[0115] In the embodiment of the present invention, the first middle tank is moved according to the real-time oil inlet speed, and the second regulated propulsion speed of the first middle tank is monitored, including:

[0116] According to the preset speed detection time, the first middle slot is moved by adjusting the real-time oil inlet speed to obtain a second real-time propulsion speed;

[0117] Draw a second propulsion speed curve in the real-time speed coordinate system according to the second real-time propulsion speed;

[0118] Calculating a second real-time cumulative displacement of the second propulsion speed curve according to a preset speed cumulative integral formula;

[0119] According to the second real-time accumulated displacement, the second control propulsion speed is calculated using a pre-constructed speed equivalent formula, wherein the speed equivalent formula is as follows:

[0120] ;

[0121] in, Indicates the second regulation advancement speed, Indicates the second real-time accumulated displacement, Indicates the speed detection duration.

[0122] It can be explained that the speed detection duration refers to the duration of speed detection on the first middle tank under the regulation of real-time oil inlet speed, for example, it can be 0.1s.

[0123] In the embodiment of the present invention, the speed cumulative integral formula is as follows:

[0124] ;

[0125] in, Indicates the second real-time advance speed.

[0126] S6. Push the first middle slot at a fixed speed and a fixed point according to the second controlled propulsion speed and the preset terminal stage line position.

[0127] It is understandable that the termination stage line position refers to the horizontal plane position where the hydraulic cylinder stops pushing. The fixed speed and fixed point push refers to the process of pushing the first middle slot according to the second control propulsion speed, and stopping pushing the first middle slot when the first middle slot reaches the termination stage line position. In the process of setting the speed of the first middle slot according to the second control propulsion speed, even if the real-time oil inlet speed is unchanged, the first middle slot may still experience speed fluctuations. Therefore, it is necessary to fine-tune the oil inlet speed to ensure that the speed fluctuation of the first middle slot is not too large, that is, when the propulsion speed is smaller than the second control propulsion speed, the oil inlet speed is appropriately increased; when the propulsion speed is larger than the second control propulsion speed, the oil inlet speed is appropriately reduced.

[0128] In the embodiment of the present invention, the method of pushing the first middle slot at a fixed speed and a fixed point according to the second controlled pushing speed and the preset terminal stage line position includes:

[0129] According to the second controlled propulsion speed, the first middle slot is pushed at a constant speed to obtain a constant speed middle slot;

[0130] According to the second controlled propulsion speed, the second real-time propulsion distance of the constant speed middle groove is calculated using the following formula:

[0131] ;

[0132] in, Indicates the second real-time pushing distance, Indicates the duration of the second regulation advancement speed;

[0133] According to the line position in the initial stage, the line position in the final stage and the second real-time accumulated displacement, the second advancing distance threshold is calculated using the following formula:

[0134] ;

[0135] in, Indicates the second advancement distance threshold, Indicates the line height of the line in the initial stage, Indicates the line height of the termination stage line, Indicates the absolute value symbol;

[0136] Determining whether the second real-time pushing distance is equal to the second pushing distance threshold;

[0137] If the second real-time pushing distance is not equal to the second pushing distance threshold, return to the above step of pushing the first middle slot at a constant speed according to the second controlled pushing speed;

[0138] If the second real-time pushing distance is equal to the second pushing distance threshold, the pushing of the first middle slot is stopped, and the fixed-speed and fixed-point pushing of the first middle slot is completed.

[0139] It can be explained that the fixed speed middle slot refers to the middle slot that is ascended according to the second controlled propulsion speed. The second real-time pushing distance refers to the height to which the fixed speed middle slot is pushed and raised at the second controlled propulsion speed. The second pushing distance threshold refers to the rising height at which the fixed speed middle slot reaches the termination stage line at the second controlled propulsion speed.

[0140] S7. Determine whether there is a preset adjacent middle slot in the first middle slot.

[0141] It can be explained that the adjacent middle slot refers to the next adjacent middle slot of the first middle slot.

[0142] If the first middle groove has an adjacent middle groove, execute S8, identify the adjacent push hydraulic cylinder corresponding to the adjacent middle groove, and identify the adjacent oil inlet speed of the adjacent middle groove according to the second control propulsion speed.

[0143] It can be understood that the adjacent oil inlet speed refers to the oil inlet speed of the push hydraulic cylinder corresponding to the adjacent middle groove when the adjacent middle groove rises at the second regulated propulsion speed.

[0144] In the embodiment of the present invention, before identifying the adjacent oil inlet speed of the adjacent middle tank according to the second regulated propulsion speed, the method further includes:

[0145] Extracting oil inlet speed gradients in a preset oil inlet speed gradient set in sequence, performing a hydraulic propulsion speed test on the adjacent push hydraulic cylinder according to the oil inlet speed gradient, and obtaining a real-time gradient test speed;

[0146] Calculating a real-time gradient test average speed of the real-time gradient test speed;

[0147] Constructing a corresponding relationship between the average speed of the real-time gradient test and the average speed-oil speed of the oil inlet speed gradient;

[0148] An average speed-oil speed relationship table is constructed according to the average speed-oil speed correspondence relationship.

[0149] It can be understood that the oil inlet speed gradient set refers to the preset oil inlet speeds with a certain gradient difference, for example: 1L / min, 2L / min, 3L / min, 4L / min, 5L / min, etc., and the real-time gradient test speed refers to the real-time propulsion speed of the adjacent push hydraulic cylinder under the oil inlet speed gradient. The real-time gradient test average speed refers to the average speed corresponding to the real-time gradient test speed, which can be expressed by calculating the displacement of the adjacent push hydraulic cylinder under the real-time gradient test speed per unit time. The smaller the gradient between the oil inlet speed gradient sets, the higher the accuracy of the average speed-oil speed relationship table.

[0150] S9, using the adjacent middle groove, adjacent oil inlet speed, second control propulsion speed, and adjacent push hydraulic cylinder to respectively update the first middle groove, initial oil inlet speed, initial correction propulsion speed, and first push hydraulic cylinder.

[0151] It can be explained that, since it is necessary to use the push hydraulic cylinders arranged in sequence to push the corresponding middle slot to the predetermined position in the pushing operation, the entire pushing (lifting) process is a cyclic process, and the pushing process of every two adjacent push hydraulic cylinders is the same, therefore, the adjacent middle slot, adjacent oil inlet speed, second adjustment push speed, and adjacent push hydraulic cylinder can be used to update the first middle slot, initial oil inlet speed, initial correction push speed, and first push hydraulic cylinder respectively, and repeat the pushing. That is, return to the above step of using the pre-built first push hydraulic cylinder to push the first middle slot of the scraper conveyor to move according to the preset initial oil inlet speed.

[0152] If the first middle tank does not have an adjacent middle tank, S10 is executed to complete the multi-cylinder coordinated operation based on adaptive control.

[0153] It can be understood that when there is no adjacent middle slot in the first middle slot, it indicates that the first middle slot has been updated to the last middle slot. At this time, the constant speed and fixed point pushing of the middle slot can be completed.

[0154] In the embodiment of the present invention, after completing the multi-cylinder coordinated operation based on adaptive control, the method further includes:

[0155] Obtain the positioning middle slot for completing the fixed speed and fixed point push;

[0156] Using the termination stage line position to measure the straightness of the positioning middle groove, and obtain the offset value of each positioning middle groove;

[0157] The position of the positioning middle slot is fine-tuned according to the offset value until the offset value is smaller than a preset offset threshold.

[0158] It can be understood that the straightness measurement refers to the process of measuring the neatness of each middle groove that has completed the fixed speed and fixed point push. If all the middle grooves that have completed the fixed speed and fixed point push are perfectly located at the end stage line position, it means that the straightness is good. If the degree of disorder between the middle groove that has completed the fixed speed and fixed point push and the end stage line position is worse, the straightness is worse. The offset value refers to the deviation value of the position of the middle groove from the end stage line position.

[0159] In order to solve the problem described in the background technology, the present invention first monitors the first real-time propulsion speed through a preset initial stage line position, and then calculates the first real-time displacement error of the first real-time propulsion speed. Specifically, when monitoring the first real-time propulsion speed, it is necessary to use the first push hydraulic cylinder to push the first middle slot of the scraper conveyor to move according to the initial oil inlet speed, so as to achieve the purpose of monitoring the first real-time propulsion speed of the first middle slot. In the monitoring process, it is judged whether the first middle slot has reached the initial stage line position according to the first real-time propulsion speed. When the first middle slot reaches the initial stage line position, the propulsion error of the first real-time propulsion speed can be calculated according to the initial correction propulsion speed to obtain the first real-time displacement error. Then, according to the first real-time displacement error, the real-time oil inlet speed is calculated and regulated using a pre-constructed oil inlet control formula. At this time, the first middle slot can be moved according to the regulated real-time oil inlet speed, and the second regulated propulsion speed of the first middle slot can be monitored. When the first real-time propulsion speed is regulated to the second regulated propulsion speed, the second regulated propulsion speed of the first middle slot can be calculated according to the second regulated propulsion speed. The first middle slot is pushed at a fixed speed and a fixed point according to the propulsion speed and the preset termination stage line position. Since the first middle slot may be the last middle slot, it is necessary to determine whether there is an adjacent middle slot for the first middle slot. If there is an adjacent middle slot for the first middle slot, the adjacent push hydraulic cylinder corresponding to the adjacent middle slot is identified. Since it is necessary to keep the speed of the first middle slot and the adjacent middle slot consistent as much as possible, the adjacent oil inlet speed of the adjacent middle slot can be identified according to the second controlled propulsion speed, and then the adjacent middle slot, the adjacent oil inlet speed, the second controlled propulsion speed, and the adjacent push hydraulic cylinder are used to update the first middle slot, the initial oil inlet speed, the initial correction propulsion speed, and the first push hydraulic cylinder respectively, and return to the above step of using the pre-built first push hydraulic cylinder to push the first middle slot of the scraper conveyor to move according to the preset initial oil inlet speed. If there is no adjacent middle slot for the first middle slot, it indicates that the first middle slot is the last middle slot. At this time, it is equivalent to completing the fixed-speed and fixed-point push of the first middle slot, and the multi-cylinder collaborative operation based on adaptive control can be completed. Therefore, the present invention can solve the problem that it takes a lot of manpower to manually monitor the shifting process of the shifting hydraulic cylinder.

[0160] like Figure 2 , which is a functional module diagram of a multi-cylinder cooperative operation system based on adaptive control provided by an embodiment of the present invention.

[0161] The multi-cylinder coordinated operation system 100 based on adaptive control of the present invention can be installed in an electronic device. According to the functions to be implemented, the multi-cylinder coordinated operation system 100 based on adaptive control can include an initial stage push module 101, a real-time oil inlet speed calculation module 102, a fixed speed and fixed point push module 103 and an adjacent cycle push module 104. The module of the present invention can also be called a unit, which refers to a series of computer program segments that can be executed by an electronic device processor and can complete fixed functions, which are stored in the memory of the electronic device.

[0162] The initial stage pushing module 101 is used to push the first middle trough of the scraper conveyor to move according to the preset initial oil inlet speed by using the pre-built first push hydraulic cylinder, and monitor the first real-time pushing speed of the first middle trough;

[0163] The real-time oil inlet speed calculation module 102 is used to determine whether the first middle slot reaches the preset initial stage line position according to the first real-time propulsion speed; when the first middle slot reaches the initial stage line position, the propulsion error of the first real-time propulsion speed is calculated according to the preset initial correction propulsion speed to obtain the first real-time displacement error; according to the first real-time displacement error, the real-time oil inlet speed is calculated and controlled using the pre-constructed oil inlet control formula, wherein the oil inlet control formula is as follows:

[0164] ;

[0165] in, Indicates the real-time oil inlet speed regulation. Indicates the initial oil inlet speed, represents the fine-tuning coefficient, Indicates the time it takes for the first middle slot to reach the initial stage line position. represents the first real-time displacement error, Represents the hydraulic area of ​​the first shift hydraulic cylinder;

[0166] The fixed-speed fixed-point pushing module 103 is used to move the first middle tank according to the real-time oil inlet speed, and monitor the second regulated pushing speed of the first middle tank; according to the second regulated pushing speed and the preset termination stage line position, the first middle tank is pushed at a fixed speed and a fixed point;

[0167] The adjacent circulation pushing module 104 is used to determine whether there is a preset adjacent middle slot in the first middle slot; if there is an adjacent middle slot in the first middle slot, identify the adjacent push hydraulic cylinder corresponding to the adjacent middle slot, and identify the adjacent oil inlet speed of the adjacent middle slot according to the second control pushing speed; use the adjacent middle slot, the adjacent oil inlet speed, the second control pushing speed, and the adjacent push hydraulic cylinder to respectively update the first middle slot, the initial oil inlet speed, the initial correction pushing speed, and the first push hydraulic cylinder, and return to the above step of using the pre-built first push hydraulic cylinder to push the first middle slot of the scraper conveyor to move according to the preset initial oil inlet speed.

[0168] In detail, the modules in the multi-cylinder cooperative operation system 100 based on adaptive control in the embodiment of the present invention are used in the same manner as described above. Figure 1 The multi-cylinder coordinated operation method based on adaptive control described in the invention has the same technical means and can produce the same technical effects, so it will not be repeated here.

[0169] like Figure 3 , which is a schematic diagram of the structure of an electronic device for implementing a multi-cylinder cooperative operation method based on adaptive control provided by an embodiment of the present invention.

[0170] The electronic device 1 may include a processor 10, a memory 11 and a bus 12, and may also include a computer program stored in the memory 11 and executable on the processor 10, such as a multi-cylinder cooperative operation method program based on adaptive control.

[0171] The memory 11 includes at least one type of readable storage medium, including flash memory, mobile hard disk, multimedia card, card-type memory (such as SD or DX memory, etc.), magnetic memory, disk, optical disk, etc. The memory 11 may be an internal storage unit of the electronic device 1 in some embodiments, such as a mobile hard disk of the electronic device 1. The memory 11 may also be an external storage device of the electronic device 1 in other embodiments, such as a plug-in mobile hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 1. Further, the memory 11 also includes an internal storage unit of the electronic device 1 and an external storage device. The memory 11 can not only be used to store application software and various types of data installed in the electronic device 1, such as the code of the multi-cylinder cooperative operation method program based on adaptive control, but also be used to temporarily store data that has been output or is to be output.

[0172] The processor 10 may be composed of an integrated circuit in some embodiments, for example, a single packaged integrated circuit, or a plurality of packaged integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and combinations of various control chips. The processor 10 is the control core (Control Unit) of the electronic device, and uses various interfaces and lines to connect various components of the entire electronic device, and executes or executes programs or modules (such as multi-cylinder cooperative operation method programs based on adaptive control, etc.) stored in the memory 11, and calls data stored in the memory 11 to execute various functions of the electronic device 1 and process data.

[0173] The bus 12 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus 12 may be divided into an address bus, a data bus, a control bus, etc. The bus 12 is configured to realize connection and communication between the memory 11 and at least one processor 10, etc.

[0174] Figure 3 Only an electronic device with components is shown, and those skilled in the art will understand that Figure 3 The structure shown does not constitute a limitation on the electronic device 1, and may include fewer or more components than shown in the figure, or combine certain components, or arrange the components differently.

[0175] For example, although not shown, the electronic device 1 may also include a power source (such as a battery) for supplying power to various components. Preferably, the power source may be logically connected to the at least one processor 10 through a power management device, so that the power management device can realize functions such as charging management, discharging management, and power consumption management. The power source may also include one or more DC or AC power sources, recharging devices, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components. The electronic device 1 may also include a variety of sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be repeated here.

[0176] Furthermore, the electronic device 1 may also include a network interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is generally used to establish a communication connection between the electronic device 1 and other electronic devices.

[0177] Optionally, the electronic device 1 may further include a user interface, which may be a display, an input unit (such as a keyboard), or a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode) touch device. The display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the electronic device 1 and to display a visual user interface.

[0178] The adaptive control-based multi-cylinder cooperative operation method program stored in the memory 11 of the electronic device 1 is a combination of multiple instructions. When running in the processor 10, it can achieve:

[0179] According to a preset initial oil inlet speed, a first middle trough of the scraper conveyor is pushed to move by using a pre-built first push hydraulic cylinder, and a first real-time advancing speed of the first middle trough is monitored;

[0180] Determining whether the first middle slot reaches a preset initial stage line position according to the first real-time advancing speed;

[0181] When the first middle slot reaches the initial stage line position, the first real-time propulsion speed is subjected to propulsion error calculation according to the preset initial correction propulsion speed to obtain the first real-time displacement error;

[0182] According to the first real-time displacement error, the real-time oil inlet speed is calculated and controlled using a pre-constructed oil inlet control formula, wherein the oil inlet control formula is as follows:

[0183] ;

[0184] in, Indicates the real-time oil inlet speed regulation. Indicates the initial oil inlet speed, represents the fine-tuning coefficient, Indicates the time it takes for the first middle slot to reach the initial stage line position. represents the first real-time displacement error, Represents the hydraulic area of ​​the first shift hydraulic cylinder;

[0185] The first middle tank is moved according to the real-time oil inlet speed, and the second regulated propulsion speed of the first middle tank is monitored;

[0186] According to the second controlled propulsion speed and the preset terminal stage line position, the first middle slot is pushed at a fixed speed and fixed point;

[0187] Determine whether there is a preset adjacent middle slot to the first middle slot;

[0188] If the first middle groove has an adjacent middle groove, then identify the adjacent push hydraulic cylinder corresponding to the adjacent middle groove, and identify the adjacent oil inlet speed of the adjacent middle groove according to the second control propulsion speed;

[0189] Using the adjacent middle groove, adjacent oil inlet speed, second regulating propulsion speed, and adjacent push hydraulic cylinder, respectively update the first middle groove, initial oil inlet speed, initial correction propulsion speed, and first push hydraulic cylinder, and return to the above step of using the pre-built first push hydraulic cylinder to push the first middle groove of the scraper conveyor to move according to the preset initial oil inlet speed;

[0190] If the first middle tank does not have an adjacent middle tank, the multi-cylinder coordinated operation based on adaptive control is completed.

[0191] Specifically, the specific implementation method of the processor 10 for the above instructions can refer to Figures 1 to 3 The description of the relevant steps in the corresponding embodiments will not be repeated here.

[0192] Furthermore, if the module / unit integrated in the electronic device 1 is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, and a read-only memory (ROM).

[0193] The present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor of an electronic device, the computer program can implement:

[0194] According to a preset initial oil inlet speed, a first middle trough of the scraper conveyor is pushed to move by using a pre-built first push hydraulic cylinder, and a first real-time advancing speed of the first middle trough is monitored;

[0195] Determining whether the first middle slot reaches a preset initial stage line position according to the first real-time advancing speed;

[0196] When the first middle slot reaches the initial stage line position, the first real-time propulsion speed is subjected to propulsion error calculation according to the preset initial correction propulsion speed to obtain the first real-time displacement error;

[0197] According to the first real-time displacement error, the real-time oil inlet speed is calculated and controlled using a pre-constructed oil inlet control formula, wherein the oil inlet control formula is as follows:

[0198] ;

[0199] in, Indicates the real-time oil inlet speed regulation. Indicates the initial oil inlet speed, represents the fine-tuning coefficient, Indicates the time it takes for the first middle slot to reach the initial stage line position. represents the first real-time displacement error, Represents the hydraulic area of ​​the first shift hydraulic cylinder;

[0200] Moving the first middle tank according to the real-time oil inlet speed, and monitoring the second regulated propulsion speed of the first middle tank;

[0201] According to the second controlled propulsion speed and the preset terminal stage line position, the first middle slot is pushed at a fixed speed and fixed point;

[0202] Determine whether there is a preset adjacent middle slot to the first middle slot;

[0203] If the first middle groove has an adjacent middle groove, then identify the adjacent push hydraulic cylinder corresponding to the adjacent middle groove, and identify the adjacent oil inlet speed of the adjacent middle groove according to the second control propulsion speed;

[0204] Using the adjacent middle groove, adjacent oil inlet speed, second regulating propulsion speed, and adjacent push hydraulic cylinder, respectively update the first middle groove, initial oil inlet speed, initial correction propulsion speed, and first push hydraulic cylinder, and return to the above step of using the pre-built first push hydraulic cylinder to push the first middle groove of the scraper conveyor to move according to the preset initial oil inlet speed;

[0205] If the first middle tank does not have an adjacent middle tank, the multi-cylinder coordinated operation based on adaptive control is completed.

[0206] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, systems and methods can be implemented in other ways. For example, the system embodiments described above are only illustrative, and actual implementation may have other division methods.

[0207] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0208] In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0209] It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0210] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A multi-cylinder coordinated operation method based on adaptive control, characterized in that: The method comprises: According to a preset initial oil inlet speed, a first middle trough of the scraper conveyor is pushed to move by using a pre-built first push hydraulic cylinder, and a first real-time advancing speed of the first middle trough is monitored; Determining whether the first middle slot reaches a preset initial stage line position according to the first real-time advancing speed; When the first middle slot reaches the initial stage line position, the first real-time propulsion speed is subjected to propulsion error calculation according to the preset initial correction propulsion speed to obtain the first real-time displacement error; According to the first real-time displacement error, the real-time oil inlet speed is calculated and controlled using a pre-constructed oil inlet control formula, wherein the oil inlet control formula is as follows: ； in, Indicates the real-time oil inlet speed regulation. Indicates the initial oil inlet speed, represents the fine-tuning coefficient, Indicates the time it takes for the first middle slot to reach the initial stage line position. represents the first real-time displacement error, Represents the hydraulic area of ​​the first shift hydraulic cylinder; The first middle tank is moved according to the real-time oil inlet speed, and the second regulated propulsion speed of the first middle tank is monitored; According to the second controlled propulsion speed and the preset terminal stage line position, the first middle slot is pushed at a fixed speed and fixed point; Determine whether there is a preset adjacent middle slot to the first middle slot; If the first middle groove has an adjacent middle groove, then identify the adjacent push hydraulic cylinder corresponding to the adjacent middle groove, and identify the adjacent oil inlet speed of the adjacent middle groove according to the second control propulsion speed; Using the adjacent middle groove, adjacent oil inlet speed, second regulating propulsion speed, and adjacent push hydraulic cylinder, respectively update the first middle groove, initial oil inlet speed, initial correction propulsion speed, and first push hydraulic cylinder, and return to the above step of using the pre-built first push hydraulic cylinder to push the first middle groove of the scraper conveyor to move according to the preset initial oil inlet speed; If the first middle tank does not have an adjacent middle tank, the multi-cylinder coordinated operation based on adaptive control is completed.

2. The multi-cylinder coordinated operation method based on adaptive control as claimed in claim 1, characterized in that: The step of judging whether the first middle slot reaches a preset initial stage line position according to the first real-time advancing speed includes: Drawing a first propulsion speed curve in a pre-constructed real-time speed coordinate system according to the first real-time propulsion speed, wherein the horizontal axis of the real-time speed coordinate system represents time and the vertical axis represents real-time speed; The first propulsion speed curve is integrated with the moving distance using the following formula to obtain the first real-time integrated distance: ； in, represents the first real-time integrated distance, t represents the pushing time of the first real-time pushing speed, Indicates the first real-time advancement speed; Obtaining the line position of the starting stage, and calculating the first stage distance according to the line position of the starting stage and the line position of the initial stage; Determining whether the first real-time integrated distance is equal to the first stage distance; If the first real-time integrated distance is not equal to the first stage distance, the first middle slot has not reached the initial stage line position; If the first real-time integrated distance is equal to the first stage distance, the first middle slot reaches the initial stage line position.

3. The multi-cylinder coordinated operation method based on adaptive control as claimed in claim 2, characterized in that: The step of calculating the propulsion error of the first real-time propulsion speed according to the preset initial correction propulsion speed to obtain the first real-time displacement error includes: Draw a corrected propulsion speed line segment in the real-time speed coordinate system according to the initial corrected propulsion speed; The pre-constructed speed accumulation error formula is used to perform a difference integral calculation on the correction propulsion speed line segment and the first propulsion speed curve to obtain a first real-time displacement error.

4. The multi-cylinder coordinated operation method based on adaptive control as claimed in claim 3, characterized in that: The speed cumulative error formula is as follows: ； in, Indicates the initial correction advance speed.

5. The multi-cylinder coordinated operation method based on adaptive control as claimed in claim 4, characterized in that: The step of moving the first middle tank according to the real-time oil inlet speed is performed, and monitoring the second regulated propulsion speed of the first middle tank is performed, including: According to the preset speed detection time, the first middle slot is moved by adjusting the real-time oil inlet speed to obtain a second real-time propulsion speed; Draw a second propulsion speed curve in the real-time speed coordinate system according to the second real-time propulsion speed; Calculating a second real-time cumulative displacement of the second propulsion speed curve according to a preset speed cumulative integral formula; According to the second real-time accumulated displacement, the second control propulsion speed is calculated using a pre-constructed speed equivalent formula, wherein the speed equivalent formula is as follows: ； in, Indicates the second regulation advancement speed, Indicates the second real-time accumulated displacement, Indicates the speed detection duration.

6. The multi-cylinder coordinated operation method based on adaptive control as claimed in claim 5, characterized in that: The speed cumulative integral formula is as follows: ； in, Indicates the second real-time advance speed.

7. The multi-cylinder coordinated operation method based on adaptive control as claimed in claim 6, characterized in that: The method of pushing the first middle slot at a fixed speed and a fixed point according to the second controlled propulsion speed and the preset terminal stage line position includes: According to the second controlled propulsion speed, the first middle slot is pushed at a constant speed to obtain a constant speed middle slot; According to the second controlled propulsion speed, the second real-time propulsion distance of the constant speed middle groove is calculated using the following formula: ； in, Indicates the second real-time pushing distance, Indicates the duration of the second regulation advancement speed; According to the line position in the initial stage, the line position in the final stage and the second real-time accumulated displacement, the second advancing distance threshold is calculated using the following formula: ； in, Indicates the second advancement distance threshold, Indicates the line height of the line in the initial stage, Indicates the line height of the termination stage line, Indicates the absolute value symbol; Determining whether the second real-time pushing distance is equal to the second pushing distance threshold; If the second real-time pushing distance is not equal to the second pushing distance threshold, return to the above step of pushing the first middle slot at a constant speed according to the second controlled pushing speed; If the second real-time pushing distance is equal to the second pushing distance threshold, the pushing of the first middle slot is stopped, and the fixed-speed and fixed-point pushing of the first middle slot is completed.

8. The multi-cylinder coordinated operation method based on adaptive control as claimed in claim 7, characterized in that: Before identifying the adjacent oil inlet speed of the adjacent middle groove according to the second regulated propulsion speed, the method further includes: Extracting oil inlet speed gradients in a preset oil inlet speed gradient set in sequence, performing a hydraulic propulsion speed test on the adjacent push hydraulic cylinder according to the oil inlet speed gradient, and obtaining a real-time gradient test speed; Calculating a real-time gradient test average speed of the real-time gradient test speed; Constructing a corresponding relationship between the average speed of the real-time gradient test and the average speed-oil speed of the oil inlet speed gradient; An average speed-oil speed relationship table is constructed according to the average speed-oil speed correspondence relationship.

9. The method for multi-cylinder coordinated operation based on adaptive control as claimed in claim 8, characterized in that: After completing the multi-cylinder coordinated operation based on adaptive control, the method further includes: Obtain the positioning middle slot for completing the fixed speed and fixed point push; Using the termination stage line position to measure the straightness of the positioning middle groove, and obtain the offset value of each positioning middle groove; The position of the positioning middle slot is fine-tuned according to the offset value until the offset value is smaller than a preset offset threshold.

10. A multi-cylinder coordinated operation system based on adaptive control, characterized in that: The system comprises: The initial stage pushing module is used to push the first middle trough of the scraper conveyor to move according to the preset initial oil inlet speed by using the pre-built first push hydraulic cylinder, and monitor the first real-time pushing speed of the first middle trough; The real-time oil inlet speed calculation module is used to determine whether the first middle slot reaches the preset initial stage line position according to the first real-time propulsion speed; when the first middle slot reaches the initial stage line position, the propulsion error of the first real-time propulsion speed is calculated according to the preset initial correction propulsion speed to obtain the first real-time displacement error; according to the first real-time displacement error, the real-time oil inlet speed is calculated and controlled using the pre-constructed oil inlet control formula, wherein the oil inlet control formula is as follows: ； in, Indicates the real-time oil inlet speed regulation. Indicates the initial oil inlet speed, represents the fine-tuning coefficient, Indicates the time it takes for the first middle slot to reach the initial stage line position. represents the first real-time displacement error, Represents the hydraulic area of ​​the first shift hydraulic cylinder; A fixed-speed and fixed-point pushing module is used to move the first middle tank according to the real-time oil inlet speed, and monitor the second regulated pushing speed of the first middle tank; according to the second regulated pushing speed and the preset termination stage line position, the first middle tank is pushed at a fixed speed and fixed point; The adjacent circulation pushing module is used to determine whether there is a preset adjacent middle slot in the first middle slot; if there is an adjacent middle slot in the first middle slot, the adjacent pushing hydraulic cylinder corresponding to the adjacent middle slot is identified, and the adjacent oil inlet speed of the adjacent middle slot is identified according to the second controlled pushing speed; the adjacent middle slot, the adjacent oil inlet speed, the second controlled pushing speed, and the adjacent pushing hydraulic cylinder are used to respectively update the first middle slot, the initial oil inlet speed, the initial correction pushing speed, and the first pushing hydraulic cylinder, and return to the above step of using the pre-built first pushing hydraulic cylinder to push the first middle slot of the scraper conveyor to move according to the preset initial oil inlet speed.

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