Propulsion system flow compensation method, analysis method, device, equipment and medium

Abstract

The invention provides a propulsion system flow compensation method, an analysis method, a device, equipment and a medium, and relates to the technical field of fluid control. The method comprises the following steps: acquiring pressure drop times, an abnormal propulsion pressure average value, an abnormal propulsion speed average value and an abnormal pressure knob set value; constructing an identification data matrix according to the abnormal propulsion pressure average value, the abnormal propulsion speed average value and an abnormal pressure knob set value; calculating an abnormal linear regression coefficient according to the identification data matrix and the initial regression coefficient; calculating a difference value between the abnormal linear regression coefficient and the normal linear regression coefficient, and determining a target adjustment scheme according to the difference value and a first numerical range; and adjusting a speed regulating valve in the propulsion system according to the target adjustment scheme. According to the flow compensation method of the propulsion system, the flow loss degree is described by using the difference value; according to the relationship between the difference value and the first numerical range, different adjustment schemes are determined, and different adjustment measures are adopted, so that the stability of the system is improved.

Description

Technical Field

[0001] The present application relates to the field of fluid control technology, and in particular to a flow compensation method, analysis method, device, equipment and medium for a propulsion system. Background Art

[0002] Flow compensation is a technology used in hydraulic and fluid control systems. It identifies flow losses by monitoring pressure, flow and other related parameters in the system in real time. When insufficient flow or pressure is detected, the flow compensation mechanism automatically adjusts the parameters of the propulsion system components, such as adjusting the opening of the valve or the output of the pump, to compensate for the flow loss and ensure that the propulsion system can continue to provide the required hydraulic power or fluid flow.

[0003] The flow compensation mechanism of the prior art is realized through the coordinated work of a series of sensors and controllers. The pressure sensors and flow sensors in the propulsion system monitor the operating status of the hydraulic circuit or fluid system in real time. The controller receives the data from these sensors, analyzes and identifies the specific cause of the flow loss. Based on the analysis results, the controller adjusts the operating parameters of the hydraulic valve or pump, such as changing the valve opening or adjusting the output pressure of the pump, to compensate for the flow loss.

[0004] The flow compensation mechanism in the prior art has the problem of being unable to judge the degree of flow loss and thus unable to take appropriate treatment measures. The prior art only monitors and adjusts the flow through the cooperation of sensors and controllers, usually focusing only on simple pressure and flow changes, and failing to deeply analyze the various potential factors that lead to flow loss, such as equipment wear, seal aging, or changes in overflow valve characteristics. This compensation mechanism that lacks comprehensive diagnostic capabilities may not be able to accurately evaluate the severity of flow loss, resulting in inaccurate compensation measures, which in turn affects the stability and efficiency of the propulsion system. Summary of the invention

[0005] The present application provides a propulsion system flow compensation method, analysis method, device, equipment and medium to solve the problem in the prior art that the flow compensation mechanism cannot determine the degree of flow loss and thus cannot take appropriate treatment measures.

[0006] In a first aspect, the present application provides a propulsion system flow compensation method, comprising:

[0007] Collecting the first pressure drop times; wherein the first pressure drop times refers to the number of times the propulsion pressure of the propulsion cylinder in the propulsion system is lower than a preset pressure threshold;

[0008] When the first pressure drop number is greater than the preset pressure drop number, multiple abnormal propulsion pressure average values, multiple abnormal propulsion speed average values ​​and multiple abnormal pressure knob setting values ​​are collected; wherein the abnormal propulsion pressure average value, the abnormal propulsion speed average value and the abnormal pressure knob setting value refer to the average value of the propulsion pressure of the propulsion cylinder, the average value of the propulsion speed and the pressure value corresponding to the pressure knob when the propulsion cylinder drops pressure respectively;

[0009] constructing a first identification data matrix according to a plurality of abnormal propulsion pressure average values, a plurality of abnormal propulsion speed average values ​​and a plurality of abnormal pressure knob setting values;

[0010] According to the first identification data matrix and a plurality of preset first initial regression coefficients, an abnormal linear regression coefficient is calculated; wherein the abnormal linear regression coefficient is used to describe the relationship between the abnormal propulsion pressure and the abnormal propulsion speed;

[0011] Calculating a first difference between the abnormal linear regression coefficient and a preset normal linear regression coefficient, and determining a target adjustment scheme from a plurality of preset adjustment schemes according to a numerical relationship between the first difference and a preset first numerical range; wherein the normal linear regression coefficient is used to describe a relationship between a normal propulsion pressure and a normal propulsion speed of the propulsion cylinder when the propulsion cylinder has not lost pressure, the first difference is used to describe a degree of loss of flow of the propulsion system, and the target adjustment scheme is one of the plurality of adjustment schemes;

[0012] A speed control valve in the propulsion system is adjusted according to the target adjustment plan.

[0013] In a possible design, when the first pressure drop number is greater than a preset pressure drop number, collecting a plurality of abnormal propulsion pressure average values, a plurality of abnormal propulsion speed average values, and a plurality of abnormal pressure knob setting values ​​includes:

[0014] When the first pressure drop number is greater than the preset pressure drop number, a plurality of first propulsion pressures and a plurality of first propulsion speeds within a preset first time period are collected, and an average value of the first propulsion pressures, an average value of the first propulsion speeds, and a first speed standard deviation within the first time period are calculated based on the plurality of first propulsion pressures and the plurality of first propulsion speeds;

[0015] Collecting a plurality of second propulsion pressures and a plurality of second propulsion speeds within a preset second time period, and calculating the second propulsion pressure average value, the second propulsion speed average value, and the second speed standard deviation within the second time period according to the plurality of second propulsion pressures and the plurality of second propulsion speeds; wherein the start time of the second time period is later than the end time of the first time period;

[0016] Calculating a second difference value according to the first average value of the propulsion speed and the second average value of the propulsion speed;

[0017] Calculating a third difference value according to the first speed standard deviation and the second speed standard deviation;

[0018] When the second difference is greater than a preset speed average threshold, or the third difference is greater than a preset speed standard deviation threshold, assigning the second propulsion pressure average to the first propulsion pressure average, assigning the second propulsion speed average to the first propulsion speed average, and assigning the second speed standard deviation to the first speed standard deviation;

[0019] When the second difference is less than the speed average value threshold, and the third difference is less than the speed standard deviation threshold, taking the second propulsion pressure average value as the abnormal propulsion pressure average value, and taking the second propulsion speed average value as the abnormal propulsion speed average value;

[0020] The pressure knob setting value of the second time period is obtained, and the pressure knob setting value of the second time period is taken as the abnormal pressure knob setting value.

[0021] In a possible design, the calculating a first difference between the abnormal linear regression coefficient and a preset normal linear regression coefficient, and determining a target adjustment scheme from a plurality of preset adjustment schemes according to a numerical relationship between the first difference and a preset first numerical range, includes:

[0022] Calculating the slope coefficients of the normal linear regression coefficient and the abnormal linear regression coefficient respectively;

[0023] The first difference is obtained by calculation according to the slope coefficient of the normal linear regression coefficient and the slope coefficient of the abnormal linear regression coefficient;

[0024] When the first difference is greater than the minimum value of the first numerical range, and the first difference is less than the maximum value of the first numerical range, taking the preset first adjustment scheme as the target adjustment scheme;

[0025] When the first difference is greater than the maximum value of the first value range, taking the preset second adjustment scheme as the target adjustment scheme;

[0026] When the first difference is smaller than the minimum value of the first numerical range, the preset third adjustment scheme is used as the target adjustment scheme.

[0027] In a possible design, the first identification data matrix includes an abnormal propulsion speed average value matrix, an abnormal propulsion pressure average value matrix and a linear regression coefficient matrix;

[0028] The abnormal linear regression coefficient is calculated based on the first identification data matrix and the preset multiple first initial regression coefficients, including:

[0029] Constructing a cost function according to the abnormal propulsion speed average value matrix, the abnormal propulsion pressure average value matrix and the linear regression coefficient matrix;

[0030] According to the cost function and the first initial regression coefficients, a gradient matrix and a cost value of each of the first initial regression coefficients are calculated; wherein the gradient matrix is ​​used to indicate an adjustment direction and an adjustment range of the first initial regression coefficient;

[0031] Iteratively optimizing each of the first initial regression coefficients according to the gradient matrix and the cost value of each of the first initial regression coefficients until the cost value of each of the first initial regression coefficients is less than a preset cost threshold;

[0032] The first regression coefficient after iterative optimization is used as the abnormal linear regression coefficient.

[0033] In a possible design, constructing a cost function according to the abnormal propulsion speed average value matrix, the abnormal propulsion pressure average value matrix and the linear regression coefficient matrix includes:

[0034] A prediction model is constructed according to the abnormal propulsion speed average value matrix, the abnormal propulsion pressure average value matrix and the linear regression coefficient matrix; wherein the prediction model is used to predict the propulsion speed under a given propulsion pressure;

[0035] Inputting the abnormal propulsion pressure average value matrix into the prediction model to obtain a propulsion speed prediction value matrix;

[0036] A cost function is constructed according to the abnormal propulsion speed average value matrix and the propulsion speed prediction value matrix.

[0037] In a second aspect, the present application provides a propulsion system flow analysis method, comprising:

[0038] Collect multiple normal propulsion pressure average values, multiple normal propulsion speed average values ​​and multiple normal pressure knob setting values; wherein the normal propulsion pressure average value, the normal propulsion speed average value and the normal pressure knob setting value refer to the average value of the propulsion pressure of the propulsion cylinder, the average value of the propulsion speed and the pressure value corresponding to the pressure knob when the propulsion cylinder in the propulsion system does not drop pressure, respectively;

[0039] constructing a second identification data matrix according to a plurality of normal propulsion pressure average values, a plurality of normal propulsion speed average values, and a plurality of normal pressure knob setting values;

[0040] According to the second identification data matrix and the preset multiple second initial regression coefficients, a normal linear regression coefficient is calculated; wherein the normal linear regression coefficient is used in the propulsion system flow compensation method described in the first aspect.

[0041] In a third aspect, the present application provides a propulsion system flow compensation device, comprising:

[0042] A first acquisition module is used to acquire a first pressure drop number; wherein the first pressure drop number refers to the number of times the propulsion pressure of the propulsion cylinder in the propulsion system is lower than a preset pressure threshold;

[0043] A second acquisition module is used to collect multiple abnormal propulsion pressure average values, multiple abnormal propulsion speed average values ​​and multiple abnormal pressure knob setting values ​​when the first pressure drop number is greater than a preset pressure drop number; wherein the abnormal propulsion pressure average value, the abnormal propulsion speed average value and the abnormal pressure knob setting value refer to the average value of the propulsion pressure of the propulsion cylinder, the average value of the propulsion speed and the pressure value corresponding to the pressure knob when the propulsion cylinder drops pressure;

[0044] A first matrix construction module, used to construct a first identification data matrix according to a plurality of abnormal propulsion pressure average values, a plurality of abnormal propulsion speed average values ​​and a plurality of abnormal pressure knob setting values;

[0045] A first calculation module, used to calculate an abnormal linear regression coefficient according to the first identification data matrix and a plurality of preset first initial regression coefficients; wherein the abnormal linear regression coefficient is used to describe the relationship between the abnormal propulsion pressure and the abnormal propulsion speed;

[0046] a determination module, configured to calculate a first difference between the abnormal linear regression coefficient and a preset normal linear regression coefficient, and determine a target adjustment scheme from a plurality of preset adjustment schemes according to a numerical relationship between the first difference and a preset first numerical range; wherein the normal linear regression coefficient is used to describe a relationship between a normal propulsion pressure and a normal propulsion speed of the propulsion cylinder when the propulsion cylinder has not lost pressure, the first difference is used to describe a degree of loss of flow of the propulsion system, and the target adjustment scheme is one of the plurality of adjustment schemes;

[0047] The regulating module is used to regulate the speed regulating valve in the propulsion system according to the target adjustment scheme.

[0048] In a possible design, the second acquisition module includes:

[0049] A first collecting unit is used for collecting a plurality of first propulsion pressures and a plurality of first propulsion speeds within a preset first time period when the first pressure drop number is greater than a preset pressure drop number, and calculating a first propulsion pressure average value, a first propulsion speed average value and a first speed standard deviation within the first time period according to the plurality of first propulsion pressures and the plurality of first propulsion speeds;

[0050] A second collecting unit is used to collect a plurality of second propulsion pressures and a plurality of second propulsion speeds within a preset second time period, and calculate the second propulsion pressure average value, the second propulsion speed average value and the second speed standard deviation within the second time period according to the plurality of second propulsion pressures and the plurality of second propulsion speeds; wherein the start time of the second time period is later than the end time of the first time period;

[0051] A first calculation unit, configured to calculate a second difference value according to the first average value of the propulsion speed and the second average value of the propulsion speed;

[0052] A second calculation unit, configured to calculate a third difference value according to the first speed standard deviation and the second speed standard deviation;

[0053] a first determining unit, configured to assign the second propulsion pressure average value to the first propulsion pressure average value, assign the second propulsion speed average value to the first propulsion speed average value, and assign the second speed standard deviation to the first speed standard deviation when the second difference is greater than a preset speed average value threshold or the third difference is greater than a preset speed standard deviation threshold;

[0054] a second determining unit, configured to take the second propulsion pressure average value as the abnormal propulsion pressure average value, and take the second propulsion speed average value as the abnormal propulsion speed average value, when the second difference is less than the speed average value threshold value, and the third difference is less than the speed standard deviation threshold value;

[0055] The acquiring unit is used to acquire the pressure knob setting value of the second time period, and take the pressure knob setting value of the second time period as the abnormal pressure knob setting value.

[0056] In one possible design, the determining module includes:

[0057] A third calculation unit, used to calculate the slope coefficients of the normal linear regression coefficient and the abnormal linear regression coefficient respectively;

[0058] a fourth calculation unit, configured to calculate the first difference according to the slope coefficient of the normal linear regression coefficient and the slope coefficient of the abnormal linear regression coefficient;

[0059] a third determining unit, configured to use a preset first adjustment scheme as the target adjustment scheme when the first difference is greater than a minimum value of the first numerical range and the first difference is less than a maximum value of the first numerical range;

[0060] a fourth determining unit, configured to use a preset second adjustment scheme as the target adjustment scheme when the first difference is greater than a maximum value of the first numerical range;

[0061] A fifth determining unit is configured to use a preset third adjustment scheme as the target adjustment scheme when the first difference is smaller than a minimum value of the first numerical range.

[0062] In a possible design, the first identification data matrix includes an abnormal propulsion speed average value matrix, an abnormal propulsion pressure average value matrix and a linear regression coefficient matrix, and the first calculation module includes:

[0063] A first construction unit is used to construct a cost function according to the abnormal propulsion speed average value matrix, the abnormal propulsion pressure average value matrix and the linear regression coefficient matrix;

[0064] a fifth calculation unit, configured to calculate a gradient matrix and a cost value of each of the first initial regression coefficients according to the cost function and the plurality of the first initial regression coefficients; wherein the gradient matrix is ​​used to indicate an adjustment direction and an adjustment amplitude of the first initial regression coefficient;

[0065] an optimization unit, configured to iteratively optimize each of the first initial regression coefficients according to the gradient matrix and the cost value of each of the first initial regression coefficients until the cost value of each of the first initial regression coefficients is less than a preset cost threshold;

[0066] The sixth determining unit is used to use the first regression coefficient after iterative optimization as the abnormal linear regression coefficient.

[0067] In a possible design, the first building unit includes:

[0068] A model building component, used to build a prediction model according to the abnormal propulsion speed average value matrix, the abnormal propulsion pressure average value matrix and the linear regression coefficient matrix; wherein the prediction model is used to predict the propulsion speed under a given propulsion pressure;

[0069] A calculation component, used for inputting the abnormal propulsion pressure average value matrix into the prediction model to obtain a propulsion speed prediction value matrix;

[0070] The function construction component is used to construct a cost function according to the abnormal propulsion speed average value matrix and the propulsion speed prediction value matrix.

[0071] In a fourth aspect, the present application provides a propulsion system flow analysis device, comprising:

[0072] The third acquisition module is used to collect multiple normal propulsion pressure average values, multiple normal propulsion speed average values ​​and multiple normal pressure knob setting values; wherein the normal propulsion pressure average value, the normal propulsion speed average value and the normal pressure knob setting value respectively refer to the average value of the propulsion pressure of the propulsion cylinder, the average value of the propulsion speed and the pressure value corresponding to the pressure knob when the propulsion cylinder in the propulsion system does not drop pressure;

[0073] A second matrix construction module, for constructing a second identification data matrix according to a plurality of normal propulsion pressure average values, a plurality of normal propulsion speed average values ​​and a plurality of normal pressure knob setting values;

[0074] The second calculation module is used to calculate the normal linear regression coefficient according to the second identification data matrix and the preset multiple second initial regression coefficients; wherein the normal linear regression coefficient is used in the device described in the third aspect.

[0075] In a third aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0076] The memory stores computer-executable instructions;

[0077] When the processor executes the computer-executable instructions stored in the memory, it is used to implement a propulsion system flow compensation method as described in the first aspect of the invention, or to implement a propulsion system flow analysis method as described in the second aspect of the invention.

[0078] In a fourth aspect, the present application provides a computer-readable storage medium, which stores computer execution instructions. When the computer execution instructions are executed by a processor, they are used to implement a propulsion system flow compensation method as described in the first aspect of the invention, or to implement a propulsion system flow analysis method as described in the second aspect of the invention.

[0079] In a fifth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, is used to implement a propulsion system flow compensation method as described in the first aspect of the invention, or to implement a propulsion system flow analysis method as described in the second aspect of the invention.

[0080] The present application provides a propulsion system flow compensation method, analysis method, device, equipment and medium, the propulsion system flow compensation method includes: collecting the first pressure drop number; when the first pressure drop number is greater than the preset pressure drop number, collecting multiple abnormal propulsion pressure average values, multiple abnormal propulsion speed average values ​​and multiple abnormal pressure knob setting values; constructing a first identification data matrix according to the multiple abnormal propulsion pressure average values, multiple abnormal propulsion speed average values ​​and multiple abnormal pressure knob setting values; calculating the abnormal linear regression coefficient according to the first identification data matrix and the preset multiple first initial regression coefficients; calculating the first difference between the abnormal linear regression coefficient and the preset normal linear regression coefficient, and determining the target adjustment scheme from the preset multiple adjustment schemes according to the numerical relationship between the first difference and the preset first numerical range; adjusting the speed control valve in the propulsion system according to the target adjustment scheme. The propulsion system flow compensation method of the present application systematically monitors the pressure drop number of the propulsion cylinder in the propulsion system, and when the pressure drop number exceeds the preset threshold, collects and analyzes the abnormal propulsion pressure, speed and pressure knob setting value, constructs an identification data matrix, and calculates the abnormal linear regression coefficient. By comparing with the normal linear regression coefficient, the difference is calculated, which reflects the severity of the flow loss. According to the position of the difference within the preset range, the most appropriate adjustment scheme is selected to accurately adjust the speed control valve in the propulsion system. This method can not only accurately identify the degree of flow loss, but also take corresponding compensation measures according to the severity of the loss, thereby significantly improving the stability and operating efficiency of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0082] Figure 1 A schematic diagram of the system architecture of a propulsion system flow compensation method provided in an embodiment of the present application;

[0083] Figure 2 A schematic diagram of an application scenario of the propulsion system flow compensation method provided in an embodiment of the present application;

[0084] Figure 3 A flow chart of a propulsion system flow compensation method provided in an embodiment of the present application;

[0085] Figure 4 A flow chart of a propulsion system flow analysis method provided in an embodiment of the present application;

[0086] Figure 5 A schematic diagram of a propulsion system provided in an embodiment of the present application;

[0087] Figure 6 A schematic diagram of the structure of a flow compensation device for a propulsion system provided in an embodiment of the present application;

[0088] Figure 7 A schematic diagram of the structure of a propulsion system flow analysis device provided in an embodiment of the present application;

[0089] Figure 8 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0090] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0091] In the embodiments of the present application, words such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. Those skilled in the art will understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit the difference. It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or design. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way. In the embodiments of the present application, "at least one" refers to one or more, and "more" refers to two or more.

[0092] It should be noted that the "at..." in the embodiment of the present application can be the instant when a certain situation occurs, or can be a period of time after a certain situation occurs, and the embodiment of the present application does not specifically limit this. In addition, a link optimization method provided in the embodiment of the present application is only used as an example, and the link optimization method can also include more or less content.

[0093] In order to clearly describe the technical solutions of the embodiments of the present application, some terms and technologies involved in the embodiments of the present application are briefly introduced below:

[0094] Flow compensation: refers to adjusting the flow of hydraulic oil by adjusting the valve in the propulsion system to ensure that the propulsion cylinder can still obtain a stable and appropriate flow in the event of load changes or propulsion system pressure fluctuations.

[0095] Pressure drop: refers to the sudden drop in pressure when a fluid flows through a pipe, valve or other flow path due to factors such as equipment wear, seal aging or changes in relief valve characteristics. Pressure drop affects the efficiency and performance of the system and may result in insufficient flow or equipment failure to operate normally.

[0096] Thrust Pressure: refers to the pressure in the propulsion system acting on the cylinder piston, which drives the piston rod to move linearly, thereby pushing or moving the load. The amount of thrust pressure determines the force that the propulsion system can apply and its performance under different load conditions.

[0097] Propulsion speed: refers to the linear movement speed of the cylinder piston rod in the propulsion system. Propulsion speed affects the working efficiency and response time of the propulsion system and is a key parameter in the design and control of the propulsion system.

[0098] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0099] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0100] In order to clearly understand the technical solution of the present application, the solution of the prior art is first introduced in detail. In the propulsion system, the speed control valve is connected to the oil cylinder through a pipeline. The speed control valve is used to adjust and control the flow of hydraulic oil to the oil cylinder, thereby managing the movement speed of the oil cylinder piston rod. The oil cylinder is used to convert hydraulic energy into mechanical energy, and the pressure exerted by the hydraulic oil pushes the piston rod to move linearly, thereby achieving precise control and movement of the load. The propulsion system may encounter flow instability problems due to changes in system pressure, load fluctuations, changes in fluid viscosity, equipment wear, seal aging, or changes in overflow valve characteristics. These changes will affect the overall performance of the propulsion system, resulting in the inability to maintain the expected motion accuracy and efficiency. Therefore, it is necessary to perform flow compensation on the propulsion system.

[0101] At present, the flow compensation method of the propulsion system is usually implemented by integrating sensors and electronic control units in the hydraulic system. The sensors monitor the pressure and flow data of the system in real time and transmit this information to the electronic control unit. The control unit analyzes the sensor data to determine the flow deviation according to the preset algorithm and parameters, and then adjusts the opening of the speed regulating valve or the output pressure of the pump to achieve flow compensation to ensure that the propulsion system is maintained under the required operating conditions. However, the prior art only monitors and adjusts the flow through the cooperation of sensors and controllers, usually focusing only on simple pressure and flow changes, and fails to deeply analyze the various potential factors that cause flow loss, such as equipment wear, seal aging or changes in the characteristics of the overflow valve. This compensation mechanism that lacks comprehensive diagnostic capabilities may not be able to accurately evaluate the severity of flow loss, resulting in inaccurate compensation measures. Therefore, the flow compensation method of the propulsion system in the prior art has the problem of being unable to judge the degree of flow loss and thus unable to take appropriate treatment measures.

[0102] Therefore, the flow compensation method of the propulsion system in the prior art cannot determine the degree of flow loss, and thus cannot take appropriate treatment measures. In the study, it was found that in order to solve this problem, it is necessary to build a mechanism that can evaluate the degree of flow loss and call different adjustment schemes according to different degrees of flow loss: ① Design a hierarchical response mechanism to evaluate the degree of flow loss and divide it into different levels. Each level corresponds to a specific adjustment scheme to ensure that the propulsion system can automatically select an adjustment scheme according to the severity of the loss; ② Build a rule base system containing multiple flow loss scenarios and their corresponding adjustment schemes. Through real-time monitoring and analysis of flow data, the propulsion system can quickly match the current loss degree with the scenarios in the rule base and automatically execute the adjustment scheme; ③ Build a multivariable monitoring system to monitor not only the speed of the propulsion cylinder in the propulsion system, but also the pressure of the propulsion cylinder in the propulsion system. By comprehensively analyzing the relationship between these variables, the system can determine the degree of flow loss and select a suitable compensation scheme.

[0103] Specific:

[0104] An intelligent flow compensation system can be developed that integrates multiple sensors and advanced data analysis algorithms. By monitoring pressure and speed, combined with machine learning and big data analysis technology, the system can identify and predict the degree of flow loss, and automatically select and execute the most appropriate compensation strategy based on the degree of loss. In addition, the system has self-correction and optimization functions to continuously improve compensation accuracy and system efficiency.

[0105] The propulsion system flow compensation method of the embodiment of the present application is constructed by monitoring the number of pressure drops of the propulsion cylinder in the propulsion system, and collecting abnormal propulsion pressure, speed and pressure knob setting values ​​when the number of pressure drops exceeds the preset number, to construct an identification data matrix. The abnormal linear regression coefficient is calculated using the matrix and the initial regression coefficient, and then the difference between it and the normal linear regression coefficient is calculated to evaluate the degree of flow loss. According to the difference, an appropriate adjustment scheme is selected to adjust the speed control valve in the propulsion system to compensate for the flow loss. This method calculates the difference between the linear regression coefficients under abnormal and normal conditions. This difference reflects the degree of flow loss, and then guides the selection of an appropriate adjustment scheme for adjustment. In this way, the propulsion system can automatically and accurately adjust the speed control valve to compensate for the flow loss and improve the stability and efficiency of the propulsion system.

[0106] Based on the above creative findings, the technical solution of the present application is proposed.

[0107] Figure 1 This is a schematic diagram of the system architecture of the propulsion system flow compensation method provided in the embodiment of the present application. It should be noted that: Figure 1 What is shown is merely an example of a system architecture to which the embodiments of the present application can be applied, in order to help those skilled in the art understand the technical content of the present application, but it does not mean that the embodiments of the present application cannot be used in other devices, systems, environments or scenarios.

[0108] like Figure 1As shown, the system architecture of the method includes a normal autoregressive coefficient identification start module 100, a propulsion system data acquisition module 101, a propulsion system data processing module 102, a propulsion system model identification module 103, a propulsion cylinder abnormal pressure drop detection module 104, a propulsion system abnormal autoregressive coefficient calculation module 105, a propulsion system flow loss severity judgment module 106, a propulsion system proportional speed control valve flow compensation control module 107, a first judgment module 108, an end module 109, a second judgment module 110, a system inspection module 111, a system normal module 112 and a speed control valve flow compensation module 113. Normal autoregressive coefficient identification start module 100, when the propulsion system is in normal state, the operator can start this module to enter the propulsion system data acquisition module; the propulsion system data acquisition module 101 can collect the real-time original data of the propulsion pressure of each group, the propulsion speed of each group, and the setting value of the pressure adjustment knob of each group of the propulsion system; the propulsion system data processing module 102, through the sliding time window, filters the propulsion pressure of each group and the propulsion speed of each group of the propulsion system, calculates the average value of the propulsion pressure of each group, the average value of the propulsion speed of each group, and the standard deviation of the propulsion speed of each group in the window, and saves the average value of the propulsion pressure, the average value of the propulsion speed, and the setting value of the pressure adjustment knob of each group under the condition of stable dynamic process of each group as the basic identification data of the propulsion system model identification module; the propulsion system model identification module 103 uses the basic identification data as a sample, and constructs an identification data matrix, a multi-segment linear relationship model, and a cost function to identify the regression coefficient of the multi-segment linear model, so as to obtain the normal autoregressive coefficient of the relationship model between the propulsion speed and the propulsion pressure of each group and each segment under normal state; the propulsion cylinder abnormal pressure drop detection module 104 is used to detect the abnormal pressure drop of each group of propulsion cylinders. The system detects the situation and the number of times, and records the setting values ​​of each group of pressure regulating knobs at the time of pressure drop, and gives the operator a prompt whether to enter the abnormal autoregressive coefficient calculation program. If the operator agrees, the system enters the abnormal autoregressive coefficient calculation module of the propulsion system; the propulsion system abnormal autoregressive coefficient calculation module 105 automatically sets the detection start value and end value of each group of pressure regulating knobs according to the setting value of the pressure regulating knob at the time of pressure drop of the abnormal group, and then completes the same steps as the propulsion system data acquisition module, the propulsion system data processing module, and the propulsion system model identification module to obtain the abnormal autoregressive coefficient of the propulsion speed and propulsion pressure relationship model of each section of the fault group under the abnormal state; the propulsion system flow loss severity judgment module 106 calculates the difference between the normal regression coefficient and the abnormal regression coefficient, and uses the difference to judge the severity of the flow loss and the treatment measures. According to the judgment result, the system has three prompts, one is that the system flow loss is serious, please check the system; the second is that the system has returned to normal; the third is that the system flow loss is slight and the proportional speed control valve flow compensation can be performed. If it is this prompt and the operator agrees to enter the proportional speed control valve flow compensation program, the propulsion system proportional speed control valve flow compensation control module is entered;The propulsion system proportional speed regulating valve flow compensation control module 107 automatically modifies the maximum action current and minimum action current control parameters of the fault group proportional speed regulating valve core, and then re-enters the propulsion system abnormal autoregressive coefficient calculation module; the first judgment module 108 is used to judge whether the operator agrees to enter the abnormal autoregressive coefficient calculation program, if agreed, the propulsion system abnormal autoregressive coefficient calculation module 105 is mobilized; the end module 109 is used to indicate that the operator does not agree to enter the abnormal autoregressive coefficient calculation program; the second judgment module 110 is used to judge whether the operator agrees to enter the proportional speed regulating valve flow compensation program, if agreed, the propulsion system proportional speed regulating valve flow compensation control module 107 is mobilized; the system inspection module 111 is used to prompt that the flow loss is serious and check the system where the speed regulating valve is located; the system normal module 112 is used to prompt that the system has returned to normal; the speed regulating valve flow compensation module 113 is used to prompt that the flow loss is small, and then call the second judgment module 110. ;

[0109] The following introduces the application scenario of the propulsion system flow compensation method provided by the embodiment of the present invention. Figure 2 Schematic diagram of the application scenario of the propulsion system flow compensation method provided in the embodiment of the present application. Figure 2 As shown, the application scenario includes a mobile terminal 201 and a server 202. The mobile terminal 201 collects parameters such as propulsion pressure, propulsion speed, and pressure adjustment knob setting value, and sends the parameters such as propulsion pressure, propulsion speed, and pressure adjustment knob setting value to the server 202. The server 202 determines the degree of flow loss based on these parameters, and calls the corresponding adjustment plan to adjust the mobile terminal 201.

[0110] The embodiments of the present invention are described below in conjunction with the accompanying drawings.

[0111] Figure 3 The flow chart of the propulsion system flow compensation method provided in the embodiment of the present application is as follows. Figure 3 As shown, in this embodiment, the execution subject of the embodiment of the present invention is a server. Then the propulsion system flow compensation method provided by this embodiment includes the following steps:

[0112] S301, collecting the first voltage drop times.

[0113] Specifically, the first pressure drop times can be collected by installing a pressure sensor on the propulsion cylinder in the propulsion system, and the sensor monitors the pressure of the propulsion cylinder in real time. When the pressure is detected to be lower than the preset pressure threshold, the propulsion system will record a pressure drop event. By accumulating the number of these events, the propulsion system can identify the frequency and degree of instability in the propulsion cylinder pressure. This processing can promptly detect abnormal fluctuations in the propulsion cylinder pressure and provide data support for subsequent flow compensation and adjustment, thereby improving the stability and reliability of the system. Among them, the first pressure drop times refer to the number of times the propulsion pressure of the propulsion cylinder in the propulsion system is lower than the preset pressure threshold.

[0114] S302: When the first pressure drop frequency is greater than the preset pressure drop frequency, a plurality of abnormal propulsion pressure average values, a plurality of abnormal propulsion speed average values, and a plurality of abnormal pressure knob setting values ​​are collected.

[0115] Specifically, multiple propulsion systems can be set, each of which is equipped with a pressure detector, a proportional speed control valve, a proportional overflow valve and a stroke sensor. In order to reduce the amount of model calculation, the setting value of each group of pressure adjustment knobs is taken in the range of 40%-90%, and the range is divided into 5 sections, 41%-50%, 51%-60%, 61%-70%, 71%-80%, 81%-90%. The starting value and end value of multiple groups of pressure adjustment knob detection can be automatically set. Assume that the corresponding group pressure setting value when the propulsion cylinder drops pressure is ( ), the test program sets the initial value of the pressure adjustment knob to The end value is ,in for Belonging to The minimum setting value of the segment, for Belonging to The maximum setting value of the segment, For the The minimum setting value of the segment, For the Set the propulsion speed adjustment knob to 100%, and then adjust the pressure adjustment knobs of each group from Increase in 1% increments to While each group of pressure adjustment knobs maintains each set value, the system continuously collects the pressure of each group, and the sampling time is set to Seconds. A sliding time window is used for filtering, and the time window width is Seconds, here Take the value 10, and calculate the average value of each group of propulsion pressure, the average value of each group of propulsion speed, and the standard deviation of each group of propulsion speed in the current time window according to formula 1). The current time window is called the first cycle:

[0116] 1)

[0117] Where: z is the group number, and its values ​​are A, B, C, D; is the amount of data collected in the first cycle, is the serial number of the data collected in the first cycle; is the average value of the propulsion pressure in the first cycle of group z; is the first cycle of the zth group Thrust pressure value; is the average value of the propulsion speed in the first cycle of group z; is the first cycle of the zth group propulsion speed value; is the standard deviation of the propulsion speed in the first cycle of the zth group.

[0118] The sliding time window moves to the next position, which covers the next 5 data of the previous position. This time window is called the second cycle. The average value of each group of propulsion pressure in the second cycle is calculated according to formula 1). , the average value of the advancement speed of each group , Standard deviation of the propulsion speed of each group , at this time, calculate the difference between the average and standard deviation of the propulsion speed of each group in the second cycle and the first cycle according to formula 2):

[0119] 2)

[0120] if or ,in , is the empirical threshold, then the second cycle , , Assign values ​​to the first cycle , , ;if and , it indicates that the dynamic process of this group has stabilized. At this time, the average propulsion pressure, average propulsion speed and pressure adjustment knob setting value of the second cycle of this group are saved as the abnormal propulsion pressure average, abnormal propulsion speed average and abnormal pressure knob setting value.

[0121] This processing can obtain detailed operating parameters when the flow is abnormal, provide an accurate data basis for subsequent analysis and adjustment, and help accurately identify problems and implement effective compensation measures. Among them, the average value of abnormal propulsion pressure, the average value of abnormal propulsion speed and the abnormal pressure knob setting value refer to the average value of propulsion pressure of the propulsion cylinder, the average value of propulsion speed and the pressure value corresponding to the pressure knob when the propulsion cylinder drops pressure.

[0122] S303: construct a first identification data matrix according to a plurality of abnormal propulsion pressure average values, a plurality of abnormal propulsion speed average values, and a plurality of abnormal pressure knob setting values.

[0123] Specifically, the identification data of each segment and each group and the linear regression coefficient can be written into a matrix form, as shown in formula 3):

[0124] 3)

[0125] Where: z is the group number, and its values ​​are A, B, C, D; is the segment number; n is 10, which means each segment has 10 values; For the zth group Segment advancement speed average matrix, For the zth group The average value of the first advancement speed of the segment, For the zth group The average value of the nth advancing speed of the segment; For the zth group The matrix of the average values ​​of the segment thrust pressure, For the zth group The average value of the first thrust pressure in the segment, For the zth group The average value of the nth propulsion pressure in the segment; For the zth group The linear regression coefficient matrix of the thrust velocity and thrust pressure, , yes two elements.

[0126] Through this matrix organization, data can be used more effectively for subsequent analysis and calculation. This processing facilitates the application of linear regression or other mathematical models for data analysis, and can more accurately identify the characteristics and laws of the speed control valve under abnormal conditions, providing a reliable basis for subsequent compensation and adjustment.

[0127] S304: Calculate an abnormal linear regression coefficient according to the first identification data matrix and a plurality of preset first initial regression coefficients.

[0128] Specifically, the abnormal linear regression coefficient can be calculated by applying a linear regression algorithm. The system first uses the first identification data matrix as the input data set, and combines the preset initial regression coefficients to fit the data through the least squares method or other optimization algorithms to calculate the linear regression coefficients that describe the relationship between propulsion pressure and speed under abnormal conditions. These coefficients reflect the dynamic characteristics of the system under abnormal conditions. This processing can accurately capture the behavior pattern of the speed control valve under abnormal conditions, and provide accurate mathematical model support for subsequent analysis and adjustment, thereby improving the effectiveness of fault diagnosis and compensation strategies. Among them, the abnormal linear regression coefficient is used to describe the relationship between abnormal propulsion pressure and abnormal propulsion speed.

[0129] S305: Calculate a first difference between the abnormal linear regression coefficient and a preset normal linear regression coefficient, and determine a target adjustment scheme from a plurality of preset adjustment schemes according to a numerical relationship between the first difference and a preset first numerical range.

[0130] Specifically, the difference between the normal regression coefficient and the abnormal regression coefficient of this segment can be calculated according to formula 4).

[0131] 4)

[0132] in, The fault group is in abnormal state. The slope coefficient of the linear regression coefficient of the segment, is the slope coefficient of the normal autoregressive coefficient under normal conditions of the fault group.

[0133] if ,in is the lower limit of the empirical threshold, is the upper limit of the empirical threshold. At this time, the control system window prompts that the system flow loss is slight and the proportional speed control valve flow compensation can be performed. , the control system window prompts that the system flow loss is serious, please check the system carefully. , the control system window prompts that the system has returned to normal. If the control system window prompts that the system flow loss is slight and the proportional speed control valve flow compensation can be performed, and the operator agrees to enter the proportional speed control valve flow compensation program, the system automatically modifies the maximum action current and minimum action current control parameters of the proportional speed control valve core, and re-executes the abnormal autoregressive coefficient calculation program and flow loss severity judgment until the control system window prompts that the system has returned to normal.

[0134] S306. Adjust the speed control valve in the propulsion system according to the target adjustment plan.

[0135] Specifically, the speed control valve in the propulsion system can be adjusted by the automatic control system. Once the target adjustment plan is determined, the system will pass the parameter settings in the plan to the control unit of the propulsion system to adjust the relevant operating parameters such as pressure, flow or speed set points. This may involve adjusting the valve opening, modifying the controller set point or adjusting the action of the actuator. This process can automatically and quickly optimize the propulsion system to ensure that it returns to normal working conditions under abnormal conditions, improve the stability and efficiency of the propulsion system, and reduce the need for human intervention.

[0136] The present embodiment provides a method for flow compensation of a propulsion system, the method comprising: collecting the first pressure drop times; when the first pressure drop times are greater than the preset pressure drop times, collecting multiple abnormal propulsion pressure average values, multiple abnormal propulsion speed average values ​​and multiple abnormal pressure knob setting values; constructing a first identification data matrix according to multiple abnormal propulsion pressure average values, multiple abnormal propulsion speed average values ​​and multiple abnormal pressure knob setting values; calculating the abnormal linear regression coefficient according to the first identification data matrix and multiple preset first initial regression coefficients; calculating the first difference between the abnormal linear regression coefficient and the preset normal linear regression coefficient, and determining the target adjustment scheme from the preset multiple adjustment schemes according to the numerical relationship between the first difference and the preset first numerical range; adjusting the speed regulating valve in the propulsion system according to the target adjustment scheme. A method for flow compensation of a propulsion system achieves the following technical effects: the first difference reflects the variation range of the relationship between the propulsion pressure and the propulsion speed under normal and abnormal conditions. The larger the first difference, the more serious the flow loss. According to the relationship between this first difference and the first numerical range, the degree of flow loss can be divided into different levels. Each level corresponds to a specific adjustment scheme, which is pre-set and used to guide how to adjust the speed control valve in the propulsion system to compensate for flow loss. In this way, the degree of flow loss can be accurately judged and corresponding adjustment measures can be taken to improve the stability and efficiency of the system.

[0137] In a possible design, when the first pressure drop number is greater than the preset pressure drop number, S302 collects a plurality of abnormal propulsion pressure average values, a plurality of abnormal propulsion speed average values, and a plurality of abnormal pressure knob setting values, including:

[0138] S3021. When the first pressure drop number is greater than the preset pressure drop number, multiple first propulsion pressures and multiple first propulsion speeds within a preset first time period are collected, and based on the multiple first propulsion pressures and multiple first propulsion speeds, the first propulsion pressure average value, the first propulsion speed average value and the first speed standard deviation within the first time period are calculated.

[0139] Specifically, a collection module and a calculation module can be set on the propulsion cylinder, the collection module is used to collect multiple first propulsion pressures and multiple first propulsion speeds, and the calculation module is used to calculate the average value of the first propulsion pressure, the average value of the first propulsion speed, and the standard deviation of the first speed. This processing can accurately capture the performance parameters of the propulsion system under abnormal conditions, provide basic data for subsequent abnormal analysis and compensation adjustment, thereby improving the stability and reliability of the system.

[0140] S3022. Collect multiple second propulsion pressures and multiple second propulsion speeds within a preset second time period, and calculate the second propulsion pressure average value, the second propulsion speed average value and the second speed standard deviation within the second time period based on the multiple second propulsion pressures and the multiple second propulsion speeds.

[0141] Specifically, a sensor can be installed on the propulsion cylinder to collect multiple second propulsion pressures and multiple second propulsion speeds, and the average second propulsion pressure, the average second propulsion speed, and the standard deviation of the second speed in the time period can be calculated through a data processing algorithm. By comparing the propulsion pressure and speed characteristics of different time periods, the changing trend of the abnormal state can be identified, and accurate data support can be provided for the flow compensation and adjustment of the speed regulating valve, thereby improving the responsiveness and operating efficiency of the system. Among them, the start time of the second time period is later than the end time of the first time period.

[0142] S3023. Calculate a second difference based on the first average propulsion speed and the second average propulsion speed.

[0143] Specifically, the second difference can be obtained by subtracting the second average propulsion speed from the first average propulsion speed. This processing can quantify the degree of change in propulsion speed in different time periods and help identify the fluctuation of the propulsion system. This quantified difference provides a basis for subsequent judgment of whether the system is in an abnormal state, thereby supporting more accurate flow compensation and system adjustment, and improving the stability and reliability of the system.

[0144] S3024. Calculate a third difference value according to the first speed standard deviation and the second speed standard deviation.

[0145] Specifically, the third difference can be obtained by subtracting the second speed standard deviation from the first speed standard deviation. This processing can quantify the degree of change in speed fluctuations in different time periods and help identify changes in the stability of the propulsion system. By analyzing the third difference, it can be determined whether there are abnormal fluctuations in the system, providing a basis for further flow compensation and system adjustment, thereby improving the smoothness and reliability of the system operation.

[0146] S3025. When the second difference is greater than the preset speed average value threshold, or the third difference is greater than the preset speed standard deviation threshold, the second propulsion pressure average value is assigned to the first propulsion pressure average value, the second propulsion speed average value is assigned to the first propulsion speed average value, and the second speed standard deviation is assigned to the first speed standard deviation.

[0147] Specifically, the calculated second difference and third difference can be compared through programming logic. If the second difference is greater than the preset speed average threshold, or the third difference is greater than the preset speed standard deviation threshold, the propulsion pressure average, propulsion speed average and speed standard deviation of the second time period are assigned to the variables corresponding to the first time period. When significant speed changes and fluctuations are detected in the system, the reference data is updated in time to reflect the current system status. This dynamic adjustment helps to improve the system's responsiveness to abnormal situations and ensure the accuracy of flow compensation and the stable operation of the system.

[0148] S3026. When the second difference is less than the speed average value threshold and the third difference is less than the speed standard deviation threshold, the second propulsion pressure average value is taken as the abnormal propulsion pressure average value, and the second propulsion speed average value is taken as the abnormal propulsion speed average value.

[0149] Specifically, the calculated second difference and third difference can be compared through programming logic. If both are less than their respective preset thresholds, the average propulsion pressure and the average propulsion speed in the second time period are assigned as the abnormal propulsion pressure average and the abnormal propulsion speed average, respectively. This process can be automatically executed in the control system. When the speed change and fluctuation of the system are small and within the normal range, the current state is identified as an abnormal state, and the relevant pressure and speed data are recorded. This processing method helps to accurately capture and analyze the system characteristics under abnormal conditions, and provide a reliable data basis for subsequent flow compensation and adjustment, thereby improving the system's fault diagnosis capabilities and operational stability.

[0150] S3027. Obtain the pressure knob setting value for the second time period, and take the pressure knob setting value for the second time period as the abnormal pressure knob setting value.

[0151] Specifically, the pressure knob setting value in the second time period can be read in real time through the sensor or control system interface, and the value can be directly assigned as the abnormal pressure knob setting value. This processing can accurately record the pressure setting parameters under abnormal conditions and provide key data support for analyzing the causes and characteristics of abnormal conditions. This processing method helps to consider the impact of the set value in flow compensation and system adjustment, thereby improving the system's responsiveness to abnormal conditions and the accuracy of operation.

[0152] The technical effect of the scheme in this embodiment is: by collecting and analyzing the propulsion pressure and speed of the propulsion cylinder in different time periods in detail, the abnormal state of the system can be more accurately identified and quantified. By calculating the average and standard deviation of the propulsion pressure and speed, and comparing the differences in different time periods, the changing trend of the propulsion system performance can be effectively captured. When significant speed changes and fluctuations are detected, the propulsion system can dynamically adjust the reference data to adapt to the current operating state. This refined analysis and adjustment mechanism improves the accuracy of flow compensation and the stability of the propulsion system, and enhances the propulsion system's ability to respond to abnormal situations.

[0153] In a possible design, S305 calculates a first difference between the abnormal linear regression coefficient and a preset normal linear regression coefficient, and determines a target adjustment scheme from a plurality of preset adjustment schemes according to a numerical relationship between the first difference and a preset first numerical range, including:

[0154] S3051. Calculate the slope coefficients of the normal linear regression coefficient and the abnormal linear regression coefficient respectively.

[0155] Specifically, the slope coefficients of the normal linear regression coefficient and the abnormal linear regression coefficient can be calculated by performing linear regression analysis on the propulsion pressure and propulsion speed data of the propulsion cylinder. By collecting the propulsion pressure and speed data under normal and abnormal conditions, the linear regression method is used to calculate the slope of the regression equation under the two conditions, that is, the slope coefficient. By comparing the slope coefficients under normal and abnormal conditions, the degree of flow loss deviation of the propulsion system under abnormal conditions can be quantified, thereby providing a basis for selecting a suitable adjustment plan. This method can effectively identify the degree of flow loss of the propulsion system, and make targeted compensation adjustments to improve the stability and reliability of the system.

[0156] S3052. Calculate a first difference value according to the slope coefficient of the normal linear regression coefficient and the slope coefficient of the abnormal linear regression coefficient.

[0157] Specifically, the slope coefficient of the normal linear regression coefficient can be subtracted from the slope coefficient of the abnormal linear regression coefficient to obtain the first difference. The first difference can quantify the degree of deviation between the propulsion system in an abnormal state and a normal state, and provide an intuitive indicator to evaluate the change in the flow loss of the propulsion system. The first difference provides an important basis for selecting a suitable adjustment scheme, thereby helping to achieve accurate compensation and adjustment of the speed control valve and improve the overall performance and reliability of the system.

[0158] S3053: When the first difference is greater than the minimum value of the first numerical range and the first difference is less than the maximum value of the first numerical range, use the preset first adjustment scheme as the target adjustment scheme.

[0159] Specifically, the preset first adjustment scheme can be used as the target adjustment scheme through conditional judgment. The system first calculates the first difference, and then compares it with the upper and lower limits of the preset first numerical range. If the first difference is within the range, the system will automatically select the predefined first adjustment scheme as the target adjustment scheme. Through this conditional judgment mechanism, the system can automatically select an adjustment scheme according to the actual degree of flow loss deviation of the propulsion system, thereby optimizing the response speed and stability of the system and improving the overall operating efficiency.

[0160] S3054: When the first difference is greater than the maximum value of the first numerical range, the preset second adjustment scheme is used as the target adjustment scheme.

[0161] Specifically, after calculating the first difference, the system compares it with the maximum value of the preset first value range. If the first difference exceeds the maximum value, the system will automatically select the predefined second adjustment scheme as the target adjustment scheme. This judgment mechanism enables the system to identify situations where the flow loss deviation of the propulsion system is large, and select a more active adjustment scheme to compensate, ensuring that the propulsion system can quickly return to normal working conditions, thereby improving the reliability and responsiveness of the system.

[0162] S3055: When the first difference is less than the minimum value of the first numerical range, use the preset third adjustment scheme as the target adjustment scheme.

[0163] Specifically, after calculating the first difference, the system compares it with the minimum value of the preset first value range. If the first difference is lower than the minimum value, the system will automatically select the predefined third adjustment scheme as the target adjustment scheme. This mechanism can identify the situation where the flow loss deviation of the propulsion system is small, and select a relatively mild adjustment scheme to compensate, avoiding unnecessary impact on the system caused by excessive adjustment, thereby maintaining the smooth operation and efficient performance of the system.

[0164] The technical effect of the scheme in this embodiment is: by comparing the slopes of the normal and abnormal linear regression coefficients, the degree of flow loss deviation of the propulsion system under abnormal conditions is quantified, and the most appropriate adjustment scheme is selected according to the degree of deviation. In this way, the system can automatically identify abnormal conditions of different degrees and take corresponding compensation measures to ensure that the flow compensation of the speed control valve is both accurate and effective, thereby improving the stability, response speed and overall operating efficiency of the system.

[0165] In a possible design, the first identification data matrix includes an abnormal propulsion speed average matrix, an abnormal propulsion pressure average matrix and a linear regression coefficient matrix. S304 calculates the abnormal linear regression coefficient according to the first identification data matrix and a plurality of preset first initial regression coefficients, including:

[0166] S3041. Construct a cost function based on the abnormal propulsion speed average value matrix, the abnormal propulsion pressure average value matrix and the linear regression coefficient matrix.

[0167] Specifically, this can be achieved by constructing a mathematical expression using the average values ​​of the abnormal propulsion speed and pressure as input variables and the linear regression coefficient as a parameter. This expression is usually an error function, such as the mean square error, which is used to measure the deviation between the predicted value of the linear regression model and the actual observed value. By calculating this cost function, the accuracy of the current linear regression coefficient can be evaluated and a basis can be provided for subsequent coefficient optimization.

[0168] S3042. Calculate a gradient matrix and a cost value of each first initial regression coefficient according to the cost function and the multiple first initial regression coefficients.

[0169] Specifically, we can find the appropriate linear regression coefficients To minimize the cost function, the gradient method is used to find the minimum. The specific steps are as follows:

[0170] Initialize linear regression coefficients , calculate the partial derivative of the cost function for each linear regression coefficient through formula 5) to obtain the gradient matrix.

[0171] 5)

[0172] in: For the zth group The gradient matrix of the segment; is the partial derivative of the cost function with respect to each linear regression coefficient; is transposed.

[0173] According to formula 6), update the value of the linear regression coefficient.

[0174] 6)

[0175] in: is the number of iterations; is the learning rate matrix, where is the linear regression coefficient middle The learning rate is is the linear regression coefficient middle The learning rate; For the zth group Section The linear regression coefficient matrix of iterations; For the zth group Section The linear regression coefficient matrix for iteration .

[0176] Repeat the steps of calculating gradients and updating parameters until any of the stop conditions in formula 7) is reached.

[0177] 7)

[0178] in is the threshold value, For the zth group Section The cost function value at the iteration, For the zth group Section The cost function value at the iteration.

[0179] S3043. Perform iterative optimization on each first initial regression coefficient according to the gradient matrix and the cost value of each first initial regression coefficient until the cost value of each first initial regression coefficient is less than a preset cost threshold.

[0180] Specifically, each first initial regression coefficient can be iteratively optimized by an iterative optimization algorithm, such as the gradient descent method. The value of each initial regression coefficient is adjusted using a gradient matrix to reduce the cost value, i.e., the output of the cost function. This process is repeated, and the regression coefficient is updated at each iteration until the cost value drops below a preset cost threshold. By continuously optimizing the regression coefficient, the model can fit the actual data more accurately, thereby improving the prediction accuracy of the relationship between propulsion pressure and speed under abnormal conditions, and ultimately achieving more reliable propulsion system flow compensation.

[0181] S3044. Use the first regression coefficient after iterative optimization as the abnormal linear regression coefficient.

[0182] Specifically, the final regression coefficient values ​​obtained after the iterative optimization process can be directly used to describe the linear relationship between propulsion pressure and speed under normal conditions. This means that the optimized regression coefficients are already able to accurately fit the data under normal operating conditions and can therefore be used as parameters for the standard model. This process provides a set of verified regression coefficients for accurately predicting and controlling the flow behavior of the speed control valve under normal conditions, thereby improving the stability and efficiency of the system.

[0183] The technical effect of the scheme in this embodiment is that by constructing a cost function and using the average value matrix of abnormal propulsion speed and pressure, as well as the linear regression coefficient matrix, the system can effectively evaluate and optimize the accuracy of the regression model. By calculating the gradient matrix and cost value of each initial regression coefficient, the system can identify the adjustment direction and amplitude of the regression coefficient. The iterative optimization process ensures that the regression coefficient is continuously improved until the cost value is lower than the preset threshold, thereby generating a set of optimized linear regression coefficients. These optimized coefficients are used as normal linear regression coefficients, which can more accurately describe the system properties under normal operating conditions.

[0184] In a possible design, S3041 constructs a cost function according to the abnormal propulsion speed average value matrix, the abnormal propulsion pressure average value matrix and the linear regression coefficient matrix, including:

[0185] S30411. Construct a prediction model based on the abnormal propulsion velocity average value matrix, the abnormal propulsion pressure average value matrix and the linear regression coefficient matrix.

[0186] Specifically, a linear relationship model between the propulsion speed of each section and each group and the propulsion pressure of each group is constructed, as shown in Formula 8):

[0187] 8)

[0188] in For the zth group The predicted value matrix of the segment advancement speed, For the zth group The first propulsion speed prediction value of the segment, For the zth group Section The predicted value of propulsion speed.

[0189] The model can predict the propulsion speed under a given propulsion pressure. By analyzing the relationship between propulsion pressure and speed under abnormal conditions, it can effectively identify and compensate for abnormal changes in propulsion system flow and improve the stability and response speed of the system. Among them, the prediction model is used to predict the propulsion speed under a given propulsion pressure.

[0190] S30412. Input the abnormal propulsion pressure average value matrix into the prediction model to obtain the propulsion speed prediction value matrix.

[0191] Specifically, the propulsion speed prediction value matrix can be obtained by substituting the abnormal propulsion pressure average value matrix into the previously constructed linear regression prediction model for calculation. Using the linear regression equation, each abnormal propulsion pressure average value is substituted into the equation to calculate the corresponding propulsion speed prediction value, thereby forming a propulsion speed prediction value matrix.

[0192] S30413. Construct a cost function based on the abnormal advancing speed average value matrix and the advancing speed prediction value matrix.

[0193] Specifically, the cost function can be constructed according to formula 9). The smaller the cost function is, the more accurately the relationship model can express the relationship between the propulsion speed and the propulsion pressure of each section and each group.

[0194] 9)

[0195] in For the zth group Segment cost function, For the zth group Section The propulsion speed value, For the zth group Section The cost function can quantify the accuracy of the prediction model. By minimizing the cost function, the model parameters can be optimized and the prediction accuracy of the model for abnormal conditions can be improved, thereby enhancing the adaptability and reliability of the system.

[0196] The technical effect of the scheme in this embodiment is: using abnormal propulsion speed and pressure data to establish a prediction model, inputting abnormal propulsion pressure data to obtain a speed prediction value, and then constructing a cost function by calculating the error between the prediction value and the actual abnormal speed. By minimizing the cost function, the model parameters can be optimized, the accuracy and reliability of the prediction can be improved, thereby effectively compensating for abnormal changes in the propulsion system flow rate and enhancing the stability and responsiveness of the system.

[0197] Figure 4 The following is a flow chart of a propulsion system flow analysis method provided in an embodiment of the present application. Figure 4 As shown, in this embodiment, the execution subject of the embodiment of the present invention is a server. Then the propulsion system flow analysis method provided by this embodiment includes the following steps:

[0198] S401, collecting a plurality of normal propulsion pressure average values, a plurality of normal propulsion speed average values, and a plurality of normal pressure knob setting values.

[0199] Specifically, each group of pressure regulating knobs can be increased from the initial setting value of 41% to 90% at intervals of 1%, and the data collection of the average propulsion pressure of each group and the average propulsion speed of each group can be completed at each setting value and in the stable state of the system. During the period when each group of pressure regulating knobs maintains each setting value, multiple normal propulsion pressure average values, multiple normal propulsion speed average values ​​and multiple normal pressure knob setting values ​​are collected according to the method in the step of obtaining the autoregressive coefficient under the state of pressure drop of the propulsion cylinder. By acquiring and analyzing these parameters under normal operating conditions, a benchmark model can be established to identify and compare deviations under abnormal conditions, thereby improving the flow compensation accuracy and reliability of the speed regulating valve. Among them, the normal propulsion pressure average value, the normal propulsion speed average value and the normal pressure knob setting value refer to the average propulsion pressure of the propulsion cylinder, the average propulsion speed and the pressure value corresponding to the pressure knob when the propulsion cylinder in the propulsion system does not drop pressure.

[0200] S402: construct a second identification data matrix according to a plurality of normal propulsion pressure average values, a plurality of normal propulsion speed average values, and a plurality of normal pressure knob setting values.

[0201] Specifically, the collected normal propulsion pressure average value, normal propulsion speed average value and normal pressure knob setting value can be structured to form a matrix, in which each row or column represents a different parameter value at a time point or sample. This matrix is ​​used to describe the characteristic relationship of the propulsion cylinder under normal working conditions. By constructing this data matrix, basic data can be provided for subsequent linear regression analysis, so that deviations can be quickly identified and effective flow compensation can be performed when abnormalities occur, thereby improving the stability and response speed of the system.

[0202] S403: Calculate and obtain normal linear regression coefficients according to the second identification data matrix and a plurality of preset second initial regression coefficients.

[0203] Specifically, the normal linear regression coefficient can be calculated by applying the linear regression algorithm. The second identification data matrix is ​​used as the input data, and the preset initial regression coefficient is used as the starting point. The regression coefficient is iteratively optimized by minimizing the error between the predicted value and the actual value until it converges to a stable solution, namely the normal linear regression coefficient. In this way, the linear relationship model between the pressure and speed of the propulsion cylinder under normal working conditions can be accurately established, providing a reliable benchmark for identifying abnormal conditions and performing flow compensation. Among them, the normal linear regression coefficient is used Figure 3 In the flow compensation method of the propulsion system.

[0204] The technical effect of the scheme in this embodiment is: by collecting and analyzing the propulsion pressure, propulsion speed and pressure knob setting value of the propulsion cylinder under normal operating conditions, a second identification data matrix is ​​constructed, and a normal linear regression coefficient is calculated. This process establishes a benchmark model under normal operating conditions of the propulsion cylinder, so that when flow abnormalities occur, deviations can be quickly identified and corresponding compensation measures can be taken, thereby improving the stability, response speed and overall performance of the system and ensuring the efficient operation and reliability of the speed control valve.

[0205] Figure 5 This is a schematic diagram of a propulsion system provided in an embodiment of the present application. Figure 5 As shown, the propulsion system is provided with four valve groups and oil cylinders, wherein the valve group A 501 comprises a pressure detector A 5011, a proportional speed regulating valve A 5012, a proportional overflow valve A 5013 and a stroke sensor A 5014; the valve group B 502 comprises a pressure detector B 5021, a proportional speed regulating valve B 5022, a proportional overflow valve B 5023 and a stroke sensor B 5024; the valve group C 503 comprises a pressure detector C 5031, a proportional speed regulating valve C 5032, a proportional overflow valve C 5033 and a stroke sensor C 5034; the valve group D 504 comprises a pressure detector D 5041, a proportional speed regulating valve D 5042, a proportional overflow valve D 5043 and a stroke sensor D 5044. The propulsion pump station 505 outputs the hydraulic oil to the propulsion cylinders of groups A, B, C and D through the proportional speed regulating valves of groups A, B, C and D respectively. The proportional relief valves of groups A, B, C and D set the maximum pressure of each group. The opening of each group of proportional speed regulating valves is controlled by the propulsion speed adjustment knob of the control panel, and each group of proportional relief valves is controlled by each group of pressure adjustment knobs.

[0206] Figure 6 This is a schematic diagram of the structure of the propulsion system flow compensation device provided in the embodiment of the present application. Figure 6 As shown, the propulsion system flow compensation device comprises:

[0207] The first acquisition module 601 is used to acquire the first pressure drop times; wherein the first pressure drop times refer to the number of times the propulsion pressure of the propulsion cylinder in the propulsion system is lower than a preset pressure threshold.

[0208] The second acquisition module 602 is used to collect multiple abnormal propulsion pressure average values, multiple abnormal propulsion speed average values ​​and multiple abnormal pressure knob setting values ​​when the first pressure drop number is greater than the preset pressure drop number; wherein the abnormal propulsion pressure average value, the abnormal propulsion speed average value and the abnormal pressure knob setting value respectively refer to the average value of the propulsion pressure of the propulsion cylinder, the average value of the propulsion speed and the pressure value corresponding to the pressure knob when the propulsion cylinder drops pressure.

[0209] The first matrix construction module 603 is used to construct a first identification data matrix according to a plurality of abnormal propulsion pressure average values, a plurality of abnormal propulsion speed average values ​​and a plurality of abnormal pressure knob setting values.

[0210] The first calculation module 604 is used to calculate the abnormal linear regression coefficient according to the first identification data matrix and the preset multiple first initial regression coefficients; wherein the abnormal linear regression coefficient is used to describe the relationship between the abnormal propulsion pressure and the abnormal propulsion speed.

[0211] Determination module 605 is used to calculate the first difference between the abnormal linear regression coefficient and the preset normal linear regression coefficient, and determine the target adjustment scheme from the preset multiple adjustment schemes according to the numerical relationship between the first difference and the preset first numerical range; wherein the normal linear regression coefficient is used to describe the relationship between the normal propulsion pressure and the normal propulsion speed of the propulsion cylinder when the propulsion cylinder has not lost pressure, the first difference is used to describe the degree of loss of flow of the propulsion system, and the target adjustment scheme is one of the multiple adjustment schemes.

[0212] The adjustment module 606 is used to adjust the speed control valve in the propulsion system according to the target adjustment scheme.

[0213] In a possible design, the second acquisition module 602 includes:

[0214] The first acquisition unit is used to collect multiple first propulsion pressures and multiple first propulsion speeds within a preset first time period when the first pressure drop number is greater than the preset pressure drop number, and calculate the first propulsion pressure average value, the first propulsion speed average value and the first speed standard deviation within the first time period based on the multiple first propulsion pressures and the multiple first propulsion speeds.

[0215] The second acquisition unit is used to collect multiple second propulsion pressures and multiple second propulsion speeds within a preset second time period, and calculate the second propulsion pressure average value, the second propulsion speed average value and the second speed standard deviation within the second time period based on the multiple second propulsion pressures and the multiple second propulsion speeds; wherein the start time of the second time period is later than the end time of the first time period.

[0216] The first calculation unit is used to calculate a second difference according to the first propulsion speed average value and the second propulsion speed average value.

[0217] The second calculation unit is used to calculate a third difference value according to the first speed standard deviation and the second speed standard deviation.

[0218] The first determination unit is used to assign the second propulsion pressure average value to the first propulsion pressure average value, assign the second propulsion speed average value to the first propulsion speed average value, and assign the second speed standard deviation to the first speed standard deviation when the second difference is greater than a preset speed average value threshold, or the third difference is greater than a preset speed standard deviation threshold.

[0219] The second determination unit is used to take the second propulsion pressure average value as the abnormal propulsion pressure average value and take the second propulsion speed average value as the abnormal propulsion speed average value when the second difference is less than the speed average value threshold and the third difference is less than the speed standard deviation threshold.

[0220] The acquiring unit is used to acquire the pressure knob setting value in the second time period, and take the pressure knob setting value in the second time period as the abnormal pressure knob setting value.

[0221] In one possible design, the determining module 605 includes:

[0222] The third calculation unit is used to calculate the slope coefficients of the normal linear regression coefficient and the abnormal linear regression coefficient respectively.

[0223] The fourth calculation unit is used to calculate a first difference value according to the slope coefficient of the normal linear regression coefficient and the slope coefficient of the abnormal linear regression coefficient.

[0224] The third determining unit is configured to use the preset first adjustment scheme as a target adjustment scheme when the first difference is greater than a minimum value of the first numerical range and the first difference is less than a maximum value of the first numerical range.

[0225] The fourth determining unit is configured to use the preset second adjustment scheme as a target adjustment scheme when the first difference is greater than a maximum value of the first numerical range.

[0226] The fifth determining unit is configured to use the preset third adjustment scheme as a target adjustment scheme when the first difference is less than a minimum value of the first numerical range.

[0227] In a possible design, the first identification data matrix includes an abnormal propulsion speed average value matrix, an abnormal propulsion pressure average value matrix and a linear regression coefficient matrix, and the first calculation module 604 includes:

[0228] The first construction unit is used to construct a cost function according to an abnormal propulsion speed average value matrix, an abnormal propulsion pressure average value matrix and a linear regression coefficient matrix.

[0229] The fifth calculation unit is used to calculate the gradient matrix and cost value of each first initial regression coefficient according to the cost function and multiple first initial regression coefficients; wherein the gradient matrix is ​​used to indicate the adjustment direction and adjustment range of the first initial regression coefficient.

[0230] The optimization unit is used to iteratively optimize each first initial regression coefficient according to the gradient matrix and the cost value of each first initial regression coefficient until the cost value of each first initial regression coefficient is less than a preset cost threshold.

[0231] The sixth determining unit is used to use the iteratively optimized first regression coefficient as the abnormal linear regression coefficient.

[0232] In one possible design, the first building unit includes:

[0233] The model building component is used to build a prediction model based on the abnormal propulsion speed average matrix, the abnormal propulsion pressure average matrix and the linear regression coefficient matrix; wherein the prediction model is used to predict the propulsion speed under a given propulsion pressure.

[0234] The calculation component is used to input the abnormal propulsion pressure average value matrix into the prediction model to obtain the propulsion speed prediction value matrix.

[0235] The function building component is used to build a cost function according to the abnormal advancement speed average value matrix and the advancement speed prediction value matrix.

[0236] The propulsion system flow compensation device provided in this embodiment can be performed Figure 3 The technical solution of the method embodiment shown in the figure has the same implementation principle and technical effect as Figure 3 The method embodiments shown are similar and will not be described in detail here.

[0237] Figure 7 This is a schematic diagram of the structure of the propulsion system flow analysis device provided in the embodiment of the present application. Figure 7 As shown, the propulsion system flow analysis device comprises:

[0238] The third acquisition module 701 is used to collect multiple normal propulsion pressure average values, multiple normal propulsion speed average values ​​and multiple normal pressure knob setting values; wherein, the normal propulsion pressure average value, the normal propulsion speed average value and the normal pressure knob setting value respectively refer to the average value of the propulsion pressure of the propulsion cylinder, the average value of the propulsion speed and the pressure value corresponding to the pressure knob when the propulsion cylinder in the propulsion system has not dropped pressure.

[0239] The second matrix construction module 702 is used to construct a second identification data matrix according to a plurality of normal propulsion pressure average values, a plurality of normal propulsion speed average values ​​and a plurality of normal pressure knob setting values.

[0240] The second calculation module 703 is used to calculate the normal linear regression coefficient according to the second identification data matrix and the preset multiple second initial regression coefficients; wherein the normal linear regression coefficient is used Figure 6 In the propulsion system flow compensation device.

[0241] The propulsion system flow analysis device provided in this embodiment can be performed Figure 4 The technical solution of the method embodiment shown in the figure has the same implementation principle and technical effect as Figure 4 The method embodiments shown are similar and will not be described in detail here.

[0242] Figure 8 The hardware structure diagram of the electronic device provided in the embodiment of the present application is shown in FIG. Figure 8 As shown, the electronic device includes: at least one processor 810 and a memory 820. The electronic device also includes a communication component 830. The processor 810, the memory 820 and the communication component 830 are connected via a bus 840.

[0243] In the specific implementation process, at least one processor 810 executes the computer execution instructions stored in the memory 820, so that at least one processor 810 is used to implement the propulsion system flow compensation method or the propulsion system flow analysis method of the above-mentioned embodiment.

[0244] The specific implementation process of the processor 810 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0245] In the above embodiment, it should be understood that the processor 810 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the invention can be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0246] The memory 820 may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk storage.

[0247] The bus 840 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus 840 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus 840 in the drawings of the present application is not limited to only one bus or one type of bus.

[0248] The above-mentioned functions implemented by the electronic device and the main control device introduce the scheme provided by the embodiment of the present invention. It can be understood that in order to implement the above-mentioned functions, the electronic device or the main control device includes a hardware structure and / or software module corresponding to the execution of each function. In combination with the units and algorithm steps of each example described in the embodiment disclosed in the embodiment of the present invention, the embodiment of the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the technical solution of the embodiment of the present invention.

[0249] The embodiment of the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the propulsion system flow compensation method or propulsion system flow analysis method of the above embodiment. In the specific implementation of the above-mentioned propulsion system flow compensation method or propulsion system flow analysis method, each module can be implemented as a processor.

[0250] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0251] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in an electronic device or a main control device.

[0252] An embodiment of the present application also provides a computer program product, including a computer program. When the computer program is executed by a processor, it is used to implement the propulsion system flow compensation method or the propulsion system flow analysis method of the above embodiment.

[0253] The computer program is stored in a readable storage medium. At least one processor can read the computer program from the readable storage medium. At least one processor executes the computer program to execute the solution provided in any of the above embodiments.

[0254] Those skilled in the art can understand that all or part of the steps of the above method embodiments can be completed by hardware related to program instructions. The above program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above method embodiments are executed; and the above storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0255] So far, the technical solution of the present application has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments, and the above embodiments are only used to illustrate the technical solution of the present application rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A propulsion system flow compensation method, characterized in that: The method comprises: Collecting the first pressure drop times; wherein the first pressure drop times refers to the number of times the propulsion pressure of the propulsion cylinder in the propulsion system is lower than a preset pressure threshold; When the first pressure drop number is greater than the preset pressure drop number, multiple abnormal propulsion pressure average values, multiple abnormal propulsion speed average values ​​and multiple abnormal pressure knob setting values ​​are collected; wherein the abnormal propulsion pressure average value, the abnormal propulsion speed average value and the abnormal pressure knob setting value refer to the average value of the propulsion pressure of the propulsion cylinder, the average value of the propulsion speed and the pressure value corresponding to the pressure knob when the propulsion cylinder drops pressure respectively; constructing a first identification data matrix according to a plurality of abnormal propulsion pressure average values, a plurality of abnormal propulsion speed average values ​​and a plurality of abnormal pressure knob setting values; According to the first identification data matrix and a plurality of preset first initial regression coefficients, an abnormal linear regression coefficient is calculated; wherein the abnormal linear regression coefficient is used to describe the relationship between the abnormal propulsion pressure and the abnormal propulsion speed; Calculating a first difference between the abnormal linear regression coefficient and a preset normal linear regression coefficient, and determining a target adjustment scheme from a plurality of preset adjustment schemes according to a numerical relationship between the first difference and a preset first numerical range; wherein the normal linear regression coefficient is used to describe a relationship between a normal propulsion pressure and a normal propulsion speed of the propulsion cylinder when the propulsion cylinder has not lost pressure, the first difference is used to describe a degree of loss of flow of the propulsion system, and the target adjustment scheme is one of the plurality of adjustment schemes; A speed control valve in the propulsion system is adjusted according to the target adjustment plan.

2. The propulsion system flow compensation method according to claim 1, characterized in that: When the first pressure drop number is greater than the preset pressure drop number, collecting a plurality of abnormal propulsion pressure average values, a plurality of abnormal propulsion speed average values ​​and a plurality of abnormal pressure knob setting values, including: When the first pressure drop number is greater than the preset pressure drop number, a plurality of first propulsion pressures and a plurality of first propulsion speeds within a preset first time period are collected, and an average value of the first propulsion pressures, an average value of the first propulsion speeds, and a first speed standard deviation within the first time period are calculated based on the plurality of first propulsion pressures and the plurality of first propulsion speeds; Collecting a plurality of second propulsion pressures and a plurality of second propulsion speeds within a preset second time period, and calculating the second propulsion pressure average value, the second propulsion speed average value, and the second speed standard deviation within the second time period according to the plurality of second propulsion pressures and the plurality of second propulsion speeds; wherein the start time of the second time period is later than the end time of the first time period; Calculating a second difference value according to the first average value of the propulsion speed and the second average value of the propulsion speed; Calculating a third difference value according to the first speed standard deviation and the second speed standard deviation; When the second difference is greater than a preset speed average threshold, or the third difference is greater than a preset speed standard deviation threshold, assigning the second propulsion pressure average to the first propulsion pressure average, assigning the second propulsion speed average to the first propulsion speed average, and assigning the second speed standard deviation to the first speed standard deviation; When the second difference is less than the speed average value threshold, and the third difference is less than the speed standard deviation threshold, taking the second propulsion pressure average value as the abnormal propulsion pressure average value, and taking the second propulsion speed average value as the abnormal propulsion speed average value; The pressure knob setting value of the second time period is obtained, and the pressure knob setting value of the second time period is taken as the abnormal pressure knob setting value.

3. The propulsion system flow compensation method according to claim 1, characterized in that: The calculating a first difference between the abnormal linear regression coefficient and a preset normal linear regression coefficient, and determining a target adjustment scheme from a plurality of preset adjustment schemes according to a numerical relationship between the first difference and a preset first numerical range, includes: Calculating the slope coefficients of the normal linear regression coefficient and the abnormal linear regression coefficient respectively; The first difference is obtained by calculation according to the slope coefficient of the normal linear regression coefficient and the slope coefficient of the abnormal linear regression coefficient; When the first difference is greater than the minimum value of the first numerical range, and the first difference is less than the maximum value of the first numerical range, taking the preset first adjustment scheme as the target adjustment scheme; When the first difference is greater than the maximum value of the first value range, taking the preset second adjustment scheme as the target adjustment scheme; When the first difference is smaller than the minimum value of the first numerical range, the preset third adjustment scheme is used as the target adjustment scheme.

4. The propulsion system flow compensation method according to claim 1, characterized in that: The first identification data matrix includes an abnormal propulsion velocity average value matrix, an abnormal propulsion pressure average value matrix and a linear regression coefficient matrix; The abnormal linear regression coefficient is calculated based on the first identification data matrix and the preset multiple first initial regression coefficients, including: Constructing a cost function according to the abnormal propulsion speed average value matrix, the abnormal propulsion pressure average value matrix and the linear regression coefficient matrix; According to the cost function and the first initial regression coefficients, a gradient matrix and a cost value of each of the first initial regression coefficients are calculated; wherein the gradient matrix is ​​used to indicate an adjustment direction and an adjustment range of the first initial regression coefficient; Iteratively optimizing each of the first initial regression coefficients according to the gradient matrix and the cost value of each of the first initial regression coefficients until the cost value of each of the first initial regression coefficients is less than a preset cost threshold; The first regression coefficient after iterative optimization is used as the abnormal linear regression coefficient.

5. The propulsion system flow compensation method according to claim 4, characterized in that: The cost function is constructed according to the abnormal propulsion speed average value matrix, the abnormal propulsion pressure average value matrix and the linear regression coefficient matrix, including: A prediction model is constructed according to the abnormal propulsion speed average value matrix, the abnormal propulsion pressure average value matrix and the linear regression coefficient matrix; wherein the prediction model is used to predict the propulsion speed under a given propulsion pressure; Inputting the abnormal propulsion pressure average value matrix into the prediction model to obtain a propulsion speed prediction value matrix; A cost function is constructed according to the abnormal propulsion speed average value matrix and the propulsion speed prediction value matrix.

6. A propulsion system flow analysis method, characterized in that: The method comprises: Collect multiple normal propulsion pressure average values, multiple normal propulsion speed average values ​​and multiple normal pressure knob setting values; wherein the normal propulsion pressure average value, the normal propulsion speed average value and the normal pressure knob setting value refer to the average value of the propulsion pressure of the propulsion cylinder, the average value of the propulsion speed and the pressure value corresponding to the pressure knob when the propulsion cylinder in the propulsion system does not drop pressure, respectively; constructing a second identification data matrix according to a plurality of normal propulsion pressure average values, a plurality of normal propulsion speed average values, and a plurality of normal pressure knob setting values; According to the second identification data matrix and the preset multiple second initial regression coefficients, a normal linear regression coefficient is calculated; wherein the normal linear regression coefficient is used in the propulsion system flow compensation method according to any one of claims 1 to 5.

7. A propulsion system flow compensation device, characterized in that: include: A first acquisition module is used to acquire a first pressure drop number; wherein the first pressure drop number refers to the number of times the propulsion pressure of the propulsion cylinder in the propulsion system is lower than a preset pressure threshold; A second acquisition module is used to collect multiple abnormal propulsion pressure average values, multiple abnormal propulsion speed average values ​​and multiple abnormal pressure knob setting values ​​when the first pressure drop number is greater than a preset pressure drop number; wherein the abnormal propulsion pressure average value, the abnormal propulsion speed average value and the abnormal pressure knob setting value refer to the average value of the propulsion pressure of the propulsion cylinder, the average value of the propulsion speed and the pressure value corresponding to the pressure knob when the propulsion cylinder drops pressure; A first matrix construction module, used to construct a first identification data matrix according to a plurality of abnormal propulsion pressure average values, a plurality of abnormal propulsion speed average values ​​and a plurality of abnormal pressure knob setting values; A first calculation module, used to calculate an abnormal linear regression coefficient according to the first identification data matrix and a plurality of preset first initial regression coefficients; wherein the abnormal linear regression coefficient is used to describe the relationship between the abnormal propulsion pressure and the abnormal propulsion speed; a determination module, configured to calculate a first difference between the abnormal linear regression coefficient and a preset normal linear regression coefficient, and determine a target adjustment scheme from a plurality of preset adjustment schemes according to a numerical relationship between the first difference and a preset first numerical range; wherein the normal linear regression coefficient is used to describe a relationship between a normal propulsion pressure and a normal propulsion speed of the propulsion cylinder when the propulsion cylinder has not lost pressure, the first difference is used to describe a degree of loss of flow of the propulsion system, and the target adjustment scheme is one of the plurality of adjustment schemes; The regulating module is used to regulate the speed regulating valve in the propulsion system according to the target adjustment scheme.

8. A propulsion system flow analysis device, characterized in that: include: The third acquisition module is used to collect multiple normal propulsion pressure average values, multiple normal propulsion speed average values ​​and multiple normal pressure knob setting values; wherein the normal propulsion pressure average value, the normal propulsion speed average value and the normal pressure knob setting value respectively refer to the average value of the propulsion pressure of the propulsion cylinder, the average value of the propulsion speed and the pressure value corresponding to the pressure knob when the propulsion cylinder in the propulsion system does not drop pressure; A second matrix construction module, for constructing a second identification data matrix according to a plurality of normal propulsion pressure average values, a plurality of normal propulsion speed average values ​​and a plurality of normal pressure knob setting values; The second calculation module is used to calculate the normal linear regression coefficient according to the second identification data matrix and the preset multiple second initial regression coefficients; wherein the normal linear regression coefficient is used in the device described in claim 7.

9. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; When the processor executes the computer-executable instructions stored in the memory, it is used to implement the propulsion system flow compensation method as described in any one of claims 1 to 5, or to implement the propulsion system flow analysis method as described in claim 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the propulsion system flow compensation method as described in any one of claims 1 to 5, or to implement the propulsion system flow analysis method as described in claim 6.

11. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program is used to implement the propulsion system flow compensation method according to any one of claims 1 to 5, or the propulsion system flow analysis method according to claim 6.

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