Program control servo hydraulic system without control adjusting device

Abstract

The invention relates to the technical field of hydraulic systems, in particular to a program control servo hydraulic system without a control adjusting device, which comprises a hydraulic unit and a control unit, the hydraulic unit comprises a hydraulic pump A, a hydraulic pump B, an oil cylinder and an adjusting pump, and oil outlets of the hydraulic pump A and the hydraulic pump B are respectively connected with different cavities of the oil cylinder. And the hydraulic pump A and the hydraulic pump B are connected with the same adjusting pump. According to the program control servo hydraulic system without the control adjusting device, a hydraulic pump A, a hydraulic pump B, an oil cylinder and an adjusting pump are arranged to form a minimum closed type circulation hydraulic system unit, and a plurality of minimum closed type circulation hydraulic system units are connected with a master pump in a wired or wireless mode according to needs to form a program control servo hydraulic system which takes the master pump as a main path and takes the hydraulic pump as an auxiliary path. According to the distributed hydraulic system with the minimum closed circulation hydraulic system units as branches, wiring of the hydraulic system is greatly simplified, and the system structure is more concise.

Description

Technical Field

[0001] The invention relates to the technical field of hydraulic systems, in particular to a program-controlled servo hydraulic system without a control regulating device. Background Art

[0002] A hydraulic system refers to a mechanical system that uses liquid as a working medium and transmits power and performs control through the pressure energy of the liquid. Hydraulic oil has a high pressure bearing capacity, which allows hydraulic components to output a large force or torque in a relatively compact size. Therefore, the hydraulic system can transmit a large power in a small space and weight, and is widely used in many fields.

[0003] At present, the traditional hydraulic system is composed of an oil tank, a filter, a hydraulic pump, a relief valve, a reversing valve, a throttle valve, a hydraulic cylinder and an oil pipe, and a control and adjustment device composed of a relief valve, a reversing valve and a throttle valve is set to control and adjust the pressure, flow and flow direction in the hydraulic system, and drive the hydraulic cylinder or hydraulic motor to operate. The traditional hydraulic system has a large number of control devices, which will increase the loss of the system during operation, and the complex control will lead to a high failure rate, affecting the use of the hydraulic system. Summary of the invention

[0004] The object of the present invention is to provide a program-controlled servo hydraulic system without a control regulating device, so as to solve the problem in the background technology mentioned above that a conventional hydraulic system has a large number of control devices and increases losses during system operation.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a program-controlled servo hydraulic system without a control and adjustment device, comprising a hydraulic unit and a control unit, wherein the hydraulic unit comprises a hydraulic pump A, a hydraulic pump B, a cylinder, and a regulating pump, wherein the oil outlets of the hydraulic pump A and the hydraulic pump B are respectively connected to different cavities of the cylinder, and the hydraulic pump A and the hydraulic pump B are connected to the same regulating pump, wherein the hydraulic pump A, the hydraulic pump B, the cylinder, and the regulating pump together constitute a minimum closed-loop hydraulic system unit, wherein the control unit comprises a pressure sensor and a computer, wherein three pressure sensors are arranged in each minimum closed-loop hydraulic system unit, and the three pressure sensors are respectively installed in the output routes of the hydraulic pump A, the hydraulic pump B, and the regulating pump;

[0006] Preferably, multiple of the minimum closed-loop hydraulic system units are data-connected to the master pump via wired or wireless means to form a complex hydraulic system. Multiple of the minimum closed-loop hydraulic system units are connected to a power line to obtain power, forming a distributed hydraulic system with the master pump as the main line and multiple minimum closed-loop hydraulic system units as branches.

[0007] By adopting the above technical solution, a distributed hydraulic system can be formed by connecting multiple minimum closed-loop hydraulic system units.

[0008] Preferably, a servo control module is arranged in the computer in the control unit, and the servo control module includes an 8031 ​​main controller, and the 8031 ​​main controller is connected to an input signal sampling A / D conversion module, and the input signal sampling A / D conversion module is connected to a pressure sensor, and a servo control algorithm and a servo motor control software are arranged in the 8031 ​​main controller, and the servo control algorithm and the servo motor control software are connected to a servo rotary motor, and three groups of the servo control algorithm and the servo motor control software and the connected servo rotary motors are arranged, and the three servo rotary motors are respectively connected to a hydraulic pump A, a hydraulic pump B and a regulating pump, and the servo rotary motor at the hydraulic pump A is marked as a servo rotary motor A, and the servo rotary motor at the hydraulic pump B is marked as a servo rotary motor B.

[0009] By adopting the above technical solution, the servo rotary motor in the hydraulic system can be controlled by the control unit for adjustment control.

[0010] Preferably, the control process of the servo control module in the control unit is as follows:

[0011] The cylinder ejects to the left or right at a speed V and an ejection force F. The human-machine interface is programmed through software to convert the above motion functions into corresponding instructions;

[0012] The corresponding instruction generates a motion curve of a servo rotary motor A through the motion controller;

[0013] The servo control algorithm and servo motor control software convert the motion curve into a control signal of the servo rotary motor A. The servo rotary motor A rotates at a corresponding speed according to the control signal requirements, driving the hydraulic pump A to suck oil from the regulating pump and output the pressure oil to the left end of the oil cylinder, pushing the oil cylinder piston to slide to the right. At this time, the pressure sensor at the servo rotary motor A transmits the pressure value signal to the motion controller, and adjusts the flow of the regulating pump through the speed of the servo rotary motor A, and adjusts the flow of the pump to control the movement speed of the oil cylinder piston;

[0014] The pressure in the right chamber of the oil cylinder increases due to the squeezing of the piston moving to the right. At this time, the motion controller calculates the pressure value sent back by the pressure sensor at the servo rotary motor B to obtain the amount of oil that needs to be adjusted. The servo control algorithm and servo motor control software convert the motion curve into a control signal of the servo rotary motor B. The servo rotary motor B rotates at the corresponding speed according to the signal requirements, driving the hydraulic pump B to suck oil from the right chamber of the oil cylinder and output the oil to the regulating pump chamber.

[0015] The pressure sensor in the regulating pump monitors the pressure in the cavity and transmits the value to the motion controller. The motion controller calculates the volume that the regulating pump needs to increase or decrease according to the back pressure set by the program, and transmits the control signal to the servo linear motor at the regulating pump. The servo linear motor drives the piston of the regulating pump to move up and down to adjust the cavity volume, so that the back pressure is controlled within a certain range.

[0016] By adopting the above technical solution, the pressure sensor can be used for real-time monitoring to facilitate regulation and control of the system pressure.

[0017] Preferably, the movement process of the oil cylinder in the hydraulic unit is as follows:

[0018] The motion controller sends a request that the cylinder piston moves to the right at a speed of V and a thrust of F.

[0019] At this time, the liquid flow rate q required at the left end of the cylinder 1 The calculation formula is as follows:

[0020]

[0021] Wherein, V is the piston running speed; D is the piston cylinder diameter;

[0022] The left end pressure of the cylinder is P 1 The calculation formula is as follows:

[0023]

[0024] Where, F is the thrust;

[0025] The speed of hydraulic pump A is r 1 The calculation formula is as follows:

[0026]

[0027] Among them, U 1 is the displacement of hydraulic pump A;

[0028] The main controller 8031 ​​performs calculations according to the above conditions, and sends a speed command to the servo control algorithm and the servo motor control software, so that the servo rotary motor A drives the hydraulic pump A to run, and the output flow controls the piston rod to run to the right. At the same time, the pressure value sent back in real time by the pressure controller set at the left end of the oil cylinder is compared with the theoretical pressure value calculated above to determine whether the load is normal;

[0029] When the cylinder piston rod moves to the right, the flow rate q at the right end of the cylinder 2 The calculation formula is as follows:

[0030]

[0031] Where D is the diameter of the piston cylinder, d is the diameter of the piston rod, and V is the piston running speed;

[0032] The speed of hydraulic pump B is r 2 The calculation formula is as follows:

[0033]

[0034] Among them, U 2 is the displacement of hydraulic pump B;

[0035] The main controller 8031 ​​performs calculations according to the above conditions and sends a speed instruction to the servo control algorithm and the servo motor control software, so that the servo rotary motor B drives the hydraulic pump B to operate and discharge the oil to the regulating pump;

[0036] The back pressure value in the oil cylinder is set to 10%-20% of the working pressure, and the pressure at the right end of the oil cylinder and the regulating pump are equal.

[0037] The pressure value P of the regulating pump 2 The calculation formula is as follows:

[0038] P 2 =(10%~20%)P 1

[0039] The calculation formula for the regulating pump piston force F is as follows:

[0040]

[0041] Among them, F is the command output by the servo linear motor after running and calculating according to the program.

[0042] By adopting the above technical solution, the hydraulic pump A and the hydraulic pump B can be regulated and controlled by the main controller 8031.

[0043] Compared with the prior art, the beneficial effects of the present invention are: the program-controlled servo hydraulic system without a control adjustment device:

[0044] 1. In the present invention, a minimum closed-loop hydraulic system unit composed of a hydraulic pump A, a hydraulic pump B, an oil cylinder, and a regulating pump is provided. Multiple minimum closed-loop hydraulic system units are connected to the main pump as needed by wired or wireless means to form a distributed hydraulic system with the main pump as the main path and multiple minimum closed-loop hydraulic system units as branches. This greatly simplifies the wiring of the hydraulic system, makes the system structure more concise, and is more convenient for installation and maintenance. Moreover, when an individual hydraulic branch fails, it will not affect the normal operation of other hydraulic branches, effectively solving the problem that the entire system cannot operate once the main pump fails in a traditional hydraulic system, improving the reliability and stability of the entire hydraulic system, reducing the risk of system shutdown caused by local failures, and improving production efficiency.

[0045] 2. In the present invention, the system is automatically regulated and controlled by a computer in the control unit. The servo control module in the computer can adjust the rotation speed of the hydraulic pump in the system according to real-time calculation and feedback during the movement of the oil cylinder, making the movement speed and thrust of the oil cylinder piston more accurate and stable, improving the control accuracy and working quality of the system, and enabling the control of various complex movement functions through the control unit according to actual operation requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic structural diagram of the system combination principle of the present invention;

[0047] Figure 2 It is a schematic structural diagram of the traditional hydraulic system of the present invention;

[0048] Figure 3 It is a schematic structural diagram of the software composition of the system of the present invention;

[0049] Figure 4 It is a schematic structural diagram of the operation process of the servo control module of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0050] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0051] Please refer to Figure 1-Figure 4 , the present invention provides a technical solution: a program-controlled servo hydraulic system without a control and adjustment device.

[0052] The hydraulic unit includes a hydraulic pump A, a hydraulic pump B, a cylinder, and a regulating pump. The oil outlets of the hydraulic pump A and the hydraulic pump B are respectively connected to different cavities of the cylinder. The hydraulic pump A and the hydraulic pump B are connected to the same regulating pump. The hydraulic pump A, the hydraulic pump B, the cylinder, and the regulating pump together constitute a minimum closed-cycle hydraulic system unit. The control unit includes a pressure sensor and a computer. Three pressure sensors are arranged in each minimum closed-cycle hydraulic system unit. The three pressure sensors are respectively installed in the output routes of the hydraulic pump A, the hydraulic pump B, and the regulating pump. Multiple minimum closed-cycle hydraulic system units are connected to the master pump for data via wired or wireless means to form a complex hydraulic system. Multiple minimum closed-cycle hydraulic system units are connected to a power line to obtain power, forming a distributed hydraulic system with the master pump as the main route and multiple minimum closed-cycle hydraulic system units as branches.

[0053] like Figure 1 and Figure 2 As shown, when the hydraulic system of the present invention is used, according to the needs of actual work, the minimum closed-loop hydraulic system unit composed of multiple hydraulic pumps A, hydraulic pumps B, cylinders and regulating pumps is connected and connected to the same main pump, so that it constitutes a distributed hydraulic system with the main pump as the main circuit and the minimum closed-loop hydraulic system unit as the branch circuit, which simplifies the wiring of the hydraulic system and facilitates the installation and maintenance of the hydraulic system. The main circuit and branch circuit are set in the hydraulic system so that when one of the branches fails, it will not affect the normal operation of other branches, thereby ensuring the function of the entire hydraulic system. The hydraulic pump A and the hydraulic pump B can be used to inject or absorb oil into the left and right chambers of the cylinder respectively, thereby realizing the leftward or rightward movement of the piston in the cylinder, and realizing the stable output of force, torque, rotation speed and speed.

[0054] A servo control module is arranged in the computer in the control unit, and the servo control module includes an 8031 ​​main controller, and the 8031 ​​main controller is connected to an input signal sampling A / D conversion module, and the input signal sampling A / D conversion module is connected to a pressure sensor. A servo control algorithm and a servo motor control software are arranged in the 8031 ​​main controller, and the servo control algorithm and the servo motor control software are connected to a servo rotary motor. There are three groups of servo control algorithms, servo motor control software and connected servo rotary motors, and the three servo rotary motors are respectively connected to a hydraulic pump A, a hydraulic pump B and a regulating pump. The servo rotary motor at the hydraulic pump A is marked as a servo rotary motor A, and the servo rotary motor at the hydraulic pump B is marked as a servo rotary motor B. The control process of the servo control module in the control unit is as follows: the oil cylinder is ejected to the left or right at a speed V, and the ejection force F, and the human-machine interface is programmed through software to convert the above motion functions into corresponding instructions; the corresponding instructions generate a motion curve of a servo rotary motor A through a motion controller; the servo control algorithm and the servo motor control software convert the motion curve into a control signal of the servo rotary motor A, and the servo rotary motor A rotates at a corresponding speed according to the control signal requirements, driving Hydraulic pump A draws oil from the regulating pump and outputs the pressure oil to the left end of the cylinder, pushing the cylinder piston to slide to the right. At this time, the pressure sensor at the servo rotary motor A transmits the pressure value signal to the motion controller, and adjusts the flow of the regulating pump through the speed of the servo rotary motor A, and the flow of the regulating pump controls the movement speed of the cylinder piston; the pressure in the cavity on the right side of the cylinder is squeezed due to the rightward movement of the piston, and at this time, the motion controller calculates the pressure value sent back by the pressure sensor at the servo rotary motor B to obtain the amount of oil that needs to be adjusted to be pumped out. The servo control algorithm and servo motor control software will convert the motion curve It is converted into a control signal of the servo rotary motor B. The servo rotary motor B rotates at the corresponding speed as required by the signal, driving the hydraulic pump B to suck oil from the right cavity of the oil cylinder and output the oil to the regulating pump cavity; the pressure sensor in the regulating pump monitors the pressure in the cavity and transmits the value to the motion controller. The motion controller calculates the volume that the regulating pump needs to increase or decrease according to the back pressure set by the program, and transmits the control signal to the servo linear motor at the regulating pump. The servo linear motor drives the piston of the regulating pump to move up and down to adjust the cavity volume, so that the back pressure is controlled within a certain range.

[0055] The movement process of the cylinder in the hydraulic unit is as follows:

[0056] The motion controller sends a request that the cylinder piston moves to the right at a speed of V and a thrust of F.

[0057] At this time, the liquid flow rate q required at the left end of the cylinder 1 The calculation formula is as follows:

[0058]

[0059] Wherein, V is the piston running speed; D is the piston cylinder diameter;

[0060] The left end pressure of the cylinder is P 1 The calculation formula is as follows:

[0061]

[0062] Where, F is the thrust;

[0063] The speed of hydraulic pump A is r 1 The calculation formula is as follows:

[0064]

[0065] Among them, U 1 is the displacement of hydraulic pump A;

[0066] The main controller 8031 ​​performs calculations according to the above conditions and sends the speed command to the servo control algorithm and the servo motor control software, so that the servo rotary motor A drives the hydraulic pump A to run, and the output flow controls the piston rod to run to the right. At the same time, the pressure value sent back in real time by the pressure controller set at the left end of the oil cylinder is compared with the theoretical pressure value calculated above to determine whether the load is normal;

[0067] When the cylinder piston rod moves to the right, the flow rate q at the right end of the cylinder 2 The calculation formula is as follows:

[0068]

[0069] Where D is the diameter of the piston cylinder, d is the diameter of the piston rod, and V is the piston running speed;

[0070] The speed of hydraulic pump B is r 2 The calculation formula is as follows:

[0071]

[0072] Among them, U 2 is the displacement of hydraulic pump B;

[0073] The main controller 8031 ​​performs calculations according to the above conditions and sends the speed command to the servo control algorithm and the servo motor control software, so that the servo rotary motor B drives the hydraulic pump B to operate and discharge the oil to the regulating pump;

[0074] The back pressure value in the oil cylinder is set to 10%-20% of the working pressure, and the pressure at the right end of the oil cylinder and the regulating pump are equal.

[0075] Adjust the pump pressure value P 2 The calculation formula is as follows:

[0076] P 2 =(10%~20%)P 1

[0077] The calculation formula for the regulating pump piston force F is as follows:

[0078]

[0079] Among them, F is the command output by the servo linear motor after running and calculating according to the program;

[0080] like Figure 3 and Figure 4 As shown, the control unit can be used to control the hydraulic system. The main controller 8031 ​​is used to calculate the running speed and ejection force of the oil cylinder, and the calculated results are converted into instructions, which are input into the servo control algorithm and the servo motor control software to realize the control process of the servo rotary motor. Among them, the servo rotary motor A rotates at a corresponding speed according to the control instruction, driving the hydraulic pump A to suck oil from the regulating pump and input it into the left end of the oil cylinder to realize the rightward sliding process of the piston in the oil cylinder. At this time, the pressure sensor transmits the pressure at the servo rotary motor A to the motion controller in the form of a signal to realize real-time monitoring of the pressure;

[0081] As the piston in the cylinder slides to the right, the internal pressure of the right side cavity of the cylinder increases. By monitoring the value of the pressure sensor at the servo rotary motor B, the oil output of the regulating pump is calculated in real time, and the signal is transmitted to the servo rotary motor B. The servo rotary motor B rotates according to the signal requirements, driving the hydraulic pump B to suck oil from the right side cavity of the cylinder and output the oil to the regulating pump cavity. At this time, the pressure sensor monitors the pressure at the servo rotary motor B in real time, and after transmitting it to the motion controller, it controls the movement of the servo linear motor at the regulating pump, thereby adjusting the back pressure of the hydraulic system.

[0082] Working principle: According to actual work needs, multiple minimum closed-loop hydraulic system units are connected to the same master pump to form a distributed hydraulic system with the master pump as the main line and the minimum closed-loop hydraulic system unit as the branch. The output force of the hydraulic system can ensure the function of the entire hydraulic system and avoid affecting the operation of the remaining branches when a branch fails. The hydraulic system is controlled by a control unit. The main controller 8031 ​​in the control unit sends instructions to the servo control algorithm and servo motor control software to control the servo rotary motor, and then control hydraulic pump A and hydraulic pump B to realize the oil discharge and oil suction process in the cylinder chamber, thereby driving the piston in the cylinder to move. During this process, the system's pressure sensor monitors the pressure in the system in real time, and transmits the pressure signal to the motion controller to realize real-time monitoring of the pressure and adjust the oil movement in the system according to the pressure.

[0083] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. A program-controlled servo hydraulic system without a control and adjustment device, comprising a hydraulic unit and a control unit, characterized in that: The hydraulic unit includes a hydraulic pump A, a hydraulic pump B, a cylinder, and a regulating pump. The oil outlets of the hydraulic pump A and the hydraulic pump B are respectively connected to different cavities of the cylinder. The hydraulic pump A and the hydraulic pump B are connected to the same regulating pump. The hydraulic pump A, the hydraulic pump B, the cylinder and the regulating pump together constitute a minimum closed-loop hydraulic system unit. The control unit includes a pressure sensor and a computer. Three pressure sensors are arranged in each minimum closed-loop hydraulic system unit. The three pressure sensors are respectively installed in the output routes of the hydraulic pump A, the hydraulic pump B and the regulating pump.

2. A program-controlled servo hydraulic system without a control adjustment device according to claim 1, characterized in that: Multiple of the minimum closed-loop hydraulic system units are data-connected to the master pump via wired or wireless means to form a complex hydraulic system. Multiple of the minimum closed-loop hydraulic system units are connected to a power line to obtain power, forming a distributed hydraulic system with the master pump as the main line and multiple minimum closed-loop hydraulic system units as branches.

3. A program-controlled servo hydraulic system without a control adjustment device according to claim 1, characterized in that: A servo control module is arranged in the computer in the control unit, and the servo control module includes an 8031 ​​main controller, and the 8031 ​​main controller is connected to an input signal sampling A / D conversion module, and the input signal sampling A / D conversion module is connected to a pressure sensor. A servo control algorithm and a servo motor control software are arranged in the 8031 ​​main controller, and the servo control algorithm and the servo motor control software are connected to a servo rotary motor. There are three groups of the servo control algorithm, the servo motor control software and the connected servo rotary motors, and the three servo rotary motors are respectively connected to a hydraulic pump A, a hydraulic pump B and a regulating pump. The servo rotary motor at the hydraulic pump A is marked as a servo rotary motor A, and the servo rotary motor at the hydraulic pump B is marked as a servo rotary motor B.

4. A program-controlled servo hydraulic system without a control adjustment device according to claim 1, characterized in that: The control process of the servo control module in the control unit is as follows: The cylinder ejects to the left or right at a speed V and an ejection force F. The human-machine interface is programmed through software to convert the above motion functions into corresponding instructions; The corresponding instruction generates a motion curve of a servo rotary motor A through the motion controller; The servo control algorithm and servo motor control software convert the motion curve into a control signal of the servo rotary motor A. The servo rotary motor A rotates at a corresponding speed according to the control signal requirements, driving the hydraulic pump A to suck oil from the regulating pump and output the pressure oil to the left end of the oil cylinder, pushing the oil cylinder piston to slide to the right. At this time, the pressure sensor at the servo rotary motor A transmits the pressure value signal to the motion controller, and adjusts the flow of the regulating pump through the speed of the servo rotary motor A, and adjusts the flow of the pump to control the movement speed of the oil cylinder piston; The pressure in the right chamber of the oil cylinder increases due to the squeezing of the piston moving to the right. At this time, the motion controller calculates the pressure value sent back by the pressure sensor at the servo rotary motor B to obtain the amount of oil that needs to be adjusted. The servo control algorithm and servo motor control software convert the motion curve into a control signal of the servo rotary motor B. The servo rotary motor B rotates at the corresponding speed according to the signal requirements, driving the hydraulic pump B to suck oil from the right chamber of the oil cylinder and output the oil to the regulating pump chamber. The pressure sensor in the regulating pump monitors the pressure in the cavity and transmits the value to the motion controller. The motion controller calculates the volume that the regulating pump needs to increase or decrease according to the back pressure set by the program, and transmits the control signal to the servo linear motor at the regulating pump. The servo linear motor drives the piston of the regulating pump to move up and down to adjust the cavity volume, so that the back pressure is controlled within a certain range.

5. A program-controlled servo hydraulic system without a control adjustment device according to claim 4, characterized in that: The specific movement process of the oil cylinder in the hydraulic unit is as follows: The motion controller sends a request that the cylinder piston moves to the right at a speed of V and a thrust of F. At this time, the calculation formula for the liquid flow q1 required at the left end of the cylinder is as follows: Wherein, V is the piston running speed; D is the piston cylinder diameter; The calculation formula of the left end pressure P1 of the cylinder is as follows: Where, F is the thrust; The calculation formula of the speed r1 of hydraulic pump A is as follows: Among them, U1 is the displacement of hydraulic pump A; The main controller 8031 ​​performs calculations according to the above conditions, and sends a speed command to the servo control algorithm and the servo motor control software, so that the servo rotary motor A drives the hydraulic pump A to run, and the output flow controls the piston rod to run to the right. At the same time, the pressure value sent back in real time by the pressure controller set at the left end of the oil cylinder is compared with the theoretical pressure value calculated above to determine whether the load is normal; When the cylinder piston rod moves to the right, the calculation formula for the flow rate q2 at the right end of the cylinder is as follows: Where D is the diameter of the piston cylinder, d is the diameter of the piston rod, and V is the piston running speed; The calculation formula of the speed r2 of hydraulic pump B is as follows: Among them, U2 is the displacement of hydraulic pump B; The main controller 8031 ​​performs calculations according to the above conditions and sends a speed instruction to the servo control algorithm and the servo motor control software, so that the servo rotary motor B drives the hydraulic pump B to operate and discharge the oil to the regulating pump; The back pressure value in the oil cylinder is set to 10%-20% of the working pressure, and the pressure at the right end of the oil cylinder and the regulating pump are equal. The calculation formula of the pressure value P2 of the regulating pump is as follows: P2 = (10% to 20%) P1 The calculation formula for the regulating pump piston force F is as follows: Among them, F is the command output by the servo linear motor after running and calculating according to the program.

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