Linear actuator control system and its working method

Abstract

The present invention belongs to the field of measurement technology, specifically relates to the measurement of force, and particularly relates to a linear actuator control system and its working method. The linear actuator control system includes: a central controller configured to determine the connection relationship of each hardware in the physical layer, then obtain the reference time of each linear actuator in the hardware, obtain the compensation time of each linear actuator according to the reference time, so that each linear actuator finishes working at the same time point, and detect through each sensor in the verification layer when the linear actuator is working. The central controller adjusts the output of each linear actuator according to the detection result, thereby realizing the unified control of each linear actuator. The end time points of the processing of each linear actuator are the same, improving the processing efficiency of the product, and accurately controlling the output force of the linear actuator, improving the processing effect of the product.

Description

Technical Field

[0001] The present invention belongs to the technical field of measurement, specifically relates to the measurement of force, and particularly relates to a linear actuator control system and its working method. Background Art

[0002] When processing a product, multiple linear actuators on the same product perform processing simultaneously. However, the uneven processing time and applied force of each linear actuator on the product will lead to a reduction in the processing efficiency and effect of the product.

[0003] Therefore, due to the technical problem that the processing efficiency and effect of the product are low due to different forces applied by each linear actuator to the product and different processing times, it is necessary to design a linear actuator control system and its working method.

[0004] It should be noted that the above information disclosed in this background art section is only used to understand the background art of the concept of this application. Therefore, it is not considered that the above description constitutes 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 its working method.

[0006] In a first aspect, the embodiments of the present disclosure provide a linear actuator control system, including:

[0007] The central controller is configured to judge the connection relationship of each hardware in the physical layer, then obtain the reference time of each linear actuator in the hardware, 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 detect through each sensor in the verification layer when the linear actuator is working, and the central controller adjusts the output of each linear actuator according to the detection result.

[0008] In an alternative embodiment, the central controller is configured to, after obtaining the reference time, obtain the linear actuator with the shortest response time according to the response time of each linear actuator, where the response time of the linear actuator is less than the reference time. When controlling the linear actuator, the control instruction is sent with a delay, so that the sum of the delay sending time and the response time meets the reference time. During the period of the delay sending, a proximity instruction is sent to the linear actuator, so that the output end of the linear actuator approaches the product. 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 actual resistance detected by the resistance sensor on the linear actuator in the verification layer at this time, 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, the ratio between the current pressure parameter and the preset pressure parameter is obtained, the maximum pressure parameter during product processing is adjusted according to the ratio, the maximum actual pressure parameter is obtained, and the maximum actual pressure parameter is synchronized to other linear actuators as the maximum output applied by all linear actuators to the product.

[0009] In an alternative embodiment, the method by which the central controller is configured to determine the connection relationship of each hardware in the physical layer includes:

[0010] The central controller sends handshake information to each linear actuator twice. 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 a controller, so as to obtain the connection relationship between the central controller and all linear actuators.

[0011] In an alternative embodiment, the central controller is further configured to obtain the communication time of each linear actuator according to the time of sending the handshake information and receiving the handshake feedback information, and obtain the response time of each linear actuator according to the execution time of each linear actuator. The response time is the sum of the communication time and the execution time. The response times of the linear actuators are sorted from short to long, and the longest response time is used as the reference time.

[0012] In an alternative embodiment, the central controller is further configured to control the operation of each linear actuator according to the reference time. If the response 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 delay sending time and the response time meets the reference time.

[0013] In an alternative 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. If there is only one linear actuator whose actual reference time is different from the reference time, it is determined whether this 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, the time of delayed transmission in the actual reference time of the linear actuator is adjusted to make the actual reference time the same as the reference time. If it is not the first time, the communication layer and the linear actuator are detected;

[0014] If the number of linear actuators with different actual reference times and reference times is greater than 1, the communication layer and the linear actuators are detected.

[0015] In an alternative embodiment, the method for detecting the communication layer and the linear actuator includes:

[0016] The linear actuator with different actual reference time and reference time reversely sends the received control instruction to the central controller. The central controller compares the control instruction sent to the linear actuator with the control instruction reversely sent by the received linear actuator. If the two are the same, it is determined that the communication process is normal, that is, the communication layer is normal. Otherwise, it is determined that the communication layer is abnormal. If the communication layer is determined to be normal, it is determined that the linear actuator is abnormal.

[0017] In an alternative embodiment, the central controller is directly electrically connected to the linear actuator or electrically connected to the linear actuator through a controller;

[0018] The central controller is adapted to control the operation of each linear actuator to process the product.

[0019] In an alternative embodiment, a resistance sensor and a pressure sensor are provided in the linear actuator;

[0020] The resistance sensor is adapted to detect the actual resistance received at the output end of the linear actuator;

[0021] The pressure sensor is adapted to detect the pressure output by the linear actuator.

[0022] In a second aspect, the embodiments of the present disclosure further provide a working method using the above linear actuator control system, including:

[0023] The central controller determines the connection relationship of each hardware in the physical layer, 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 finishes 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.

[0024] The beneficial effects of the present invention are as follows. This linear actuator control system includes: a central controller configured to determine the connection relationships of the various hardware components in the physical layer, then obtain the reference times of the various linear actuators in the hardware, and obtain the compensation times of the various linear actuators according to the reference times, so that the various linear actuators end their operations at the same time point. Additionally, during the operation of the linear actuators, detections are performed through the various sensors in the verification layer, and the central controller adjusts the outputs of the various linear actuators based on the detection results. As a result, unified control of the various linear actuators is achieved, the end time points of the processing of the various linear actuators are the same, the processing efficiency of the products is improved, and the accurate control of the output force of the linear actuators improves the processing effect on the products.

[0025] Other features and advantages of the present invention will be elaborated in the subsequent description. Moreover, some of them will become obvious from the description or be understood by implementing the present invention. The objectives and other advantages of the present invention are realized and obtained through the structures specifically pointed out in the description and the accompanying drawings.

[0026] To make the above objectives, features, and advantages of the present invention more clearly understandable, specific preferred embodiments are hereby given, and in conjunction with the accompanying drawings, the detailed description is as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following-described drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0028] Figure 1 It is a flowchart of a linear actuator control system provided by an embodiment of the present disclosure;

[0029] Figure 2 It is a detailed flowchart of a linear actuator control system provided by an embodiment of the present disclosure;

[0030] Figure 3 It is a flowchart of adjusting the outputs of the various linear actuators provided by an embodiment of the present disclosure;

[0031] Figure 4 It is a flowchart of determining the connection relationships of the various hardware components in the physical layer provided by an embodiment of the present disclosure;

[0032] Figure 5 It is a schematic diagram of the connection of the various hardware components in the physical layer provided by an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0034] As used herein, phrases such as "in one embodiment", "according to one embodiment", "in some embodiments", etc. generally refer to the fact that the specific features, structures, or characteristics after such phrases can be included in at least one embodiment of the present disclosure. Therefore, a specific feature, structure, or characteristic may be included in more than one embodiment of the present disclosure, such that these phrases do not necessarily refer to the same embodiment. As used herein, terms such as "example", "exemplary", etc. are used "as an example, instance, or illustration. Any embodiment, aspect, or design described herein as "example" or "exemplary" is not necessarily construed as preferred or superior to other embodiments, aspects, or designs. Instead, the use of terms such as "example", "exemplary", etc. is intended to present concepts in a specific manner.

[0035] During the product processing, multiple linear actuators will act on the same product simultaneously. For example, four linear actuators are used to process the four corners of the product. However, the inventor found that during the processing, due to differences in the aging degree of the linear actuators and the connection methods with the central controller, etc., the processing times of the linear actuators for the product are different, and the end time points of the processing of the product by each linear actuator are different, resulting in an increase in the time taken for product processing and a decrease in product processing efficiency. Also, due to problems with the product material, for example, a certain batch of products is slightly thinner or thicker than the standard thickness. At this time, the force output by the linear actuator needs to change. Otherwise, the output force parameters set according to the standard thickness will result in poor processing effects for slightly thinner or thicker batch products. For example, for thicker products, the punching may not penetrate.

[0036] Regarding the defects existing in the above solutions, they are all the results obtained by the inventor after practice and careful research. Therefore, the process of discovering the above problems and the solutions proposed in this disclosure by the present disclosure for the above problems should all be the contributions made by the inventor to the present disclosure during the process of the present disclosure.

[0037] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0038] The following will, in conjunction with the accompanying drawings, elaborate on some embodiments of the present invention. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0039] As Figure 1 and Figure 2 shown, at least one disclosed embodiment provides a linear actuator control system, including: a central controller configured to determine the connection relationship of each hardware in the physical layer, then obtain the reference time of each linear actuator in the hardware, obtain the compensation time of each linear actuator according to the reference time, so that each linear actuator finishes working at the same time point, and detect through each sensor in the verification layer when the linear actuator is working. The central controller adjusts the output of each linear actuator according to the detection result, thereby realizing the unified control of each linear actuator. The end time points of each linear actuator's processing are the same, improving the processing efficiency of the product, that is, each linear actuator finishes processing at the same time. Taking the linear actuator with the longest response time as the standard, all linear actuators end at the same time point, avoiding the low efficiency caused by uneven end time points of the linear actuator's processing, and accurately controlling the output force of the linear actuator, improving the processing effect of the product, that is, the force output by the linear actuator can accurately match the force required during the product processing, improving the processing effect of the product.

[0040] In this embodiment, the product can be a device that needs to be punched, and the thickness of the position to be punched is relatively thin.

[0041] In this embodiment, the way the linear actuator is electrically connected to the central controller can be a direct electrical connection or an electrical connection through a controller between the linear actuator and the central controller.

[0042] In this embodiment, the communication protocols between the central controller and the linear actuator and the controller can be various communication interfaces, 484 serial ports, Ethernet, etc.

[0043] 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.

[0044] As Figure 3As shown, in an alternative embodiment, the central controller is configured to, after obtaining the reference time, obtain the linear actuator with the shortest response time according to the response time of each linear actuator, where the response time of this linear actuator is less than the reference time. When controlling this linear actuator, the control instruction is sent with a delay so that the sum of the delay time and the response time meets the reference time. During the period of the delayed sending, a proximity instruction is sent to this linear actuator to make the output end of this linear actuator approach 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 actual resistance detected by the resistance sensor on the linear actuator in the verification layer to obtain the actual resistance received by the output end of the linear actuator at this time, 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, the ratio between the current pressure parameter and the preset pressure parameter is obtained, the maximum pressure parameter during product processing is adjusted according to the ratio, the maximum actual pressure parameter is obtained, and this maximum actual pressure parameter is synchronized to other linear actuators as the maximum output applied by all linear actuators to the product.

[0045] In this embodiment, the maximum output is the maximum force applied by the linear actuator to the product.

[0046] In this embodiment, after the reference time of the linear actuator is obtained, during the process of controlling each linear actuator, the output end of the linear actuator with the shortest response time is controlled to first contact the product, and then start to apply pressure to the product, and the applied pressure is much less than the maximum pressure required during product processing. For example, the pressure required during the processing of a product with a standard thickness is 200N, then the output end of the linear actuator with the shortest response time can first output 10N. At this time, the actual resistance received by the output end of the linear actuator is obtained. The preset resistance received by the linear actuator when the output end of the linear actuator outputs force for a product with a standard thickness 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. The preset pressure parameter corresponding to the same value is obtained from the preset standard curve according to the actual resistance. The preset standard curve can be constructed and stored according to historical data, that is, the resistance corresponding to the pressure parameter in the case of the standard thickness. For example, if the preset pressure parameter is 9, then the ratio between the current pressure parameter and the preset pressure parameter is 10 / 9, and the maximum pressure 200 is divided by the ratio to obtain the maximum pressure 180N corresponding to the current product; conversely, when the product is too thick, the maximum pressure needs to be increased.

[0047] In this embodiment, when processing each product, the maximum force required for processing the product can be accurately obtained, and each linear actuator can be accurately controlled to improve the processing effect of the product. Too small a force will cause thicker products to not be fully processed, and too large a force will cause thinner products to be over-processed, both of which will affect the quality of the product.

[0048] In this embodiment, the maximum force required for the current product is obtained by the linear actuator with the shortest reaction time. What is applied is the delay time of this linear actuator. The delay can be reasonably utilized. Without affecting the reference time, the accurate maximum pressure can be accurately obtained, improving the processing efficiency of the product.

[0049] Such as Figure 4 and Figure 5 As shown, in an alternative embodiment, the method by which the central controller is configured to determine the connection relationship of each hardware in the physical layer 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 a controller, so as to obtain the connection relationship between the central controller and all linear actuators.

[0050] In this embodiment, if the central controller is electrically connected to the linear actuator, when the central controller sends two handshake messages to this linear actuator, this linear actuator will feedback two handshake messages to the central controller, and then the central controller can accurately determine that this linear actuator is directly electrically connected to it.

[0051] In this embodiment, if the central controller is electrically connected to the linear actuator through a controller, the controller will feedback one handshake message to the central controller, and the linear actuator will return one handshake message to the controller. The central controller only receives one handshake feedback message, and the central controller can accurately determine that this linear actuator is indirectly connected to it through the controller.

[0052] Such as Figure 4 As shown, in an alternative embodiment, the central controller is further configured to obtain the communication time of each linear actuator according to the time of sending handshake messages and receiving handshake feedback messages, and obtain the reaction time of each linear actuator according to the execution time of each linear actuator. The reaction time is the sum of the communication time and the execution time. Sort the reaction times of each linear actuator from short to long, and use the longest reaction time as the reference time.

[0053] In this embodiment, the central controller can obtain the parameters of each linear actuator to obtain the corresponding execution time of each linear actuator.

[0054] In this embodiment, the longest reaction time is used as the reference time. Then, it can be determined that among the linear actuators, the longest time for the linear actuator to complete the product processing. Through this reference time, the linear actuators can be uniformly controlled, so that the linear actuators can complete the product processing at the same time point, avoiding waste of time and increasing the processing efficiency of the product.

[0055] In an alternative embodiment, the central controller is further configured to control the operation of each linear actuator according to the reference time. If the reaction time of the linear actuator is less than the reference time, the control instruction will be delayed during the control process of the linear actuator, so that the sum of the delayed transmission time and the reaction time meets the reference time.

[0056] In this embodiment, by setting the delayed transmission, each linear actuator can complete the product processing at the same time point.

[0057] As Figure 2 shown, in an alternative 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. If there is only one linear actuator whose actual reference time is different from the reference time, it is determined whether this is the first time that the actual reference time of this linear actuator is different from the reference time. If it is the first time, the delayed transmission time in the actual reference time of this linear actuator is adjusted to make the actual reference time the same as the reference time. If it is not the first time, the communication layer and the linear actuator are detected; 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 detected.

[0058] In this embodiment, the linear actuators include hydraulic and electrical ones. The hydraulic linear actuator may cause execution deviation due to pressure fluctuation, and the electrical linear actuator may cause execution deviation due to power supply problems. Therefore, time compensation is also required to make each linear actuator meet the reference time.

[0059] In this embodiment, even if the force output by the linear actuator changes, its corresponding execution time remains fixed.

[0060] As Figure 2As shown, in an alternative embodiment, the method for detecting the communication layer and the linear actuator includes: a linear actuator with an actual reference time different from the reference time reversely sends the received control instruction to the central controller. The central controller compares the control instruction sent to the linear actuator with the control instruction reversely sent by the received linear actuator. If the two are the same, it is determined that the communication process is normal, that is, the communication layer is normal; otherwise, it is determined that the communication layer is abnormal. If the communication layer is determined to be normal, it is determined that the linear actuator is abnormal.

[0061] In this embodiment, the communication layer may include communication lines between the central controller and the controller and the linear actuator, etc.

[0062] 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 points when each linear actuator finishes executing the control instruction are the same.

[0063] In this embodiment, due to the different connection methods between the central controller and the linear actuator and the controller, and the different maximum characters that can be communicated, the control instruction 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, by reversely sending the control instruction back to the central controller and comparing the control instruction sent by the central controller with the received control instruction, if they are the same, it is determined that there is no communication problem, and at this time, it is determined that the linear actuator has a problem, and the management personnel can be notified to come to the site for maintenance; if they are different, it is determined that there is a communication problem, and at this time, the linear actuator with the communication problem is determined according to the control instruction, and the management personnel are notified to come to the site for maintenance of the corresponding communication line.

[0064] In an alternative embodiment, the central controller is directly electrically connected to the linear actuator or electrically connected to the linear actuator through the controller; the central controller is adapted to control the operation of each linear actuator to process the product.

[0065] In an alternative embodiment, a resistance sensor and a pressure sensor are provided in the linear actuator; the resistance sensor is adapted to detect the actual resistance received at the output end of the linear actuator; the pressure sensor is adapted to detect the pressure output by the linear actuator.

[0066] At least one other publicly disclosed embodiment also provides a working method using the above linear actuator control system, including: the central controller determines the connection relationship of each hardware in the physical layer, 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 finishes 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.

[0067] In summary, the present linear actuator control system includes: a central controller configured to determine the connection relationship of each hardware in the physical layer, then obtain the reference time of each linear actuator in the hardware, obtain the compensation time of each linear actuator according to the reference time, so that each linear actuator finishes working at the same time point, and detect through each sensor in the verification layer when the linear actuator is working. The central controller adjusts the output of each linear actuator according to the detection result, thereby realizing the unified control of each linear actuator. The end time points of the processing of each linear actuator are the same, improving the processing efficiency of the product, and accurately controlling the output force of the linear actuator, improving the processing effect of the product.

[0068] Taking the above ideal embodiment according to the present invention as an inspiration, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of this invention. The technical scope of this invention is not limited to the content in 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, 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; 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.

2. 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.

3. The linear actuator control system according to claim 2, 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.

4. The linear actuator control system according to claim 3, 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.

5. The linear actuator control system according to claim 4, 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.

6. The linear actuator control system according to claim 5, 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.

7. 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.

8. 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.

9. 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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