Hydraulic power station and control method based on fuzzy PID control

Abstract

This invention discloses a hydraulic station and control method based on fuzzy PID control, relating to the field of oil drilling and well workover technology. It includes an oil tank, oil pump, PLC, touchscreen, fuzzy controller, and proportional valve group, and further includes a reflux filter structure mounted on the oil tank. The reflux filter structure includes a reflux pipe installed on the top of the oil tank. One side of the reflux pipe is connected to an oil inlet pipe. A turntable is rotatably connected to the inner wall of the reflux pipe. Several sets of rotating frames are hinged to the top of the turntable via torsion springs. A first connecting frame is connected to the top of the rotating frame, and a rubber pad is adhered to the top of the first connecting frame. This invention combines the high precision of a PID controller with the speed and adaptability of a fuzzy controller, ensuring the regulating system has good dynamic and steady-state characteristics, good anti-interference performance, and strong robustness, which is beneficial for ensuring stable operation of the drive equipment and improving production efficiency.

Description

Technical Field

[0001] This invention relates to the field of oil drilling and well workover technology, specifically to a hydraulic station and control method based on fuzzy PID control. Background Technology

[0002] A hydraulic power unit is a hydraulic source device or a hydraulic device including control valves, consisting of a hydraulic pump, a drive motor, an oil tank, a directional valve, a throttle valve, and a relief valve. It supplies oil according to the flow direction, pressure, and flow rate required by the drive device. It is suitable for various machines where the drive device and the hydraulic power unit are separate. By connecting the hydraulic power unit and the drive device with oil pipes, the hydraulic system can realize various specified actions.

[0003] Hydraulic power units are one of the important supporting equipment for oil drilling and repair rigs. During oil drilling operations, when circulating hydraulic oil in the hydraulic power unit's reservoir, the high-temperature hydraulic oil needs to be circulated back into the reservoir. However, the hydraulic oil flowing back into the reservoir inevitably carries some impurities. Existing hydraulic power units typically use a filter screen in the return filter to filter the hydraulic oil. However, after prolonged use, impurities often accumulate on the surface of the return filter, causing blockage and affecting the return flow of hydraulic oil. Therefore, the filter screen needs to be replaced repeatedly, which is time-consuming and laborious. At the same time, when the hydraulic power unit drives various hydraulic tools to complete corresponding actions, in order to ensure the reliability of the hydraulic tools' operation, it is necessary to maintain a stable pressure output of each valve in the hydraulic power unit. The controlled object of the hydraulic power unit control system is a nonlinear and time-varying element. It is difficult to achieve good control results across the entire speed control range using only conventional PID control. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and to provide a hydraulic station and control method based on fuzzy PID control.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a hydraulic station based on fuzzy PID control, comprising an oil tank, an oil pump, a PLC, a touch screen, a fuzzy controller, and a proportional valve group, and further comprising:

[0006] A reflux filter structure, installed on the oil tank, is used to clean impurities from the refluxed hydraulic oil.

[0007] The reflux filtration structure includes a reflux pipe installed on the top of the oil tank. One side of the reflux pipe is connected to an oil inlet pipe. A turntable is rotatably connected to the inner wall of the reflux pipe. Several sets of rotating frames are hinged to the top of the turntable via torsion springs. A first connecting frame is connected to the top of each rotating frame, and a rubber pad is adhered to the top of the first connecting frame. A first hydraulic cylinder is installed on the top of the reflux pipe, and a micro motor is installed at the bottom of the first hydraulic cylinder. The output shaft of the micro motor is connected to a rotating shaft, and a second connecting frame is installed at the bottom of the rotating shaft. A pull rod is connected to the bottom of the first connecting frame via a steel wire rope. An elastic filter screen is connected between two adjacent sets of first connecting frames. Second hydraulic cylinders are fixed on both sides of the reflux pipe, and a movable shaft is connected to the top of each second hydraulic cylinder via a fixed frame. A groove is formed at the bottom of the inner cavity of the reflux pipe, and an air inlet pipe and a slag discharge pipe are respectively connected to both sides of the reflux pipe.

[0008] As a preferred embodiment of the present invention, the bottom end of the pull rod passes through the turntable and is connected to the second connecting frame. When the pull rod moves downward along the inner side of the turntable, the first connecting frame will continue to rotate until the bottom surface is in contact with the top surface of the turntable.

[0009] As a preferred embodiment of the present invention, the rubber pad is in contact with the surface of the rotating shaft by compression. When the rubber pad is in contact with the surface of the rotating shaft, the first connecting frame and the elastic filter form a cone shape. When the bottom surface of the first connecting frame is in contact with the top of the turntable, the first connecting frame and the elastic filter form a column shape.

[0010] As a preferred embodiment of the present invention, the outer wall of the baffle is slidably connected to the return pipe, and the outer wall of the baffle is bonded with rubber, which seals the top of the groove when the baffle moves downward.

[0011] As a preferred embodiment of the present invention, the bottom end of the movable shaft passes through the return pipe and is slidably connected to the return pipe, and the air inlet pipe is connected to an external air pump.

[0012] As a preferred embodiment of the present invention, the following steps are included:

[0013] S1. The touchscreen sets the required pressure value for each proportional valve and transmits it to the PLC via network cable;

[0014] After receiving the pressure value set on the touch screen, the S2.PLC calculates and converts it into a current value for output.

[0015] S3. The proportional amplifier receives the current signal sent by the PLC and controls the opening of the proportional valve core. The pressure transmitter feeds back the output pressure of the proportional valve to the PLC.

[0016] The S4.PLC compares the collected proportional valve output pressure with the pressure set on the touch screen, performs fuzzy control calculations, converts it into a current value, and adjusts the proportional valve opening.

[0017] As a preferred embodiment of the present invention, in step S4, based on the conventional PID controller, the pressure deviation and deviation rate are fuzzified, and the control rules in the knowledge base are used to perform online self-tuning of the PID parameters through fuzzy inference and clear interface output. Then, the PID controller gives a current signal to the proportional amplifier to effectively control the proportional valve and achieve the purpose of stabilizing the pressure output.

[0018]

[0019] in, The proportional gain of the controller. The integral coefficient is... The differential coefficients are... The pressure deviation is the difference between the pressure setpoint and the pressure feedback.

[0020] As a preferred embodiment of the present invention, in step S4, the fuzzy control calculation, when the output pressure value is greater than a preset value, adjusts the corresponding parameters within the PID parameter setting range, including increasing the value. Adjust and adjust smaller value.

[0021] As a preferred embodiment of the present invention, in step S4, the fuzzy control calculation, when the output pressure value is within a preset value range, adjusts the corresponding parameters within the PID parameter setting range, including reducing... ,adjust and ,make and It falls within the preset range.

[0022] As a preferred embodiment of the present invention, in step S4, when the output pressure value is less than the preset value, the corresponding parameters are adjusted within the PID parameter setting range, including increasing the value. and Adjust according to the actual situation .

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] This invention addresses the issue of hydraulically driven equipment outputting pressure values ​​that meet the equipment's driving requirements. It detects the current actual pressure value and compares it with the desired pressure value. Based on the comparison result, a fuzzy PID controller adjusts the opening of a proportional valve to ensure the actual pressure value is equal to or close to the desired pressure value. This better handles the uncertainty and nonlinearity of the hydraulic station's output pressure, maintaining a stable output pressure. This invention combines the high precision of a PID controller with the speed and adaptability of a fuzzy controller, ensuring the regulating system has good dynamic and steady-state characteristics, good anti-interference performance, and strong robustness. This contributes to ensuring stable operation of the driven equipment and improving production efficiency.

[0025] Second, this invention converts the pressure setting value of the PLC into an analog output to control the opening degree of the proportional valve core. This method uses pressure deviation and deviation rate for fuzzy processing, which improves the accuracy of PID control. By adjusting the valve core opening of the control valve group, the output pressure of the hydraulic station can be optimized in real time, better handling the uncertainty and nonlinear characteristics of the hydraulic station output pressure, and keeping the output pressure of the hydraulic station stable.

[0026] Third, this invention controls the downward movement of the rotating shaft by the operation of the first hydraulic cylinder. This allows the second connecting frame to pull the tie rod, which in turn drives the wire rope, causing the first connecting frame to rotate and pull the elastic filter screen. At this time, the mesh of the elastic filter screen will expand. Simultaneously, the operation of the micro motor drives the second connecting frame to rotate via the rotating shaft. This allows the second connecting frame and the tie rod to drive the turntable to rotate along the inner side of the return pipe. Centrifugal force is used to throw out impurities that are stuck and blocked in the elastic filter screen. At the same time, the operation of the second hydraulic cylinder uses the movable shaft to drive the baffle to push the impurities attached to the inner wall of the return pipe into the inner side of the groove. By inputting airflow into the air inlet pipe, the impurities located inside the groove are discharged from the slag discharge pipe, thus facilitating the automatic cleaning of impurities on the surface of the elastic filter screen.

[0027] Other advantages, objectives and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from the practice of the invention. Attached Figure Description

[0028] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0029] Figure 2 This is a partial cross-sectional view of the structure of the present invention.

[0030] Figure 3 For the present invention Figure 2 A partially enlarged structural diagram;

[0031] Figure 4 This is a cross-sectional view of the first connecting frame of the present invention;

[0032] Figure 5 This is a schematic diagram of the disassembly structure of the first connecting frame and the elastic filter screen of the present invention;

[0033] Figure 6 This is a schematic diagram of the unfolded structure of the first connecting frame and the elastic filter screen of the present invention;

[0034] Figure 7 This is a schematic diagram of the hydraulic station control circuit based on fuzzy PID control according to the present invention;

[0035] Figure 8 This is a schematic diagram of the hydraulic station control principle structure based on fuzzy PID control according to the present invention.

[0036] In the diagram: 1. Oil tank; 2. Oil pump; 3. Return pipe; 4. Oil inlet pipe; 5. Turntable; 6. Rotating frame; 7. First connecting frame; 8. Rubber pad; 9. First hydraulic cylinder; 10. Micro motor; 11. Rotating shaft; 12. Second connecting frame; 13. Steel wire rope; 14. Tie rod; 15. Elastic filter screen; 16. Second hydraulic cylinder; 17. Fixed frame; 18. Movable shaft; 19. Baffle; 20. Groove; 21. Air inlet pipe; 22. Slag discharge pipe. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] like Figure 1-8 As shown, this invention provides a hydraulic power station based on fuzzy PID control, including an oil tank 1, an oil pump 2, a PLC, a touch screen, a fuzzy controller, and a proportional valve group, and further including:

[0039] A reflux filter structure is installed on the oil tank 1 to clean impurities from the refluxed hydraulic oil.

[0040] The reflux filtration structure includes a reflux pipe 3, which is installed on the top of the oil tank 1. One side of the reflux pipe 3 is connected to an oil inlet pipe 4. A turntable 5 is rotatably connected to the inner wall of the reflux pipe 3. Several sets of rotating frames 6 are hinged to the top of the turntable 5 via torsion springs. A first connecting frame 7 is connected to the top of the rotating frame 6. A rubber pad 8 is adhered to the top of the first connecting frame 7. A first hydraulic cylinder 9 is installed on the top of the reflux pipe 3. A micro motor 10 is installed at the bottom of the first hydraulic cylinder 9. The output of the micro motor 10... A rotating shaft 11 is connected to the shaft. A second connecting frame 12 is installed at the bottom of the rotating shaft 11. A pull rod 14 is connected to the bottom of the first connecting frame 7 via a steel wire rope 13. An elastic filter screen 15 is connected between two adjacent sets of first connecting frames 7. A second hydraulic cylinder 16 is fixed on both sides of the return pipe 3. A movable shaft 18 is connected to the top of the second hydraulic cylinder 16 via a fixed frame 17. A groove 20 is opened at the bottom of the inner cavity of the return pipe 3. An air inlet pipe 21 and a slag discharge pipe 22 are respectively connected to both sides of the return pipe 3.

[0041] Through the cooperation between the rubber pad 8 and the rotating shaft 11, when the rubber pad 8 and the rotating shaft 11 are in contact, the elastic filter screen 15 will take on a conical shape. Therefore, the hydraulic oil flowing back into the return pipe 3 will be filtered through the elastic filter screen 15. At this time, some impurities will adhere to the outer surface of the elastic filter screen 15. When it is necessary to unclog the elastic filter screen 15, when the equipment is stopped, the second hydraulic cylinder 16 can be started to drive the movable shaft 18 and the baffle 19 to the top through the fixed frame 17. Then, the first hydraulic cylinder 9 can be started, which controls the rotating shaft 11 to move downward. This allows the second connecting frame 12 to pull the pull rod 14 to drive the wire rope 13, causing it to rotate the first connecting frame 7 to a vertical position. When the first connecting frame 7 rotates, it will pull the elastic filter screen 15. At this time, the mesh of the elastic filter screen 15 will expand. At the same time, the micro motor 10 will also be activated. The operation of the system can drive the second connecting frame 12 to rotate via the rotating shaft 11. This allows the turntable 5 to rotate along the inner side of the return pipe 3 via the second connecting frame 12 and the pull rod 14. Due to the viscosity of the hydraulic oil, impurities will adhere to the surface of the elastic filter screen 15. The centrifugal force generated when the elastic filter screen 15 rotates can throw out the impurities that are stuck and blocked in the elastic filter screen 15. At this time, the impurities will adhere to the inner wall of the return pipe 3 or fall into the inner side of the groove 20. Therefore, by operating the second hydraulic cylinder 16, the movable shaft 18 can drive the baffle 19 to push the impurities attached to the inner wall of the return pipe 3 into the inner side of the groove 20 and seal the groove 20. Thus, by inputting airflow into the air inlet pipe 21, the impurities located inside the groove 20 can be discharged from the slag discharge pipe 22, thereby facilitating the automatic cleaning of impurities on the surface of the elastic filter screen 15.

[0042] like Figure 3 , 4As shown, the bottom end of the pull rod 14 passes through the turntable 5 and is connected to the second connecting frame 12. When the pull rod 14 moves downward along the inner side of the turntable 5, the first connecting frame 7 will continue to rotate until the bottom surface is in contact with the top surface of the turntable 5.

[0043] By designing the pull rod 14, when the pull rod 14 moves, it can pull the first connecting frame 7 through the wire rope 13, causing the rotating frame 6 to rotate along the inner side of the turntable 5. At the same time, since the pull rod 14 is located on the inner side of the turntable 5, when the second connecting frame 12 drives the pull rod 14 to rotate, it can drive the turntable 5 to rotate synchronously along the inner side of the return pipe 3.

[0044] like Figure 5 , 6 As shown, the rubber pad 8 is pressed against the surface of the rotating shaft 11. When the rubber pad 8 is in contact with the surface of the rotating shaft 11, the first connecting frame 7 and the elastic filter 15 form a cone. When the bottom surface of the first connecting frame 7 is attached to the top of the turntable 5, the first connecting frame 7 and the elastic filter 15 form a column.

[0045] The rubber pad 8 and the rotating shaft 11 are fitted together, and because the first connecting frame 7 is made of elastic material, the rotating shaft 11 can be completely covered. This prevents gaps between the first connecting frame 7 and the elastic filter screen 15 and the rotating shaft 11, allowing hydraulic oil to flow along the surface of the elastic filter screen 15 and be filtered out.

[0046] like Figure 3 As shown, the outer wall of the baffle 19 is slidably connected to the return pipe 3, and the outer wall of the baffle 19 is bonded with rubber, which seals the top of the groove 20 when the baffle 19 moves downward.

[0047] By cooperating with the baffle 19 and the return pipe 3, the baffle 19 will scrape off the impurities on the inner wall of the return pipe 3 when it slides up and down. At the same time, by cooperating with the groove 20, the groove 20 can be sealed. Therefore, when gas is input into the intake pipe 21, gas can be prevented from entering the interior of the return pipe 3, which makes it easier to clean the impurities inside the groove 20.

[0048] like Figure 3 As shown, the bottom end of the movable shaft 18 passes through the return pipe 3 and is slidably connected to the return pipe 3, and the air inlet pipe 21 is connected to the external air pump.

[0049] The design of the air inlet pipe 21 allows for connection to an air pump, enabling airflow to be introduced into the interior of the groove 20. The airflow will then flow along the inner side of the groove 20 and eventually be discharged from the slag discharge pipe 22, thus facilitating the cleaning of impurities inside the turntable 5.

[0050] like Figure 7-8 As shown, it includes the following steps:

[0051] S1. The touchscreen sets the required pressure value for each proportional valve and transmits it to the PLC via network cable;

[0052] After receiving the pressure value set on the touch screen, the S2.PLC calculates and converts it into a current value for output.

[0053] S3. The proportional amplifier receives the current signal sent by the PLC and controls the opening of the proportional valve core. The pressure transmitter feeds back the output pressure of the proportional valve to the PLC.

[0054] The S4.PLC compares the collected proportional valve output pressure with the pressure set on the touch screen, performs fuzzy control calculations, converts it into a current value, and adjusts the proportional valve opening.

[0055] By setting the required pressure value for each proportional valve on the touchscreen, the PLC receives the pressure setting value, performs fuzzy logic controller and PID calculations, converts it into current output, and controls the opening of the proportional valve to achieve the purpose of adjusting the pressure output. This application, targeting the control characteristics of the proportional valve opening in the hydraulic station, reduces the impact of pressure fluctuations on the controlled equipment by introducing a fuzzy control algorithm to tune the PID parameters, achieving the purpose of optimal configuration of PID control system parameters. The device is equipped with a pressure transmitter at the output end of the proportional valve, which collects the pressure value at the output end of the proportional valve and transmits the measured data to the PLC. The deviation between the pressure set value and the actual output value is fuzzified, further improving the accuracy of fuzzy PID control.

[0056] like Figure 7-8 As shown, in step S4, based on the conventional PID controller, the pressure deviation and deviation rate are fuzzified. Using the control rules in the knowledge base, the PID parameters are self-tuned online through fuzzy inference and clear interface output. Then, the PID controller gives a current signal to the proportional amplifier to effectively control the proportional valve and achieve the purpose of stabilizing the pressure output.

[0057]

[0058] in, The proportional gain of the controller. The integral coefficient is... The differential coefficients are... The pressure deviation is the difference between the pressure setpoint and the pressure feedback.

[0059] By converting the pressure setting value into an analog output from the PLC, the opening degree of the proportional valve spool is controlled. This method uses pressure deviation and deviation rate for fuzzy processing, which improves the accuracy of PID control. By adjusting the valve spool opening of the control valve group, the output pressure of the hydraulic station is optimized in real time, which better handles the uncertainty and nonlinear characteristics of the hydraulic station output pressure and keeps the output pressure of the hydraulic station stable.

[0060] like Figure 7-8 As shown, in step S4, the fuzzy control calculation, when the output pressure value is greater than the preset value, adjusts the corresponding parameters within the PID parameter setting range, including increasing the value. Adjust and adjust smaller value.

[0061] like Figure 7-8 As shown, in step S4, the fuzzy control operation, when the output pressure value is within the preset value range, adjusts the corresponding parameters within the PID parameter setting range, including reducing... ,adjust and ,make and It falls within the preset range.

[0062] like Figure 7-8 As shown, in step S4, when the output pressure value is less than the preset value, the corresponding parameters are adjusted within the PID parameter setting range, including increasing the value. and Adjust according to the actual situation .

[0063] Working principle:

[0064] First, the required pressure value for each proportional valve is set using a touchscreen and transmitted to the PLC via a network cable. After receiving the pressure value set on the touchscreen, the PLC calculates and converts it into a current value output. Subsequently, the proportional amplifier receives the current signal sent by the PLC and controls the opening degree of the proportional valve core. The pressure transmitter feeds back the output pressure of the proportional valve to the PLC. Finally, the PLC compares the collected proportional valve output pressure with the pressure set on the touchscreen, performs fuzzy control calculations, converts it into a current value, and adjusts the proportional valve opening, achieving the goal of optimizing the configuration of PID control system parameters. This device is equipped with a pressure transmitter at the output end of the proportional valve. By collecting the pressure value at the output end of the proportional valve and transmitting the measured data to the PLC, the deviation between the pressure set value and the actual output value is fuzzified, further improving the accuracy of fuzzy PID control.

[0065] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A hydraulic station based on fuzzy PID control, comprising an oil tank (1), an oil pump (2), a PLC, a touch screen, a fuzzy controller, and a proportional valve group, characterized in that, Also includes: A reflux filter structure is installed on the oil tank (1) to clean impurities from the refluxed hydraulic oil; The reflux filtration structure includes a reflux pipe (3), which is installed on the top of the oil tank (1). One side of the reflux pipe (3) is connected to an oil inlet pipe (4). A turntable (5) is rotatably connected to the inner wall of the reflux pipe (3). Several sets of rotating frames (6) are hinged to the top of the turntable (5) by a torsion spring. A first connecting frame (7) is connected to the top of the rotating frame (6). A rubber pad (8) is adhered to the top of the first connecting frame (7). A first hydraulic cylinder (9) is installed on the top of the reflux pipe (3). A micro motor (10) is installed at the bottom of the first hydraulic cylinder (9). The output shaft of the micro motor (10) is connected to a rotating shaft (11). A second connecting frame (12) is installed at the bottom of the rotating shaft (11). The bottom of the first connecting frame (7) is connected to a steel wire rope (13). A pull rod (14) is connected to an elastic filter screen (15) between two adjacent sets of first connecting frames (7). A second hydraulic cylinder (16) is fixed on both sides of the return pipe (3). The top of the second hydraulic cylinder (16) is connected to a movable shaft (18) through a fixed frame (17). A groove (20) is opened at the bottom of the inner cavity of the return pipe (3). An air inlet pipe (21) and a slag discharge pipe (22) are respectively connected to both sides of the return pipe (3). The bottom end of the pull rod (14) passes through the turntable (5) and is connected to the second connecting frame (12). The outer wall of the baffle (19) is slidably connected to the return pipe (3). The outer wall of the baffle (19) is bonded with rubber and will seal the top of the groove (20) when the baffle (19) moves downward. The bottom end of the movable shaft (18) passes through the return pipe (3) and is slidably connected to the return pipe (3).

2. The hydraulic station based on fuzzy PID control according to claim 1, characterized in that: When the pull rod (14) moves downward along the inner side of the turntable (5), the first connecting frame (7) will continue to rotate until the bottom surface is in contact with the top surface of the turntable (5).

3. The hydraulic station based on fuzzy PID control according to claim 1, characterized in that: The rubber pad (8) is pressed against the surface of the rotating shaft (11). When the rubber pad (8) is in contact with the surface of the rotating shaft (11), the first connecting frame (7) and the elastic filter (15) form a cone. When the bottom surface of the first connecting frame (7) is attached to the top of the turntable (5), the first connecting frame (7) and the elastic filter (15) form a column.

4. The hydraulic station based on fuzzy PID control according to claim 1, characterized in that: The air inlet pipe (21) is connected to an external air pump.

5. A control method for a hydraulic station based on fuzzy PID control as described in any one of claims 1-4, characterized in that, Includes the following steps: S1. The touchscreen sets the required pressure value for each proportional valve and transmits it to the PLC via network cable; After receiving the pressure value set on the touch screen, the S2.PLC calculates and converts it into a current value for output. S3. The proportional amplifier receives the current signal sent by the PLC and controls the opening of the proportional valve core. The pressure transmitter feeds back the output pressure of the proportional valve to the PLC. The S4.PLC compares the collected proportional valve output pressure with the pressure set on the touch screen, performs fuzzy control calculations, converts it into a current value, and adjusts the proportional valve opening.

6. The hydraulic station control method based on fuzzy PID control according to claim 5, characterized in that: In step S4, based on the conventional PID controller, the pressure deviation and deviation rate are fuzzified. Using the control rules in the knowledge base, the PID parameters are self-tuned online through fuzzy inference and clear interface output. Then, the PID controller gives a current signal to the proportional amplifier to effectively control the proportional valve and achieve the purpose of stabilizing the pressure output. in, The proportional gain of the controller. The integral coefficient is... The differential coefficients are... The pressure deviation is the difference between the pressure setpoint and the pressure feedback.

7. The hydraulic station control method based on fuzzy PID control according to claim 6, characterized in that: In step S4, the fuzzy control calculation involves adjusting the corresponding parameters within the PID parameter setting range when the output pressure value exceeds a preset value, including increasing the value. Adjust and adjust smaller value.

8. The hydraulic station control method based on fuzzy PID control according to claim 6, characterized in that: In step S4, the fuzzy control operation involves adjusting the corresponding parameters within the PID parameter setting range when the output pressure value is within the preset range, including reducing... ,adjust and ,make and It falls within the preset range.

9. The hydraulic station control method based on fuzzy PID control according to claim 6, characterized in that: In step S4, when the output pressure value is less than the preset value, the corresponding parameters are adjusted within the PID parameter setting range, including increasing the value. and Adjust according to the actual situation .

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