Intelligent remote control and data synchronization method and system for four-column test bed

Abstract

The invention relates to the technical field of intelligent control, in particular to an intelligent remote control and data synchronization method and system for a four-stand-column test bed. According to the method, the analysis of the pressure change trend is completed by constructing the time pressure mapping data set, and the continuity characteristic and the rate change characteristic can be extracted according to the dynamic relation between the instruction issuing and the hydraulic response. On the basis, an error interval is constructed in combination with pressure deviation analysis, and potential abnormal time periods in a fluctuation section are effectively recognized by means of relative stability judgment between pressure slope fluctuation characteristics in an error interval range and target pressure. And after the matching degree between the displacement change of the actuating cylinder and the error interval time period is subjected to refined analysis, time nodes of feedback lag and rate abrupt change are screened out, and the accuracy of response state identification is further improved. Through a matching degree calculation mode between displacement and pressure, a detailed basis is provided for pseudo-delay judgment of a subsequent instruction response state.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to an intelligent remote control and data synchronization method and system for a four-column test bench. Background Art

[0002] The field of intelligent control technology includes various methods and means to achieve autonomous operation of equipment or systems with little or no human intervention. The core content involves data collection, state recognition, decision making, and execution control. It often works together with sensors, communication devices and automatic execution units, and is widely used in industrial manufacturing, transportation, energy management, testing and other scenarios.

[0003] Among them, the intelligent remote control and data synchronization method of the four-column test bench refers to a control method for realizing remote control and data management of the four-column structural test platform, which mainly focuses on technical matters such as remote control operations during the operation of the test bench and real-time synchronization and centralized management of test data. By connecting the control system of the four-column test bench to the network communication system, the control logic with remote command parsing capability is adopted to realize the remote start and stop, loading control and parameter adjustment of the hydraulic loading system. At the same time, the embedded data acquisition device is combined to carry out direction collection and unified encoding of sensor signals, and then upload them to the remote server through the communication protocol, so as to realize the real-time sharing and automatic recording of test data between multiple terminals.

[0004] In the process of processing hydraulic loading response, the existing technology mainly relies on the issuance of control instructions and the basic processing of real-time feedback data from sensors. It lacks in-depth trend analysis and error calculation of the feedback process after the execution of instructions, resulting in low dynamic coordination between the nodes in the control chain. In the synchronous control process, an effective error prediction mechanism has not been established for the changing trend of pressure and displacement data, and the response lag and pseudo-delay problems cannot be identified in time, which easily causes the actuator to respond unevenly and accumulate synchronization errors in the target displacement control. For example, in a high-load rapid switching scenario, if some hydraulic cylinders cause pressure regulation lag due to response delay, it will affect the overall coordination of the entire platform posture adjustment. Only basic data synchronization is achieved in remote monitoring, and feedback compensation for fine-grained problems such as pseudo-delay cannot be performed, which further aggravates the impact of response time differences in actual tasks and restricts the stable operation capability of the test bench under high-precision and high-frequency response requirements. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a four-column test bench intelligent remote control and data synchronization method and system.

[0006] In order to achieve the above object, the present invention adopts the following technical solution: a four-column test bench intelligent remote control and data synchronization method, comprising the following steps: S1: Obtain the real-time pressure feedback data of the hydraulic cylinder of the four-column test bench, extract the timestamp sequence corresponding to the current instruction issuance time and the continuous pressure value sequence returned by the hydraulic cylinder pressure sensor, analyze the change of pressure over time, and obtain the pressure change trend data; S2: Establish an error interval by referring to the pressure change trend data, and determine the stability of the pressure change in the corresponding interval to obtain the error interval range; S3: Compare the error interval range with the operating data of the actuator of the four-column test bench, select the time period when the displacement change rate of the actuator is abnormal, compare the displacement adjustment rate within the error interval, determine whether there is abnormal feedback lag within the error interval, and obtain the displacement error analysis result; S4: Based on the displacement error analysis result, screening the response time period that does not match the target displacement value during the movement of the actuator, judging whether there is a command pseudo-delay, and obtaining a command pseudo-delay judgment result; S5: Based on the command pseudo-delay determination result, calculate the delay compensation value of the hydraulic cylinder corresponding to the pseudo-delay and determine the compensation direction and command, upload the synchronization configuration data to the remote control end, and generate a remote synchronization error compensation record.

[0007] As a further solution of the present invention, the pressure change trend data includes the pressure change rate, the slope of the change trend curve, and the continuous section fluctuation characteristics; the error interval range includes the maximum pressure deviation value, the time difference interval, and the pressure stability index; the displacement error analysis result specifically includes the displacement rate abnormal point, the displacement and pressure error matching degree, and the feedback lag mark; the instruction pseudo-delay judgment result specifically refers to the hydraulic cylinder response timeout state, the pseudo-delay identification mark, and the time offset value; the remote synchronization error compensation record includes the hydraulic cylinder delay compensation value, the compensation direction setting, the four-cylinder synchronization adjustment parameters, and the remote synchronization configuration information.

[0008] As a further solution of the present invention, the step of acquiring the pressure change trend data is specifically as follows: S111: Acquire the real-time pressure feedback data of the hydraulic cylinder of the four-column test bench, extract the timestamp sequence corresponding to the current instruction issuance time and the continuous pressure value sequence returned by the hydraulic cylinder pressure sensor, call the timestamp sequence and the pressure value sequence to build a two-dimensional coordinate relationship, complete the pairing process of time and pressure values ​​in the coordinate system, and obtain the time-pressure mapping data set; S112: Based on the time pressure mapping data set, continuous coordinate point pairs within a specified time range are screened, using the formula: ; Calculate the average pressure change rate over a specified period of time , construct a pressure change rate sequence; in, Indicates The pressure value corresponding to each time period is Indicates The previous pressure value corresponding to the time period, Indicates The timestamp corresponding to the time period, Indicates The previous timestamp corresponding to the time period, Indicates the start timestamp of the currently selected calculation range. Indicates the end timestamp of the currently selected calculation range. Indicates the number of point pairs in the pressure value sequence that participate in the difference calculation. Indicates the number of time periods in the timestamp sequence that participate in the interval calculation; S113: According to the pressure change rate sequence, the change rate value is mapped back to the corresponding time period, and the continuous time period is segmented, the change rate point group in the continuous time segment is screened, and the gradient trend under all time segments is integrated to obtain the pressure change trend data.

[0009] As a further solution of the present invention, the step of obtaining the error interval range is specifically: S211: Based on the pressure change trend data, the pressure value of each time period recorded in the pressure feedback sequence, the pressure slope change rate sequence and the target pressure value are called, the difference between each pressure value in the entire time series and the target pressure value is detected, the maximum pressure response point is located, and the offset between the pressure value corresponding to the maximum pressure response point and the target pressure value is compared to obtain the maximum deviation value sequence; S212: According to the maximum deviation value sequence, select the time period in which the deviation value is within the set threshold range as the end point of the error interval, call the timestamp between the initial judgment node and the end point and calculate the time difference, retrieve the pressure value change trend and its slope stability in turn, determine whether the slope fluctuation level is within the stable threshold range, and obtain the error interval range.

[0010] As a further solution of the present invention, the steps of obtaining the displacement error analysis result are specifically as follows: S311: Based on the error interval range, the motion trajectory of the actuator cylinder, the current displacement value and the displacement increment trend in the operation data of the actuator cylinder of the four-column test bench are called, the displacement change rate of each time period is calculated, and the difference with the mean change rate is compared, and the time period whose rate exceeds the abnormal change rate threshold is screened to obtain the abnormal displacement change rate time period sequence; S312: Based on the abnormal time period sequence of displacement change rate, the displacement adjustment rate and pressure feedback signal of the actuator in the corresponding time period are adjusted using the formula: ; Calculate the displacement adjustment rate of the actuator and the pressure feedback signal in the first Within the error interval Error matching degree of time period , and obtain the matching degree of pressure and displacement error; in, Indicates The average pressure in a period of time, Indicates The reference pressure value within a time period, Indicates The average displacement in a time period is Indicates The reference displacement value within a time period is Represents the sum of squares of the difference between the pressure value and the displacement value at each moment in the time series, is the time period index, is the total number of time periods; S313: According to the matching degree of the pressure and displacement error, determine whether the matching degree in the corresponding time period is greater than the hysteresis determination threshold value, mark the abnormal feedback hysteresis time period and count the occurrence frequency, and obtain the displacement error analysis result.

[0011] As a further solution of the present invention, the step of obtaining the instruction pseudo-delay determination result is specifically as follows: S411: Based on the displacement error analysis result, the time period in which the difference between the displacement value of the actuator cylinder during the movement process and the target displacement value exceeds the target error threshold value in the sampling time period is screened, and the instruction issuance time, the actuator cylinder movement start time and the target displacement value reaching time in the corresponding time period are extracted. The time difference between each group of three time periods is calculated in turn to determine whether there is an interval abnormality in the time difference between issuance and starting, and between starting and reaching. According to the set normal response time difference interval, it is determined whether the offset relationship is abnormal, and the node response offset time period sequence is obtained; S412: Based on the node response offset time period sequence, filter the hydraulic cylinder identification number in the corresponding time period, and extract the total response time from each instruction being issued to the target displacement being reached, determine whether there is a hydraulic cylinder that exceeds a preset response time threshold, mark the potential cylinder with abnormal instruction response, and obtain the instruction pseudo-delay determination result.

[0012] As a further solution of the present invention, the step of obtaining the remote synchronization error compensation record is specifically as follows: S511: Based on the command pseudo-delay determination result, filter the hydraulic cylinders that are determined to have pseudo-delays, and combine the execution offset time of the corresponding hydraulic cylinders to use the formula: ; Calculate the normalized response compensation value of the hydraulic cylinder , get the compensation adjustment reference value of the hydraulic cylinder; in, Indicates the execution offset time of the hydraulic cylinder, represents the reference synchronous control cycle constant, Represents the unit movement response cycle of the hydraulic cylinder, Represents the response stability factor of the hydraulic cylinder; S512: according to the comparison result of the compensation adjustment reference value of the hydraulic cylinder and the initial pressure value, the preload pressure increase amount is set, and the time offset of the synchronization instruction is reversely adjusted. At the same time, for the hydraulic cylinder without pseudo-delay, the amplitude is corrected based on the comparison result of the unit response cycle value and the average compensation amount, and the adjusted synchronization response time offset interval is obtained; S513: Call the adjusted synchronous response time offset interval and hydraulic cylinder number index, construct the hydraulic cylinder's response compensation value, command offset, and preload pressure into synchronous configuration data, and transmit them to the remote control end according to the task cycle structure, archive the error compensation information, and establish a remote synchronous error compensation record.

[0013] Four-column test bench intelligent remote control and data synchronization system, the four-column test bench intelligent remote control and data synchronization system is used to execute the above-mentioned four-column test bench intelligent remote control and data synchronization method, the system includes: The pressure data trend analysis module obtains the real-time pressure feedback data of the hydraulic cylinder of the four-column test bench, extracts the timestamp sequence corresponding to the current instruction issuance time and the continuous pressure value sequence returned by the hydraulic cylinder pressure sensor, analyzes the change of pressure over time, and obtains the pressure change trend data; The pressure error interval judgment module establishes an error interval by referring to the pressure change trend data, and judges the stability of the pressure change in the corresponding interval to obtain the error interval range; The displacement error analysis module compares the error interval range with the operating data of the actuator of the four-column test bench, selects the time period when the displacement change rate of the actuator is abnormal, compares the displacement adjustment rate within the error interval, determines whether there is an abnormal feedback lag within the error interval, and obtains the displacement error analysis result; The instruction pseudo-delay identification module screens the response time period that does not match the target displacement value during the movement of the actuator based on the displacement error analysis result, determines whether there is an instruction pseudo-delay, and obtains an instruction pseudo-delay determination result; Based on the pseudo-delay determination result of the instruction, the delay compensation and remote synchronization module calculates the delay compensation value of the hydraulic cylinder corresponding to the pseudo-delay, determines the compensation direction and instruction, uploads the synchronized configuration data to the remote control terminal, and generates a remote synchronization error compensation record.

[0014] Compared with the prior art, the advantages and positive effects of the present invention are as follows: In the present invention, by constructing a time-pressure mapping data set and completing the analysis of the pressure change trend, it is possible to extract continuous features and rate change characteristics for the dynamic relationship between instruction issuance and hydraulic response. On this basis, an error interval is constructed by combining pressure deviation analysis, and the relative stability between the pressure slope fluctuation characteristics within the error interval range and the target pressure is used to effectively identify potential abnormal time periods in the fluctuation section. After refining the analysis of the matching degree between the displacement change of the actuating cylinder and the time period within the error interval, the time nodes of feedback lag and rate mutation are screened out, further improving the accuracy of response state identification. By calculating the matching degree between displacement and pressure, the possible feedback asynchronous phenomenon in the response chain is checked, providing a detailed basis for the pseudo-delay judgment of the subsequent instruction response state. According to the comparison result between the actual feedback offset time and the target response interval, combined with parameters such as the response offset amount and the unit cycle response ability, the normalized compensation value is calculated, which can adjust the hydraulic cylinders with inconsistent responses in real time while maintaining system synchronization, improving the consistency and synchronization of multi-cylinder actions. By integrating the execution data of each cylinder, the response delay difference, and the offset adjustment amount to construct a compensation instruction set, the collaborative upload of remote data and compensation control instructions is realized, improving the stability and execution efficiency of the remote monitoring system in high-frequency control tasks. Description of the Drawings

[0015] Figure 1 It is a schematic diagram of the working process of the present invention; Figure 2 It is a flowchart of step S1 of the present invention; Figure 3 It is a flowchart of step S2 of the present invention; Figure 4 It is a flowchart of step S3 of the present invention; Figure 5 It is a flowchart of step S4 of the present invention; Figure 6 It is a flowchart of step S5 of the present invention. Detailed Embodiments

[0016] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0017] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, in the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0018] See also Figure 1 The present invention provides a technical solution: a four-column test bench intelligent remote control and data synchronization method, comprising the following steps: S1: Obtain the real-time pressure feedback data of the hydraulic cylinder of the four-column test bench, extract the timestamp sequence corresponding to the current instruction issuance time and the continuous pressure value sequence returned by the hydraulic cylinder pressure sensor, call the timestamp sequence and the pressure value sequence, build a two-dimensional coordinate relationship between pressure and time, calculate the pressure change rate within the specified time, generate a pressure change trend curve over time within a continuous time period, and extract the tangent slope value of the continuous section on the curve to obtain the pressure change trend data; S2: Based on the pressure change trend data, the pressure feedback sequence, the pressure slope change rate, and the target pressure value are called to calculate the deviation between the maximum pressure response point and the target pressure value, and the time period in which the deviation value is within the set range is selected as the end point of the error interval. The time difference between the initial judgment node and the end point of the error interval is calculated, and the error interval is established and the stability of the pressure change in the corresponding interval is determined to obtain the error interval range; S3: Compare the error range with the operating data of the actuator of the four-column test bench, extract the motion trajectory of the actuator, the current displacement value, and the displacement increment trend, filter the time period when the displacement change rate of the actuator is abnormal, compare the displacement adjustment rate within the error range, calculate the matching degree of pressure and displacement error, determine whether there is abnormal feedback lag within the error range, and obtain the displacement error analysis result; S4: Based on the displacement error analysis results, the response time period that does not match the target displacement value during the movement of the actuator is screened, the instruction issuance time, the actuator movement start time, and the target displacement reaching time are extracted, and the offset relationship between each time node is determined. The hydraulic cylinder whose instruction execution time exceeds the normal range is screened, and it is determined whether there is instruction pseudo-delay, and the instruction pseudo-delay determination result is obtained; S5: Based on the result of the command pseudo-delay determination, the hydraulic cylinders that are determined to have pseudo-delay are screened, the delay compensation value is calculated and the compensation direction is determined in combination with the execution offset time of the corresponding hydraulic cylinder, the preload pressure increase amount is set and the command issuance time period is adjusted, the response delay parameters of the non-delayed hydraulic cylinders are adjusted to maintain the synchronization of the four cylinders, and the synchronization configuration data containing the compensation parameters of each hydraulic cylinder is generated at the task control node, and the synchronization configuration data is uploaded to the remote control end to generate a remote synchronization error compensation record; The pressure change trend data includes the pressure change rate, the slope of the change trend curve, and the continuous section fluctuation characteristics. The error interval range includes the maximum pressure deviation value, the time difference interval, and the pressure stability index. The displacement error analysis results specifically include the displacement rate anomaly point, the displacement and pressure error matching degree, and the feedback lag mark. The command pseudo-delay judgment result specifically refers to the hydraulic cylinder response timeout status, the pseudo-delay identification mark, and the time offset value. The remote synchronization error compensation record includes the hydraulic cylinder delay compensation value, the compensation direction setting, the four-cylinder synchronization adjustment parameters, and the remote synchronization configuration information.

[0019] See also Figure 2 , the specific steps for obtaining pressure change trend data are: S111: Acquire the real-time pressure feedback data of the hydraulic cylinder of the four-column test bench, extract the timestamp sequence corresponding to the current instruction issuance time and the continuous pressure value sequence returned by the hydraulic cylinder pressure sensor, call the timestamp sequence and the pressure value sequence to build a two-dimensional coordinate relationship, complete the pairing process of time and pressure values ​​in the coordinate system, and obtain the time-pressure mapping data set; First, a loading command is issued to hydraulic cylinder A from the control end. The time of issuing the command is set to 10:15:00.000 on March 20, 2025. The system synchronously records the time period and calls the pressure sensor for real-time sampling. The sensor model is PTX-5072, and the sampling frequency is set to 100 Hz, that is, the pressure value is collected every 10 ms. A total of 50 groups of data are collected within 500 ms after the time period. The sample pressure values ​​are [3.2, 3.5, 3.9, 4.2, 4.4, 4.5] MPa, and the corresponding timestamps are [0, 10, 20, 30, 40, 50] ms. The system forms a one-to-one coordinate pair with each time period and the pressure value, and arranges them in chronological order to form an ordered pair sequence. These coordinate points are then called to establish a mapping set between time and pressure values. In actual diagrams, this set can be drawn into a two-dimensional curve to monitor the overall trend of pressure changes over time, and to screen outliers. For example, if a pressure value jump exceeds ±1MPa and lasts less than 30ms, it will be removed. After the mapping relationship is built, a set of standardized time-pressure mapping data sets is obtained.

[0020] S112: Based on the time pressure mapping data set, filter the continuous coordinate point pairs within the specified time range, using the formula: ; Calculate the average pressure change rate over a specified period of time , construct a pressure change rate sequence; in, Indicates The pressure value corresponding to each time period is Indicates The previous pressure value corresponding to the time period is used to calculate the pressure increment of the current time period. Indicates The timestamp corresponding to the time period, Indicates The previous timestamp corresponding to each time period is used to calculate the time difference between adjacent time periods. Indicates the start timestamp of the currently selected calculation range. Indicates the end timestamp of the currently selected calculation range. Indicates the number of valid point pairs in the pressure value sequence that can participate in the difference calculation. Indicates the number of time periods in the timestamp sequence that can participate in the interval calculation. is the sum of the absolute values ​​of all continuous pressure changes, is the sum of the absolute values ​​of all consecutive time intervals, Indicates the square root of the total span of the current time window, which is used to adjust the impact of the time span on rate calculation.

[0021] The analysis period is set to 200ms to 400ms, all valid data points in this interval are extracted and adjacent point pairs are constructed to calculate the pressure change. Assuming that the 6 groups of pressure values ​​are [3.2, 3.4, 3.7, 3.9, 4.0, 4.1] MPa, the corresponding time is [200, 210, 220, 230, 240, 250] ms, the absolute values ​​of the pressure differences between adjacent points are calculated to be 0.2, 0.3, 0.2, 0.1, and 0.1 MPa respectively, and the sum of the total pressure differences is: ; The start and end time intervals are: ; The continuous time difference is: ; Substitute the following formula to calculate the mean pressure change rate per unit time: ; This value represents the average pressure change rate per unit time of the hydraulic cylinder during the period of 200 - 250 ms. This rate, together with the data of other time periods, will form a pressure change rate sequence. For example, by adding the rates of other time periods, it can be further used for trend fluctuation analysis.

[0022] The innovation of this formula lies in introducing the time period span into the square root structure to enhance the recognition of short-term changes in local time periods. At the same time, by combining the global time difference accumulation, it can suppress the interference of discontinuous fluctuations on the overall change rate.

[0023] S113: According to the pressure change rate sequence, map the change rate values back to the corresponding time periods, perform fragmentation segmentation within continuous time periods, screen the groups of change rate points within continuous time segments, integrate the gradient trends under all time segments, and obtain the pressure change trend data; Call the constructed pressure change rate sequence [0.0142, 0.0158, 0.0161, 0.0137] MPa / ms, and map it to the corresponding time periods [200 - 250 ms], [250 - 300 ms], [300 - 350 ms], [350 - 400 ms] respectively. Taking the horizontal axis as time and the vertical axis as the change rate, draw a continuous line graph. Calculate the slope according to the value trend within each continuous segment. For example, in the segment from 250 ms to 300 ms, the change rate increases from 0.0158 to 0.0161, and the slope calculation is as follows: ; Calculate the continuous slope group for subsequent time periods in the same way as [0.000006, -0.000048] MPa / ms², and combine the time combinations corresponding to all slope points to form a change gradient time sequence as the structural basis of the pressure change trend. If there are three or more consecutive decreasing slopes or the sudden rise and fall value in a single segment exceeds ±0.0001 MPa / ms², there may be an unstable state in this time period. The final output result of this analysis is the integrated pressure change trend data, which includes the change slope sequence within each time period and the basis for abnormal mutation discrimination.

[0024] Please refer to Figure 3 , and the specific steps for obtaining the error interval range are as follows: S211: Based on the pressure change trend data, call the pressure value, pressure slope change rate sequence, and target pressure value recorded in the pressure feedback sequence for each time period, detect the difference between each pressure value and the target pressure value within the entire time series, locate the maximum pressure response point, compare the offset between the pressure value corresponding to the maximum pressure response point and the target pressure value, and obtain the maximum deviation value sequence; First, extract the pressure feedback sequence within continuous time periods, including the measured pressure value for each time period and its corresponding timestamp , for example, when the sampling frequency is 100 Hz and the recording time is 1 s, a total of 100 sets of data can be obtained, and the corresponding time series is ms, and the pressure series is MPa. At the same time, extract the pressure slope change rate series within this time period MPa / ms, and set the target pressure value MPa. Calculate the absolute deviation between each pressure value and the target pressure in turn, and construct a deviation series: ; Search for the maximum value among all . Assume that the maximum deviation point corresponds to MPa, and the time is ms. At the same time, construct a maximum deviation value series: ; Based on this, determine the maximum deviation value series as the input for subsequent error judgment; Among them, represents the actual pressure value of the th time period, with the unit of MPa, is the control target pressure value, with the unit of MPa, represents the absolute deviation between the target and the actual pressure, with the unit of MPa, is the set of all deviation values within the entire series, represents the th time stamp corresponding to the time period, with the unit of ms, is the time stamp corresponding to the maximum deviation point.

[0025] S212: According to the maximum deviation value series, screen the time periods within the set threshold range as the end points of the error interval, call the time stamps between the initial decision node and this end point and calculate the time difference, and retrieve the pressure value change trend and its slope stability degree in turn to determine whether the slope fluctuation level is within the stable threshold range, and obtain the error interval range; According to the maximum deviation value series obtained above , set the deviation threshold MPa, screen all time periods that satisfy , extract the earliest time period that meets the conditions as the end point of the error interval, assume the time of this point is ms, call the initial node time ms, and calculate the time difference between the two: ; Then retrieve the pressure slope change values corresponding to all time periods within the interval , set the slope stability threshold to MPa / ms, judgment: ; If all time periods meet the above conditions, it is considered that the slope fluctuation in this interval is within the stability threshold, and the error interval range can be established.

[0026] in, Indicates the start time of the error interval, in ms. Indicates the end time of the error interval, in ms. is the length of the error interval, in ms, For the The pressure change rate in a time period, in MPa / ms, represents the mean pressure slope in this interval, is the stability determination threshold.

[0027] See also Figure 4 , the specific steps for obtaining the displacement error analysis results are: S311: Based on the error interval range, the motion trajectory of the actuator cylinder, the current displacement value and the displacement increment trend in the operation data of the four-column test bench are called, the displacement change rate of each time period is calculated, and the difference with the mean change rate is compared, and the time period whose rate exceeds the abnormal change rate threshold is screened to obtain the abnormal displacement change rate time period sequence; Based on the error interval range, it is positioned on the time axis in the corresponding time period of the actuator operation data sequence. By extracting the motion trajectory data, current displacement value data and displacement change value of the actuator in the interval, the displacement change rate curve sequence is calculated. The specific process is to obtain the rate value by ratio calculation of the displacement change value and the corresponding time interval. For example, the displacement of the first monitoring section increases from 15.0mm to 15.8mm in 0.4s, then the rate is (15.8-15.0) / 0.4=2.0mm / s. The rate values ​​in multiple time periods are included in the rate sequence as basic data, and then the average of the rate sequence is calculated. For example, the collected rate data is [2.0, 2.2, 1.9, 2.3, 4.8, 2.1, 1.8] mm / s, and the calculated average value is: (2.0+2.2+1.9+2.3+4.8+2.1+1.8) / 7≈2.44mm / s. Then set the rate change abnormal threshold to 3.0mm / s. According to the threshold, compare the absolute value of the rate value and the mean difference of each period. If the difference exceeds 1.5mm / s, it is determined to be an abnormal rate point. The rate of the 5th section, 4.8mm / s, differs from the mean by 2.36mm / s, which exceeds the 1.5 threshold and is determined to be an abnormal point. Record its corresponding timestamp, and continuously screen all abnormal rate point time positions to form an abnormal point time series. For example, the abnormal points are located at the 4th second, 9th second, 14th second, 30th second, etc., forming an array [4, 9, 14, 30]s as the displacement change rate abnormal time period sequence.

[0028] S312: Based on the sequence of time periods with abnormal displacement change rates, the displacement adjustment rate and pressure feedback signal of the actuator in the corresponding time period are adjusted using the formula: ; Calculate the displacement adjustment rate of the actuator and the pressure feedback signal in the first Within the error interval Error matching degree of time period , and obtain the matching degree of pressure and displacement error; in, Indicates The average pressure in a period of time, Indicates The reference pressure value within a time period, Indicates The average displacement in a time period is Indicates The reference displacement value within a time period is It represents the sum of squares of the difference between pressure and displacement at each moment in the time series. is the time period index, is the total number of time periods.

[0029] Call the abnormal time period sequence of displacement change rate, that is, the data segment within [4, 9, 14, 30]s, and extract the displacement adjustment rate and pressure feedback signal of the actuator within 0.5 seconds before and after these time periods. For example, the displacement value extracted in the 4th second segment is [13.8, 14.0, 14.3]mm, and the time is [3.5, 4.0, 4.5]s, then the displacement rate is 0.4mm / s and 0.6mm / s respectively, and the corresponding pressure feedback signal is [2.1, 2.3, 2.8]MPa. Similarly, the pressure average value and reference value are calculated to be 2.5MPa, then , , the average displacement , reference value , put it into the formula: ; The corresponding values ​​are shown in the following table: Table 1 Pressure and displacement data for monitoring period: ; As shown in Table 1, the pressure and displacement data in the time period near the abnormal time period and the corresponding difference square calculation results are listed, which are used to calculate the denominator term of the normalization factor in the formula.

[0030] As shown in Table 1, the sum of the squares of the three differences is 405.42, and the square root is , substitute into the formula to calculate: .

[0031] By analogy, the same calculation is performed for other time periods, and finally a set of matching degree value sequences such as [0.0065, 0.0124, 0.0091, 0.0152] can be obtained, which constitutes the pressure and displacement error matching degree coefficient sequence.

[0032] S313: judging whether the matching degree in the corresponding time period is greater than the hysteresis determination threshold value according to the matching degree of the pressure and displacement error, marking the abnormal feedback hysteresis time period and counting the occurrence frequency, and obtaining the displacement error analysis result; The pressure and displacement error matching coefficient sequence is called, and each matching coefficient value is judged one by one, and compared with the hysteresis judgment threshold value of 0.01. For example, in the aforementioned values ​​[0.0065, 0.0124, 0.0091, 0.0152], the second and fourth segments are both greater than 0.01, which are marked as abnormal feedback hysteresis time periods. The marking results are such as [9s, 30s]. The frequency of occurrence is then counted. If the number of hysteresis times in a certain segment exceeds 30% of the total number of segments, it is classified as a hysteresis-intensive area. For example, the error interval is divided into 5 segments, and the third segment contains 3 hysteresis points, which is marked as a hysteresis-intensive segment, and finally the displacement error analysis results are obtained.

[0033] See also Figure 5 , the specific steps for obtaining the instruction pseudo-delay determination result are: S411: Based on the displacement error analysis results, filter the time periods during the movement of the actuator in which the difference between the displacement value in the sampling time period and the target displacement value exceeds the target error threshold, extract the instruction issuance time, the actuator movement start time and the target displacement value reaching time in the corresponding time period, calculate the time difference between each group of three time periods in turn, determine whether there is an interval abnormality in the time difference between issuance and starting, and between starting and reaching, determine whether it is an offset relationship abnormality according to the set normal response time difference interval, and obtain the node response offset time period sequence; Firstly, the displacement time series and the target displacement time series during the movement of the actuator are synchronously mapped, and the target displacement value is set as the reference standard. At each sampling point, the difference between the actual displacement value and the target displacement value of the current actuator is calculated to determine whether the difference exceeds the allowable error range of ±1.0mm. For example, at the 30th second, the target displacement is 85.0mm and the actual displacement is 82.6mm, then the difference is 2.4mm, which exceeds the error threshold and is marked as an abnormal point. Subsequently, all continuous time periods in which the difference exceeds the threshold are screened to form a response abnormal time period set, which is set as [t1, t2]. For each time period, the timestamp of the control command issued by the control system to the hydraulic cylinder in the section is extracted and recorded as the command issuance time. At the same time, the time period when the actuator starts to move is extracted, that is, the first time period when the displacement data starts to change from the initial stable value, which is recorded as the start time. Then, the time period when the target displacement first reaches or approaches the target value ±0.5mm interval is extracted and recorded as the target displacement arrival time. Three groups of time node sequences are constructed, which are respectively , , , for example, for a certain movement process, there is , , , and then calculate the time interval, and get the send-start interval is 0.4s, start-reach interval is 0.7s. If the normal response time benchmark range is set to 0.2-0.5s and 0.4-0.9s respectively, then this group of time periods meets the conditions and is not considered abnormal. Continue to analyze the data of the remaining time periods. If the send-start interval is 0.8s, which exceeds the upper limit, it is recorded as an abnormal point of offset response. Through cumulative analysis, extract the time period index interval of all time node offset abnormalities to form a node response offset period sequence.

[0034] Table 2 Example of instruction execution time nodes: ; As shown in Table 2, the delivery-startup interval of CMD002 is 0.8s, which exceeds the upper limit of 0.5s and is marked as an abnormal time period.

[0035] S412: Based on the node response offset time period sequence, filter the hydraulic cylinder identification number in the corresponding time period, extract the total response time from each instruction issuance to the target displacement, determine whether there is a hydraulic cylinder that exceeds the preset response time threshold, mark the potential instruction response abnormal cylinder, and obtain the instruction pseudo-delay determination result; The call node responds to the offset time period sequence, extracts the actuator number corresponding to each abnormal time period, such as CMD002, CMD005, etc., the corresponding actuator numbers are CYL_02, CYL_05, and obtains all the instruction execution records of these numbers in the abnormal time period. The total time from the issuance of each instruction to the achievement of the target displacement is defined as the response time, that is, , such as 22.0-20.5=1.5s in CMD002, and then set the pseudo-delay identification threshold to 1.2s. If the response time exceeds the threshold, it is marked as a pseudo-delay hydraulic cylinder. By traversing all abnormal section actuator cylinder records, extracting all cylinder numbers whose response time is greater than the threshold, a set of cylinders suspected of having command response delays is formed, and the frequency of occurrence in each error interval is counted. If a cylinder appears more than 3 times in a single interval, it is determined that the cylinder has a strong pseudo-delay feature, and finally the set is output as the command pseudo-delay determination result.

[0036] Table 3 Abnormal cylinder command execution response statistics: ; As shown in Table 3, the response times of CYL_02 and CYL_05 both exceed the threshold of 1.2 s, and they are judged as cylinders with pseudo-delay.

[0037] See also Figure 6 , the specific steps for obtaining remote synchronization error compensation records are: S511: Based on the result of the instruction pseudo-delay determination, the hydraulic cylinders determined to have pseudo-delay are screened, and the execution offset time of the corresponding hydraulic cylinders is combined to adopt the formula: ; Calculate the normalized response compensation value of the hydraulic cylinder , get the compensation adjustment reference value of the hydraulic cylinder; in, Indicates the execution offset time of the hydraulic cylinder, in ms. Indicates the reference synchronous control cycle constant, in ms. Indicates the unit movement response cycle of the hydraulic cylinder, in ms, It represents the response stability factor of the hydraulic cylinder and is a dimensionless quantity.

[0038] In the actual operation scenario, the hydraulic system control unit records the timestamp of each hydraulic cylinder response command. For example, the response time of hydraulic cylinder A1 is recorded as 412ms, and the issuance time of the control command at this moment is 400ms. For each hydraulic cylinder marked as having pseudo-delay, its unit movement response cycle needs to be further called For example, under standard pressure conditions, the time required for hydraulic cylinder A1 to complete a unit displacement (such as 5mm) is 36ms, which is , the data is obtained by taking the average value after multiple action collections, and the response stability factor It needs to be determined according to the fluctuation degree of the unit displacement response during the operation of the hydraulic cylinder. If the maximum fluctuation of the time required for unit displacement under the same pressure drive for 5 consecutive times does not exceed 2ms, the stability factor can be taken as the result of the normalization of the fluctuation percentage and set to 0.3. It is dimensionless and the parameter is numerical. The quantitative standard is the percentage change of the adjacent unit displacement response time, and the maximum value is taken. Unified reference period constant It can be set as the standard response reference value in the system, assuming it is 40ms, to normalize the offset time. Substitute the above parameters into the formula: ; Perform calculations and substitute data , , , , we can get: The normalized offset time is ; The square root of the unit response period is ; The stability factor correction term is ; The overall compensation value is calculated as .

[0039] That is, the normalized response compensation value of the hydraulic cylinder is about 3.38. This value will be used to match its corresponding offset direction. If the offset direction is positive, that is, the response is later than the expected position, then this value is directly used as a positive compensation reference; if the offset direction is negative, a reverse pre-compensation action is required. Table 4 lists the original parameter samples involved in the hydraulic cylinder response compensation value: Table 4 Hydraulic cylinder response compensation parameter table: ; As shown in Table 4, different hydraulic cylinders have different compensation values ​​due to their offset response, unit response cycle and fluctuation differences. The compensation value can be used in the subsequent command compensation direction judgment and adjustment steps. The formula is beneficial in that it effectively distinguishes the source type of response delay through the combined normalization of offset time and cycle stability, and enhances the recognition ability of unstable response of rhythmic action through the root processing of periodic terms. The result shows that hydraulic cylinder A1 needs to be pre-started in advance with the corresponding compensation cycle during the standard control response. Its value is 3.38, which is directly related to the subsequent adjustment parameters.

[0040] S512: according to the comparison result of the compensation adjustment reference value of the hydraulic cylinder and its initial pressure value, the preload pressure increase amount is set, and the time offset of the synchronization command is reversely adjusted by the value, and at the same time, for the hydraulic cylinder without pseudo-delay, the amplitude is corrected based on the comparison result of its unit response cycle value and the average compensation amount, and the adjusted synchronization response time offset interval is obtained; According to the compensation adjustment reference value of each hydraulic cylinder, for example, the compensation value of the hydraulic cylinder A1 is 3.38. In the pressure control system, its initial execution pressure value should be called. Assuming that its original starting pressure is 1.6MPa, the dimensionless compensation value of 3.38 needs to be converted into the pressure increase. Assuming that the pressure coefficient corresponding to the system unit compensation is 0.05MPa / unit compensation value, the pressure increase should be , the pressure setting is increased to 1.769MPa, and the compensation value is mapped to the time offset correction. If each unit compensation value corresponds to a control delay time of 2ms, the command should be issued in advance For the hydraulic cylinder without pseudo-delay, the unit response period is 32ms and the average compensation amount is 3.2 units. The cylinder response speed and period adjustment value should be corrected to adjust the start frequency of the control offset input signal. The adjusted synchronous response time offset interval is determined by the difference in the adjustment time combination of each cylinder. The range of this interval determines the synchronous time window when configuring the subsequent compensation command.

[0041] S513: calling the adjusted synchronous response time offset interval and the hydraulic cylinder number index, constructing the hydraulic cylinder's response compensation value, command offset, and preload pressure as synchronous configuration data, and transmitting them to the remote control end according to the task cycle structure, the remote control node archives the error compensation information accordingly, and establishes a remote synchronous error compensation record; The aforementioned synchronous response time offset interval is called. For example, the hydraulic cylinder A1 is 12ms before adjustment, and A4 is 3ms, so its synchronous response interval is 9ms. The number, offset compensation value, command offset time and preload pressure of each hydraulic cylinder are combined to generate a configuration parameter structure. For example, the parameter group of hydraulic cylinder A1 is {number: A1, compensation value: 3.38, time adjustment: 6.76ms, pressure increase: 0.169MPa}. After the parameter structures of each cylinder are summarized, a synchronization configuration file within the control cycle is formed on the control node side, and uploaded to the remote control end through the system control interface. After reading the configuration data, the control end generates a time alignment diagram to determine whether the arrival difference of the synchronization command falls within the target control window. For example, if the synchronization reference is ±5ms and the current deviation is ±3ms, a remote synchronization error compensation record is established, and the record content includes the number, compensation value, adjustment time and synchronization result status code.

[0042] Four-column test bench intelligent remote control and data synchronization system, the four-column test bench intelligent remote control and data synchronization system is used to execute the above-mentioned four-column test bench intelligent remote control and data synchronization method, the system includes: The pressure data trend analysis module obtains the real-time pressure feedback data of the hydraulic cylinder of the four-column test bench, extracts the timestamp sequence corresponding to the current instruction issuance time and the continuous pressure value sequence returned by the hydraulic cylinder pressure sensor, analyzes the change of pressure over time, and obtains the pressure change trend data; The pressure error interval judgment module establishes an error interval by referring to the pressure change trend data, and judges the stability of the pressure change in the corresponding interval to obtain the error interval range; The displacement error analysis module compares the error interval range with the operating data of the four-column test bench actuator, selects the time period when the displacement change rate of the actuator is abnormal, compares the displacement adjustment rate within the error interval, determines whether there is abnormal feedback lag within the error interval, and obtains the displacement error analysis result; The command pseudo-delay identification module screens the response time period that does not match the target displacement value during the movement of the actuator based on the displacement error analysis result, determines whether there is a command pseudo-delay, and obtains the command pseudo-delay determination result; The delay compensation and remote synchronization module calculates the delay compensation value of the hydraulic cylinder corresponding to the pseudo-delay based on the command pseudo-delay judgment result and determines the compensation direction and command, uploads the synchronization configuration data to the remote control end, and generates a remote synchronization error compensation record.

[0043] The above are only preferred embodiments of the present invention and are not intended to limit the present invention in other forms. Any technician familiar with the profession may use the technical contents disclosed above to change or modify them into equivalent embodiments with equivalent changes and apply them to other fields. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. Intelligent remote control and data synchronization method for a four-column test bench, characterized in that: The following steps are involved: S1: Obtain the real-time pressure feedback data of the hydraulic cylinder of the four-column test bench, extract the timestamp sequence corresponding to the current instruction issuance time and the continuous pressure value sequence returned by the hydraulic cylinder pressure sensor, analyze the change of pressure over time, and obtain the pressure change trend data; S2: Establish an error interval by referring to the pressure change trend data, and determine the stability of the pressure change in the corresponding interval to obtain the error interval range; S3: Compare the error interval range with the operating data of the actuator of the four-column test bench, select the time period when the displacement change rate of the actuator is abnormal, compare the displacement adjustment rate within the error interval, determine whether there is abnormal feedback lag within the error interval, and obtain the displacement error analysis result; S4: Based on the displacement error analysis result, screening the response time period that does not match the target displacement value during the movement of the actuator, judging whether there is a command pseudo-delay, and obtaining a command pseudo-delay judgment result; S5: Based on the command pseudo-delay determination result, calculate the delay compensation value of the hydraulic cylinder corresponding to the pseudo-delay and determine the compensation direction and command, upload the synchronization configuration data to the remote control end, and generate a remote synchronization error compensation record.

2. The intelligent remote control and data synchronization method for a four-column test bench according to claim 1 is characterized in that: The pressure change trend data includes the pressure change rate, the slope of the change trend curve, and the continuous section fluctuation characteristics. The error interval range includes the maximum pressure deviation value, the time difference interval, and the pressure stability index. The displacement error analysis result specifically includes the displacement rate abnormal point, the displacement and pressure error matching degree, and the feedback lag mark. The instruction pseudo-delay judgment result specifically refers to the hydraulic cylinder response timeout status, the pseudo-delay identification mark, and the time offset value. The remote synchronization error compensation record includes the hydraulic cylinder delay compensation value, the compensation direction setting, the four-cylinder synchronization adjustment parameters, and the remote synchronization configuration information.

3. The intelligent remote control and data synchronization method for a four-column test bench according to claim 2 is characterized in that: The steps for obtaining the pressure change trend data are specifically as follows: S111: Acquire the real-time pressure feedback data of the hydraulic cylinder of the four-column test bench, extract the timestamp sequence corresponding to the current instruction issuance time and the continuous pressure value sequence returned by the hydraulic cylinder pressure sensor, call the timestamp sequence and the pressure value sequence to build a two-dimensional coordinate relationship, complete the pairing process of time and pressure values ​​in the coordinate system, and obtain the time-pressure mapping data set; S112: Based on the time pressure mapping data set, continuous coordinate point pairs within a specified time range are screened, using the formula: ； Calculate the average pressure change rate over a specified period of time , construct a pressure change rate sequence; in, Indicates The pressure value corresponding to each time period is Indicates The previous pressure value corresponding to the time period, Indicates The timestamp corresponding to the time period, Indicates The previous timestamp corresponding to the time period, Indicates the start timestamp of the currently selected calculation range. Indicates the end timestamp of the currently selected calculation range. Indicates the number of point pairs in the pressure value sequence that participate in the difference calculation. Indicates the number of time periods in the timestamp sequence that participate in the interval calculation; S113: According to the pressure change rate sequence, the change rate value is mapped back to the corresponding time period, and the continuous time period is segmented, the change rate point group in the continuous time segment is screened, and the gradient trend under all time segments is integrated to obtain the pressure change trend data.

4. The intelligent remote control and data synchronization method for a four-column test bench according to claim 3 is characterized in that: The steps for obtaining the error interval range are specifically as follows: S211: Based on the pressure change trend data, the pressure value of each time period recorded in the pressure feedback sequence, the pressure slope change rate sequence and the target pressure value are called, the difference between each pressure value in the entire time series and the target pressure value is detected, the maximum pressure response point is located, and the offset between the pressure value corresponding to the maximum pressure response point and the target pressure value is compared to obtain the maximum deviation value sequence; S212: According to the maximum deviation value sequence, select the time period in which the deviation value is within the set threshold range as the end point of the error interval, call the timestamp between the initial judgment node and the end point and calculate the time difference, retrieve the pressure value change trend and its slope stability in turn, determine whether the slope fluctuation level is within the stable threshold range, and obtain the error interval range.

5. The intelligent remote control and data synchronization method for a four-column test bench according to claim 4 is characterized in that: The steps for obtaining the displacement error analysis result are specifically as follows: S311: Based on the error interval range, the motion trajectory of the actuator cylinder, the current displacement value and the displacement increment trend in the operation data of the actuator cylinder of the four-column test bench are called, the displacement change rate of each time period is calculated, and the difference with the mean change rate is compared, and the time period whose rate exceeds the abnormal change rate threshold is screened to obtain the abnormal displacement change rate time period sequence; S312: Based on the abnormal time period sequence of displacement change rate, the displacement adjustment rate and pressure feedback signal of the actuator in the corresponding time period are adjusted using the formula: ； Calculate the displacement adjustment rate of the actuator and the pressure feedback signal in the first Within the error interval Error matching degree of time period , and obtain the matching degree of pressure and displacement error; in, Indicates The average pressure in a period of time, Indicates The reference pressure value within a time period, Indicates The average displacement in a time period is Indicates The reference displacement value within a time period is Represents the sum of squares of the difference between the pressure value and the displacement value at each moment in the time series, is the time period index, is the total number of time periods; S313: According to the matching degree of the pressure and displacement error, determine whether the matching degree in the corresponding time period is greater than the hysteresis determination threshold value, mark the abnormal feedback hysteresis time period and count the occurrence frequency, and obtain the displacement error analysis result.

6. The intelligent remote control and data synchronization method for a four-column test bench according to claim 5 is characterized in that: The steps for obtaining the instruction pseudo-delay determination result are specifically as follows: S411: Based on the displacement error analysis result, the time period in which the difference between the displacement value of the actuator cylinder during the movement process and the target displacement value exceeds the target error threshold value in the sampling time period is screened, and the instruction issuance time, the actuator cylinder movement start time and the target displacement value reaching time in the corresponding time period are extracted. The time difference between each group of three time periods is calculated in turn to determine whether there is an interval abnormality in the time difference between issuance and starting, and between starting and reaching. According to the set normal response time difference interval, it is determined whether the offset relationship is abnormal, and the node response offset time period sequence is obtained; S412: Based on the node response offset time period sequence, filter the hydraulic cylinder identification number in the corresponding time period, and extract the total response time from each instruction being issued to the target displacement being reached, determine whether there is a hydraulic cylinder that exceeds a preset response time threshold, mark the potential cylinder with abnormal instruction response, and obtain the instruction pseudo-delay determination result.

7. The intelligent remote control and data synchronization method for a four-column test bench according to claim 6 is characterized in that: The steps for obtaining the remote synchronization error compensation record are specifically as follows: S511: Based on the command pseudo-delay determination result, filter the hydraulic cylinders that are determined to have pseudo-delays, and combine the execution offset time of the corresponding hydraulic cylinders to use the formula: ； Calculate the normalized response compensation value of the hydraulic cylinder , get the compensation adjustment reference value of the hydraulic cylinder; in, Indicates the execution offset time of the hydraulic cylinder, represents the reference synchronous control cycle constant, Represents the unit movement response cycle of the hydraulic cylinder, Represents the response stability factor of the hydraulic cylinder; S512: according to the comparison result of the compensation adjustment reference value of the hydraulic cylinder and the initial pressure value, the preload pressure increase amount is set, and the time offset of the synchronization instruction is reversely adjusted. At the same time, for the hydraulic cylinder without pseudo-delay, the amplitude is corrected based on the comparison result of the unit response cycle value and the average compensation amount, and the adjusted synchronization response time offset interval is obtained; S513: Call the adjusted synchronous response time offset interval and hydraulic cylinder number index, construct the hydraulic cylinder's response compensation value, command offset, and preload pressure into synchronous configuration data, and transmit them to the remote control end according to the task cycle structure, archive the error compensation information, and establish a remote synchronous error compensation record.

8. Four-column test bench intelligent remote control and data synchronization system, characterized by: According to the intelligent remote control and data synchronization method of a four-column test bench according to any one of claims 1 to 7, the system comprises: The pressure data trend analysis module obtains the real-time pressure feedback data of the hydraulic cylinder of the four-column test bench, extracts the timestamp sequence corresponding to the current instruction issuance time and the continuous pressure value sequence returned by the hydraulic cylinder pressure sensor, analyzes the change of pressure over time, and obtains the pressure change trend data; The pressure error interval judgment module establishes an error interval by referring to the pressure change trend data, and judges the stability of the pressure change in the corresponding interval to obtain the error interval range; The displacement error analysis module compares the error interval range with the operating data of the actuator of the four-column test bench, selects the time period when the displacement change rate of the actuator is abnormal, compares the displacement adjustment rate within the error interval, determines whether there is an abnormal feedback lag within the error interval, and obtains the displacement error analysis result; The instruction pseudo-delay identification module screens the response time period that does not match the target displacement value during the movement of the actuator based on the displacement error analysis result, determines whether there is an instruction pseudo-delay, and obtains an instruction pseudo-delay determination result; The delay compensation and remote synchronization module calculates the delay compensation value of the hydraulic cylinder corresponding to the pseudo-delay based on the command pseudo-delay judgment result and determines the compensation direction and command, uploads the synchronization configuration data to the remote control end, and generates a remote synchronization error compensation record.

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