Static pressure supporting cylinder control method, device and equipment and storage medium

Abstract

The invention discloses a static pressure supporting cylinder control method, device and equipment and a storage medium, and relates to the technical field of static pressure cylinder servo control, and the static pressure supporting cylinder control method comprises the steps that a controller and a hydraulic power unit are started, and a static pressure supporting cylinder is controlled based on a PID control algorithm so as to start the static pressure supporting cylinder; judging whether the initial position of the target connecting position of a piston rod and a cylinder body in the static pressure supporting cylinder is located in a buffer area or not, and judging whether an integral term in a PID control algorithm is started or not according to the corresponding first judgment result so as to obtain a corresponding second judgment result; and starting an integral term in a PID control algorithm according to the second judgment result, so as to control the target joint in the static pressure supporting cylinder to reciprocate in a working area in the static pressure supporting cylinder based on the integral term. According to the method, the position of the target connecting position is judged, whether the integral term in the PID control algorithm is started or not is judged according to the position of the target connecting position, and overshoot motion of the static pressure supporting cylinder is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of hydrostatic cylinder servo control, and in particular to a hydrostatic support cylinder control method, device, equipment and storage medium. Background Art

[0002] The hydraulic cylinder of the electro-hydraulic servo fatigue testing machine can be divided into two categories: ordinary friction cylinder and hydrostatic support cylinder. Since hydrostatic support technology can significantly reduce friction, high-performance electro-hydraulic servo fatigue testing machines usually use hydrostatic support cylinders to obtain better dynamic response performance. However, once the hydrostatic cylinder loses control, due to the fast moving speed, the piston rod can easily hit the cylinder heads at both ends in an instant, causing damage to the cylinder. Therefore, a buffer zone of about 20mm is set on the cylinder heads at both ends of the hydrostatic cylinder, which is equivalent to a brake device under out-of-control conditions to prevent out-of-control damage to the cylinder's self-protection. The middle of the buffer zones on both sides is the working area.

[0003] At present, the control method of the hydrostatic cylinder is that the controller starts the PID (proportional-integral-derivative control, i.e., proportional-integral-derivative control algorithm) closed-loop control, and sets the command to make the hydrostatic cylinder move upward at a uniform speed to the 0 position. In this case, the hydrostatic cylinder first moves upward slowly. When it leaves the buffer zone and enters the working area, the cylinder will accelerate upward out of control, surpassing the 0 position for a distance and then slowly returning to the 0 position. This abnormal overshoot movement can easily cause sudden accidents such as human injury, damage to the specimen or equipment. The reason for this phenomenon is that the buffer zones at both ends of the hydrostatic cylinder will hinder the rapid movement of the cylinder. The PID control algorithm has proportional and integral terms. The integral term will continue to accumulate until the cylinder starts to move. When the cylinder leaves the buffer zone, the integral term is already very large or even saturated, and it will accelerate upward. When it reaches the 0 position, it cannot stop and will continue to move upward. Only when the integral term gradually decreases to a normal value will the cylinder return to the 0 position. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a hydrostatic support cylinder control method, device, equipment and storage medium, which can timely start the integral term in the PID control algorithm according to the position of the connection between the piston rod and the cylinder body in the hydrostatic support cylinder, thereby avoiding the overshoot movement of the hydrostatic support cylinder. The specific scheme is as follows:

[0005] In a first aspect, the present application discloses a static pressure support cylinder control method, comprising:

[0006] Turning on a controller and a hydraulic power unit of a preset static pressure support cylinder, and controlling the preset static pressure support cylinder based on a PID control algorithm corresponding to the preset static pressure support cylinder to start the preset static pressure support cylinder;

[0007] After the preset hydrostatic support cylinder is started, determining whether an initial position of a target connection point where a piston rod in the preset hydrostatic support cylinder is connected to a cylinder body is located in a buffer zone in the preset hydrostatic support cylinder, and determining whether to start an integral term in the PID control algorithm according to a corresponding first determination result, so as to obtain a corresponding second determination result;

[0008] The integral term in the PID control algorithm is turned on according to the second judgment result, so as to control the target connection in the preset hydrostatic support cylinder to reciprocate in the working area of ​​the preset hydrostatic support cylinder based on the integral term in the PID control algorithm.

[0009] Optionally, controlling the preset static pressure support cylinder based on a PID control algorithm corresponding to the preset static pressure support cylinder includes:

[0010] A target control algorithm for obtaining an actuator drive value corresponding to the preset hydrostatic support cylinder using the PID control algorithm;

[0011] A control signal sent by a controller corresponding to the preset hydrostatic support cylinder is obtained, and the preset hydrostatic support cylinder is controlled according to the target control algorithm and the control signal.

[0012] Optionally, the determining whether the initial position of the target connection point where the piston rod and the cylinder body in the preset static pressure support cylinder are connected is located in a buffer zone in the preset static pressure support cylinder includes:

[0013] Determining whether the current startup operation of the preset static pressure support cylinder is the first startup operation within a preset time period;

[0014] If the current start-up operation of the preset hydrostatic support cylinder is the first start-up operation within a preset time period, determining that the initial position of the target connection is located in a buffer zone in the preset hydrostatic support cylinder;

[0015] If the current start-up operation of the preset hydrostatic support cylinder is not the first start-up operation within a preset time period, a preset position determination method is used to determine whether the initial position of the target connection is located in the buffer zone in the preset hydrostatic support cylinder.

[0016] Optionally, judging whether to enable the integral term in the PID control algorithm according to the corresponding first judgment result to obtain the corresponding second judgment result includes:

[0017] If the first judgment result indicates that the initial position of the target connection is located in the buffer zone, obtaining the second judgment result indicating that the integral item is allowed to be enabled;

[0018] If the first judgment result indicates that the initial position of the target connection is not located in the buffer zone, then the second judgment result indicating that the integral term is refused to be turned on is obtained.

[0019] Optionally, starting the integral term in the PID control algorithm according to the second judgment result includes:

[0020] If the second judgment result indicates that the integral term is allowed to be turned on, turning on the integral term in the PID control algorithm;

[0021] If the second judgment result indicates that the integral term is refused to be turned on, the integral term in the PID control algorithm is controlled to be in a closed state.

[0022] Optionally, starting the integral term in the PID control algorithm according to the second judgment result includes:

[0023] The host computer application software is used to send a target instruction to the controller corresponding to the preset static pressure support cylinder, and the controller and the target instruction are used to start the integral term in the PID control algorithm.

[0024] Optionally, before starting the integral term in the PID control algorithm according to the second judgment result, the method further includes:

[0025] If the initial position of the target connection is in the buffer zone, the preset moving speed and the preset moving position corresponding to the piston rod are sent to the controller by using the host computer application software;

[0026] The controller is used to control the target connection to move to the working area at the preset moving speed.

[0027] In a second aspect, the present application provides a static pressure support cylinder control device, comprising:

[0028] A static pressure cylinder starting module, used to start the controller and the hydraulic power unit of the preset static pressure support cylinder, and control the preset static pressure support cylinder based on the PID control algorithm corresponding to the preset static pressure support cylinder to start the preset static pressure support cylinder;

[0029] a judgment result acquisition module, used for judging whether the initial position of the target connection point where the piston rod and the cylinder body of the preset static pressure support cylinder are connected is located in the buffer zone of the preset static pressure support cylinder after the preset static pressure support cylinder is started, and judging whether to start the integral term in the PID control algorithm according to the corresponding first judgment result, so as to obtain the corresponding second judgment result;

[0030] An integral term activation module is used to activate the integral term in the PID control algorithm according to the second judgment result, so as to control the target connection in the preset hydrostatic support cylinder to reciprocate in the working area of ​​the preset hydrostatic support cylinder based on the integral term in the PID control algorithm.

[0031] In a third aspect, the present application provides an electronic device, including:

[0032] Memory, used to store computer programs;

[0033] A processor is used to execute the computer program to implement the aforementioned hydrostatic support cylinder control method.

[0034] In a fourth aspect, the present application provides a computer-readable storage medium for storing a computer program, wherein the computer program implements the aforementioned hydrostatic support cylinder control method when executed by a processor.

[0035] The present application first turns on the controller and hydraulic power unit of the preset hydrostatic support cylinder, and controls the preset hydrostatic support cylinder based on the PID control algorithm corresponding to the preset hydrostatic support cylinder to start the preset hydrostatic support cylinder, and then after the preset hydrostatic support cylinder is started, it is determined whether the initial position of the target connection where the piston rod and the cylinder body in the preset hydrostatic support cylinder are connected is located in the buffer zone in the preset hydrostatic support cylinder, and whether to turn on the integral term in the PID control algorithm according to the corresponding first judgment result to obtain the corresponding second judgment result, and finally the integral term in the PID control algorithm is turned on according to the second judgment result, so as to control the target connection in the preset hydrostatic support cylinder to reciprocate in the working area of ​​the preset hydrostatic support cylinder based on the integral term in the PID control algorithm. It can be seen that the present application avoids the problem of turning on the integral term when the target connection is located in the buffer zone, resulting in the feedback and command not coinciding, thereby generating overshoot motion, by judging the initial position of the target connection when the system is turned on, and turning on the integral term in the PID control algorithm when the target connection is located in the working area. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0037] Figure 1 A flow chart of a static pressure support cylinder control method disclosed in this application;

[0038] Figure 2 The present invention discloses a flow chart of a static pressure support cylinder control method; wherein (a) is a flow chart of the static pressure support cylinder control method, and (b) is a schematic diagram of the operation steps;

[0039] Figure 3 A schematic diagram of a static pressure support cylinder structure disclosed in the present application; wherein (a) is a static pressure support cylinder structure diagram, and (b) is a static pressure support cylinder component position indication diagram;

[0040] Figure 4 A schematic diagram of a static pressure support cylinder structure disclosed in the present application; wherein (a) is a static pressure support cylinder structure diagram, and (b) is a static pressure support cylinder component position indication diagram;

[0041] Figure 5 A PID control algorithm flow chart disclosed in this application;

[0042] Figure 6 A flow chart of an automatic control method for a static pressure support cylinder disclosed in the present application;

[0043] Figure 7 This is a flow chart of a method for automatically controlling a static pressure support cylinder disclosed in the present application; wherein (a) is a flow chart of the method for automatically controlling a static pressure support cylinder, and (b) is a schematic diagram of the operation steps;

[0044] Figure 8 This is a schematic structural diagram of a static pressure support cylinder control device disclosed in this application;

[0045] Fig. 9 This is a structural diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0046] 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.

[0047] At present, the control method of the hydrostatic cylinder is to directly open the integral term, proportional term and differential term in the PID control algorithm, which may cause the feedback and command in the hydrostatic cylinder to not coincide, thereby causing the problem of overshoot motion. To this end, the present application provides a hydrostatic support cylinder control method, which enables the integral term in the PID control algorithm according to the position of the connection between the piston rod and the cylinder body, so that the feedback and the command coincide, thereby avoiding the generation of overshoot motion.

[0048] See also Figure 1 As shown, an embodiment of the present invention discloses a static pressure support cylinder control method, comprising:

[0049] Step S11, start the controller and the hydraulic power unit of the preset hydrostatic support cylinder, and control the preset hydrostatic support cylinder based on the PID control algorithm corresponding to the preset hydrostatic support cylinder to start the preset hydrostatic support cylinder.

[0050] In this embodiment, the process of controlling the hydrostatic support cylinder based on the PID control algorithm specifically includes: using the PID control algorithm to obtain the target control algorithm of the actuator drive value corresponding to the hydrostatic support cylinder; obtaining the control signal sent by the controller corresponding to the hydrostatic support cylinder, and controlling the hydrostatic support cylinder according to the target control algorithm and the control signal; specifically, using the PID control algorithm to calculate the error obtained according to the piston rod position to obtain the control algorithm of the actuator drive value, that is, the target control algorithm; after obtaining the target control algorithm, according to the control signal sent by the controller, the hydrostatic support cylinder can be controlled by using the above target control algorithm. It should be noted that in this embodiment, the hydraulic control unit is the oil supply device of the hydrostatic support cylinder, and the hydraulic control unit presses the oil into the hydrostatic support cylinder to drive the piston cylinder in the hydrostatic support cylinder to move; in addition, in this embodiment, using the PID control algorithm to control the hydrostatic support cylinder specifically uses the differential term and proportional term in the PID control algorithm to control the hydrostatic support cylinder. By controlling the hydrostatic support cylinder by using differential and proportional terms to start the hydrostatic support cylinder, the problem of overshooting of the hydrostatic support cylinder caused by starting the integral term when the target connection between the piston rod and the cylinder body is located in the buffer zone at the initial moment is avoided.

[0051] Step S12: After the preset hydrostatic support cylinder is started, determine whether the initial position of the target connection between the piston rod and the cylinder body in the preset hydrostatic support cylinder is located in the buffer zone in the preset hydrostatic support cylinder, and determine whether to turn on the integral term in the PID control algorithm according to the corresponding first judgment result to obtain the corresponding second judgment result.

[0052] In this embodiment, the overall process of determining the switch of the integral term according to the position of the target connection is as follows: Figure 2As shown, the process of judging whether the target connection between the piston rod and the cylinder body is located in the buffer zone of the hydrostatic support cylinder may specifically include: judging whether the current startup operation of the hydrostatic support cylinder is the first startup operation within a preset time period; if the current startup operation of the hydrostatic support cylinder is the first startup operation within a preset time period, then determining that the initial position of the target connection is located in the buffer zone of the hydrostatic support cylinder; if the current startup operation of the hydrostatic support cylinder is not the first startup operation within a preset time period, then using a preset position judgment method to judge whether the initial position of the target connection is located in the buffer zone of the hydrostatic support cylinder; in a specific embodiment, if the hydrostatic support cylinder is opened for the first time within a preset time period, for example, within a time period of 24 hours after the hydrostatic support cylinder was last opened, then determining that the target connection is located in the buffer zone of the hydrostatic support cylinder; in another specific embodiment, if the hydrostatic support cylinder is not opened for the first time within the preset time, then the target connection may be located in the buffer zone of the hydrostatic support cylinder, or may be located in the working area of ​​the hydrostatic support cylinder, then using a preset position judgment method to judge the position of the target connection at this time according to the actual situation. It should be noted that the buffer zone is located at 20 mm at the top and bottom of the cylinder body part, such as Figure 3 and Figure 4 As shown in the pressure oil part of the hydrostatic support cylinder, when the hydrostatic support cylinder is completed after one work, the pressure oil will not flow out of the cylinder body immediately, but will slowly seep out of the cylinder body. Therefore, the target connection will slowly slide down from the working area to the buffer zone. After 24 hours, it can be determined that the pressure oil has completely seeped out of the cylinder body. Therefore, it can be determined that the target connection is located in the buffer zone in the hydrostatic support cylinder.

[0053] In this embodiment, the process of determining whether to turn on the integral term in the PID control algorithm according to the first judgment result to obtain the corresponding second judgment result may specifically include: if the first judgment result indicates that the initial position of the target connection is located in the buffer zone, then obtaining the second judgment result indicating that the integral term is allowed to be turned on; if the first judgment result indicates that the initial position of the target connection is not located in the buffer zone, then obtaining the second judgment result indicating that the integral term is refused to be turned on. It can be understood that when the target connection is located in the buffer zone, turning on the integral term will cause the occurrence of overshoot motion of the hydrostatic support cylinder, while when the target connection is located in the working zone, overshoot motion will not occur. At this time, the integral term of the PID control algorithm is turned on, and the current position error of the piston rod is calculated by P (Proportional, i.e., proportional term), I (Integral, i.e., integral term) and D (Derivative, i.e., differential term) respectively, to obtain the control algorithm of the actuator drive value; and the hydrostatic support cylinder is controlled by using the above control algorithm so that the hydrostatic support cylinder starts to work normally, wherein the calculation principle of the PID control algorithm is as follows: Figure 5 As shown, is the proportional gain, is the integral gain, , is the differential gain, Error is the current error, represents summation, Process is the controlled object, Setpoint is the current given value, That is, Error. It should be noted that the reason for overshoot is that there are buffers at both ends of the hydrostatic cylinder, which will prevent the cylinder from moving at normal speed. The PID control algorithm turns on the integral term, which will continue to accumulate errors and cause the cylinder to move faster. When the cylinder leaves the buffer, the integral term is already very large or even saturated, causing the cylinder to move upward more quickly. When it reaches the 0 position, it cannot stop and will continue to move upward. Only when the integral term gradually decreases to a normal value will the cylinder return to the 0 position. By judging the position of the target connection and judging whether to turn on the integral term in the PID control algorithm based on the judgment result, it is ensured that overshoot does not occur and the safety of the system is improved.

[0054] Step S13: starting the integral term in the PID control algorithm according to the second judgment result, so as to control the target connection in the preset hydrostatic support cylinder to reciprocate in the working area of ​​the preset hydrostatic support cylinder based on the integral term in the PID control algorithm.

[0055] In this embodiment, the process of starting the integral item in the PID control algorithm according to the second judgment result may specifically include: if the second judgment result indicates that the integral item is allowed to be turned on, then the integral item in the PID control algorithm is turned on; if the second judgment result indicates that the integral item is refused to be turned on, then the integral item in the PID control algorithm is controlled to be in an off state. It can be understood that when the hydrostatic support cylinder is turned on, only the proportional item and the differential item in the PID control algorithm are in an on state, and the integral item is temporarily in an off state. If the second judgment result indicates that the integral item is allowed to be turned on, it means that the target connection is now in the working area, and accordingly, the integral item in the PID control algorithm is turned on; before turning on the integral item according to the second judgment result, it also includes: if the initial position of the target connection is in the buffer zone, the preset moving speed and preset moving position corresponding to the piston rod are sent to the controller by using the upper computer application software; the controller is used to control the target connection to move to the working area at the preset moving speed; when the target connection is in the working area When the static pressure support cylinder is in the working area, the integral item in the PID control algorithm is turned on to enable the static pressure support cylinder to start working normally; wherein the preset moving speed and the preset moving position can be set according to actual needs, and are not specifically limited here; and the process of turning on the integral item can specifically include: using the upper computer application software to send a target instruction to the controller corresponding to the static pressure support cylinder, and using the controller and the target instruction to turn on the integral item in the PID control algorithm; specifically, using the host to turn on the oil source, the controller starts the PID closed-loop control, and sets the command to move upward at a uniform speed to 0 position, that is, the preset moving position, and starts the test after clamping the sample. At this time, the static pressure support cylinder works normally. It can be understood that when the static pressure support cylinder works normally, the target connection reciprocates in the working area of ​​the static pressure support cylinder and no longer enters the buffer zone. It should be noted that in this embodiment, according to the position of the target connection, it is necessary to manually send instructions to the controller to control the switch of the integral item. The solution of this application can also install a switch at the buffer position to automatically control the state of the integral item according to the switch state. By controlling the on or off state of the integral item in the PID control algorithm according to the second judgment result, the occurrence of overshoot movement is avoided, and the safety of the working process of the static pressure support cylinder is ensured.

[0056] It can be seen that the embodiment of the present application ensures that overshoot motion does not occur and improves the safety of the system by judging the position of the target connection and judging whether to turn on the integral term in the PID control algorithm based on the judgment result.

[0057] The above embodiment describes how to manually control the on / off state of the integral term according to the position of the target connection. Next, this application will describe how to automatically control the on / off state of the integral term. Figure 6 As shown, the embodiment of the present application discloses a process of automatic control of a static pressure support cylinder, including:

[0058] Step S21, installing a target switch at the entrance of the buffer zone of the preset hydrostatic support cylinder, turning on the controller and the hydraulic power unit of the preset hydrostatic support cylinder, and controlling the preset hydrostatic support cylinder based on the PID control algorithm corresponding to the preset hydrostatic support cylinder to start the preset hydrostatic support cylinder.

[0059] In this embodiment, a target switch needs to be installed at the entrance of the buffer zone so as to automatically control the integral term according to the triggering state of the target switch. It should be noted that there are two upper and lower buffer zones in the hydrostatic support cylinder. When the hydrostatic support cylinder is not opened for a period of time, the pressure oil seeps out of the hydrostatic support cylinder, so the target connection will gradually approach the lower buffer zone in the hydrostatic support cylinder; and the target connection will enter the upper buffer zone only when an overshoot movement occurs in the upper buffer zone because the movement cannot be stopped in time. Therefore, the above-mentioned target switch should be installed at the entrance of the lower buffer zone.

[0060] Step S22: After the preset hydrostatic support cylinder is started, the integral term in the PID control algorithm is turned on according to the trigger state of the target switch, so as to control the target connection point where the piston rod in the preset hydrostatic support cylinder is connected to the cylinder body to perform reciprocating motion in the working area of ​​the preset hydrostatic support cylinder based on the integral term in the PID control algorithm.

[0061] In this embodiment, the process of automatically starting the integral term in the PID control algorithm according to the trigger state of the target switch is as follows: Figure 7 As shown; it can be understood that when the target connection passes through the installation position of the target switch, the target switch will be triggered, so that the integral term in the PID integral algorithm can be automatically controlled to be turned on or off according to the triggering state of the switch; in a specific embodiment, if the target switch is triggered, it means that the target connection is located in the buffer zone at this time, and the integral term can be automatically controlled to remain in the closed state; in another specific embodiment, if the target switch is not triggered, it means that the target connection is located in the working area, and the integral term of the PID control algorithm can be automatically turned on at this time.

[0062] It can be seen that the embodiment of the present application avoids the occurrence of overshoot motion in the hydrostatic support cylinder and improves system safety by installing a target switch in the buffer zone and controlling the integral term in the PID control algorithm according to the trigger state of the target switch; at the same time, by automatically controlling the switch of the integral term according to the trigger state of the switch, the manual workload is reduced and the work efficiency is improved.

[0063] See also Figure 8 As shown, the embodiment of the present application discloses a static pressure support cylinder control device, comprising:

[0064] A static pressure cylinder starting module 11, used to start the controller and the hydraulic power unit of the preset static pressure support cylinder, and control the preset static pressure support cylinder based on the PID control algorithm corresponding to the preset static pressure support cylinder to start the preset static pressure support cylinder;

[0065] A judgment result acquisition module 12 is used to judge whether the initial position of the target connection point where the piston rod and the cylinder body in the preset static pressure support cylinder are connected is located in the buffer zone in the preset static pressure support cylinder after the preset static pressure support cylinder is started, and judge whether to start the integral term in the PID control algorithm according to the corresponding first judgment result to obtain the corresponding second judgment result;

[0066] The integral item activation module 13 is used to activate the integral item in the PID control algorithm according to the second judgment result, so as to control the target connection in the preset hydrostatic support cylinder to reciprocate in the working area of ​​the preset hydrostatic support cylinder based on the integral item in the PID control algorithm.

[0067] It can be seen that the present application determines the initial position of the target connection when the system is turned on, and turns on the integral term in the PID control algorithm when the target connection is in the working area, thereby avoiding the problem of turning on the integral term when the target connection is in the buffer zone, resulting in the feedback and command not overlapping, thereby causing overshoot motion.

[0068] In some specific embodiments, the static pressure cylinder starting module 11 specifically includes:

[0069] A control algorithm acquisition unit, used to acquire a target control algorithm of an actuator drive value corresponding to the preset static pressure support cylinder by using the PID control algorithm;

[0070] The static pressure cylinder control unit is used to obtain the control signal sent by the controller corresponding to the preset static pressure support cylinder, and control the preset static pressure support cylinder according to the target control algorithm and the control signal.

[0071] In some specific embodiments, the judgment result acquisition module 12 specifically includes:

[0072] A start-up operation determination unit, used to determine whether the current start-up operation of the preset static pressure support cylinder is the first start-up operation within a preset time period;

[0073] an initial position determining unit, configured to determine that the initial position of the target connection is located in a buffer zone in the preset hydrostatic support cylinder if the current start-up operation of the preset hydrostatic support cylinder is the first start-up operation within a preset time period;

[0074] An initial position judgment unit is used to judge whether the initial position of the target connection is located in the buffer zone in the preset hydrostatic support cylinder by using a preset position judgment method if the current starting operation of the preset hydrostatic support cylinder is not the first starting operation within a preset time period.

[0075] In some specific embodiments, the judgment result acquisition module 12 specifically includes:

[0076] A first judgment result acquiring unit, configured to acquire, if the first judgment result indicates that the initial position of the target connection is located in the buffer zone, the second judgment result indicating that the integral item is allowed to be enabled;

[0077] The second judgment result acquiring unit is configured to acquire the second judgment result indicating that the integral item is refused to be enabled if the first judgment result indicates that the initial position of the target connection is not located in the buffer zone.

[0078] In some specific embodiments, the integral item activation module 13 specifically includes:

[0079] A first integral item starting unit, configured to start the integral item in the PID control algorithm if the second judgment result indicates that the integral item is allowed to be started;

[0080] An integral term control unit is used to control the integral term in the PID control algorithm to be in a closed state if the second judgment result indicates that the integral term is refused to be turned on.

[0081] In some specific embodiments, the integral item activation module 13 specifically includes:

[0082] The second integral item activation unit is used to use the upper computer application software to send a target instruction to the controller corresponding to the preset static pressure support cylinder, and use the controller and the target instruction to activate the integral item in the PID control algorithm.

[0083] In some specific embodiments, the integral item activation module 13 further includes:

[0084] An information sending unit, configured to send a preset moving speed and a preset moving position corresponding to the piston rod to the controller by using the host computer application software if the initial position of the target connection is in the buffer zone;

[0085] A connection control unit is used to control the target connection to move to the working area at the preset moving speed using the controller.

[0086] Furthermore, the present application also discloses an electronic device. Fig. 9This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram cannot be regarded as any limitation on the scope of use of the present application.

[0087] Fig. 9 A schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the static pressure support cylinder control method disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0088] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0089] In addition, the memory 22 as a carrier for storing resources may be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon may include an operating system 221, a computer program 222, etc., and the storage method may be temporary storage or permanent storage.

[0090] The operating system 221 is used to manage and control the hardware devices and computer programs 222 on the electronic device 20, and may be Windows Server, Netware, Unix, Linux, etc. In addition to computer programs that can be used to complete the static pressure support cylinder control method performed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 may further include computer programs that can be used to complete other specific tasks.

[0091] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned disclosed static pressure support cylinder control method is implemented. The specific steps of the method can refer to the corresponding contents disclosed in the aforementioned embodiments, and will not be repeated here.

[0092] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0093] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may 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.

[0094] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0095] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0096] The technical solution provided by the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technicians in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for controlling a hydrostatic support cylinder, characterized in that: include: Turning on a controller and a hydraulic power unit of a preset static pressure support cylinder, and controlling the preset static pressure support cylinder based on a PID control algorithm corresponding to the preset static pressure support cylinder to start the preset static pressure support cylinder; After the preset hydrostatic support cylinder is started, determining whether an initial position of a target connection point where a piston rod in the preset hydrostatic support cylinder is connected to a cylinder body is located in a buffer zone in the preset hydrostatic support cylinder, and determining whether to start an integral term in the PID control algorithm according to a corresponding first determination result, so as to obtain a corresponding second determination result; The integral term in the PID control algorithm is turned on according to the second judgment result, so as to control the target connection in the preset hydrostatic support cylinder to reciprocate in the working area of ​​the preset hydrostatic support cylinder based on the integral term in the PID control algorithm.

2. The method for controlling a hydrostatic support cylinder according to claim 1, characterized in that: The controlling the preset static pressure support cylinder based on the PID control algorithm corresponding to the preset static pressure support cylinder includes: A target control algorithm for obtaining an actuator drive value corresponding to the preset hydrostatic support cylinder using the PID control algorithm; A control signal sent by a controller corresponding to the preset hydrostatic support cylinder is obtained, and the preset hydrostatic support cylinder is controlled according to the target control algorithm and the control signal.

3. The method for controlling a hydrostatic support cylinder according to claim 1, characterized in that: The determining whether the initial position of the target connection point where the piston rod and the cylinder body are connected in the preset static pressure support cylinder is located in the buffer zone in the preset static pressure support cylinder comprises: Determining whether the current startup operation of the preset static pressure support cylinder is the first startup operation within a preset time period; If the current start-up operation of the preset hydrostatic support cylinder is the first start-up operation within a preset time period, determining that the initial position of the target connection is located in a buffer zone in the preset hydrostatic support cylinder; If the current start-up operation of the preset hydrostatic support cylinder is not the first start-up operation within a preset time period, a preset position determination method is used to determine whether the initial position of the target connection is located in the buffer zone in the preset hydrostatic support cylinder.

4. The method for controlling a hydrostatic support cylinder according to claim 1, characterized in that: The step of judging whether to start the integral term in the PID control algorithm according to the corresponding first judgment result to obtain the corresponding second judgment result includes: If the first judgment result indicates that the initial position of the target connection is located in the buffer zone, obtaining the second judgment result indicating that the integral item is allowed to be enabled; If the first judgment result indicates that the initial position of the target connection is not located in the buffer zone, then the second judgment result indicating that the integral item is refused to be turned on is obtained.

5. The method for controlling a hydrostatic support cylinder according to claim 1, characterized in that: The step of starting the integral term in the PID control algorithm according to the second judgment result includes: If the second judgment result indicates that the integral term is allowed to be turned on, turning on the integral term in the PID control algorithm; If the second judgment result indicates that the integral term is refused to be turned on, the integral term in the PID control algorithm is controlled to be in a closed state.

6. The method for controlling a hydrostatic support cylinder according to any one of claims 1 to 5, characterized in that: The step of starting the integral term in the PID control algorithm according to the second judgment result includes: The host computer application software is used to send a target instruction to the controller corresponding to the preset static pressure support cylinder, and the controller and the target instruction are used to start the integral term in the PID control algorithm.

7. The method for controlling a hydrostatic support cylinder according to claim 6, characterized in that: Before starting the integral term in the PID control algorithm according to the second judgment result, the method further includes: If the initial position of the target connection is in the buffer zone, the preset moving speed and the preset moving position corresponding to the piston rod are sent to the controller by using the host computer application software; The controller is used to control the target connection to move to the working area at the preset moving speed.

8. A static pressure support cylinder control device, characterized in that: include: A static pressure cylinder starting module, used to start the controller and the hydraulic power unit of the preset static pressure support cylinder, and control the preset static pressure support cylinder based on the PID control algorithm corresponding to the preset static pressure support cylinder to start the preset static pressure support cylinder; a judgment result acquisition module, used for judging whether the initial position of the target connection point where the piston rod and the cylinder body of the preset static pressure support cylinder are connected is located in the buffer zone of the preset static pressure support cylinder after the preset static pressure support cylinder is started, and judging whether to start the integral term in the PID control algorithm according to the corresponding first judgment result, so as to obtain the corresponding second judgment result; An integral term activation module is used to activate the integral term in the PID control algorithm according to the second judgment result, so as to control the target connection in the preset hydrostatic support cylinder to reciprocate in the working area of ​​the preset hydrostatic support cylinder based on the integral term in the PID control algorithm.

9. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor is used to execute the computer program to implement the static pressure support cylinder control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Used to store a computer program, which, when executed by a processor, implements the hydrostatic support cylinder control method according to any one of claims 1 to 7.

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