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

Abstract

The present application provides a propulsion system flow compensation method, analysis method, device, equipment and medium, which relates to the field of fluid control technology. The method includes: collecting the number of pressure drops, the average value of abnormal propulsion pressure, the average value of abnormal propulsion speed and the setting value of the abnormal pressure knob; constructing an identification data matrix based on the average value of abnormal propulsion pressure, the average value of abnormal propulsion speed and the setting value of the abnormal pressure knob; calculating the abnormal linear regression coefficient based on the identification data matrix and the initial regression coefficient; calculating the difference between the abnormal linear regression coefficient and the normal linear regression coefficient, and determining the target adjustment scheme based on the difference and the 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 uses the difference to describe the degree of flow loss; according to the relationship between the difference and the first numerical range, different adjustment schemes are determined, and different adjustment measures are taken to improve the stability of the system.

Description

Technical Field

[0001] The present application relates to the field of fluid control technology, and in particular to a propulsion system flow compensation method, analysis method, device, equipment and medium. 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 relevant parameters in the system in real time. When insufficient flow or pressure is detected, flow compensation automatically adjusts propulsion system component parameters, such as adjusting valve opening or pump output, to compensate for the flow loss, ensuring the propulsion system can continue to provide the required hydraulic power or fluid flow.

[0003] Existing flow compensation mechanisms are implemented through the coordinated operation of a series of sensors and controllers. 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 data from these sensors, analyzes it, and identifies the specific cause of flow loss. Based on the analysis, the controller adjusts the operating parameters of the hydraulic valve or pump, such as changing the valve opening or adjusting the pump's output pressure, to compensate for the flow loss.

[0004] Existing flow compensation mechanisms suffer from an inability to determine the extent of flow loss, preventing them from implementing appropriate countermeasures. Existing technologies rely solely on sensors and controllers working together to monitor and adjust flow. These technologies typically focus on simple pressure and flow changes, failing to analyze the various potential factors that contribute to flow loss, such as equipment wear, seal aging, or changes in relief valve characteristics. This lack of comprehensive diagnostic capabilities can prevent accurate assessment of the severity of flow loss, leading to inaccurate compensation measures and negatively impacting 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 frequency is greater than a 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; 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;

[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] An abnormal linear regression coefficient is calculated based on 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;

[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 based on 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 flow loss in 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 multiple abnormal propulsion pressure average values, multiple abnormal propulsion speed average values, and multiple abnormal pressure knob setting values ​​includes:

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

[0015] collecting a plurality of second propulsion pressures and a plurality of second propulsion speeds within a preset second time period, and calculating, based on the plurality of second propulsion pressures and the plurality of second propulsion speeds, an average value of the second propulsion pressures, an average value of the second propulsion speeds, and a standard deviation of the second speed within the second time period; wherein a start time of the second time period is later than an end time of the first time period;

[0016] Calculating a second difference based on the first average propulsion speed and the second average 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 value to the first propulsion pressure average value, assigning the second propulsion speed average value to the first propulsion speed average value, 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 acquired, and the pressure knob setting value of the second time period is taken as the abnormal pressure knob setting value.

[0021] In one possible design, 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 based on 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] Calculating the first difference 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, the preset first adjustment scheme is used as the target adjustment scheme;

[0025] When the first difference is greater than the maximum value of the first value range, the preset second adjustment scheme is used 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 velocity 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 a plurality of preset first initial regression coefficients, including:

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

[0030] Calculating a gradient matrix and a cost value of each of the first initial regression coefficients based on 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;

[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 based on the abnormal propulsion speed average matrix, the abnormal propulsion pressure average matrix, and the linear regression coefficient matrix includes:

[0034] Constructing 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;

[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 averages, multiple normal propulsion speed averages, and multiple normal pressure knob setting values; wherein the normal propulsion pressure average, the normal propulsion speed average, 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, 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 a plurality of preset 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 configured to acquire a first number of pressure drops, wherein the first number of pressure drops refers to a 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, configured to acquire, when the first pressure drop frequency is greater than a 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; 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;

[0044] A first matrix construction module is configured to construct a first identification data matrix based on 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, configured to calculate an abnormal linear regression coefficient based on 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 based on 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 flow loss in 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 one possible design, the second acquisition module includes:

[0049] a first collecting unit, configured to collect a plurality of first propulsion pressures and a plurality of first propulsion speeds within a preset first time period when the first number of pressure drops is greater than a preset number of pressure drops, and calculate, based on the plurality of first propulsion pressures and the plurality of first propulsion speeds, an average value of the first propulsion pressures, an average value of the first propulsion speeds, and a standard deviation of the first speed within the first time period;

[0050] a second collecting unit, configured to collect a plurality of second propulsion pressures and a plurality of second propulsion speeds within a preset second time period, and calculate, based on the plurality of second propulsion pressures and the plurality of second propulsion speeds, an average value of the second propulsion pressures, an average value of the second propulsion speeds, and a standard deviation of the second speeds within the second time period; wherein a start time of the second time period is later than an end time of the first time period;

[0051] a first calculating unit, configured to calculate a second difference value based on the first average value of the propulsion speed and the second average value of the propulsion speed;

[0052] a second calculating 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 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 and the third difference is less than the speed standard deviation threshold;

[0055] The acquiring unit is configured 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 calculating unit, configured to calculate the slope coefficients of the normal linear regression coefficient and the abnormal linear regression coefficient respectively;

[0058] a fourth calculating 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 value range;

[0061] The 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 one possible design, the first identification data matrix includes an abnormal propulsion velocity average matrix, an abnormal propulsion pressure average matrix, and a linear regression coefficient matrix, and the first calculation module includes:

[0063] A first construction unit is configured to construct a cost function according to the abnormal propulsion speed average matrix, the abnormal propulsion pressure average 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 based on the cost function and the plurality of 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 configured to use the iteratively optimized first regression coefficient as the abnormal linear regression coefficient.

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

[0068] a model building component for building 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;

[0069] a calculation component, configured to input the abnormal propulsion pressure average value matrix into the prediction model to obtain a propulsion speed prediction value matrix;

[0070] A function construction component is used to construct a cost function based on 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] a third acquisition module, configured to acquire a plurality of normal propulsion pressure averages, a plurality of normal propulsion speed averages, and a plurality of normal pressure knob setting values; wherein the normal propulsion pressure average, the normal propulsion speed average, and the normal pressure knob setting value respectively refer to the average propulsion pressure, the average propulsion speed, and the pressure value corresponding to the pressure knob of the propulsion cylinder in the propulsion system when the propulsion cylinder is not under pressure;

[0073] a second matrix construction module, configured 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;

[0074] The second calculation module is used to calculate the normal linear regression coefficient based on the second identification data matrix and multiple preset 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, comprising a computer program, which, when executed by a processor, is used to implement a propulsion system flow compensation method according to the first aspect of the invention, or to implement a propulsion system flow analysis method according to 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 comprising: collecting a first pressure drop number; when the first pressure drop number is greater than a 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 based on the multiple abnormal propulsion pressure average values, multiple abnormal propulsion speed average values ​​and multiple abnormal pressure knob setting values; calculating an abnormal linear regression coefficient based on the first identification data matrix and multiple preset first initial regression coefficients; calculating a first difference between the abnormal linear regression coefficient and a preset normal linear regression coefficient, and determining a target adjustment scheme from multiple preset adjustment schemes based on the numerical relationship between the first difference and a preset first numerical range; and 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 number of pressure drops of the propulsion cylinder in the propulsion system, and when the pressure drop number exceeds a preset threshold, collects and analyzes the abnormal propulsion pressure, speed and pressure knob setting values, constructs an identification data matrix, and calculates the abnormal linear regression coefficient. By comparing this with the normal linear regression coefficient, a difference is calculated, reflecting the severity of the flow loss. Based on where the difference lies within a preset range, the most appropriate adjustment scheme is selected to precisely adjust the propulsion system's speed control valve. This method not only accurately identifies the extent of flow loss but also enables appropriate compensatory measures based on the severity of the loss, significantly improving system stability and operational efficiency. 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 any creative work.

[0082] Figure 1 A schematic diagram of the system architecture of the 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 structural diagram 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, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain 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 differences. 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 in this application as "exemplary" or "for example" should not be interpreted as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete 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 phrase "at the time of" in the embodiments of the present application can refer to the instantaneous occurrence of a certain situation or a period of time after the occurrence of a certain situation, and the embodiments of the present application do not specifically limit this. Furthermore, the link optimization method provided in the embodiments of the present application is merely an example, and the link optimization method may include more or less content.

[0093] To facilitate a clear description of the technical solutions of the embodiments of the present application, some of the 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 valves in the propulsion system to ensure that the propulsion cylinder can still obtain stable and appropriate flow in the event of load changes or propulsion system pressure fluctuations.

[0095] Pressure drop: This is a sudden drop in pressure when a fluid is flowing 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 can affect system efficiency and performance, potentially resulting in insufficient flow or equipment failure.

[0096] Thrust pressure: This is the pressure acting on the cylinder piston in the propulsion system, which drives the piston rod in linear motion, thereby pushing or moving the load. The amount of thrust pressure determines the force the propulsion system can exert and its performance under different load conditions.

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

[0098] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. In the following description, when referring to the drawings, like numbers in different figures represent like or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present invention, as detailed in the appended claims.

[0099] The technical solution of the present invention is described in detail below with specific embodiments. 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 with reference to 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 movement accuracy and efficiency. Therefore, it is necessary to perform flow compensation on the propulsion system.

[0101] Currently, propulsion system flow compensation methods are typically implemented by integrating sensors and electronic control units into the hydraulic system. Sensors monitor the system's pressure and flow data in real time and transmit this information to the electronic control unit. Based on preset algorithms and parameters, the control unit analyzes the sensor data to determine flow deviation. It then adjusts the speed control valve opening or the pump's output pressure to achieve flow compensation, ensuring the propulsion system maintains the desired operating conditions. However, existing technologies only monitor and adjust flow through the collaborative work of sensors and controllers, typically focusing only on simple pressure and flow changes while failing to deeply analyze the various potential factors that lead to flow loss, such as equipment wear, seal aging, or changes in relief valve characteristics. This compensation mechanism, lacking comprehensive diagnostic capabilities, may be unable to accurately assess the severity of flow loss, resulting in inaccurate compensation measures. Therefore, existing propulsion system flow compensation methods suffer from an inability to determine the extent of flow loss and, therefore, to take appropriate action.

[0102] Therefore, the existing propulsion system flow compensation methods are unable to determine the extent of flow loss and, therefore, 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 plans according to the degree of flow loss: ① Design a graded response mechanism to evaluate the degree of flow loss and divide it into different levels. Each level corresponds to a specific adjustment plan, ensuring that the propulsion system can automatically select an adjustment plan based on the severity of the loss; ② Build a rule base system that contains multiple flow loss scenarios and their corresponding adjustment plans. By monitoring and analyzing flow data in real time, the propulsion system can quickly match the current loss level with the scenarios in the rule base and automatically execute the adjustment plan; ③ Build a multivariable monitoring system that not only monitors the speed of the propulsion cylinder in the propulsion system, but also monitors 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 the appropriate compensation plan.

[0103] Specifically:

[0104] An intelligent flow compensation system could be developed that integrates multiple sensors and advanced data analysis algorithms. By monitoring pressure and velocity, combined with machine learning and big data analytics, the system can identify and predict the extent of flow loss and automatically select and implement the most appropriate compensation strategy based on the degree of loss. Furthermore, the system would have self-correction and optimization capabilities to continuously improve compensation accuracy and system efficiency.

[0105] The propulsion system flow compensation method of the embodiment of the present application constructs an identification data matrix 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 a preset number. 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, thereby improving 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, to help those skilled in the art understand the technical content of the present application, but 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 startup 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, propulsion speed and pressure adjustment knob setting value of each group of the propulsion system; the propulsion system data processing module 102, through the sliding time window, filters the propulsion pressure and propulsion speed of each group of the propulsion system, calculates the average value of the propulsion pressure, the average value of the propulsion speed and the standard deviation of the propulsion speed of each group within the window, and saves the average value of the propulsion pressure, the average value of the propulsion speed and the pressure adjustment knob setting value 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 performs multi-segment linear model regression coefficient identification by constructing an identification data matrix, a multi-segment linear relationship model and a cost function, thereby obtaining the normal autoregressive coefficient of the propulsion speed and propulsion pressure relationship model of each group 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 records the situation and the number of times, and records the setting value of each group of pressure adjustment knobs at the time of pressure drop, and gives the operator a prompt to enter the abnormal autoregressive coefficient calculation program. If the operator agrees, the system enters the propulsion system abnormal autoregressive coefficient calculation module; the propulsion system abnormal autoregressive coefficient calculation module 105 automatically sets the starting value and ending value of each group of pressure adjustment knob detection according to the setting value of the pressure adjustment knob at the time of abnormal group pressure drop, 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 minor and proportional speed control valve flow compensation can be performed. If this prompt is given and the operator agrees to enter the proportional speed control valve flow compensation program, the system enters the propulsion system proportional speed control valve flow compensation control module;The propulsion system proportional speed control valve flow compensation control module 107 automatically modifies the maximum and minimum operating current control parameters of the fault group proportional speed control valve spool and then re-enters the propulsion system abnormal autoregressive coefficient calculation module. The first judgment module 108 is used to determine whether the operator agrees to enter the abnormal autoregressive coefficient calculation procedure. If yes, the propulsion system abnormal autoregressive coefficient calculation module 105 is activated. The end module 109 is used to indicate that the operator disagrees with entering the abnormal autoregressive coefficient calculation procedure. The second judgment module 110 is used to determine whether the operator agrees to enter the proportional speed control valve flow compensation procedure. If yes, the propulsion system proportional speed control valve flow compensation control module 107 is activated. The system check module 111 is used to indicate that the flow loss is severe and to check the system where the speed control valve is located. The system normal module 112 is used to indicate that the system has returned to normal. The speed control valve flow compensation module 113 is used to indicate that the flow loss is small and then invoke the second judgment module 110.

[0109] The following describes the application scenarios 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 this 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 with reference to the accompanying drawings.

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

[0112] S301: Collect the first voltage drop times.

[0113] Specifically, the number of first pressure drops can be collected by installing a pressure sensor on the propulsion cylinder in the propulsion system. This 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 number of first pressure drops refers 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 up, and each propulsion system 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 present embodiment takes the 40%-90% range of the pressure adjustment knob setting value of each group, and divides the range into 5 sections, 41%-50%, 51%-60%, 61%-70%, 71%-80%, and 81%-90%. The starting value and end value of multiple pressure adjustment knob detections 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 termination 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 turn each group of pressure adjustment knobs 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. 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's propulsion pressure, the average value of each group's propulsion speed, and the standard deviation of each group's propulsion speed in the current time window according to formula 1). This current time window is called the first cycle:

[0116] 1)

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

[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 the propulsion pressure of each group 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 , then 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 respectively 、 、 ;if and When , 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 process can obtain detailed operating parameters when flow anomalies occur, providing an accurate data foundation for subsequent analysis and adjustment, helping to accurately identify problems and implement effective compensatory measures. The abnormal thrust pressure average, abnormal thrust speed average, and abnormal pressure knob setting value refer to the average thrust cylinder thrust pressure, average thrust speed, and pressure knob setting value when the thrust cylinder pressure drops, respectively.

[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 group and the linear regression coefficients 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, and 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 advancing 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 value of the segment thrust pressure, For the zth group The average value of the first propulsion 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 propulsion speed and propulsion pressure, 、 yes two elements.

[0126] This matrix-based organization allows data to be more effectively used for subsequent analysis and calculations. This facilitates the application of linear regression or other mathematical models for data analysis, enabling more accurate identification of the characteristics and patterns of abnormal speed control valve conditions, providing a reliable basis for subsequent compensation and adjustment.

[0127] S304: Calculate abnormal linear regression coefficients based on the first identification data matrix and a plurality of preset first initial regression coefficients.

[0128] Specifically, the abnormal linear regression coefficients can be calculated by applying a linear regression algorithm. The system first uses the first identification data matrix as the input data set and, combined with the preset initial regression coefficients, fits the data using the least squares method or other optimization algorithm 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 process can accurately capture the behavior pattern of the speed control valve under abnormal conditions, providing precise mathematical model support for subsequent analysis and adjustment, thereby improving the effectiveness of fault diagnosis and compensation strategies. The abnormal linear regression coefficients are used to describe the relationship between abnormal propulsion pressure and abnormal propulsion speed.

[0129] S305 , 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 based on 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, The upper limit of the empirical threshold, 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, if The control system window prompts that the system has returned to normal. If the control system window indicates that the system flow loss is minor and proportional speed control valve flow compensation is possible, and the operator agrees to enter the proportional speed control valve flow compensation procedure, the system automatically modifies the maximum and minimum operating current control parameters of the proportional speed control valve spool and re-executes the abnormal autoregressive coefficient calculation procedure and flow loss severity determination 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, an automatic control system can be used to adjust the propulsion system's speed control valve. Once a target adjustment plan is determined, the system transmits the parameter settings in that plan to the propulsion system's control unit, adjusting relevant operating parameters such as pressure, flow, or speed setpoints. This may involve adjusting valve openings, modifying controller setpoints, or adjusting actuator action. This process automatically and rapidly optimizes the propulsion system, ensuring its return to normal operation after an abnormal condition, improving propulsion system stability and efficiency, and reducing the need for human intervention.

[0136] This embodiment provides a propulsion system flow compensation method, comprising: collecting a first pressure drop frequency; when the first pressure drop frequency exceeds a preset pressure drop frequency, collecting multiple abnormal propulsion pressure averages, multiple abnormal propulsion speed averages, and multiple abnormal pressure knob settings; constructing a first identification data matrix based on the multiple abnormal propulsion pressure averages, multiple abnormal propulsion speed averages, and multiple abnormal pressure knob settings; calculating an abnormal linear regression coefficient based on the first identification data matrix and multiple preset first initial regression coefficients; calculating a first difference between the abnormal linear regression coefficient and a preset normal linear regression coefficient, and determining a target adjustment scheme from multiple preset adjustment schemes based on the numerical relationship between the first difference and a preset first numerical range; and adjusting a speed control valve in the propulsion system according to the target adjustment scheme. This propulsion system flow compensation method achieves the following technical effects: the first difference reflects the magnitude of the change in the relationship between propulsion pressure and propulsion speed under normal and abnormal conditions. A larger first difference indicates a more severe flow loss. Based on the relationship between this first difference and the first numerical range, the degree of flow loss can be classified into different levels. Each level corresponds to a specific adjustment scheme. These are pre-set and used to guide how to adjust the propulsion system's speed control valve to compensate for flow loss. This approach allows for accurate assessment of the extent of flow loss and the implementation of appropriate adjustments to improve system stability and efficiency.

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

[0138] S3021. When the number of first pressure drops is greater than the preset number of pressure drops, multiple first propulsion pressures and multiple first propulsion speeds within the 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 installed 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 of the first propulsion pressures, the average of the first propulsion speeds, and the standard deviation of the first speeds. This processing can accurately capture the performance parameters of the propulsion system under abnormal conditions, providing basic data for subsequent abnormality analysis and compensation adjustments, 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, sensors can be installed on the propulsion cylinder to collect multiple second propulsion pressures and speeds. A data processing algorithm can then be used to calculate the average value of the second propulsion pressures, the average value of the second propulsion speeds, and the standard deviation of the second speeds within that time period. By comparing the propulsion pressure and speed characteristics across different time periods, the changing trends of abnormal conditions can be identified, providing accurate data support for flow compensation and adjustment of the speed control valve, thereby improving the system's responsiveness and operational efficiency. 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 average propulsion speed can be subtracted from the first average propulsion speed to obtain a second difference. This process can quantify the degree of propulsion speed variation over different time periods, helping to identify fluctuations in the propulsion system. This quantified difference provides a basis for subsequent determination of system abnormalities, enabling more accurate flow compensation and system adjustments, and improving system stability and reliability.

[0144] S3024: Calculate a third difference value based on the first speed standard deviation and the second speed standard deviation.

[0145] Specifically, the first speed standard deviation can be subtracted from the second speed standard deviation to obtain a third difference. This process can quantify the degree of speed fluctuation over different time periods, helping to identify changes in propulsion system stability. By analyzing the third difference, it is possible to determine whether the system is experiencing abnormal fluctuations, providing a basis for further flow compensation and system adjustments, thereby improving system operational stability and reliability.

[0146] S3025. When 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 second propulsion pressure average is assigned to the first propulsion pressure average, the second propulsion speed average is assigned to the first propulsion speed average, and the second speed standard deviation is assigned to the first speed standard deviation.

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

[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, 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.

[0149] Specifically, the calculated second and third differences can be compared through programming logic. If both are less than their respective preset thresholds, the average propulsion pressure and average propulsion speed values ​​during the second time period are assigned as the abnormal propulsion pressure and abnormal propulsion speed values, respectively. This process can be automated within the control system. When the system's speed changes and fluctuations are small and within the normal range, the current state is identified as abnormal, and the relevant pressure and speed data is recorded. This processing method helps to accurately capture and analyze system characteristics under abnormal conditions, providing a reliable data foundation 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 during the second time period can be read in real time via a sensor or control system interface and directly assigned as the abnormal pressure knob setting value. This process accurately records the pressure setting parameters during abnormal conditions, providing key data support for analyzing the causes and characteristics of abnormal conditions. This processing method helps to consider the impact of the set value during flow compensation and system adjustments, thereby improving the system's responsiveness to abnormal conditions and operational accuracy.

[0152] The technical effect of this solution in this embodiment is that by collecting and analyzing detailed data on the propulsion pressure and speed of the propulsion cylinder over different time periods, abnormal system conditions can be more accurately identified and quantified. By calculating the mean and standard deviation of the propulsion pressure and speed and comparing the differences over different time periods, the changing trends in the propulsion system's 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 conditions. This refined analysis and adjustment mechanism improves the accuracy of flow compensation and the stability of the propulsion system, enhancing the propulsion system's responsiveness to abnormal conditions.

[0153] In one 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 solution from a plurality of preset adjustment solutions based on 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, linear regression analysis of the propulsion cylinder's thrust pressure and velocity data can be used to calculate the slope coefficients of the normal and abnormal linear regression coefficients. By collecting thrust pressure and velocity data under normal and abnormal conditions, the linear regression method is applied to calculate the slope of the regression equation for each case, i.e., the slope coefficient. By comparing the slope coefficients under normal and abnormal conditions, the degree of flow loss deviation in the propulsion system under abnormal conditions can be quantified, providing a basis for selecting appropriate adjustment solutions. This method can effectively identify the extent of flow loss in the propulsion system and implement targeted compensatory adjustments, thereby improving system stability and reliability.

[0156] S3052: Calculate a first difference value based on 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 abnormal linear regression coefficient can be subtracted from the slope coefficient of the normal linear regression coefficient to obtain a first difference. This first difference quantifies the degree of deviation between the propulsion system's abnormal and normal conditions, providing an intuitive indicator for evaluating changes in propulsion system flow loss. This first difference provides an important basis for selecting an appropriate adjustment solution, thereby facilitating precise compensation and adjustment of the speed control valve, improving 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, a conditional judgment mechanism can be used to select a preset first adjustment plan as the target adjustment plan. The system first calculates a first difference and then compares it to the upper and lower limits of a preset first numerical range. If the first difference falls within this range, the system automatically selects the predefined first adjustment plan as the target adjustment plan. This conditional judgment mechanism allows the system to automatically select an adjustment plan based on the actual degree of propulsion system flow loss deviation, thereby optimizing system response speed and stability and improving overall operational efficiency.

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

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

[0162] S3055: When the first difference is smaller 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 a preset first range of values. If the first difference falls below this minimum, the system automatically selects a predefined third adjustment plan as the target adjustment plan. This mechanism identifies situations where propulsion system flow loss deviations are small and selects a relatively mild adjustment plan to compensate, avoiding unnecessary impacts on the system caused by over-adjustments, thereby maintaining smooth operation and efficient performance.

[0164] The technical effect of this solution in this embodiment is to quantify the degree of flow loss deviation in the propulsion system under abnormal conditions by comparing the slopes of the normal and abnormal linear regression coefficients, and select the most appropriate adjustment solution based on the degree of deviation. This method can automatically identify different levels of abnormal conditions and take corresponding compensation measures, ensuring that the flow compensation of the speed control valve is both accurate and effective, thereby improving the system's stability, response speed, and overall operational efficiency.

[0165] In one possible design, the first identification data matrix includes an abnormal propulsion velocity average matrix, an abnormal propulsion pressure average matrix, and a linear regression coefficient matrix. S304 calculates the abnormal linear regression coefficients based on 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 velocity average matrix, the abnormal propulsion pressure average 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 velocity and pressure as input variables and the linear regression coefficients as parameters. This expression is typically an error function, such as the mean squared error, which measures the deviation between the linear regression model's predictions and the actual observed values. By calculating this cost function, the accuracy of the current linear regression coefficients can be evaluated and a basis for subsequent coefficient optimization can be provided.

[0168] S3042: Calculate the gradient matrix and cost value of each first initial regression coefficient based on the cost function and the multiple first initial regression coefficients.

[0169] Specifically, we can find the appropriate linear regression coefficient To minimize the cost function, use the gradient method 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), the value of the linear regression coefficient is updated.

[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 iterations.

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

[0177] 7)

[0178] in is the threshold, 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 initial regression coefficient can be iteratively optimized using an iterative optimization algorithm, such as gradient descent. A gradient matrix is ​​used to adjust the value of each initial regression coefficient to reduce the cost value, or the output of the cost function. This process is repeated, updating the regression coefficients with each iteration, until the cost value falls below a preset cost threshold. By continuously optimizing the regression coefficients, the model more accurately fits the actual data, thereby improving the accuracy of predicting the relationship between propulsion pressure and speed under abnormal conditions, 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, after the iterative optimization process, the resulting regression coefficients can be directly used to describe the linear relationship between propulsion pressure and speed under normal conditions. This means that the optimized regression coefficients 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 validated regression coefficients for accurately predicting and controlling the flow behavior of the speed control valve under normal conditions, thereby improving system stability and efficiency.

[0183] The technical effect of this solution in this embodiment is that by constructing a cost function and utilizing a matrix of average values ​​of abnormal propulsion velocity and pressure, as well as a matrix of linear regression coefficients, the system can effectively evaluate and optimize the accuracy of the regression model. By calculating the gradient matrix and cost value for each initial regression coefficient, the system can identify the direction and magnitude of adjustment for the regression coefficient. An iterative optimization process ensures that the regression coefficients are continuously improved until the cost value falls below a preset threshold, thereby generating a set of optimized linear regression coefficients. These optimized coefficients serve as normal linear regression coefficients, more accurately describing system properties under normal operating conditions.

[0184] In one possible design, S3041 constructs a cost function based on the abnormal propulsion velocity average matrix, the abnormal propulsion pressure average 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 is constructed between the propulsion speed of each section and each group and the propulsion pressure of each group, 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 A predicted value of advancement speed.

[0189] This model can predict propulsion speed at 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, improving system stability and response speed. The prediction model is used to predict propulsion speed at 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 matrix of propulsion speed prediction values ​​can be obtained by substituting the abnormal propulsion pressure average value matrix into the previously constructed linear regression prediction model. Using the linear regression equation, each abnormal propulsion pressure average value is substituted into the equation to calculate the corresponding propulsion speed prediction value, thus forming the 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, a cost function can be constructed according to Formula 9). The smaller the cost function, the more accurately the relationship model can express the relationship between the propulsion speed and propulsion pressure of each segment and 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 working conditions can be improved, thereby enhancing the adaptability and reliability of the system.

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

[0197] Figure 4 Schematic diagram of the flow chart of the propulsion system flow analysis method provided in the 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. The propulsion system flow analysis method provided by this embodiment includes the following steps:

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

[0199] Specifically, the pressure adjustment knobs of each group can be increased from an initial setting of 41% to 90% in 1% intervals to complete data collection of the average propulsion pressure and the average propulsion speed of each group at each setting value and when the system is stable. While each pressure adjustment knob maintains each setting value, multiple normal propulsion pressure averages, multiple normal propulsion speed averages, and multiple normal pressure knob setting values ​​are collected according to the method in the step of obtaining the autoregressive coefficient under the propulsion cylinder pressure drop state. By acquiring and analyzing these parameters under normal operating conditions, a baseline model can be established to identify and compare deviations under abnormal conditions, thereby improving the flow compensation accuracy and reliability of the speed control valve. Among them, the normal propulsion pressure average, normal propulsion speed average, and 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 is not under 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 data on the average normal propulsion pressure, the average normal propulsion speed, and the normal pressure knob setting can be structured and arranged to form a matrix, where each row or column represents a different parameter value at a time point or sample. This matrix is ​​used to describe the characteristic relationships of the propulsion cylinder under normal operating conditions. By constructing this data matrix, it provides the foundational data for subsequent linear regression analysis, enabling rapid identification of deviations and effective flow compensation when anomalies occur, thereby improving system stability and responsiveness.

[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 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 propulsion system flow compensation method.

[0204] The technical effect of this solution in this embodiment is that by collecting and analyzing the thrust pressure, thrust speed, and pressure knob setting of the thrust cylinder under normal operating conditions, a second identification data matrix is ​​constructed and a normal linear regression coefficient is calculated. This process establishes a baseline model of the thrust cylinder under normal operating conditions, allowing for rapid identification of deviations and appropriate compensation measures when flow anomalies occur, thereby improving system stability, response speed, and overall performance, ensuring efficient operation and reliability of the speed control valve.

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

[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 includes:

[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 averages, multiple abnormal propulsion speed averages 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, the abnormal propulsion speed average 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 an abnormal linear regression coefficient based on 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.

[0211] Determination module 605 is used 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 based on a numerical relationship between the first difference and a 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 dropped pressure, the first difference is used to describe the degree of loss of flow in the propulsion system, and the target adjustment scheme is one of the plurality of adjustment schemes.

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

[0213] In one 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 configured to calculate a second difference value based on the first average value of the propulsion speed and the second average value of the propulsion speed.

[0217] The second calculation unit is configured 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 determining unit is configured to take the second propulsion pressure average value as the abnormal propulsion pressure average value and 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 configured 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 configured 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 one possible design, the first identification data matrix includes an abnormal propulsion velocity average matrix, an abnormal propulsion pressure average matrix, and a linear regression coefficient matrix. The first calculation module 604 includes:

[0228] The first construction unit is used to construct a cost function according to the abnormal propulsion speed average matrix, the abnormal propulsion pressure average matrix and the 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 configured to use the iteratively optimized first regression coefficient as the abnormal linear regression coefficient.

[0232] In one possible design, the first building block 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 construction component is used to construct a cost function based on 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 includes:

[0238] The third acquisition module 701 is used to collect multiple normal propulsion pressure averages, multiple normal propulsion speed averages and multiple normal pressure knob setting values; wherein the normal propulsion pressure average, the normal propulsion speed average and the normal pressure knob setting value respectively 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 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 based on 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 perform 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 Schematic diagram of the hardware structure of the electronic device provided in the embodiment of the present application. 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] During the specific implementation process, at least one processor 810 executes the computer-executable instructions stored in the memory 820, so that the 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 embodiment.

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

[0245] In the above embodiment, it should be understood that the processor 810 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly implemented by a hardware processor or implemented 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] Bus 840 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Bus 840 can be classified as an address bus, a data bus, a control bus, etc. For ease of illustration, the bus 840 in the drawings of this application is not limited to a single bus or a single type of bus.

[0248] The above-mentioned functions implemented by the electronic device and the main control device have introduced the solutions provided by the embodiments 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 hardware structures and / or software modules corresponding to the execution of each function. In combination with the units and algorithm steps of the various examples described in the embodiments disclosed in the embodiments of the present invention, the embodiments 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 embodiments of the present invention.

[0249] The present application also provides a computer-readable storage medium storing computer-executable instructions. When executed by a processor, the computer-executable instructions implement the propulsion system flow compensation method or propulsion system flow analysis method described above. In the specific implementation of the aforementioned propulsion system flow compensation method or propulsion system flow analysis method, each module may be implemented as a processor.

[0250] The readable storage medium may be implemented by any type of volatile or non-volatile memory 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 storage, flash memory, magnetic disk, or optical disk. The readable storage medium may be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0251] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Alternatively, the readable storage medium may be an integral part of the processor. The processor and the readable storage medium may be located in an application-specific integrated circuit (ASIC). Alternatively, the processor and the readable storage medium may be present as discrete components in an electronic device or a host control device.

[0252] An embodiment of the present application further 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, and at least one processor can execute the computer program to perform the solution provided in any of the above embodiments.

[0254] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[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 scope of protection of the present application is obviously not limited to these specific embodiments. 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, ordinary technicians in this field should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solution 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 frequency is greater than a 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; 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; 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; An abnormal linear regression coefficient is calculated based on 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; 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 based on 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 flow loss in 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 multiple abnormal propulsion pressure average values, multiple abnormal propulsion speed average values, and multiple abnormal pressure knob setting values, including: When the first pressure drop number is greater than a preset pressure drop number, collecting a plurality of first propulsion pressures and a plurality of first propulsion speeds within a preset first time period, and calculating, based on the plurality of first propulsion pressures and the plurality of first propulsion speeds, an average value of the first propulsion pressures, an average value of the first propulsion speeds, and a standard deviation of the first speed within the first time period; collecting a plurality of second propulsion pressures and a plurality of second propulsion speeds within a preset second time period, and calculating, based on the plurality of second propulsion pressures and the plurality of second propulsion speeds, an average value of the second propulsion pressures, an average value of the second propulsion speeds, and a standard deviation of the second speed within the second time period; wherein a start time of the second time period is later than an end time of the first time period; Calculating a second difference based on the first average propulsion speed and the second average 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 value to the first propulsion pressure average value, assigning the second propulsion speed average value to the first propulsion speed average value, 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 acquired, 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 based on 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; Calculating the first difference 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, the preset first adjustment scheme is used as the target adjustment scheme; When the first difference is greater than the maximum value of the first value range, the preset second adjustment scheme is used 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 a plurality of preset first initial regression coefficients, including: constructing a cost function according to the abnormal propulsion speed average matrix, the abnormal propulsion pressure average matrix, and the linear regression coefficient matrix; Calculating a gradient matrix and a cost value of each of the first initial regression coefficients based on 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; 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 matrix, the abnormal propulsion pressure average matrix and the linear regression coefficient matrix, including: Constructing 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; 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 averages, multiple normal propulsion speed averages, and multiple normal pressure knob setting values; wherein the normal propulsion pressure average, the normal propulsion speed average, 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 is not depressurized; 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; A normal linear regression coefficient is calculated based on the second identification data matrix and a plurality of preset second initial regression coefficients; 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 configured to acquire a first number of pressure drops, wherein the first number of pressure drops refers to a 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, configured to acquire, when the first pressure drop frequency is greater than a 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; 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; A first matrix construction module is configured to construct a first identification data matrix based on 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, configured to calculate an abnormal linear regression coefficient based on 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 based on 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 flow loss in 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: a third acquisition module, configured to acquire a plurality of normal propulsion pressure averages, a plurality of normal propulsion speed averages, and a plurality of normal pressure knob setting values; wherein the normal propulsion pressure average, the normal propulsion speed average, and the normal pressure knob setting value respectively refer to the average propulsion pressure, the average propulsion speed, and the pressure value corresponding to the pressure knob of the propulsion cylinder in the propulsion system when the propulsion cylinder is not under pressure; a second matrix construction module, configured 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; The second calculation module is used to calculate the normal linear regression coefficient based on the second identification data matrix and a plurality of preset second initial regression coefficients; wherein the normal linear regression coefficient is used in the device according to 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 according to any one of claims 1 to 5, or the propulsion system flow analysis method according to 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 according to any one of claims 1 to 5, or the propulsion system flow analysis method according to 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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