Linear actuator control system and working method thereof

Abstract

The invention belongs to the technical field of measurement, and particularly relates to force measurement, in particular to a linear actuator control system and a working method thereof, and the linear actuator control system comprises a central controller which is configured to judge the connection relation of hardware in a physical layer, obtain the reference time of each linear actuator in the hardware, and obtain the reference time of each linear actuator in the hardware; the central controller obtains the compensation time of each linear actuator according to the reference time, so that each linear actuator ends working at the same time point and detects through each sensor in the verification layer when the linear actuator works, and the central controller adjusts the output of each linear actuator according to the detection result. Therefore, unified control over the linear actuators is achieved, the processing ending time points of the linear actuators are the same, the product processing efficiency is improved, output force of the linear actuators is accurately controlled, and the product processing effect is improved.

Description

Technical Field

[0001] The invention belongs to the field of measurement technology, specifically relates to force measurement, and in particular to a linear actuator control system and a working method thereof. Background Art

[0002] When processing products, multiple linear actuators will process the same product at the same time. However, the uneven processing time and force applied by each linear actuator on the product will lead to reduced product processing efficiency and processing effect.

[0003] Therefore, due to the technical problem that each linear actuator applies different forces and processing times to the product, resulting in low product processing efficiency and processing effect, it is necessary to design a linear actuator control system and a working method thereof.

[0004] It should be noted that the above information disclosed in this background technology section is only used to understand the background technology of the present application concept, and therefore, the above description is not considered to constitute information of the prior art. Summary of the invention

[0005] The embodiments of the present disclosure at least provide a linear actuator control system and a working method thereof.

[0006] In a first aspect, an embodiment of the present disclosure provides a linear actuator control system, comprising: The central controller is configured to determine the connection relationship between the hardware in the physical layer, and then obtain the reference time of each linear actuator in the hardware, and obtain the compensation time of each linear actuator based on the reference time, so that each linear actuator can finish working at the same time point, and when the linear actuator is working, it is detected by each sensor in the verification layer, and the central controller adjusts the output of each linear actuator according to the detection result.

[0007] In an optional embodiment, the central controller is configured to obtain the linear actuator with the shortest reaction time according to the reaction time of each linear actuator after obtaining the reference time, and the reaction time of the linear actuator is less than the reference time. When controlling the linear actuator, the control instruction is sent with delay so that the sum of the delayed sending time and the reaction time meets the reference time, and the approach instruction is sent to the linear actuator within the time period of the delayed sending, so that the output end of the linear actuator approaches the product, and then the linear actuator is controlled to apply linear pressure to the product. At this time, according to the pressure parameter sent to the linear actuator and the resistance sensor on the linear actuator in the verification layer, the actual resistance received by the output end of the linear actuator at this time is obtained, and the actual resistance is compared with the preset resistance corresponding to the current pressure parameter. If the two are different, the preset pressure parameter corresponding to the current actual resistance is obtained from the preset standard curve, and the ratio between the current pressure parameter and the preset pressure parameter is obtained. According to the ratio, the maximum pressure parameter during product processing is adjusted to obtain the maximum actual pressure parameter, and the maximum actual pressure parameter is synchronized to other linear actuators as the maximum output applied to the product by all linear actuators.

[0008] In an optional implementation, the central controller is configured to determine the connection relationship of each hardware in the physical layer. The method includes: The central controller sends two handshake messages to each linear actuator. If the linear actuator receives two handshake feedback messages, it is determined that the corresponding linear actuator is directly electrically connected to the central controller. If the central controller only receives one handshake feedback message, it is determined that the corresponding linear actuator is electrically connected to the central controller through the controller to obtain the connection relationship between the central controller and all linear actuators.

[0009] In an optional embodiment, the central controller is also configured to obtain the communication time of each linear actuator based on the time of sending handshake information and receiving handshake feedback information, and obtain the reaction time of each linear actuator based on the execution time of each linear actuator, the reaction time is the sum of the communication time and the execution time, the reaction time of each linear actuator is sorted from short to long, and the longest reaction time is used as the benchmark time.

[0010] In an optional embodiment, the central controller is also configured to control the operation of each linear actuator according to a reference time. If the reaction time of the linear actuator is less than the reference time, the control instruction will be sent with a delay during the control process of the linear actuator so that the sum of the delayed sending time and the reaction time meets the reference time.

[0011] In an optional embodiment, the central controller is further configured to obtain the actual reference time of each linear actuator in the process of controlling each linear actuator, compare the actual reference time with the reference time, and if there is only one linear actuator whose actual reference time is different from the reference time, determine whether it is the first time that the actual reference time of the linear actuator is different from the reference time. If it is the first time, adjust the time of delayed transmission in the actual reference time of the linear actuator so that the actual reference time is the same as the reference time. If it is not the first time, detect the communication layer and the linear actuator; If the number of linear actuators whose actual reference time is different from the reference time is greater than 1, the communication layer and the linear actuator are checked.

[0012] In an optional implementation, the method for detecting the communication layer and the linear actuator includes: The linear actuator whose actual reference time is different from the reference time will send the received control instruction in reverse to the central controller. The central controller will compare the control instruction sent to the linear actuator with the control instruction sent in reverse by the linear actuator. If the two are the same, it is judged that the communication process is normal, that is, the communication layer is normal. Otherwise, it is judged that the communication layer is abnormal. If the communication layer is normal, it is judged that the linear actuator is abnormal.

[0013] In an optional embodiment, the central controller is electrically connected to the linear actuator directly or electrically connected to the linear actuator through a controller; The central controller is suitable for controlling the operation of each linear actuator to process the product.

[0014] In an optional embodiment, a resistance sensor and a pressure sensor are provided in the linear actuator; The resistance sensor is suitable for detecting the actual resistance experienced by the output end of the linear actuator; The pressure sensor is adapted to detect the pressure output by the linear actuator.

[0015] In a second aspect, the present disclosure also provides a working method using the above linear actuator control system, including: The central controller determines the connection relationship between the hardware in the physical layer, and then obtains the reference time of each linear actuator in the hardware. According to the reference time, it obtains the compensation time of each linear actuator so that each linear actuator can finish working at the same time point. When the linear actuator is working, it detects through each sensor in the verification layer and adjusts the output of each linear actuator according to the detection result.

[0016] The beneficial effect of the present invention is that the linear actuator control system includes: a central controller is configured to determine the connection relationship of each hardware in the physical layer, and then obtain the reference time of each linear actuator in the hardware, and obtain the compensation time of each linear actuator according to the reference time, so that each linear actuator ends working at the same time point, and when the linear actuator is working, it is detected by each sensor in the verification layer, and the central controller adjusts the output of each linear actuator according to the detection result, thereby realizing unified control of each linear actuator, and the time point when the processing of each linear actuator ends is the same, which improves the processing efficiency of the product, and accurately controls the output force of the linear actuator, thereby improving the processing effect of the product.

[0017] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0018] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, this article specifically cites preferred embodiments and provides detailed descriptions as follows in conjunction with the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A flow chart of a linear actuator control system provided by an embodiment of the present disclosure; Figure 2 A detailed flow chart of a linear actuator control system provided by an embodiment of the present disclosure; Figure 3 A flow chart for adjusting the output of each linear actuator provided in an embodiment of the present disclosure; Figure 4 A flowchart for determining the connection relationship of various hardware in the physical layer provided by an embodiment of the present disclosure; Figure 5 A schematic diagram of the connection of various hardware in the physical layer provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are 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.

[0022] As used herein, the phrases "in one embodiment," "according to one embodiment," "in some embodiments," and the like generally refer to the fact that the particular feature, structure, or characteristic following the phrase may be included in at least one embodiment of the present disclosure. Therefore, a particular feature, structure, or characteristic may be included in more than one embodiment of the present disclosure, so that these phrases do not necessarily refer to the same embodiment. As used herein, the terms "example," "exemplary," and the like are used to "serve as an example, instance, or illustration." Any implementation, aspect, or design described herein as "example" or "exemplary" is not necessarily to be construed as preferred or superior to other implementations, aspects, or designs. On the contrary, the use of the terms "example," "exemplary," and the like is intended to present concepts in a concrete manner.

[0023] During the product processing process, multiple linear actuators will be used to process the same product at the same time. For example, four linear actuators are used to process the four corners of the product. However, the inventors found that during the processing process, due to the age of the linear actuators and the different connection methods with the central controller, each linear actuator processes the product at different times. The time points when each linear actuator ends product processing are different, which increases the time spent on product processing and reduces product processing efficiency. In addition, due to product material issues, for example, a batch of products is slightly thinner or thicker than the standard thickness, the force output by the linear actuator needs to be changed. Otherwise, the output force parameters set according to the standard thickness will result in poor processing effects for thinner or thicker batches of products. For example, thicker products may not be punched through.

[0024] The defects existing in the above solutions are the results obtained by the inventor after practice and careful research. Therefore, the discovery process of the above problems and the solutions proposed by the present invention in this article for the above problems should be the contributions made by the inventor to the present invention during the disclosure process.

[0025] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0026] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0027] like Figure 1 and Figure 2 As shown, at least one disclosed embodiment provides a linear actuator control system, including: a central controller is configured to determine the connection relationship of each hardware in the physical layer, and then obtain the reference time of each linear actuator in the hardware, and obtain the compensation time of each linear actuator according to the reference time, so that each linear actuator ends working at the same time point, and when the linear actuator is working, it is detected by each sensor in the verification layer, and the central controller adjusts the output of each linear actuator according to the detection result, thereby realizing unified control of each linear actuator, and the time point at which the processing of each linear actuator ends is the same, which improves the processing efficiency of the product, that is, each linear actuator ends processing at the same time, and takes the linear actuator with the longest reaction time as the standard, and all linear actuators end processing at the same time point, avoiding the low efficiency caused by the uneven processing end time points of the linear actuators, and accurately controlling the output force of the linear actuator, thereby improving the processing effect of the product, that is, the force output by the linear actuator can accurately match the force required in the product processing process, thereby improving the processing effect of the product.

[0028] In this embodiment, the product may be a device that needs punching, and the thickness of the location where the punching is required is relatively thin.

[0029] In this embodiment, the linear actuator and the central controller may be electrically connected directly or through a controller.

[0030] In this embodiment, the communication protocol between the central controller and the linear actuator and controller can be various communication interfaces, 484 serial ports, Ethernet, etc.

[0031] In this embodiment, the central controller can send control instructions to each directly connected linear actuator and controller through a unified protocol, so that the central controller can communicate with each directly connected linear actuator and controller.

[0032] like Figure 3As shown, in an optional embodiment, the central controller is configured to obtain the linear actuator with the shortest reaction time according to the reaction time of each linear actuator after obtaining the reference time, and the reaction time of the linear actuator is less than the reference time. When controlling the linear actuator, the control instruction is sent with delay so that the sum of the delayed sending time and the reaction time meets the reference time, and the approach instruction is sent to the linear actuator within the time period of the delayed sending, so that the output end of the linear actuator is close to the product, and then the linear actuator is controlled to linearly apply pressure to the product. At this time, according to the pressure parameter sent to the linear actuator and the resistance sensor on the linear actuator in the verification layer, the actual resistance received by the output end of the linear actuator at this time is obtained, and the actual resistance is compared with the preset resistance corresponding to the current pressure parameter. If the two are different, the preset pressure parameter corresponding to the current actual resistance is obtained from the preset standard curve, and the ratio between the current pressure parameter and the preset pressure parameter is obtained. According to the ratio, the maximum pressure parameter during product processing is adjusted to obtain the maximum actual pressure parameter, and the maximum actual pressure parameter is synchronized to other linear actuators as the maximum output applied to the product by all linear actuators.

[0033] In this embodiment, the maximum output is the maximum force that the linear actuator can exert on the product.

[0034] In this embodiment, after the reference time of the linear actuator is obtained, in the process of controlling each linear actuator, the output end of the linear actuator with the shortest control reaction time first contacts the product, and then begins to apply pressure to the product. The applied pressure is much smaller than the maximum pressure required in the product processing process. For example, the pressure required in the processing process of a product with a standard thickness is 200N, and the output end of the linear actuator with the shortest reaction time can first output 10N. At this time, the actual resistance of the output end of the linear actuator is obtained. The preset resistance of the linear actuator when the standard thickness product outputs force at the output end of the linear actuator can be obtained and stored according to historical conditions. When the thickness of the product is less than the standard thickness, the actual resistance caused to the linear actuator will be less than the preset resistance. According to the actual resistance, the preset pressure parameter corresponding to the same value is obtained from the preset standard curve. The preset standard curve can be constructed and stored according to historical data, that is, the resistance corresponding to the pressure parameter under the standard thickness condition, for example, the preset pressure parameter is 9, then the ratio of the current pressure parameter to the preset pressure parameter is 10 / 9, and the maximum pressure parameter 200 is divided by the ratio to obtain the maximum pressure 180N corresponding to the current product; on the contrary, when the product is too thick, the maximum pressure needs to be increased.

[0035] In this embodiment, when processing each product, the maximum force required to process the product can be accurately obtained, and each linear actuator can be accurately controlled to improve the processing effect of the product. Too little force will cause thicker products to be unable to be fully processed, and too much force will cause thinner products to be over-processed, both of which will affect the quality of the product.

[0036] In this embodiment, the maximum force required by the current product is obtained by using the linear actuator with the shortest reaction time. The delay time of the linear actuator is applied, and the delay can be reasonably utilized. The maximum pressure can be accurately obtained without affecting the reference time, thereby improving the processing efficiency of the product.

[0037] like Figure 4 and Figure 5 As shown, in an optional embodiment, the central controller is configured to determine the connection relationship between each hardware in the physical layer. The method includes: the central controller sends two handshake messages to each linear actuator. If the linear actuator receives two handshake feedback messages, it is determined that the corresponding linear actuator is directly electrically connected to the central controller. If the central controller only receives one handshake feedback message, it is determined that the corresponding linear actuator is electrically connected to the central controller through the controller to obtain the connection relationship between the central controller and all linear actuators.

[0038] In this embodiment, if the central controller is electrically connected to the linear actuator, when the central controller sends two handshake messages to the linear actuator, the linear actuator will feedback two handshake messages to the central controller, so the central controller can accurately determine whether the linear actuator is electrically connected to it.

[0039] In this embodiment, if the central controller is electrically connected to the linear actuator through the controller, the controller will feedback a handshake message to the central controller, and the linear actuator will return a handshake message to the controller. The central controller only receives one handshake feedback message, and the central controller can accurately determine that the linear actuator is indirectly connected to it through the controller.

[0040] like Figure 4 As shown, in an optional embodiment, the central controller is also configured to obtain the communication time of each linear actuator based on the time of sending handshake information and receiving handshake feedback information, and obtain the reaction time of each linear actuator based on the execution time of each linear actuator, the reaction time is the sum of the communication time and the execution time, the reaction time of each linear actuator is sorted from short to long, and the longest reaction time is used as the benchmark time.

[0041] In this embodiment, the central controller may obtain the parameters of each linear actuator to obtain the execution time corresponding to each linear actuator.

[0042] In this embodiment, the longest reaction time is used as the reference time, and the longest time for each linear actuator to complete the processing of the product can be determined. Through the reference time, each linear actuator can be controlled uniformly, so that each linear actuator completes the processing of the product at the same time point, avoiding time waste and increasing product processing efficiency.

[0043] In an optional embodiment, the central controller is also configured to control the operation of each linear actuator according to a reference time. If the reaction time of the linear actuator is less than the reference time, the control instruction will be sent with a delay during the control process of the linear actuator so that the sum of the delayed sending time and the reaction time meets the reference time.

[0044] In this embodiment, delayed transmission is set so that each linear actuator can complete the processing of the product at the same time point.

[0045] like Figure 2 As shown, in an optional embodiment, the central controller is further configured to obtain the actual reference time of each linear actuator during the process of controlling each linear actuator, compare the actual reference time with the reference time, and if there is only one linear actuator whose actual reference time is different from the reference time, then determine whether it is the first time that the actual reference time of the linear actuator is different from the reference time. If it is the first time, adjust the time of delayed transmission in the actual reference time of the linear actuator to make the actual reference time the same as the reference time. If it is not the first time, detect the communication layer and the linear actuator; if the number of linear actuators whose actual reference time is different from the reference time is greater than 1, detect the communication layer and the linear actuator.

[0046] In this embodiment, the linear actuators are either hydraulic or electrical. The hydraulic linear actuator may cause execution deviations due to pressure fluctuations, and the electrical linear actuator may cause execution deviations due to power supply problems. Therefore, time compensation is required to ensure that each linear actuator meets the reference time.

[0047] In this embodiment, even if the force output by the linear actuator changes, the corresponding execution time remains fixed.

[0048] like Figure 2As shown, in an optional embodiment, the method for detecting the communication layer and the linear actuator includes: the linear actuator whose actual reference time is different from the reference time sends the received control instruction in reverse to the central controller, and the central controller compares the control instruction sent to the linear actuator with the control instruction received from the linear actuator in reverse. If the two are the same, it is judged that the communication process is normal, that is, the communication layer is normal, otherwise, it is judged that the communication layer is abnormal, and if the communication layer is normal, it is judged that the linear actuator is abnormal.

[0049] In this embodiment, the communication layer may include communication lines between the central controller and the controller and the linear actuator.

[0050] In this embodiment, the control instruction includes: the actual pressure parameter corresponding to the linear actuator, and the reference time, etc.; the linear actuator can process the product according to the control instruction, and the time point when each linear actuator executes the control instruction is the same.

[0051] In this embodiment, the central controller is connected to the linear actuator and the controller in different ways, and the maximum characters that can communicate are different. Therefore, the control instructions sent by the central controller may not be completely sent to some linear actuators and controllers, resulting in a deviation in the actual reference time of the linear actuator. Therefore, the control instructions are sent back to the central controller in reverse, and the control instructions sent by the central controller are compared with the received control instructions. If they are the same, it is determined that there is no problem with the communication. At this time, it is determined that there is a problem with the linear actuator, and the management personnel can be notified to repair it on site; if they are different, it is determined that there is a problem with the communication. At this time, the linear actuator with the communication problem is determined according to the control instructions, and the management personnel are notified to repair the corresponding communication line on site.

[0052] In an optional embodiment, the central controller is electrically connected to the linear actuator directly or through a controller; the central controller is suitable for controlling the operation of each linear actuator to process the product.

[0053] In an optional embodiment, a resistance sensor and a pressure sensor are provided in the linear actuator; the resistance sensor is suitable for detecting the actual resistance experienced by the output end of the linear actuator; and the pressure sensor is suitable for detecting the pressure output by the linear actuator.

[0054] At least one other disclosed embodiment also provides a working method using the above-mentioned linear actuator control system, including: a central controller determines the connection relationship between each hardware in the physical layer, and then obtains the reference time of each linear actuator in the hardware, obtains the compensation time of each linear actuator according to the reference time, so that each linear actuator ends working at the same time point, and detects through each sensor in the verification layer when the linear actuator is working, and adjusts the output of each linear actuator according to the detection result.

[0055] In summary, the linear actuator control system includes: a central controller configured to determine the connection relationship between the hardware in the physical layer, and then obtain the reference time of each linear actuator in the hardware, and obtain the compensation time of each linear actuator according to the reference time, so that each linear actuator ends working at the same time point, and when the linear actuator is working, the sensors in the verification layer are used for detection, and the central controller adjusts the output of each linear actuator according to the detection result, thereby realizing unified control of each linear actuator, and the time point when the processing of each linear actuator ends is the same, which improves the processing efficiency of the product, and accurately controls the output force of the linear actuator, thereby improving the processing effect of the product.

[0056] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A linear actuator control system, characterized in that: include: The central controller is configured to determine the connection relationship of each hardware in the physical layer, and then obtain the reference time of each linear actuator in the hardware, and obtain the compensation time of each linear actuator according to the reference time, so that each linear actuator ends its work at the same time point, and When the linear actuator is working, each sensor in the verification layer is used for detection, and the central controller adjusts the output of each linear actuator according to the detection result.

2. The linear actuator control system according to claim 1, characterized in that: The central controller is also configured to obtain the linear actuator with the shortest reaction time according to the reaction time of each linear actuator after obtaining the reference time, and the reaction time of the linear actuator is less than the reference time. When controlling the linear actuator, the control instruction is sent with delay so that the sum of the delayed sending time and the reaction time meets the reference time, and the approach instruction is sent to the linear actuator within the time period of the delayed sending, so that the output end of the linear actuator approaches the product, and then the linear actuator is controlled to apply pressure to the product linearly. At this time, according to the pressure parameter sent to the linear actuator and the resistance sensor on the linear actuator in the verification layer, the actual resistance received by the output end of the linear actuator at this time is obtained, and the actual resistance is compared with the preset resistance corresponding to the current pressure parameter. If the two are different, the preset pressure parameter corresponding to the current actual resistance is obtained from the preset standard curve, and the ratio between the current pressure parameter and the preset pressure parameter is obtained. According to the ratio, the maximum pressure parameter during product processing is adjusted to obtain the maximum actual pressure parameter, and the maximum actual pressure parameter is synchronized to other linear actuators as the maximum output applied to the product by all linear actuators.

3. The linear actuator control system according to claim 1, characterized in that: The central controller is configured to determine the connection relationship of each hardware in the physical layer; wherein, The central controller is configured to send two handshake messages to each linear actuator; If the linear actuator receives two handshake feedback messages, it is determined that the corresponding linear actuator is directly electrically connected to the central controller; or, If the central controller receives only one handshake feedback message, it is determined that the corresponding linear actuator is electrically connected to the central controller through the controller to obtain the connection relationship between the central controller and all the linear actuators.

4. The linear actuator control system according to claim 3, characterized in that: The central controller is also configured to obtain the communication time of each linear actuator based on the time of sending handshake information and receiving handshake feedback information, and obtain the reaction time of each linear actuator based on the execution time of each linear actuator. The reaction time is the sum of the communication time and the execution time. The reaction time of each linear actuator is sorted from short to long, and the longest reaction time is used as the benchmark time.

5. The linear actuator control system according to claim 4, characterized in that: The central controller is also configured to control the operation of each linear actuator according to a reference time. If the reaction time of the linear actuator is less than the reference time, the control instruction is sent with a delay during the control process of the linear actuator so that the sum of the delayed sending time and the reaction time meets the reference time.

6. The linear actuator control system according to claim 5, characterized in that: The central controller is further configured to obtain the actual reference time of each linear actuator in the process of controlling each linear actuator, compare the actual reference time with the reference time, and if there is only one linear actuator whose actual reference time is different from the reference time, determine whether it is the first time that the actual reference time of the linear actuator is different from the reference time. If it is the first time, adjust the time of delayed transmission in the actual reference time of the linear actuator so that the actual reference time is the same as the reference time. If it is not the first time, detect the communication layer and the linear actuator; If the number of linear actuators whose actual reference time is different from the reference time is greater than 1, the communication layer and the linear actuator are checked.

7. The linear actuator control system according to claim 6, characterized in that: The method for detecting the communication layer and the linear actuator comprises: The linear actuator whose actual reference time is different from the reference time will send the received control instruction in reverse to the central controller. The central controller will compare the control instruction sent to the linear actuator with the control instruction sent in reverse by the linear actuator. If the two are the same, it is judged that the communication process is normal, that is, the communication layer is normal. Otherwise, it is judged that the communication layer is abnormal. If the communication layer is normal, it is judged that the linear actuator is abnormal.

8. The linear actuator control system according to claim 1, characterized in that: The central controller is electrically connected to the linear actuator directly or through the controller; The central controller is suitable for controlling the operation of each linear actuator to process the product.

9. The linear actuator control system according to claim 1, characterized in that: The linear actuator is provided with a resistance sensor and a pressure sensor; The resistance sensor is suitable for detecting the actual resistance experienced by the output end of the linear actuator; The pressure sensor is adapted to detect the pressure output by the linear actuator.

10. A working method using the linear actuator control system as claimed in claim 1, characterized in that: include: The central controller determines the connection relationship of each hardware in the physical layer, and then obtains the reference time of each linear actuator in the hardware, and obtains the compensation time of each linear actuator according to the reference time, so that each linear actuator ends its work at the same time point, and When the linear actuator is working, each sensor in the verification layer is used to detect it, and the output of each linear actuator is adjusted according to the detection result.

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