Motor control type intelligent oil cylinder and control method thereof

Abstract

The invention relates to the technical field of hydraulic cylinders, and discloses a motor control type intelligent oil cylinder and a control method thereof.The motor control type intelligent oil cylinder comprises a cylinder barrel, a piston rod is arranged in the cylinder barrel, an integrated valve seat is fixedly connected to the outer surface of the cylinder barrel, and a low-pressure oil port and a high-pressure oil port are formed in the top of the integrated valve seat; a visual displacement detection sensor, a controller, a first temperature and pressure sensor and a second temperature and pressure sensor are arranged on the top of the integrated valve seat. The displacement of the piston rod is measured through the visual displacement detection sensor, and the real-time temperature of an emulsion medium and the working pressure of a rod cavity and a rodless cavity of the oil cylinder are detected through the first temperature and pressure sensor and the second temperature and pressure sensor. Meanwhile, the controller can collect the detected oil cylinder position and pressure temperature signals, and then control the two motor direct-drive type digital reversing valves through the collected data, so that the displacement of valve elements of the two control digital reversing valves is achieved, and accurate positioning and motion control of a piston rod are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic cylinders, and in particular to a motor-controlled intelligent oil cylinder and a control method thereof. Background Art

[0002] Intelligent mining is a new stage in the development of coal mining technology, and it is also an inevitable requirement for the technological revolution and upgrading of the coal industry. The straightness control of the coal mine fully-mechanized mining face is one of the key technologies for realizing intelligent mining. The position control performance of the hydraulic support push cylinder directly affects the work. The strong nonlinearity, parameter uncertainty, modeling error and unknown dynamics of the electro-hydraulic system seriously affect the control accuracy of the push cylinder; due to the complex working conditions and small installation space of the push cylinder, the layout of pipelines and sensors is restricted. The electro-hydraulic reversing valve is the core control element of the hydraulic support electro-hydraulic control system. It is mainly composed of an electromagnetic pilot valve and a hydraulically controlled main valve. The two cooperate with each other to realize the positioning control of the push cylinder. Since the transmission medium of the hydraulic system in the mine is an emulsion, internal leakage and delayed action of the electromagnetic valve affect the position control of the cylinder; the tunnel excavation space of the coal mine is small and the environment is harsh, which is susceptible to external interference and various internal uncertain disturbances, affecting the control accuracy of the cylinder.

[0003] A Chinese patent application with application publication number CN103994120A proposes a hydraulic support push cylinder control device and control method thereof. By adding a hydraulic support push auxiliary circuit, more accurate push speed control and stroke control can be achieved, but the system circuit is complex. A precise control system and method for hydraulic support frame shifting and pushing is disclosed in a Chinese patent application with application publication number CN105569703A. The patent proposes a lifting and stopping logic valve to achieve precise position control, but it will cause the cylinder movement speed to slow down. Therefore, the development of a mining cylinder with high integration and high control accuracy is of great significance for realizing intelligent coal mining.

[0004] Currently, no effective solution has been proposed for the problems in the related technologies. Summary of the invention

[0005] 1. Technical issues to be solved

[0006] In view of the deficiencies in the prior art, the present invention provides a motor-controlled intelligent cylinder and a control method thereof, which has the advantages that the cylinder can respond quickly and accurately follow a preset motion curve, and solves the problem of complex system circuits.

[0007] (II) Technical solution

[0008] In order to solve the technical problem of the complex system circuit of the above-mentioned motor-controlled intelligent cylinder and its control method, the present invention provides the following technical solutions:

[0009] A motor-controlled intelligent oil cylinder comprises a cylinder barrel, a piston rod is arranged inside the cylinder barrel, an integrated valve seat is fixedly connected to the outer surface of the cylinder barrel, a low-pressure oil port and a high-pressure oil port are opened on the top of the integrated valve seat, a first motor-direct-driven digital reversing valve and a second motor-direct-driven digital reversing valve are fixedly installed on the back of the integrated valve seat, and a visual displacement detection sensor, a controller, a first temperature and pressure sensor and a second temperature and pressure sensor are arranged on the top of the integrated valve seat;

[0010] The high-pressure oil port and the low-pressure oil port are used to be connected to an external oil circuit. The first temperature and pressure sensor and the second temperature and pressure sensor are used to detect the real-time temperature of the emulsion medium and the working pressure of the rod chamber and the rodless chamber of the cylinder. The visual displacement detection sensor is used to measure the displacement of the piston rod. The controller is used to collect sensor data so that the controller can control the flow of the low-pressure oil port and the high-pressure oil port through the first motor directly-driven digital reversing valve and the second motor directly-driven digital reversing valve to achieve control of the displacement of the piston rod.

[0011] Preferably, a stopper sleeve is threadedly connected to the front end of the cylinder, a guide sleeve is provided on the inner wall of the cylinder, the piston rod is movably connected to the guide sleeve, and the other end of the cylinder is fixedly connected to the cylinder bottom.

[0012] Preferably, a first process oil port and a second process oil port are provided on the top of the integrated valve seat, and flow channels are provided on the inner walls of the first process oil port and the second process oil port. The flow channel inside the first process oil port connects the oil outlet end of the second motor direct-driven digital reversing valve with the rod chamber of the cylinder. A hard pipeline is fixedly connected to one side of the integrated valve seat, and one end of the hard pipeline is connected to the rodless chamber of the cylinder. The flow channel inside the second process oil port connects the oil outlet end of the first motor direct-driven digital reversing valve with the hard pipeline.

[0013] Preferably, a rod cavity pressure measuring port and a rodless cavity pressure measuring port are provided on the top of the integrated valve seat, and flow channels are provided on the inner walls of the rod cavity pressure measuring port and the rodless cavity pressure measuring port. The flow channel inside the rod cavity pressure measuring port is connected with the first process oil port, and the flow channel inside the rodless cavity pressure measuring port is connected with the second process oil port. The first temperature and pressure sensor is threadedly connected to the rodless cavity pressure measuring port, and the second temperature and pressure sensor is threadedly connected to the rod cavity pressure measuring port.

[0014] Preferably, the visual displacement detection sensor is arranged on the upper side of the stop sleeve, a displacement sensor mounting hole is opened at the top of the integrated valve seat corresponding to the visual displacement detection sensor, the bottom of the visual displacement detection sensor is fixedly installed inside the displacement sensor mounting hole, and the outer surface of the piston rod is provided with position coding information.

[0015] Preferably, the controller is fixedly mounted on the integrated valve seat, and the controller is located between the rod chamber pressure measuring port and the rodless chamber pressure measuring port, and the visual displacement detection sensor, the first temperature and pressure sensor, the second temperature and pressure sensor, the first motor directly-driven digital reversing valve and the second motor directly-driven digital reversing valve are all electrically connected to the controller.

[0016] Based on the control method of a motor-controlled intelligent cylinder:

[0017] The controller sends instructions to the first motor-direct-driven digital reversing valve and the second motor-direct-driven digital reversing valve;

[0018] The motor of the first motor-driven digital reversing valve rotates clockwise, the valve core moves to the right, the P port is connected to the A port, and the pressure oil enters the rodless chamber of the oil cylinder. The motor of the second motor-driven digital reversing valve rotates counterclockwise, the valve core moves to the left, the B port is connected to the T port, the rod chamber of the oil cylinder is connected to the oil tank, the pressure of the rodless chamber is greater than the pressure of the rod chamber, and the piston rod of the oil cylinder extends outward;

[0019] The motor of the first motor-driven digital reversing valve rotates counterclockwise, the valve core moves to the left, the A port is connected to the T port, and the pressure oil enters the rodless chamber of the oil cylinder. The motor of the second motor-driven digital reversing valve rotates counterclockwise, the valve core moves to the left, the B port is connected to the T port, the rod chamber of the oil cylinder is connected to the oil tank, the pressure of the rodless chamber is greater than the pressure of the rod chamber, and the piston rod of the oil cylinder extends outward;

[0020] When the first motor-direct-driven digital reversing valve and the second motor-direct-driven digital reversing valve are both in the middle position, the low-pressure oil port and the high-pressure oil port are closed, and the oil cylinder is in a position holding state.

[0021] (III) Beneficial effects

[0022] Compared with the prior art, the present invention provides a motor-controlled intelligent oil cylinder and a control method thereof, which have the following beneficial effects:

[0023] 1. The present invention measures the displacement of the piston rod by a visual displacement detection sensor, and detects the real-time temperature of the emulsion medium and the working pressure of the rod chamber and the rodless chamber of the cylinder by a first temperature and pressure sensor and a second temperature and pressure sensor. At the same time, the controller can collect the detected cylinder position and pressure and temperature signals, and then control the two motor-direct-driven digital reversing valves through the collected data, so that the valve cores of the two controlled digital reversing valves are displaced, thereby realizing precise positioning and motion control of the piston rod.

[0024] 2. The intelligent control method of the present invention, which combines the radial basis function neural network RBF with the PI control algorithm, can adjust the motion trajectory of the cylinder in real time according to the data collected by the sensor, so that the cylinder can respond quickly and accurately follow the preset motion curve, greatly improving the response speed and control accuracy of the system.

[0025] 3. The present invention arranges a low-pressure oil port and a high-pressure oil port on the top of the integrated valve seat so that the external hydraulic oil can flow into or out of the rod chamber and the rodless chamber of the cylinder through the flow channels and hard pipelines arranged inside the low-pressure oil port and the high-pressure oil port. The above arrangement reduces the connection of external pipelines, reduces the risk of leakage, improves the reliability of the system, saves installation space, and simplifies the installation and maintenance process. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the structure of a motor-controlled intelligent oil cylinder of the present invention;

[0027] Figure 2 It is a schematic diagram of the integrated valve seat structure of the present invention;

[0028] Figure 3 It is a cross-sectional view of the motor-controlled intelligent oil cylinder of the present invention;

[0029] Figure 4 It is a structural schematic diagram of the piston rod of the present invention;

[0030] Figure 5 This is a working principle diagram of the intelligent oil cylinder of the present invention;

[0031] Figure 6 This is the control principle diagram of the intelligent oil cylinder of the present invention.

[0032] In the figure: 1. integrated valve seat; 4. visual displacement detection sensor; 5. controller; 7. hard pipeline; 11. displacement sensor mounting hole; 12. rod chamber pressure measuring port; 13. rodless chamber pressure measuring port; 14. low-pressure oil port; 15. high-pressure oil port; 16. first process oil port; 17. second process oil port; 21. first temperature and pressure sensor; 22. second temperature and pressure sensor; 41. piston rod; 42. stopper sleeve; 43. guide sleeve; 44. cylinder barrel; 45. cylinder bottom; 46. position coding information; 61. first motor directly-driven digital reversing valve; 62. second motor directly-driven digital reversing valve. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] As introduced in the background technology, there are deficiencies in the prior art. In order to solve the above technical problems, the present application proposes a motor-controlled intelligent cylinder and a control method thereof.

[0035] See also Figure 1-6 , a motor-controlled intelligent oil cylinder, comprising a cylinder barrel 44, wherein a piston rod 41 is arranged inside the cylinder barrel 44, an integrated valve seat 1 is fixedly connected to the outer surface of the cylinder barrel 44, a low-pressure oil port 14 and a high-pressure oil port 15 are opened on the top of the integrated valve seat 1, a first motor-direct-driven digital reversing valve 61 and a second motor-direct-driven digital reversing valve 62 are fixedly installed on the back of the integrated valve seat 1, and a visual displacement detection sensor 4, a controller 5, a first temperature and pressure sensor 21 and a second temperature and pressure sensor 22 are arranged on the top of the integrated valve seat 1;

[0036] The high-pressure oil port 15 and the low-pressure oil port 14 are used to be connected to an external oil circuit. The first temperature and pressure sensor 21 and the second temperature and pressure sensor 22 are used to detect the real-time temperature of the emulsion medium and the working pressure of the rod chamber and the rodless chamber of the cylinder. The visual displacement detection sensor 4 is used to measure the displacement of the piston rod 41. The controller 5 is used to collect sensor data so that the controller 5 can control the flow of the low-pressure oil port 14 and the high-pressure oil port 15 through the first motor directly-driven digital reversing valve 61 and the second motor directly-driven digital reversing valve 62 to achieve control of the displacement of the piston rod 41.

[0037] The displacement of the piston rod 41 is measured by the visual displacement detection sensor 4, and the real-time temperature of the emulsion medium and the working pressure of the rod chamber and the rodless chamber of the cylinder are detected by the first temperature and pressure sensor 21 and the second temperature and pressure sensor 22. At the same time, the controller 5 collects the data detected by the above-mentioned multiple sensors, and controls the first motor directly driven digital reversing valve 61 and the second motor directly driven digital reversing valve 62 according to the collected data, so that the valve cores of the two reversing valves rotate, and thereby complete the control of the flow of pressure oil in the low-pressure oil port 14 and the high-pressure oil port 15, so that the piston rod 41 moves inside the cylinder 44.

[0038] The displacement of the piston rod 41 is measured by integrating the valve seat 1 and the visual displacement detection sensor 4, and the real-time temperature of the emulsion medium and the working pressure of the rod chamber and the rodless chamber of the cylinder are detected by the first temperature and pressure sensor 21 and the second temperature and pressure sensor 22. At the same time, the controller 5 can collect the detected cylinder position and pressure and temperature signals, and then control the two motor-direct-driven digital reversing valves through the collected data, so that the valve cores of the two controlled digital reversing valves are displaced, thereby realizing precise positioning and motion control of the piston rod 41.

[0039] Furthermore, for the above-mentioned cylinder 44, the front end of the cylinder 44 is threadedly connected with a stopper sleeve 42, the inner wall of the cylinder 44 is provided with a guide sleeve 43, the piston rod 41 is movably connected to the guide sleeve 43, and the other end of the cylinder 44 is fixedly connected with a cylinder bottom 45.

[0040] The stopper sleeve 42 is in contact with the piston rod 41. The setting of the stopper sleeve 42 ensures the stability and safety of the piston rod 41 moving inside the cylinder 44. At the same time, the piston rod 41 is in close contact with the inner wall of the cylinder 44 through the sealing ring. The sealing of the sealing ring can prevent the emulsion medium inside the cylinder 44 from leaking. The guide sleeve 43 guides and supports the piston rod 41. The guide sleeve 43 is made of a material with good wear resistance, so that the guide sleeve 43 can withstand the pressure, bending force and impact vibration of the piston rod 41.

[0041] Furthermore, for the above-mentioned integrated valve seat 1, a first process oil port 16 and a second process oil port 17 are provided on the top of the integrated valve seat 1, and flow channels are provided on the inner walls of the first process oil port 16 and the second process oil port 17. The flow channel inside the first process oil port 16 connects the oil outlet end of the second motor direct-driven digital reversing valve 62 with the rod chamber of the cylinder, and a hard pipeline 7 is fixedly connected to one side of the integrated valve seat 1, and one end of the hard pipeline 7 is interconnected with the rodless chamber of the cylinder, and the flow channel inside the second process oil port 17 connects the oil outlet end of the first motor direct-driven digital reversing valve 61 with the hard pipeline 7.

[0042] The low-pressure oil port 14 and the high-pressure oil port 15 of the integrated valve seat 1 are respectively connected to the flow channel ports on the first motor-driven digital reversing valve 61 and the second motor-driven digital reversing valve 62. The first motor-driven digital reversing valve 61 and the second motor-driven digital reversing valve 62 are both three-position three-way proportional plug-in structures. The position control of the reversing valve core is achieved by controlling the motor rotation angle on the first motor-driven digital reversing valve 61 and the second motor-driven digital reversing valve 62, so that the emulsion medium can flow into or out of the rod chamber and the rodless chamber of the oil cylinder through the low-pressure oil port 14 and the high-pressure oil port 15 with the assistance of the oil pump. At the same time, the flow direction and flow size of the high and low pressure oil flowing to the rod chamber and the rodless chamber of the oil cylinder can be adjusted through the first motor-driven digital reversing valve 61 and the second motor-driven digital reversing valve 62, thereby realizing the movement of the oil cylinder piston rod 41.

[0043] Furthermore, for the above-mentioned integrated valve seat 1, a rod cavity pressure measuring port 12 and a rodless cavity pressure measuring port 13 are provided on the top of the integrated valve seat 1, and flow channels are provided on the inner walls of the rod cavity pressure measuring port 12 and the rodless cavity pressure measuring port 13. The flow channel inside the rod cavity pressure measuring port 12 is connected with the first process oil port 16, and the flow channel inside the rodless cavity pressure measuring port 13 is connected with the second process oil port 17. The first temperature and pressure sensor 21 is threadedly connected to the rodless cavity pressure measuring port 13, and the second temperature and pressure sensor 22 is threadedly connected to the rod cavity pressure measuring port 12.

[0044] The first temperature and pressure sensor 21 can measure the oil pressure and temperature in the rodless cavity through the rodless cavity pressure measuring port 13, and the second temperature and pressure sensor 22 can measure the oil pressure and temperature in the rod cavity through the rod cavity pressure measuring port 12. At the same time, when the oil cylinder is in use, the first process oil port 16 and the second process oil port 17 can be blocked by a hydraulic plug.

[0045] Furthermore, for the above-mentioned visual displacement detection sensor 4, the visual displacement detection sensor 4 is arranged on the upper side of the block sleeve 42, and a displacement sensor mounting hole 11 is opened at the top of the integrated valve seat 1 corresponding to the visual displacement detection sensor 4, and the bottom of the visual displacement detection sensor 4 is fixedly installed inside the displacement sensor mounting hole 11, and the outer surface of the piston rod 41 is provided with position coding information 46.

[0046] When the piston rod 41 moves inside the cylinder 44, the visual displacement detection sensor 4 can accurately measure the displacement of the piston rod 41 through the position coding information 46 set on the outer surface of the piston rod 41. At the same time, the visual displacement detection sensor 4 is provided with an encoder, which can provide the position, speed and acceleration information of the piston rod 41, thereby improving the accuracy of position feedback.

[0047] Furthermore, for the above-mentioned controller 5, the controller 5 is fixedly mounted on the integrated valve seat 1, and the controller 5 is located between the rod chamber pressure measuring port 12 and the rodless chamber pressure measuring port 13, and the visual displacement detection sensor 4, the first temperature and pressure sensor 21, the second temperature and pressure sensor 22, the first motor directly-driven digital reversing valve 61 and the second motor directly-driven digital reversing valve 62 are all electrically connected to the controller 5.

[0048] The controller 5 processes and calculates the data collected by the visual displacement detection sensor 4, the first temperature and pressure sensor 21 and the second temperature and pressure sensor 22 through an intelligent control method based on a combination of a radial basis function neural network RBF and a PI control algorithm. The intelligent control algorithm continuously learns and optimizes the control strategy under different working conditions during the operation of the cylinder, calculates the working state of the cylinder in real time and generates control instructions. The control instructions control the first motor directly-driven digital reversing valve 61 and the second motor directly-driven digital reversing valve 62, thereby achieving precise control of the displacement of the cylinder piston rod 41.

[0049] PI controller mathematical model:

[0050]

[0051] In the formula, u(t) is the control quantity, Kp is the proportional coefficient, and Ki is the integral coefficient.

[0052] The sensor sampling process is discrete. The continuous system is discretized, the PI integral term is discretized, and the amount of each output control is taken as the increment to form an incremental PI. The mathematical expression is:

[0053] u(k)=u(k-1)+Δu(k)

[0054] Δu(k)=k P (e(k)-e(k-1))+k i e(k)

[0055] In order to achieve the best control effect of the controller, it is necessary to find a suitable K p ,K i Parameters and working conditions will affect the control effect. The radial basis function neural network (RBF) has a strong learning and adaptability. It can adjust the PI control parameters in real time through online learning of system performance to improve the learning and adaptability of the control system.

[0056] The RBF neural network structure is a three-layer feedforward network with a single hidden layer. It has good generalization ability and can approximate any nonlinear function through a combination of multiple radial basis functions. The RBF in the hidden layer uses a Gaussian function, which is expressed as

[0057]

[0058] In the formula, □ j is the output of the jth unit in the hidden layer, X is the input layer vector, C j The center vector of the jth unit in the hidden layer, b j is the basis width of the jth unit in the hidden layer.

[0059] The expression of the output layer is:

[0060]

[0061] In the formula, y m (k) is the output value obtained after k training times, w j is the weight value of the jth unit

[0062] The Jacobian matrix can be used to express the degree of response of the output to the input change:

[0063]

[0064] Where Δu(k) is the output increment of the kth training of incremental PI

[0065] The RBF neural network is combined with the incremental PI algorithm, and its input layer units are

[0066]

[0067] Where, e(k) is the kth error of the incremental PI control algorithm

[0068]

[0069] Where η P is the proportional learning rate, η i is the integrated learning rate

[0070] The incremental PI algorithm output is

[0071] Δu(k)=k P x1+k i x2

[0072] Four real-time system signals are input into the RBF neural network, and two real-time parameters are output after online learning and input into the PI controller to realize online adjustment of the PI controller parameters. The motor of the motor-driven digital reversing valve is then controlled in a closed loop through the PI controller to achieve precise control of the position of the cylinder piston rod.

[0073] Based on the control method of a motor-controlled intelligent cylinder:

[0074] The controller 5 sends instructions to the first motor-direct-driven digital reversing valve 61 and the second motor-direct-driven digital reversing valve 62;

[0075] The motor of the first motor-direct-driven digital reversing valve 61 rotates clockwise, the valve core moves to the right, the P port is connected to the A port, and the pressure oil enters the rodless chamber of the oil cylinder. The motor of the second motor-direct-driven digital reversing valve 62 rotates counterclockwise, the valve core moves to the left, the B port is connected to the T port, the rod chamber of the oil cylinder is connected to the oil tank, the pressure of the rodless chamber is greater than the pressure of the rod chamber, and the piston rod 41 of the oil cylinder extends outward;

[0076] The motor of the first motor-direct-driven digital reversing valve 61 rotates counterclockwise, the valve core moves to the left, the A port is connected to the T port, and the pressure oil enters the rodless chamber of the oil cylinder. The motor of the second motor-direct-driven digital reversing valve 62 rotates counterclockwise, the valve core moves to the left, the B port is connected to the T port, the rod chamber of the oil cylinder is connected to the oil tank, the pressure of the rodless chamber is greater than the pressure of the rod chamber, and the piston rod 41 of the oil cylinder extends outward;

[0077] When the first motor-direct-driven digital reversing valve 61 and the second motor-direct-driven digital reversing valve 62 are both in the middle position, the low-pressure oil port 14 and the high-pressure oil port 15 are closed, and the oil cylinder is in a position-holding state.

[0078] Through the above technical scheme, 1. The displacement of the piston rod 41 is measured by the visual displacement detection sensor 4, and the real-time temperature of the emulsion medium and the working pressure of the rod chamber and the rodless chamber of the cylinder are detected by the first temperature and pressure sensor 21 and the second temperature and pressure sensor 22. At the same time, the controller 5 can collect the detected cylinder position and pressure and temperature signals, and then control the two motor-driven digital reversing valves through the collected data, so that the valve cores of the two controlled digital reversing valves are displaced, and thereby the precise positioning and motion control of the piston rod 41 is realized; 2. The radial basis function neural network RBF is combined with the PI control algorithm The intelligent control method can adjust the movement trajectory of the oil cylinder in real time according to the data collected by the sensor, so that the oil cylinder can respond quickly and accurately follow the preset movement curve, greatly improving the response speed and control accuracy of the system; 3. By setting a low-pressure oil port 14 and a high-pressure oil port 15 on the top of the integrated valve seat 1, the external hydraulic oil can flow into or out of the rod chamber and the rodless chamber of the oil cylinder through the flow channel set inside the low-pressure oil port 14 and the high-pressure oil port 15 and the hard pipeline 7. The above-mentioned arrangement reduces the connection of external pipelines, reduces the risk of leakage, improves the reliability of the system, saves installation space, and simplifies the installation and maintenance process.

[0079] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. A motor-controlled intelligent oil cylinder, comprising a cylinder barrel (44), characterized in that: A piston rod (41) is arranged inside the cylinder (44); an integrated valve seat (1) is fixedly connected to the outer surface of the cylinder (44); a low-pressure oil port (14) and a high-pressure oil port (15) are provided on the top of the integrated valve seat (1); a first motor-direct-driven digital reversing valve (61) and a second motor-direct-driven digital reversing valve (62) are fixedly installed on the back of the integrated valve seat (1); and a visual displacement detection sensor (4), a controller (5), a first temperature and pressure sensor (21), and a second temperature and pressure sensor (22) are arranged on the top of the integrated valve seat (1); The high-pressure oil port (15) and the low-pressure oil port (14) are used to be connected to an external oil circuit; the first temperature and pressure sensor (21) and the second temperature and pressure sensor (22) are used to detect the real-time temperature of the emulsion medium and the working pressure of the rod chamber and the rodless chamber of the cylinder; the visual displacement detection sensor (4) is used to measure the displacement of the piston rod (41); the controller (5) is used to collect sensor data so that the controller (5) controls the flow of the low-pressure oil port (14) and the high-pressure oil port (15) through the first motor-direct-driven digital reversing valve (61) and the second motor-direct-driven digital reversing valve (62) to achieve control of the displacement of the piston rod (41).

2. The motor-controlled intelligent cylinder according to claim 1, characterized in that: The front end of the cylinder (44) is threadedly connected with a stopper sleeve (42), the inner wall of the cylinder (44) is provided with a guide sleeve (43), the piston rod (41) is movably connected to the guide sleeve (43), and the other end of the cylinder (44) is fixedly connected with a cylinder bottom (45).

3. The motor-controlled intelligent cylinder according to claim 2, characterized in that: The top of the integrated valve seat (1) is provided with a first process oil port (16) and a second process oil port (17), and the inner walls of the first process oil port (16) and the second process oil port (17) are provided with flow channels. The flow channel inside the first process oil port (16) connects the oil outlet end of the second motor-driven digital reversing valve (62) with the rod chamber of the oil cylinder. A hard pipeline (7) is fixedly connected to one side of the integrated valve seat (1), and one end of the hard pipeline (7) is connected to the rodless chamber of the oil cylinder. The flow channel inside the second process oil port (17) connects the oil outlet end of the first motor-driven digital reversing valve (61) with the hard pipeline (7).

4. The motor-controlled intelligent cylinder according to claim 3, characterized in that: A rod cavity pressure measuring port (12) and a rodless cavity pressure measuring port (13) are provided on the top of the integrated valve seat (1), and flow channels are provided on the inner walls of the rod cavity pressure measuring port (12) and the rodless cavity pressure measuring port (13). The flow channel inside the rod cavity pressure measuring port (12) is connected to the first process oil port (16), and the flow channel inside the rodless cavity pressure measuring port (13) is connected to the second process oil port (17). The first temperature and pressure sensor (21) is threadedly connected to the rodless cavity pressure measuring port (13), and the second temperature and pressure sensor (22) is threadedly connected to the rod cavity pressure measuring port (12).

5. The motor-controlled intelligent cylinder according to claim 4, characterized in that: The visual displacement detection sensor (4) is arranged on the upper side of the stopper sleeve (42); a displacement sensor mounting hole (11) is provided at the top of the integrated valve seat (1) corresponding to the visual displacement detection sensor (4); the bottom of the visual displacement detection sensor (4) is fixedly mounted inside the displacement sensor mounting hole (11); and position coding information (46) is provided on the outer surface of the piston rod (41).

6. The motor-controlled intelligent cylinder according to claim 5, characterized in that: The controller (5) is fixedly mounted on the integrated valve seat (1); the controller (5) is located between the rod chamber pressure measuring port (12) and the rodless chamber pressure measuring port (13); the visual displacement detection sensor (4), the first temperature and pressure sensor (21), the second temperature and pressure sensor (22), the first motor-direct-driven digital reversing valve (61), and the second motor-direct-driven digital reversing valve (62) are all electrically connected to the controller (5).

7. A control method for a motor-controlled intelligent cylinder according to claim 6, characterized in that: The controller (5) sends instructions to the first motor-direct-driven digital reversing valve (61) and the second motor-direct-driven digital reversing valve (62); The motor of the first motor-direct-driven digital reversing valve (61) rotates clockwise, the valve core moves rightward, the P port is connected to the A port, and the pressure oil enters the rodless chamber of the oil cylinder; the motor of the second motor-direct-driven digital reversing valve (62) rotates counterclockwise, the valve core moves leftward, the B port is connected to the T port, the rod chamber of the oil cylinder is connected to the oil tank, the pressure of the rodless chamber is greater than the pressure of the rod chamber, and the piston rod (41) of the oil cylinder extends outward; The motor of the first motor-direct-driven digital reversing valve (61) rotates counterclockwise, the valve core moves leftward, the A port is connected to the T port, and the pressure oil enters the rodless chamber of the oil cylinder; the motor of the second motor-direct-driven digital reversing valve (62) rotates counterclockwise, the valve core moves leftward, the B port is connected to the T port, the rod chamber of the oil cylinder is connected to the oil tank, the pressure of the rodless chamber is greater than the pressure of the rod chamber, and the piston rod (41) of the oil cylinder extends outward; When the first motor-direct-driven digital reversing valve (61) and the second motor-direct-driven digital reversing valve (62) are both in the middle position, the low-pressure oil port (14) and the high-pressure oil port (15) are closed, and the oil cylinder is in a position-holding state.

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