Hydraulic valve control method and device based on double-electric double-pump hydraulic system

Abstract

The invention belongs to the technical field of hydraulic systems, and discloses a hydraulic valve control method and device based on a double-electric double-pump hydraulic system, the pressure of a downstream pipeline is monitored, a valve is quickly closed when the pressure does not reach a threshold value, and after the pressure reaches the threshold value, a buffer closing stage is started; the dynamic proportional-integral control algorithm is adopted to adjust the closing speed of the valve, the backflow impact pressure is reduced, and the advantage of reducing the backflow impact pressure is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of hydraulic systems, and in particular to a hydraulic valve control method and device based on a dual-electric dual-pump hydraulic system. Background Art

[0002] In the underground coal mine tunnel slurry conveying system, the hydraulic slurry valve plays a vital role. It not only bears the heavy task of opening and closing the pipeline, but also is responsible for the precise regulation of the slurry flow rate. It plays a vital role in ensuring the stable and reliable operation of the entire slurry conveying system. Especially in the complex and changeable underground mine environment, the power supply system often faces unstable challenges. In order to effectively deal with possible sudden failures of the main power supply, the existing technical solutions generally adopt a hydraulic system architecture driven by dual power supplies and dual pumps. The core of this system design is that when the main power supply is interrupted, it can quickly and seamlessly switch to the backup power supply and backup hydraulic pump, thereby ensuring that the hydraulic slurry valve can continue to operate normally, or in an emergency, it can quickly perform a safe shutdown operation to maximize the continuity of the mine production process and the safety of the working environment.

[0003] However, in actual engineering applications, especially in underground coal mine tunnels with complex and changeable terrain conditions, the laying of slurry pipelines often needs to be arranged at an angle according to the undulations of the terrain. Although this inclined laying method adapts to the terrain to a certain extent, it also introduces a safety hazard that cannot be ignored. When coal slurry precipitation and blockage occur inside the pipeline, especially in extreme cases where the main power supply is interrupted and the hydraulic pump suddenly stops working, the slurry on the upstream side of the valve will be converted into kinetic energy due to gravitational potential energy, thereby forming a strong backflow impact. This backflow impact force will directly and violently act on the hydraulic slurry valve that is closing or already in a closed state, and its impact strength often far exceeds the normal pressure bearing capacity considered in the valve design. Long-term or repeated exposure to this high-intensity impact can easily cause structural damage and destruction to key components such as the valve body and valve plate. In severe cases, it may even cause the rupture of the pipeline system, causing major safety accidents such as slurry leakage, posing an extremely serious threat to the safe production of mines. Therefore, in the inclined tunnel slurry pipeline system, how to effectively respond to and significantly reduce the huge pressure shock caused by coal slurry reflux has become a key technical problem that needs to be urgently solved to ensure mine safety production.

[0004] In view of the above problems, the existing technology needs to be improved urgently. Summary of the invention

[0005] The purpose of the present application is to provide a hydraulic valve control method and device based on a dual-electric dual-pump hydraulic system, which can reduce the backflow impact pressure.

[0006] In a first aspect, the present application provides a hydraulic valve control method based on a dual-power and dual-pump hydraulic system, which is used in a slurry pipeline system for inclined roadway coal mines to control a hydraulic slurry valve using the dual-power and dual-pump hydraulic system when the main power supply is interrupted and the pipeline is blocked. The method includes: S1. Monitor the pressure of the pipeline downstream of the hydraulic slurry valve body in real time; S2. When the pressure of the downstream pipeline does not reach the preset pressure threshold, drive the hydraulic slurry valve to close quickly at the maximum speed until the pressure of the downstream pipeline reaches the preset pressure threshold; S3. When the pressure of the downstream pipeline reaches the preset pressure threshold, enter the buffer closing stage, and calculate the current pressure error and error integral; S4. According to the pressure error and error integral, use a dynamic proportional-integral control algorithm to calculate the valve closing speed, control the speed of the hydraulic cylinder, and realize the adjustment of the valve closing speed to reduce the reflux impact pressure.

[0007] By monitoring the pressure of the downstream pipeline, quickly closing the valve when the pressure does not reach the threshold, and entering the buffer closing stage after the pressure reaches the threshold, and using a dynamic proportional-integral control algorithm to adjust the valve closing speed to reduce the reflux impact pressure, it has the advantage of reducing the reflux impact pressure.

[0008] Preferably, step S2 includes: S201. Obtain the slurry concentration, flow rate, and operating time of the hydraulic system; S202. According to the slurry concentration, flow rate, and operating time of the hydraulic system, calculate the predicted value of the pipeline pressure change rate and the correction coefficient of the actual valve closing speed; S203. According to the predicted value of the pipeline pressure change rate and the correction coefficient of the actual valve closing speed, adjust the maximum closing speed of the hydraulic slurry valve, and drive the hydraulic slurry valve to close until the pressure of the downstream pipeline reaches the preset pressure threshold.

[0009] Through the above steps, the rapid closing process of the hydraulic slurry valve can be adaptively adjusted according to the slurry characteristics and system status, realizing more refined control.

[0010] Preferably, step S202 includes: Obtain the slurry composition data and the scale thickness data on the inner wall of the pipeline; According to the slurry composition data, correct the slurry rheological property model to obtain the corrected slurry rheological property parameters; According to the scale thickness data on the inner wall of the pipeline, correct the pipeline flow resistance calculation model to obtain the corrected pipeline flow resistance parameters; Substitute the corrected slurry rheological property parameters and the corrected pipeline flow resistance parameters into the fluid dynamics model to calculate the predicted value of the pipeline pressure change rate; Calculate the actual closing speed correction factor of the valve based on the operating time of the hydraulic system and in combination with the historical operating data of the valve.

[0011] Thus, a more reliable basis can be provided for adjusting the maximum closing speed of the subsequent hydraulic pulp valve, enhancing the effectiveness and reliability of the control method of the hydraulic pulp valve, and ultimately achieving a more effective response to and reduction of the pressure shock generated by the coal slurry backflow, ensuring the safe production of the mine.

[0012] Preferably, step S203 includes: Calculate the target maximum closing speed of the hydraulic pulp valve according to the estimated value of the pipeline pressure change rate, the actual closing speed correction factor of the valve, and the pressure margin, where the pressure margin is determined according to the pressure fluctuation range in the historical operating data; Adjust the opening of the servo valve according to the target maximum closing speed, thereby controlling the speed of the hydraulic cylinder; During the process of the hydraulic cylinder driving the hydraulic pulp valve to close, continuously monitor the pressure of the downstream pipeline; When the pressure of the downstream pipeline does not reach the preset pressure threshold, adjust the opening of the servo valve according to the deviation between the current pressure and the preset pressure threshold and the target maximum closing speed, using the PID control algorithm until the pressure of the downstream pipeline reaches the preset pressure threshold.

[0013] Preferably, step S3 includes: S301. Record the time point when the pressure of the downstream pipeline reaches the preset pressure threshold as the starting time of the buffer closing; S302. Sample the actual pressure value at a fixed period; S303. Calculate the difference between the actual pressure value at the current moment and the preset pressure threshold to obtain the current pressure error; S304. Multiply the current pressure error by the integral coefficient to obtain the integral term increment at the current moment; S305. Accumulate the integral term increments from the starting time to the current moment to obtain the error integral.

[0014] Preferably, step S4 includes: S401. Obtain the valve opening of the hydraulic pulp valve and the oil temperature of the hydraulic system; S402. Calculate the dynamic friction force compensation value and the hydraulic oil viscosity correction coefficient according to the valve opening of the hydraulic pulp valve and the oil temperature of the hydraulic system; S403. Calculate the valve closing speed according to the pressure error, the error integral, the dynamic friction force compensation value, and the hydraulic oil viscosity correction coefficient, using the dynamic proportional-integral control algorithm to control the speed of the hydraulic cylinder, realizing the adjustment of the valve closing speed, and reducing the backflow impact pressure.

[0015] Preferably, step S402 includes: Obtain the functional relationship between the valve opening and the dynamic friction compensation value; According to the valve opening obtained in real time, use the functional relationship between the valve opening and the dynamic friction compensation value to obtain the corresponding dynamic friction compensation value; Obtain the functional relationship between the viscosity of the hydraulic oil and the temperature; According to the real-time obtained oil temperature of the hydraulic system, use the functional relationship between the viscosity of the hydraulic oil and the temperature to obtain the corresponding viscosity correction coefficient of the hydraulic oil.

[0016] Preferably, step S403 includes: According to the pressure error and the error integral, query the preset control rule table through the fuzzy control algorithm to obtain the basic valve closing speed; According to the basic valve closing speed, the dynamic friction compensation value and the viscosity correction coefficient of the hydraulic oil, calculate the target valve closing speed; According to the target valve closing speed, adjust the opening of the servo valve, so as to control the speed of the hydraulic cylinder, realize the adjustment of the valve closing speed, and reduce the backflow impact pressure.

[0017] Preferably, the step of calculating the target valve closing speed according to the basic valve closing speed, the dynamic friction compensation value and the viscosity correction coefficient of the hydraulic oil includes: Convert the dynamic friction compensation value into a speed compensation value with the same dimension as the basic valve closing speed; According to the viscosity correction coefficient of the hydraulic oil, correct the basic valve closing speed to obtain the basic valve closing speed after viscosity correction; Add the speed compensation value to the basic valve closing speed after viscosity correction to obtain the target valve closing speed.

[0018] In a second aspect, the present application provides a hydraulic valve control device based on a double-electric double-pump hydraulic system, which is used in a coal slurry pipeline system in an inclined roadway coal mine. When the main power supply is interrupted and the pipeline is blocked, the double-power double-pump hydraulic system is used to control the hydraulic coal slurry valve. The device includes: A pressure monitoring module for real-time monitoring of the pressure in the pipeline downstream of the hydraulic coal slurry valve body; A quick closing module for driving the hydraulic coal slurry valve to quickly close at the maximum speed until the pressure in the downstream pipeline reaches the preset pressure threshold when the pressure in the downstream pipeline does not reach the preset pressure threshold; A buffer switching module for entering the buffer closing stage when the pressure in the downstream pipeline reaches the preset pressure threshold, and calculating the current pressure error and error integral; A speed adjustment module for calculating the valve closing speed according to the pressure error and the error integral, using a dynamic proportional-integral control algorithm to control the speed of the hydraulic cylinder, realizing the adjustment of the valve closing speed, and reducing the backflow impact pressure.

[0019] Beneficial effects: A hydraulic valve control method and device based on a dual - power and dual - pump hydraulic system provided by this application can quickly close the valve when the pressure in the downstream pipeline has not reached the threshold by monitoring the downstream pipeline pressure, and enter the buffer - closing stage after the pressure reaches the threshold. The dynamic proportional - integral control algorithm is used to adjust the valve closing speed to reduce the backflow impact pressure, having the advantage of reducing the backflow impact pressure. Description of the Drawings

[0020] Figure 1 It is a flowchart of the hydraulic valve control method based on the dual - power and dual - pump hydraulic system provided by the embodiment of this application.

[0021] Figure 2 It is a schematic structural diagram of the hydraulic valve control device based on the dual - power and dual - pump hydraulic system provided by the embodiment of this application.

[0022] Label description: 1. Pressure monitoring module; 2. Quick - closing module; 3. Buffer switching module; 4. Speed adjustment module. Detailed Embodiment

[0023] Next, the technical solutions in this application will be clearly and completely described in conjunction with the drawings in this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. The components of this application described and shown in the drawings here usually can be arranged and designed in various different configurations. Therefore, the detailed description of the embodiments of this application provided in the following drawings is not intended to limit the scope of this application required to be protected, but only represents the selected embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of this application.

[0024] It should be noted that: Similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, terms such as "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0025] Reference Figure 1 , this application proposes a hydraulic valve control method based on a dual - power and dual - pump hydraulic system, which is used in the inclined roadway coal mine pulp pipeline system to control the hydraulic pulp valve using the dual - power and dual - pump hydraulic system when the main power supply is interrupted and the pipeline is blocked. This method includes: S1. Real - time monitor the pressure of the downstream pipeline of the hydraulic pulp valve body; S2. When the pressure in the downstream pipeline has not reached the preset pressure threshold, drive the hydraulic pulp valve to close quickly at the maximum speed until the pressure in the downstream pipeline reaches the preset pressure threshold; S3. When the pressure in the downstream pipeline reaches the preset pressure threshold, enter the buffer closing stage, and calculate the current pressure error and error integral; S4. According to the pressure error and error integral, use the dynamic proportional-integral control algorithm to calculate the valve closing speed, control the hydraulic cylinder speed, realize the adjustment of the valve closing speed, and reduce the backflow impact pressure.

[0026] Among them, in step S1, the pressure in the downstream pipeline of the hydraulic pulp valve body can be monitored by a pressure sensor. The pressure sensor can be installed at a specific position in the downstream pipeline of the hydraulic pulp valve body, such as on the pipeline wall near the valve (referring to the hydraulic pulp valve), to accurately monitor the pressure change in the downstream pipeline. The pressure sensor collects pressure data in real time and provides a real-time pressure feedback signal for subsequent valve control.

[0027] Among them, in step S2, quickly closing the hydraulic pulp valve at the maximum speed is to quickly cut off the pulp flow at the initial stage of pipeline blockage and reduce the potential energy generated by backflow. The preset pressure threshold is a safety pressure value determined according to the design parameters and operating experience of the pipeline system, and is used to judge the end time of the quick closing stage and the start time of the buffer closing stage.

[0028] Among them, in step S3, the buffer closing stage is started when the pressure in the downstream pipeline reaches the preset pressure threshold, which marks the completion of the quick closing stage and the system enters the fine adjustment stage. The pressure error is obtained by subtracting the actual pressure value at the current moment from the preset pressure threshold, which reflects the deviation degree between the current pressure and the target pressure. The error integral is the accumulation of the pressure error over time, which can more comprehensively reflect the degree and trend of the system deviation and provide a basis for the dynamic proportional-integral control algorithm.

[0029] Among them, in step S4, the dynamic proportional-integral control algorithm dynamically calculates and adjusts the valve closing speed according to the pressure error and error integral. The proportional control link provides an immediate adjustment according to the current pressure error, and the integral control link eliminates the steady-state error to ensure that the pressure is stable near the preset pressure threshold. By controlling the hydraulic cylinder speed, the closing speed of the valve can be accurately adjusted to achieve buffer closing, thereby reducing the backflow impact pressure.

[0030] Specifically, in the slurry pipeline system of an inclined roadway, when the main power supply is interrupted and the pipeline is blocked, first, the pressure of the pipeline downstream of the hydraulic slurry valve is monitored in real time through step S1. If the monitored pressure is lower than the preset pressure threshold, step S2 is executed to drive the hydraulic slurry valve to close quickly at the maximum speed. The purpose of the quick closure is to rapidly cut off the slurry flow and prevent the impact pressure caused by backflow from being too large. When the pressure monitoring value reaches the preset pressure threshold, it indicates that the pressure in the pipeline has risen to a certain level, and the quick closure stage ends. The system enters the buffer closure stage of step S3. In the buffer closure stage, the system records the time point when the pressure reaches the threshold and starts to periodically sample the actual pressure value, calculate the current pressure error and the integral of the error. Subsequently, in step S4, the system calculates the valve closing speed using a dynamic proportional-integral control algorithm based on the calculated pressure error and the integral of the error. The dynamic proportional-integral control algorithm adjusts the valve closing speed in real time according to the magnitude and change trend of the pressure error, controls the action of the hydraulic cylinder, and realizes the precise adjustment of the valve closing speed. Through this dynamic adjustment, while ensuring the reliable closure of the valve, the valve closing process can be effectively slowed down, the impact pressure generated by slurry backflow can be reduced, and the safety of the valve and the pipeline system can be protected.

[0031] In some preferred embodiments, step S2 includes: S201. Obtain the slurry concentration, flow rate, and the operating time of the hydraulic system; S202. Calculate the estimated value of the pipeline pressure change rate and the actual valve closing speed correction coefficient according to the slurry concentration, flow rate, and the operating time of the hydraulic system; S203. Adjust the maximum closing speed of the hydraulic slurry valve according to the estimated value of the pipeline pressure change rate and the actual valve closing speed correction coefficient, and drive the hydraulic slurry valve to close until the pressure of the downstream pipeline reaches the preset pressure threshold.

[0032] Among them, in step S201, the slurry concentration can be measured in real time by a concentration sensor installed on the pipeline, the flow rate can be measured in real time by a flowmeter, and the operating time of the hydraulic system (which refers to the cumulative operating time of the hydraulic system) can be recorded by a timer inside the system.

[0033] Among them, in step S202, the estimated value of the pipeline pressure change rate can be calculated by establishing a hydrodynamic model, which takes into account the influence of the slurry concentration and flow rate on the pipeline pressure. For example, the higher the slurry concentration and the faster the flow rate, the larger the estimated value of the pipeline pressure change rate may be. The actual valve closing speed correction coefficient can be adjusted according to the operating time of the hydraulic system. For example, the longer the operating time of the hydraulic system, the more likely the component wear increases, resulting in a decrease in the actual valve closing speed. At this time, the actual valve closing speed correction coefficient can be set to a smaller value.

[0034] Among them, in step S203, adjusting the maximum closing speed of the hydraulic pulp valve can be achieved by controlling the opening of the servo valve in the hydraulic system. For example, when the predicted value of the pipeline pressure change rate is large and the actual valve closing speed correction coefficient is small, the opening of the servo valve can be reduced, thereby reducing the speed of the hydraulic cylinder and realizing the adjustment of the maximum closing speed of the hydraulic pulp valve. Driving the closing of the hydraulic pulp valve can be performed by the hydraulic cylinder. The telescopic movement of the hydraulic cylinder drives the valve spool to move, realizing the closing of the valve. The pressure of the downstream pipeline can be monitored in real time by a pressure sensor. When the pressure sensor detects that the pressure of the downstream pipeline reaches the preset pressure threshold, the rapid closing stage ends.

[0035] Specifically, in the initial stage of the rapid closing of the hydraulic pulp valve, step S201 is first executed to collect the pulp concentration and flow rate data in real time through sensors and read the operating time of the hydraulic system. Subsequently, in step S202, using the collected data, substitute it into the pre-established hydrodynamic model to calculate the predicted value of the pipeline pressure change rate. At the same time, in combination with the operating time of the hydraulic system, query the preset correction coefficient table or use the fitting formula to obtain the actual valve closing speed correction coefficient (the operating time of the hydraulic system reflects the wear degree of the hydraulic components, which in turn affects the valve closing speed). Then, enter step S203. According to the predicted value of the pipeline pressure change rate and the actual valve closing speed correction coefficient calculated in step S202, adjust the initial maximum closing speed of the hydraulic pulp valve. The adjusted maximum closing speed is set as the control parameter of the servo valve to drive the hydraulic cylinder to act and drive the hydraulic pulp valve to close quickly. During the valve closing process, the pressure sensor continuously monitors the pressure of the downstream pipeline. Once the pressure of the downstream pipeline reaches the set pressure threshold, the rapid closing stage ends, and the system switches to the subsequent buffer closing stage. Through the above steps, the rapid closing process of the hydraulic pulp valve can be adaptively adjusted according to the pulp characteristics and system status, realizing more refined control.

[0036] In some specific embodiments, the pulp concentration sensor can be an on-line densitometer, such as a tuning fork densitometer or a radioactive densitometer, installed on the upstream side of the valve on the pipeline. The flowmeter can be an electromagnetic flowmeter or an ultrasonic flowmeter, installed at a position adjacent to the concentration sensor on the pipeline. The operating time of the hydraulic system can be accumulated by a timer inside the programmable logic controller. The hydrodynamic model can adopt a CFD simulation model or a simplified model based on empirical formulas. The actual valve closing speed correction coefficient can be calibrated in advance through experiments to establish a mapping relationship table between the operating time and the correction coefficient. The preset pressure threshold can be set according to the design parameters and safety margin of the pipeline system. For example, it is set to 1.2 times the normal working pressure of the pipeline. The servo valve can be a proportional servo valve or a high-speed switching valve, and the valve closing speed is adjusted by controlling the opening of the servo valve.

[0037] In some possible embodiments, step S202 includes: Obtain pulp composition data and the scaling thickness data of the inner wall of the pipeline; According to the pulp composition data, correct the pulp rheological property model to obtain the corrected pulp rheological property parameters; According to the scaling thickness data of the inner wall of the pipeline, correct the pipeline flow resistance calculation model to obtain the corrected pipeline flow resistance parameters; Substitute the corrected pulp rheological property parameters and the corrected pipeline flow resistance parameters into the hydrodynamic model to calculate the predicted value of the pipeline pressure change rate; According to the operation time of the hydraulic system and in combination with the historical operation data of the valve, calculate the actual valve closing speed correction coefficient.

[0038] Among them, the pulp composition data can be obtained by regularly sampling and analyzing pulp samples, and the analysis items include but are not limited to information such as the solid-liquid phase composition ratio of the pulp, the particle size distribution of solid particles, and the mineral species. The scaling thickness data of the inner wall of the pipeline can be obtained by on-line measurement using non-destructive testing equipment such as an ultrasonic thickness gauge, or by manual measurement during regular shutdown maintenance.

[0039] Among them, the pulp rheological property model can, for example, select the Bingham model or the Herschel-Bulkley model, and the pulp rheological property parameters can, for example, include the yield stress and the plastic viscosity, etc. The correction of the pulp rheological property model can adjust the pulp rheological property parameters in the model according to the measured pulp composition data, so that the model can more accurately describe the rheological behavior of the current pulp. After the correction is completed, the pulp rheological property parameters therein are extracted to obtain the corrected pulp rheological property parameters.

[0040] Among them, the pipeline flow resistance calculation model can, for example, adopt the Darcy-Weisbach formula, and the pipeline flow resistance parameters can, for example, include the friction coefficient. The correction of the pipeline flow resistance calculation model can adjust the roughness parameter of the pipeline according to the measured scaling thickness data of the inner wall of the pipeline, so as to more accurately calculate the pipeline flow resistance parameters with the corrected pipeline flow resistance calculation model.

[0041] Among them, the hydrodynamic model can be a computational fluid dynamics model established based on the finite volume method or the finite element method, which is used to simulate the flow state of the pulp in the pipeline and predict the pipeline pressure change rate.

[0042] Among them, the historical operation data of the valve can be extracted from the monitoring system of the hydraulic system, including information such as the opening and closing frequency of the valve and the duration of each opening and closing action. The actual valve closing speed correction coefficient can reflect the performance degradation of the valve caused by factors such as long-term operation wear, and its value can be obtained by analyzing the change trend of the valve closing speed in the historical operation data of the valve.

[0043] Specifically, in order to more accurately estimate the rate of change of pipeline pressure, this solution takes into account the slurry composition and the scaling condition of the inner wall of the pipeline. By obtaining the slurry composition data, the rheological properties of the slurry can be more accurately grasped, and then the rheological property model of the slurry can be corrected to obtain more realistic rheological parameters. By obtaining the scaling thickness data of the inner wall of the pipeline, the flow resistance of the pipeline can be more accurately evaluated, and the calculation model of the pipeline flow resistance can be corrected to obtain more accurate pipeline flow resistance parameters. Substituting the corrected model parameters into the hydrodynamic model can calculate a more accurate predicted value of the rate of change of pipeline pressure. In addition, by calculating the actual valve closing speed correction coefficient in combination with the operating time of the hydraulic system and the historical operating data of the valve, the influence of the change in the valve's own state on the closing speed is considered, further improving the accuracy of the valve closing speed control. Thus, a more reliable basis can be provided for adjusting the maximum closing speed of the subsequent hydraulic slurry valve, enhancing the effectiveness and reliability of the hydraulic slurry valve control method, and ultimately achieving a more effective response to and reduction of the pressure shock caused by the coal slurry backflow to ensure the safe production of the mine.

[0044] In some specific embodiments, for a coal slurry pipeline system in an inclined roadway coal mine, the main components of the slurry are coal powder and water. By analyzing the slurry composition data, the average particle size of the coal powder and the solid-liquid volume ratio in the slurry are determined. According to the average particle size of the coal powder and the solid-liquid volume ratio, the yield stress parameter and the plastic viscosity parameter of the Bingham model are adjusted. An ultrasonic thickness gauge is used to regularly detect the scaling thickness of the inner wall of the pipeline. According to the scaling thickness, the pipeline roughness parameter in the Darcy-Weisbach formula is adjusted to calculate the pipeline flow resistance parameter. Substituting the corrected Bingham model parameters and pipeline flow resistance parameters into the pre-established hydrodynamic model, a predicted value of the rate of change of pipeline pressure is calculated. By analyzing the operation records of the hydraulic system in the past year, it is found that the output flow of the hydraulic pump shows a decreasing trend with the increase of the operation time, and the actual closing speed of the valve is reduced by a compared with the initial speed, where a is a percentage. Thus, the actual valve closing speed correction coefficient is determined to be 1 - a.

[0045] In some possible embodiments, step S203 includes: Calculating the target maximum closing speed of the hydraulic slurry valve based on the predicted value of the rate of change of pipeline pressure, the actual valve closing speed correction coefficient, and the pressure margin, where the pressure margin is determined according to the pressure fluctuation range in the historical operation data; Adjusting the servo valve opening according to the target maximum closing speed to control the hydraulic cylinder speed; During the process of the hydraulic cylinder driving the hydraulic slurry valve to close, the downstream pipeline pressure is monitored in real time; When the pressure in the downstream pipeline does not reach the preset pressure threshold, the opening of the servo valve is adjusted using the PID control algorithm according to the deviation between the current pressure and the preset pressure threshold and the target maximum closing speed until the pressure in the downstream pipeline reaches the preset pressure threshold.

[0046] Among them, the calculation of the target maximum closing speed is executed, and the pressure margin is determined based on the pressure fluctuation range in the historical operation data. Thus, the setting of the target maximum closing speed has safety redundancy. The opening of the servo valve is adjusted according to the target maximum closing speed, and the cylinder speed is thereby controlled. During the process of the hydraulic cylinder driving the hydraulic pulp valve to close, the pressure in the downstream pipeline is monitored in real time. When the pressure in the downstream pipeline has not reached the preset pressure threshold, the opening of the servo valve is dynamically adjusted using the PID control algorithm according to the deviation between the current pressure and the preset pressure threshold and in combination with the target maximum closing speed. The adoption of the PID control algorithm realizes the real-time feedback and dynamic adjustment of the valve closing process during the rapid closing stage.

[0047] Specifically, during the rapid closing process, if the valve is only closed at a constant speed according to the preset maximum closing speed, during the actual closing process of the valve, the closing speed of the valve may still deviate from the optimal closing trajectory due to various unexpected factors, such as fluctuations in the properties of the pulp or changes in the internal conditions of the pipeline, resulting in the downstream pipeline pressure fluctuation exceeding the expected value and even causing potential safety hazards. To solve the above technical problems, the present application adopts the following technical means: calculate the target maximum closing speed of the hydraulic pulp valve according to the predicted value of the pipeline pressure change rate, the actual closing speed correction coefficient of the valve, and the pressure margin, and the pressure margin is determined according to the pressure fluctuation range in the historical operation data; adjust the opening of the servo valve according to the target maximum closing speed, so as to control the speed of the hydraulic cylinder; during the process of the hydraulic cylinder driving the hydraulic pulp valve to close, monitor the downstream pipeline pressure in real time; when the downstream pipeline pressure does not reach the preset pressure threshold, adjust the opening of the servo valve by using the PID control algorithm according to the deviation between the current pressure and the preset pressure threshold and the target maximum closing speed until the downstream pipeline pressure reaches the preset pressure threshold. Thus, the solution does not directly close the valve at a constant speed with the target maximum closing speed, but after adjusting the opening of the servo valve according to the target maximum closing speed and controlling the speed of the hydraulic cylinder, during the process of the hydraulic cylinder driving the hydraulic pulp valve to close, monitor the downstream pipeline pressure in real time. More importantly, when it is monitored that the downstream pipeline pressure has not reached the preset pressure threshold, the solution will adopt the PID control algorithm to dynamically adjust the opening of the servo valve according to the deviation between the current pressure and the preset pressure threshold and in combination with the previously set target maximum closing speed. This means that during the rapid closing stage, the closing speed of the valve is no longer the constant target maximum closing speed, but is PID regulated according to the real-time pressure deviation to form a closed-loop control. The PID control algorithm can finely adjust the opening of the servo valve according to the magnitude and change trend of the pressure deviation, so as to more precisely control the speed of the hydraulic cylinder and finally realize the dynamic regulation of the valve closing speed. By introducing PID control, real-time feedback and dynamic adjustment of the valve closing process are achieved during the rapid closing stage, overcoming the problem of insufficient pressure control accuracy caused by inaccurate estimation or disturbance factors that may exist, enabling the valve to reach the preset pressure threshold more smoothly while closing rapidly, effectively reducing the pressure impact, and enhancing the safety and reliability of the system. The setting of the target maximum closing speed provides a reference benchmark for PID control, enabling PID control to respond to pressure quickly without over-adjusting and ensuring the efficiency of rapid closing.

[0048] In some specific embodiments, in a sloping roadway coal mine pulp pipeline system, when the main power supply is interrupted and the pipeline is blocked, the hydraulic pulp valve is controlled to close. First, the target maximum closing speed is calculated, and the calculation process comprehensively considers the estimated value of the pipeline pressure change rate, the actual closing speed correction coefficient of the valve, and the pressure margin. Among them, the pressure margin can be set according to the pressure fluctuation range in historical operation data, for example. Subsequently, the opening degree of the servo valve is adjusted according to the calculated target maximum closing speed, thereby controlling the speed of the hydraulic cylinder and driving the hydraulic pulp valve into the rapid closing process. During the valve closing process, the pressure of the pipeline downstream of the valve body is monitored in real time by a pressure sensor. When it is detected that the pressure of the downstream pipeline is lower than the preset pressure threshold, the PID controller is activated. The PID controller takes the deviation between the current pressure and the preset pressure threshold as the input, takes the target maximum closing speed as the reference, calculates and outputs a servo valve opening degree adjustment signal. The servo valve further finely adjusts the opening degree according to the output signal of the PID controller, thereby dynamically adjusting the speed of the hydraulic cylinder, and finally achieving precise control of the valve closing speed. The PID control continues until the pressure of the downstream pipeline reaches the preset pressure threshold. Thus, during the rapid closing stage of the hydraulic pulp valve, the closing speed can be dynamically adjusted according to the actual pressure feedback of the downstream pipeline, ensuring that the valve is smoothly closed in the shortest time, while effectively avoiding the backflow impact pressure caused by too fast closing speed, and ensuring the safe and stable operation of the pipeline system.

[0049] Specifically, step S3 includes: S301. Record the time point when the pressure of the downstream pipeline reaches the preset pressure threshold as the starting time of buffer closing; S302. Sample the actual pressure value at a fixed period; S303. Calculate the difference between the actual pressure value at the current moment and the preset pressure threshold to obtain the current pressure error; S304. Multiply the current pressure error by the integral coefficient to obtain the integral term increment at the current moment; S305. Accumulate the integral term increments from the starting time to the current moment to obtain the error integral.

[0050] Among them, in step S301, the time point when the pressure of the downstream pipeline reaches the preset pressure threshold is recorded, thereby determining the starting moment of the buffer closing operation.

[0051] Among them, in step S302, the actual pressure value is periodically collected at a set fixed time interval, providing a data basis for the subsequent calculation of the pressure error.

[0052] Among them, in step S303, by calculating the difference between the current actual pressure value and the preset pressure threshold, the current pressure error is quantified.

[0053] Among them, in step S304, the current pressure error is multiplied by the integral coefficient to calculate the increment of the integral term at the current moment, and the integral coefficient is a preset parameter.

[0054] Among them, in step S305, all the integral term increments from the buffer closing start time point to the current moment are accumulated, and the error integral value is thus obtained.

[0055] Specifically, in the buffer closing stage of the hydraulic pulp valve, in order to accurately calculate the pressure error and error integral required by the control algorithm, step S3 is executed. First, in step S301, the pressure sensor continuously monitors the pressure in the downstream pipeline. Once the detected pressure reaches the preset pressure threshold, the system immediately records the time point at this moment and sets this time point as the start time of buffer closing, which serves as the reference for subsequent integral calculations. Subsequently, in step S302, the pressure sensor continues to sample the actual pressure value in the downstream pipeline at a fixed time interval, for example, every 0.1 second. The collected pressure data is stored for subsequent error calculations. In step S303, for each sampled actual pressure value, the system calculates the difference between this value and the preset pressure threshold. This difference is the pressure error at the current moment, which reflects the deviation degree between the current pressure and the target pressure. To introduce integral control, step S304 is executed. In step S304, the current pressure error calculated in step S303 is multiplied by a preset integral coefficient to obtain the increment of the integral term at the current moment. The magnitude of the integral coefficient affects the control action intensity of the integral link. Finally, in step S305, starting from the buffer closing start time to the current moment, all the integral term increments generated in step S304 are accumulated. The accumulated result is the error integral value, and the error integral reflects the cumulative situation of the pressure error in the system over a period of time.

[0056] In some specific embodiments, the preset pressure threshold can be set to a value slightly higher than the normal operating pressure. For example, if the normal operating pressure is 3 MPa, the preset pressure threshold can be set to 3.2 MPa. The integral coefficient can be tuned according to specific system response requirements. For example, the integral coefficient can be set to 0.1 or 0.5. In step S302, the period of fixed-period sampling can be selected according to the system dynamic response speed and control accuracy requirements. For example, the sampling period can be set to 0.05 second, 0.1 second, or 0.2 second. Through the above steps, the pressure error and error integral can be accurately calculated, providing accurate input parameters for the subsequent dynamic proportional-integral control algorithm, thereby effectively adjusting the valve closing speed and ultimately achieving the technical effect of reducing the backflow impact pressure.

[0057] In some preferred embodiments, step S4 includes: S401. Obtain the valve opening of the hydraulic pulp valve and the oil temperature of the hydraulic system; S402. Calculate the dynamic friction compensation value and the hydraulic oil viscosity correction coefficient according to the valve opening of the hydraulic pulp valve and the oil temperature of the hydraulic system; S403. According to the pressure error, error integral, dynamic friction compensation value and hydraulic oil viscosity correction coefficient, use the dynamic proportional-integral control algorithm to calculate the valve closing speed, control the hydraulic cylinder speed, realize the adjustment of the valve closing speed, and reduce the reflux impact pressure.

[0058] Among them, in step S401, the valve opening of the hydraulic pulp valve is obtained in real time by a position sensor installed on the valve stem. The position sensor can select a high-precision linear displacement sensor, such as a magnetostrictive sensor or a grating scale sensor, to ensure the accuracy of the valve opening information. The oil temperature of the hydraulic system is monitored in real time by a temperature sensor set on the oil tank or the hydraulic pipeline. The temperature sensor can select a thermal resistance or a thermocouple, etc., and is arranged at a position that can truly reflect the overall oil temperature of the hydraulic system.

[0059] Among them, in step S402, for the calculation of the dynamic friction compensation value and the hydraulic oil viscosity correction coefficient, a function relationship model between the valve opening and the dynamic friction, as well as between the hydraulic oil viscosity and the oil temperature, can be established in advance. The function relationship model between the dynamic friction and the valve opening can be obtained through experimental calibration or simulation analysis, and is stored in the control system in the form of a data table or a fitting formula. The function relationship model between the hydraulic oil viscosity and the oil temperature can be obtained by referring to relevant manuals or conducting experimental tests according to the brand and model of the hydraulic oil. Usually, an empirical formula or an exponential function can be used for fitting. In practical applications, the control system substitutes the real-time collected valve opening and oil temperature data into the pre-established function relationship model to calculate the corresponding dynamic friction compensation value and hydraulic oil viscosity correction coefficient.

[0060] Among them, in step S403, when the dynamic proportional-integral control algorithm calculates the valve closing speed, the pressure error and the error integral are used as the main input quantities, and at the same time, the dynamic friction compensation value and the hydraulic oil viscosity correction coefficient are introduced as correction quantities. The dynamic friction compensation value can be directly superimposed on the output end of the proportional-integral controller to compensate for the control deviation caused by the change of friction. The hydraulic oil viscosity correction coefficient can be used to adjust the parameters of the proportional-integral controller, such as the proportional gain and the integral gain, to adapt to the influence of the change of the hydraulic oil viscosity at different oil temperatures on the dynamic characteristics of the system. By comprehensively considering the pressure error, error integral, dynamic friction compensation and hydraulic oil viscosity correction, the dynamic proportional-integral control algorithm can more accurately calculate the target valve closing speed and control the hydraulic cylinder speed to achieve the precise adjustment of the valve closing speed.

[0061] Specifically, the working principle of the above-described embodiment lies in improving the traditional dynamic proportional-integral control algorithm by introducing two key parameters, namely the valve opening degree and the oil temperature of the hydraulic system, so as to enhance the accuracy and robustness of the valve closing speed control, and ultimately more effectively reduce the backflow impact pressure. During the actual operation of the hydraulic pulp valve, the size of the valve opening degree directly affects the internal friction force of the hydraulic system. The larger the opening degree, the smaller the hydraulic resistance and the smaller the friction force; conversely, when the opening degree decreases, the friction force increases. At the same time, the viscosity of the hydraulic oil is significantly affected by the oil temperature. When the oil temperature rises, the viscosity decreases, and when the oil temperature drops, the viscosity increases. The changes in both the friction force and the viscosity will directly affect the dynamic characteristics of the hydraulic system and the response speed of the valve, and further affect the control accuracy of the valve closing speed. Here, by obtaining the valve opening degree and the oil temperature in real time and using the pre-established function relationship model, the dynamic friction force compensation value and the hydraulic oil viscosity correction coefficient are calculated, realizing the dynamic compensation and correction of the friction force and the viscosity. After introducing these compensation and correction terms into the dynamic proportional-integral control algorithm, the control system can dynamically adjust the control parameters according to the actual working conditions, overcome the influence of the changes in the friction force and the viscosity on the control effect, and thus more precisely control the valve closing speed. This precise control of the valve closing speed enables the valve to effectively suppress the pressure impact generated by the pulp backflow in the pipeline while ensuring rapid closing, protecting the safety of the valve and the pipeline system.

[0062] In some specific embodiments, the valve opening of the hydraulic pulp valve is measured by a magnetostrictive displacement sensor installed on the valve stem, and the oil temperature of the hydraulic system is measured by a PT100 thermal resistance temperature sensor arranged in the oil tank. The functional relationship between the dynamic friction compensation value and the valve opening is obtained through experimental calibration and stored in the control system in the form of a data table. For example, for every 5% valve opening, a corresponding friction compensation value is recorded. The functional relationship between the hydraulic oil viscosity correction coefficient and the oil temperature adopts the viscosity-temperature characteristic curve provided by the hydraulic oil manufacturer and is fitted into an exponential function. In step S403, the dynamic proportional-integral control algorithm first calculates a basic valve closing speed based on the pressure error and the error integral. Then, according to the real-time measured valve opening, the corresponding friction compensation value is obtained by referring to the pre-stored dynamic friction compensation value table. At the same time, according to the real-time measured oil temperature, it is substituted into the exponential function relationship model between the hydraulic oil viscosity and the oil temperature to calculate the hydraulic oil viscosity correction coefficient. Finally, the dynamic friction compensation value is superimposed on the basic valve closing speed, and the superimposed speed value is multiplied by the hydraulic oil viscosity correction coefficient to obtain the final target valve closing speed. Based on this target speed, the control system adjusts the opening of the servo valve based on the PI control method, thereby controlling the speed of the hydraulic cylinder to achieve precise adjustment of the valve closing speed and the purpose of reducing the reflux impact pressure. Through the above specific embodiments, the control accuracy and reliability of the hydraulic pulp valve under complex working conditions can be effectively improved, ensuring the safe production of the mine.

[0063] In some specific embodiments, step S402 includes: Obtain the functional relationship between the valve opening and the dynamic friction compensation value; According to the real-time obtained valve opening, utilize the functional relationship between the valve opening and the dynamic friction compensation value to obtain the corresponding dynamic friction compensation value; Obtain the functional relationship between the hydraulic oil viscosity and the temperature; According to the real-time obtained oil temperature of the hydraulic system, utilize the functional relationship between the hydraulic oil viscosity and the temperature to obtain the corresponding hydraulic oil viscosity correction coefficient.

[0064] Among them, the functional relationships between the valve opening and the dynamic friction compensation value, and between the viscosity of the hydraulic oil and the temperature are pre-established. The functional relationship between the valve opening and the dynamic friction compensation value can be a non-linear functional relationship. For example, it can be obtained by fitting experimental data or deriving from a theoretical model. In the method of fitting experimental data, the dynamic friction at different valve openings can be pre-calibrated, and then the functional relationship can be obtained through curve fitting. In the method of deriving from a theoretical model, a dynamic friction model can be established based on the structural parameters, material properties of the hydraulic valve and the principles of fluid dynamics, so as to obtain the functional relationship. The functional relationship between the viscosity of the hydraulic oil and the temperature is usually a non-linear functional relationship. For example, it can be obtained by using empirical formulas or fitting experimental data. Commonly used empirical formulas include the exponential function model, the Vogel model, etc. In the method of fitting experimental data, the viscosity of the hydraulic oil at different temperatures can be pre-measured, and then the functional relationship can be obtained through curve fitting. In practical applications, the functional relationship can be stored in the control system in the form of data tables, mathematical formulas or program codes. When the control system is running, the dynamic friction compensation value and the viscosity correction coefficient of the hydraulic oil can be calculated in real time according to the measured valve opening and the oil temperature of the hydraulic system by means of looking up tables, formula calculations or program calls.

[0065] Specifically, step S402 aims to accurately obtain the dynamic friction compensation value and the viscosity correction coefficient of the hydraulic oil for use in the subsequent dynamic proportional-integral control algorithm, so as to achieve a more precise adjustment of the valve closing speed. To achieve this goal, the functional relationships between the valve opening and the dynamic friction compensation value, and between the viscosity of the hydraulic oil and the temperature are pre-established. During the control process, the two parameters of the valve opening of the hydraulic pulp valve and the oil temperature of the hydraulic system are collected in real time. The valve opening reflects the opening degree of the valve, and the dynamic friction compensation value will change with the change of the valve opening. The oil temperature of the hydraulic system directly affects the viscosity of the hydraulic oil, and the viscosity correction coefficient of the hydraulic oil needs to be adjusted according to the oil temperature. Thus, through the pre-established functional relationships and combined with the valve opening and the oil temperature data of the hydraulic system collected in real time, the dynamic friction compensation value and the viscosity correction coefficient of the hydraulic oil under the current working conditions can be calculated dynamically. The calculated dynamic friction compensation value and the viscosity correction coefficient of the hydraulic oil will be used in the dynamic proportional-integral control algorithm of step S403 to accurately adjust the valve closing speed, and finally achieve the purpose of reducing the reflux impact pressure.

[0066] In some specific embodiments, the functional relationship between the valve opening and the dynamic friction compensation value is represented as a piecewise linear function. For example, when the valve opening is in the range of 0% - 20%, the dynamic friction compensation value increases rapidly; when the valve opening is in the range of 20% - 80%, the dynamic friction compensation value increases slowly; when the valve opening is in the range of 80% - 100%, the dynamic friction compensation value tends to level off. The functional relationship between the hydraulic oil viscosity and the temperature is represented as an exponential function. For example, the hydraulic oil viscosity decreases exponentially as the temperature rises. The control system pre-stores the parameters of these functional relationships. When the hydraulic valve control method is executed, the control system reads the signals of the valve opening sensor and the temperature sensor in real time to obtain the current valve opening and the hydraulic system oil temperature. The control system substitutes the read valve opening into the piecewise linear function to calculate the dynamic friction compensation value. The control system substitutes the read hydraulic system oil temperature into the exponential function to calculate the hydraulic oil viscosity correction coefficient. The calculated dynamic friction compensation value and the hydraulic oil viscosity correction coefficient are used in the subsequent dynamic proportional-integral control algorithm to achieve precise control of the valve closing speed. By using these functional relationships, the dynamic friction compensation value and the hydraulic oil viscosity correction coefficient can be dynamically adjusted according to the actual working conditions, improving the adaptability and control accuracy of the hydraulic valve control system.

[0067] In some preferred embodiments, step S403 includes: According to the pressure error and the error integral, query the preset control rule table through the fuzzy control algorithm to obtain the basic valve closing speed; Calculate the target valve closing speed based on the basic valve closing speed, the dynamic friction compensation value, and the hydraulic oil viscosity correction coefficient; Adjust the servo valve opening according to the target valve closing speed, so as to control the hydraulic cylinder speed, realize the adjustment of the valve closing speed, and reduce the reflux impact pressure.

[0068] Among them, the fuzzy control algorithm determines the basic valve closing speed based on the pressure error and error integral through a preset control rule table. The control rule table can be constructed as a two-dimensional look-up table, with the pressure error and error integral serving as the two input dimensions of the table respectively, and each entry in the table corresponding to a basic valve closing speed value. The pressure error and error integral are quantified into several levels, such as fuzzy subsets like "negative large", "negative small", "zero", "positive small", "positive large", etc. The control rule table defines the basic valve closing speed to be adopted under various combinations of pressure error and error integral. The dynamic friction compensation value and the hydraulic oil viscosity correction coefficient are used to correct the basic valve closing speed to obtain a more accurate target valve closing speed. The dynamic friction compensation value can be obtained according to the functional relationship between the pre-calibrated valve opening and dynamic friction, and the hydraulic oil viscosity correction coefficient can be obtained according to the pre-established functional relationship between the hydraulic oil viscosity and temperature and the real-time oil temperature. The target valve closing speed is calculated by combining the basic valve closing speed with the dynamic friction compensation value and the hydraulic oil viscosity correction coefficient. For example, the dynamic friction compensation value can be converted into a speed compensation value and added to the viscosity-corrected basic valve closing speed to obtain the final target valve closing speed. The servo valve opening is adjusted according to the target valve closing speed, thereby controlling the speed of the hydraulic cylinder and finally realizing the adjustment of the valve closing speed of the hydraulic pulp valve.

[0069] Specifically, aiming at the problem of limited control accuracy of the dynamic proportional-integral control algorithm in complex hydraulic systems, this solution adopts a fuzzy control algorithm, combined with dynamic friction compensation and hydraulic oil viscosity correction, to achieve precise control of the valve closing speed. First, the system collects the pressure of the downstream pipeline and calculates the pressure error and error integral between the actual pressure and the preset pressure threshold. Then, the pressure error and error integral are used as the inputs of the fuzzy controller, and the basic valve closing speed is determined by referring to the preset control rule table. The design of the control rule table takes into account expert experience and system operation data, enabling the fuzzy controller to output an appropriate valve closing speed according to different pressure states and change trends. To further improve the control accuracy, the system also considers the effects of dynamic friction and hydraulic oil viscosity. The dynamic friction compensation value is adjusted in real time according to the valve opening, compensating for the friction change of the valve at different openings. The hydraulic oil viscosity correction coefficient is corrected according to the real-time oil temperature, adapting to the influence of the change of hydraulic oil viscosity with temperature. By combining the basic valve closing speed with the dynamic friction compensation value and the hydraulic oil viscosity correction coefficient, the target valve closing speed is calculated. Finally, the servo valve adjusts the opening according to the target valve closing speed, precisely controls the speed of the hydraulic cylinder, realizes the adjustment of the valve closing speed, and effectively reduces the reflux impact pressure. Thereby, the smoothness and accuracy of the valve closing process are ensured, and the damage to the valve and pipeline system caused by the reflux impact is reduced.

[0070] In some specific embodiments, the dynamic friction compensation value is obtained through pre-experiment calibration, and a functional relationship between the valve opening and the dynamic friction compensation value is established, such as in the form of a linear function, a polynomial function, or a look-up table. The hydraulic oil viscosity correction coefficient is obtained by referring to a hydraulic oil manual or experimental data, and a functional relationship between the hydraulic oil viscosity and the temperature is established, such as in the form of an exponential function or a look-up table. The target valve closing speed is obtained by calculating the weighted sum of the basic valve closing speed, the dynamic friction compensation value, and the hydraulic oil viscosity correction coefficient. For example, the target valve closing speed = the basic valve closing speed + the speed compensation value × the hydraulic oil viscosity correction coefficient, where the speed compensation value is converted from the dynamic friction compensation value. The servo valve adopts a proportional servo valve or a proportional-integral servo valve, and its opening is proportional to the control signal, thereby achieving precise control of the hydraulic cylinder speed.

[0071] In some embodiments, the steps of obtaining the basic valve closing speed by querying a preset control rule table through a fuzzy control algorithm according to the pressure error and the error integral include: Determine the quantization levels of the pressure error and the error integral, and map the pressure error and the error integral to the corresponding fuzzy subsets; According to the fuzzy subsets to which the pressure error and the error integral belong, query the preset two-dimensional control rule table to obtain the corresponding fuzzy control output; Use the centroid method to defuzzify the fuzzy control output to obtain the basic valve closing speed.

[0072] Among them, the operation of determining the quantization levels of the pressure error and the error integral and mapping the pressure error and the error integral to the corresponding fuzzy subsets may include: First, the actual value ranges of the pressure error and the error integral are divided into several level intervals. For example, the pressure error can be divided into levels such as "negative large", "negative medium", "negative small", "zero", "positive small", "positive medium", "positive large"; the error integral can be divided into levels such as "small", "medium", "large". Then, a fuzzy subset is assigned to each level interval. The fuzzy subset is usually described by a membership function, and the membership function determines the degree to which the input value belongs to the fuzzy subset. For example, for the pressure error level "zero", a triangular membership function can be designed so that when the pressure error is close to zero, the membership degree is close to 1, and when the pressure error is far from zero, the membership degree gradually decreases.

[0073] The query operation of the two-dimensional control rule table may include: establishing a two-dimensional table in advance, where the rows and columns of the table represent the fuzzy subsets of the pressure error and the error integral respectively. Each cell in the table stores a fuzzy control output, which represents a fuzzy description of the desired basic valve closing speed under the combination of the corresponding pressure error and error integral fuzzy subsets, such as "very slow", "slow", "medium", "fast", "very fast", etc. When querying, locate the corresponding cell in the table according to the fuzzy subsets to which the pressure error and the error integral belong, and read the fuzzy control output stored in the cell.

[0074] The operation of defuzzifying the fuzzy control output by the centroid method may include: First, define an output membership function for each fuzzy control output (such as "very slow", "slow", "medium", "fast", "very fast"), and these membership functions are usually preset in advance. Then, according to the fuzzy control output obtained by querying the rule table and the corresponding output membership function, calculate the centroid of the fuzzy set. The abscissa value of the centroid is the defuzzified basic valve closing speed. The calculation formula of the centroid method is: basic valve closing speed = ∑(vi×di) / ∑di, where vi is the speed value at the i-th sampling point, and di is the membership degree at the i-th sampling point.

[0075] Specifically, the technical solution of obtaining the basic valve closing speed by querying the preset control rule table through the fuzzy control algorithm, its working principle is as follows: First, the two key parameters reflecting the system state, namely the pressure error and the error integral, are transformed into fuzzy language for description, so that the control system can handle the uncertainty and fuzziness of the input signal. Subsequently, the control system makes inferences and decisions by simulating expert experience according to the preset fuzzy control rules, and finds the fuzzy control output that matches the current pressure error and error integral fuzzy subsets from the fuzzy control rule table. Finally, through the defuzzification method, the fuzzy control output is transformed into an accurate basic valve closing speed control quantity for subsequent valve adjustment. Thus, the control system can make more full use of the information of the pressure error and the error integral, realize more refined and rapid valve speed control, and improve the control performance of the system.

[0076] In some specific embodiments, the quantization levels of the pressure error are set to seven levels: Negative Big (NB), Negative Medium (NM), Negative Small (NS), Zero (ZO), Positive Small (PS), Positive Medium (PM), Positive Big (PB); the quantization levels of the error integral are set to five levels: Very Small (VS), Small (S), Medium (M), Big (B), Very Big (VB). The fuzzy control rule table is designed as a two-dimensional table with 7 rows and 5 columns, and each cell of the table is filled with a preset fuzzy control output. For example, when the pressure error is "Negative Big (NB)" and the error integral is "Very Big (VB)", the corresponding fuzzy control output is "Very Fast (VF)". In the defuzzification process, the centroid method is specifically implemented as follows: First, determine the speed values corresponding to each fuzzy level. For example, "Very Slow" corresponds to 0.1 m / s, "Slow" corresponds to 0.2 m / s, "Medium" corresponds to 0.5 m / s, "Fast" corresponds to 1 m / s, and "Very Fast" corresponds to 2 m / s. Then, according to the membership function of the fuzzy control output, calculate the centroid of the output fuzzy set, and use the centroid value as the exact value of the basic valve closing speed. For example, if the fuzzy control output is "Medium", and its membership function is 1 between 0.4 m / s and 0.6 m / s and 0 for the rest, the basic valve closing speed calculated by the centroid method is close to 0.5 m / s. Through the above specific embodiments, the fuzzy control algorithm can effectively convert the pressure error and the error integral into an exact basic valve closing speed, providing a reference for subsequent valve control.

[0077] In some possible embodiments, the steps of calculating the target valve closing speed according to the basic valve closing speed, the dynamic friction compensation value, and the hydraulic oil viscosity correction coefficient include: Convert the dynamic friction compensation value into a speed compensation value with the same dimension as the basic valve closing speed; According to the hydraulic oil viscosity correction coefficient, correct the basic valve closing speed to obtain the viscosity-corrected basic valve closing speed; Add the speed compensation value to the viscosity-corrected basic valve closing speed to obtain the target valve closing speed.

[0078] Among them, the conversion of the dynamic friction compensation value into a speed compensation value can be implemented as, for example, establishing a functional relationship between the dynamic friction and the valve speed. Through this functional relationship, the friction force value is mapped to the corresponding speed value to achieve dimensional unity. The correction of the basic valve closing speed by the hydraulic oil viscosity correction coefficient can be implemented as, for example, adopting a multiplication correction method, multiplying the basic valve closing speed by the hydraulic oil viscosity correction coefficient to obtain the basic valve closing speed after viscosity correction. The addition of the speed compensation value and the basic valve closing speed after viscosity correction can be implemented as, for example, directly performing arithmetic addition on the two speed values to obtain the final target valve closing speed, which comprehensively considers the influence of friction and the change of oil viscosity.

[0079] Specifically, in the control process of the hydraulic pulp valve, first, based on the pressure error and error integral, the basic valve closing speed is preliminarily determined through a fuzzy control algorithm. To improve the accuracy of valve control, the influences of dynamic friction and hydraulic oil viscosity are further considered. The dynamic friction compensation value is converted into a speed compensation value to reflect the direct influence of friction on the valve speed. The hydraulic oil viscosity correction coefficient is used to correct the viscosity change caused by the oil temperature change and adaptively adjust the basic valve closing speed. Thus, by adding the speed compensation value and the basic valve closing speed after viscosity correction, the target valve closing speed is finally obtained. The control system adjusts the servo valve opening according to this target valve closing speed, and then controls the hydraulic cylinder speed to achieve precise adjustment of the valve closing speed, thereby effectively reducing the reflux impact pressure and ensuring the safe and stable operation of the pipeline system.

[0080] When adjusting the servo valve opening according to the target valve closing speed to control the hydraulic cylinder speed and achieve valve closing speed adjustment and reduce the reflux impact pressure, based on the target valve closing speed, the opening of the servo valve is adjusted based on the PI control method (specifically, the PI control algorithm formula is used to calculate the output speed, and the calculation formula is v1 = v0 - Kp*e - Ki*I, where v1 is the output speed, v0 is the target valve closing speed, e is the pressure error, I is the error integral, Kp is the proportional gain coefficient, and Ki is the integral gain coefficient; then the opening of the servo valve is adjusted according to the output speed v1), and then the speed of the hydraulic cylinder is controlled.

[0081] Reference Figure 2 , this application also provides a hydraulic valve control device based on a dual-electric dual-pump hydraulic system, which is used in the inclined roadway coal mine pulp pipeline system to control the hydraulic pulp valve by using the dual-power dual-pump hydraulic system when the main power supply is interrupted and the pipeline is blocked. The device includes: A pressure monitoring module 1, which is used to monitor the pressure of the pipeline downstream of the hydraulic pulp valve body in real time (the specific process refers to step S1 in the previous text); The quick - closing module 2 is used to drive the hydraulic pulp valve to quickly close at the maximum speed until the pressure in the downstream pipeline reaches the preset pressure threshold when the pressure in the downstream pipeline does not reach the preset pressure threshold (for the specific process, refer to step S2 in the previous text). The buffer - switching module 3 is used to enter the buffer - closing stage when the pressure in the downstream pipeline reaches the preset pressure threshold, and calculate the current pressure error and error integral (for the specific process, refer to step S3 in the previous text). The speed - regulating module 4 is used to calculate the valve - closing speed by using the dynamic proportional - integral control algorithm according to the pressure error and error integral, control the speed of the hydraulic cylinder, realize the adjustment of the valve - closing speed, and reduce the back - flow impact pressure (for the specific process, refer to step S4 in the previous text).

[0082] In the embodiments provided in the present application, it should be understood that the disclosed device and method can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the couplings or direct couplings or communication connections shown or discussed with each other can be through some communication interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical or other forms.

[0083] In addition, the units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units. They can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0084] Furthermore, in each embodiment of the present application, the functional modules can be integrated together to form an independent part, or each module can exist alone, or two or more modules can be integrated to form an independent part.

[0085] In this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0086] The above - mentioned are only the embodiments of the present application and are not used to limit the protection scope of the present application. For those skilled in the art, the present application can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A hydraulic valve control method based on a dual-power and dual-pump hydraulic system, which is used in the coal slurry pipeline system of inclined roadway coal mines. When the main power supply is interrupted and the pipeline is blocked, the dual-power and dual-pump hydraulic system is used to control the hydraulic coal slurry valve. The method is characterized in that The method includes: S1. Monitor the pressure of the pipeline downstream of the hydraulic pulp valve body in real time; S2. When the pressure of the downstream pipeline does not reach the preset pressure threshold, drive the hydraulic pulp valve to close quickly at the maximum speed until the pressure of the downstream pipeline reaches the preset pressure threshold; S3. When the pressure of the downstream pipeline reaches the preset pressure threshold, enter the buffer closing stage, and calculate the current pressure error and error integral; S4. According to the pressure error and error integral, use the dynamic proportional-integral control algorithm to calculate the valve closing speed, control the hydraulic cylinder speed, realize the adjustment of the valve closing speed, and reduce the reflux impact pressure.

2. The hydraulic valve control method based on a double-electric double-pump hydraulic system according to claim 1, wherein, Step S2 includes: S201. Obtain the pulp concentration, flow rate, and hydraulic system operation time; S202. According to the pulp concentration, flow rate, and hydraulic system operation time, calculate the predicted value of the pipeline pressure change rate and the correction coefficient of the actual valve closing speed; S203. According to the predicted value of the pipeline pressure change rate and the correction coefficient of the actual valve closing speed, adjust the maximum closing speed of the hydraulic pulp valve, and drive the hydraulic pulp valve to close until the pressure of the downstream pipeline reaches the preset pressure threshold.

3. A hydraulic valve control method based on a double-electric double-pump hydraulic system according to claim 2, characterized in that, Step S202 includes: Obtain the pulp composition data and the scaling thickness data of the pipeline inner wall; According to the pulp composition data, correct the pulp rheological property model to obtain the corrected pulp rheological property parameters; According to the scaling thickness data of the pipeline inner wall, correct the pipeline flow resistance calculation model to obtain the corrected pipeline flow resistance parameters; Substitute the corrected pulp rheological property parameters and the corrected pipeline flow resistance parameters into the hydrodynamic model to calculate the predicted value of the pipeline pressure change rate; According to the hydraulic system operation time, combined with the valve historical operation data, calculate the correction coefficient of the actual valve closing speed.

4. A hydraulic valve control method based on a dual-electric and dual-pump hydraulic system according to claim 2, characterized in that, Step S203 includes: According to the predicted value of the pipeline pressure change rate, the correction coefficient of the actual valve closing speed, and the pressure margin (the pressure margin is determined according to the pressure fluctuation range in the historical operation data), calculate the target maximum closing speed of the hydraulic pulp valve; According to the target maximum closing speed, adjust the servo valve opening degree, so as to control the hydraulic cylinder speed; During the process of the hydraulic cylinder driving the hydraulic pulp valve to close, monitor the downstream pipeline pressure in real time; When the downstream pipeline pressure does not reach the preset pressure threshold, according to the deviation between the current pressure and the preset pressure threshold and the target maximum closing speed, use the PID control algorithm to adjust the servo valve opening degree until the downstream pipeline pressure reaches the preset pressure threshold.

5. A hydraulic valve control method based on a double-electric double-pump hydraulic system according to claim 1, characterized in that, Step S3 includes: S301. Record the time point when the pressure of the downstream pipeline reaches the preset pressure threshold as the starting time of buffer closing; S302. Sample the actual pressure value at a fixed period; S303. Calculate the difference between the actual pressure value at the current moment and the preset pressure threshold to obtain the current pressure error; S304. Multiply the current pressure error by the integral coefficient to obtain the integral term increment at the current moment; S305. Accumulate the integral term increments from the starting time to the current moment to obtain the error integral.

6. A hydraulic valve control method based on a double-electric double-pump hydraulic system according to claim 1, characterized in that Step S4 includes: S401. Obtain the valve opening degree of the hydraulic pulp valve and the oil temperature of the hydraulic system; S402. Calculate the dynamic friction force compensation value and the hydraulic oil viscosity correction coefficient according to the valve opening of the hydraulic pulp valve and the oil temperature of the hydraulic system; S403. According to the pressure error, error integral, dynamic friction force compensation value and hydraulic oil viscosity correction coefficient, use the dynamic proportional-integral control algorithm to calculate the valve closing speed, control the hydraulic cylinder speed, realize the adjustment of the valve closing speed, and reduce the reflux impact pressure.

7. A hydraulic valve control method based on a double-electric double-pump hydraulic system according to claim 6, characterized in that Step S402 includes: Obtain the functional relationship between the valve opening and the dynamic friction force compensation value; According to the valve opening obtained in real time, use the functional relationship between the valve opening and the dynamic friction force compensation value to obtain the corresponding dynamic friction force compensation value; Obtain the functional relationship between the hydraulic oil viscosity and the temperature; According to the oil temperature of the hydraulic system obtained in real time, use the functional relationship between the hydraulic oil viscosity and the temperature to obtain the corresponding hydraulic oil viscosity correction coefficient.

8. A hydraulic valve control method based on a double-electric double-pump hydraulic system according to claim 6, characterized in that Step S403 includes: According to the pressure error and error integral, query the preset control rule table through the fuzzy control algorithm to obtain the basic valve closing speed; Calculate the target valve closing speed according to the basic valve closing speed, dynamic friction force compensation value and hydraulic oil viscosity correction coefficient; According to the target valve closing speed, adjust the servo valve opening, so as to control the hydraulic cylinder speed, realize the adjustment of the valve closing speed, and reduce the reflux impact pressure.

9. A hydraulic valve control method based on a double-electric double-pump hydraulic system according to claim 8, characterized in that The step of calculating the target valve closing speed according to the basic valve closing speed, dynamic friction force compensation value and hydraulic oil viscosity correction coefficient includes: Convert the dynamic friction force compensation value into a speed compensation value with the same dimension as the basic valve closing speed; According to the hydraulic oil viscosity correction coefficient, correct the basic valve closing speed to obtain the basic valve closing speed after viscosity correction; Add the speed compensation value to the basic valve closing speed after viscosity correction to obtain the target valve closing speed.

10. A hydraulic valve control device based on a dual-power and dual-pump hydraulic system, which is used in the slurry pipeline system of inclined roadway coal mines. When the main power supply is interrupted and the pipeline is blocked, the dual-power and dual-pump hydraulic system is used to control the hydraulic slurry valve. It is characterized in that, The device includes: A pressure monitoring module for monitoring the pressure of the pipeline downstream of the hydraulic pulp valve body in real time; A quick closing module for driving the hydraulic pulp valve to quickly close at the maximum speed until the pressure of the downstream pipeline reaches the preset pressure threshold when the pressure of the downstream pipeline does not reach the preset pressure threshold; A buffer switching module for entering the buffer closing stage when the pressure of the downstream pipeline reaches the preset pressure threshold, and calculating the current pressure error and error integral; A speed adjustment module for calculating the valve closing speed according to the pressure error and error integral, using the dynamic proportional-integral control algorithm to control the hydraulic cylinder speed, realizing the adjustment of the valve closing speed, and reducing the reflux impact pressure.

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