Hydraulic control system

Abstract

The invention discloses a hydraulic control system, which belongs to the field of hydraulic control, and comprises a power execution module, a control regulation module and a sensing feedback module, in the slurry manufacturing stage, data are collected through a sensor, the abnormal condition of the slurry temperature is detected to judge whether the slurry temperature is adjusted or not, and based on the real-time slurry viscosity, the rotating speed of a stirring shaft is adjusted in a self-adaptive mode by adjusting the hydraulic flow of a hydraulic motor of a stirring driver; acquiring driver data to monitor a control instruction implementation result, performing abnormality evaluation analysis on a driver through threshold judgment and abnormality score calculation, and generating an updated driver control signal after a driver instruction regeneration signal is received; monitoring abnormal conditions of data acquired by various deployed sensors, monitoring abnormal data of the sensors, and monitoring duration of the abnormal data so as to carry out abnormal early warning and generate abnormal early warning information; the problem that the slurry temperature of die-casting equipment under hydraulic control is difficult to adaptively adjust and disturb is solved.

Description

Technical Field

[0001] The present invention relates to the field of hydraulic control, and more specifically to a hydraulic control system. Background Art

[0002] In modern industrial manufacturing, numerous advanced forming processes have emerged to meet the requirements for high-precision, high-strength, and complex-structured components in various fields. Among these processes, a new type of forming technology has gradually emerged. The raw materials involved have unique rheological properties, being between liquid and solid states. Under specific pressure, they can flow like a liquid and fill the mold cavity, and are widely used in manufacturing components with complex shapes, thin walls, and high strength. However, the efficient and precise implementation of this new type of forming process has extremely strict requirements for its supporting hydraulic control system. Throughout the entire process flow, from the control of key parameters during the pre-treatment of raw materials, to the closing of the mold, the filling of materials, the maintenance of pressure, to the opening of the mold and the demolding of products, etc., a series of complex actions must precisely control the flow direction, pressure, and flow rate of the oil in the hydraulic system.

[0003] Chinese Patent Application with Publication No. CN112916820A discloses a die-casting intelligent control system, including a frame, a bearing platform, a lifting module, a mold, a translation module, a lead injection device, a ejector rod mechanism, a hydraulic station, a first proportional valve, a second proportional valve, and a control module. The lifting group can drive the bearing platform to rise or fall. The mold is arranged on the bearing platform, and an ejection hole is provided at the bottom of the mold. The translation module is arranged on the bearing platform, and the translation module can drive the mold to move on the bearing platform. The lead injection device is arranged on the frame for injecting lead liquid into the mold. The ejector rod mechanism is arranged on the bearing platform, and the ejector rod mechanism corresponds to the ejection hole. The hydraulic station is arranged on the frame, and the hydraulic station is respectively connected to the lifting module, the translation module, and the ejector rod mechanism. The first proportional valve is arranged between the lifting module and the hydraulic station, and the second proportional valve is arranged between the translation module and the hydraulic station. The control module is arranged on the frame, and the control module controls the operation of this control system.

[0004] Although the prior art achieves the purpose of high positioning accuracy and smooth mold movement by precisely controlling the flow rate of hydraulic oil. However, in the production of die-casting equipment slurries, it still fails to solve problems such as the precise adaptive control of slurry temperature under complex working conditions, the precise control of the stirring process based on the real-time characteristics of the slurry, the effective monitoring of the operating states of various drivers in the entire system, and the timely correction of abnormal instructions. Therefore, in order to overcome these limitations, the present invention proposes a hydraulic control system. Summary of the Invention

[0005] Aiming at the deficiencies of the existing technology, the purpose of the present invention is to provide a hydraulic control system, which solves the problems that the temperature of hydraulic regulation and the rotational speed of the stirring shaft cannot be accurately controlled by using the real-time state of the slurry, and the state of the hydraulic actuator cannot be effectively monitored and its abnormal instructions cannot be processed, resulting in poor overall performance of the system and difficulty in meeting the production requirements. Through the coordinated work of the power execution module, the control and regulation module, and the sensing and feedback module, it can collect data by sensors during the slurry production stage, achieve precise regulation of the slurry temperature and adaptive control of the rotational speed of the stirring shaft, and at the same time effectively monitor the actuator and correct abnormal instructions, thereby improving the stability, reliability, and control accuracy of the system and better meeting the actual production requirements.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A hydraulic control system, comprising a power execution module, a control and regulation module, and a sensing and feedback module;

[0008] The power execution module is used to collect data through sensors during the slurry production stage, detect abnormal slurry temperature conditions to determine whether to adjust the slurry temperature. If the slurry temperature is adjusted, the opening of the heat exchange medium hydraulic valve is adjusted through the opening actuator; and based on the real-time slurry viscosity, the rotational speed of the stirring shaft is adaptively adjusted by adjusting the hydraulic flow rate of the hydraulic motor of the stirring actuator.

[0009] The control and regulation module is used to collect data through sensors, collect actuator data to monitor the implementation results of control instructions, conduct abnormal evaluation and analysis of the actuator through threshold judgment and abnormal score calculation, and generate an updated actuator control signal when receiving the actuator instruction regeneration signal;

[0010] The sensing and feedback module is used to monitor the abnormal data conditions of the data collected by various deployed sensors, set thresholds to monitor abnormal sensor data, monitor the duration of abnormal data, issue abnormal warnings, and generate sensor abnormal warning information.

[0011] Specifically, the power execution module includes a temperature regulation unit and a stirring control unit;

[0012] An adaptive exchange strategy is configured in the temperature regulation unit. The adaptive exchange strategy is used to collect data through sensors, detect abnormal slurry temperature conditions, calculate the abnormal degree score of the slurry temperature trend, and judge whether to adjust the slurry temperature according to the abnormal score threshold. If the slurry temperature is adjusted, the target mass flow rate of the heat exchange medium is obtained according to the heat balance equation, and the opening of the heat exchange medium hydraulic valve is adjusted through hydraulic control.

[0013] The stirring control unit is configured with an adaptive control strategy, which is used to collect data through sensors, construct a stirring reference model and adaptively update parameters, calculate the expected torque of the stirring shaft in real time, combine the inherent properties of the stirring drive, obtain the target hydraulic flow rate for driving the hydraulic motor of the stirring drive, output the control signal of the stirring drive, and adjust the rotational speed of the stirring shaft in real time according to the slurry viscosity.

[0014] Specifically, the steps of the adaptive exchange strategy include:

[0015] Deploy sensors at key positions of the heat exchanger and the slurry container, and set a fixed acquisition frequency to collect sensor data;

[0016] According to the slurry material, set the solid-liquid phase line temperature range of the slurry, configure the anomaly threshold, and detect potential temperature anomaly points where the slurry temperature data is outside the anomaly threshold range according to the anomaly threshold. Set the period for evaluating the deviation degree of the anomaly points, and calculate the deviation degree of the potential temperature anomaly points based on the difference between the slurry temperature at the potential temperature anomaly point and the average slurry temperature within the period for evaluating the deviation degree of the anomaly point.

[0017] Configure the deviation threshold. If the deviation degree of the potential temperature anomaly point is greater than the deviation threshold, mark it as a temperature anomaly point, and use the average slurry temperature within the period for evaluating the deviation degree of the anomaly point to replace the slurry temperature at the temperature anomaly point.

[0018] Conduct a temperature change trend analysis on the slurry temperature data after outlier processing, and calculate the short-term change degree of the slurry temperature data in real time, that is:

[0019]

[0020] Wherein, is the short-term change degree of the slurry temperature data at the th sampling point, is the slurry temperature data at the th sampling point, is the slurry temperature data at the th sampling point, is the slurry temperature data at the th sampling point, is the time interval of the acquisition frequency;

[0021] Configure the short-term change threshold , when the short-term change degree of the slurry temperature data is outside the short-term change threshold range, that is: or when, it is determined that there is a short-term abnormal fluctuation in the slurry temperature data.

[0022] Specifically, the steps of the adaptive exchange strategy further include:

[0023] Set the abnormal evaluation interval When short-term abnormal fluctuations are detected in the slurry temperature data or after one abnormal evaluation interval, evaluate the degree of trend abnormality of the slurry temperature data, that is:

[0024]

[0025] Wherein, is the score of the slurry temperature trend abnormality degree of the th sampling point, is the slope of the fitting straight line equation of the slurry temperature changing with time within the abnormal evaluation interval, is the degree of short-term change of the slurry temperature data of the th sampling point, The value range of is is the time interval of the abnormal evaluation interval, is the slurry solid-liquid phase line temperature range, , and are non-negative weighting coefficients respectively;

[0026] Configure the abnormal score threshold. If the score of the slurry temperature trend abnormality degree is less than the abnormal score threshold, no operation is performed. If the score of the slurry temperature trend abnormality degree is greater than or equal to the abnormal score threshold, adjust the slurry temperature.

[0027] Specifically, the steps of the adaptive exchange strategy further include:

[0028] Obtain the current slurry temperature and the heat exchanger temperature, combine the slurry mass, slurry specific heat capacity, mass flow rate of the heat exchange medium, specific heat capacity of the heat exchange medium and the set expected slurry temperature in the slurry container, establish a heat balance equation in the heat exchange process, and calculate the target mass flow rate of the heat exchange medium;

[0029] According to the characteristics of the heat exchange medium pipeline in the heat exchanger, establish a characteristic curve of the mass flow rate of the heat exchange medium and the opening of the hydraulic valve. According to the current mass flow rate of the heat exchange medium and the target mass flow rate of the heat exchange medium, obtain the target hydraulic valve opening of the heat exchange medium in the heat exchanger;

[0030] Obtain the current hydraulic valve opening of the heat exchange medium, calculate the change amount of the hydraulic valve opening according to the target hydraulic valve opening, convert the change amount of the hydraulic valve opening into a hydraulic control signal of the opening driver, and the opening driver drives and adjusts the hydraulic flow rate of the hydraulic valve of the heat exchange medium in the opening driver according to the control signal;

[0031] Configure the deviation threshold, set the temperature recheck interval. After the hydraulic valve opening of the heat exchange medium is adjusted, after the temperature recheck interval, obtain the slurry temperature and calculate the deviation from the expected slurry temperature. If it is greater than the deviation threshold, continue to adjust the slurry temperature; otherwise, do nothing.

[0032] Specifically, the steps of the adaptive control strategy include:

[0033] Deploy sensors at key positions of the stirring drive and the slurry container, and set a fixed acquisition frequency to collect sensor data;

[0034] According to the rheological properties of the slurry, set the initial rotational speed range of the stirring drive, and set the maximum allowable torque of the stirring shaft according to the mechanical strength of the stirring drive;

[0035] Construct a stirring reference model of the torque of the stirring shaft, the rotational speed of the stirring shaft, and the slurry viscosity. Using the gradient descent method, calculate the torque error signal, and update the initial parameters of the stirring reference model according to the torque error signal;

[0036] Obtain the slurry viscosity and the rotational speed of the stirring shaft in real time, calculate the desired torque of the stirring shaft, and establish a torque-rotational speed-pressure difference characteristic equation of the hydraulic motor of the stirring drive according to the inherent properties of the stirring drive;

[0037] According to the torque-rotational speed-pressure difference characteristic equation of the hydraulic motor of the stirring drive and the desired torque of the stirring shaft, calculate the hydraulic inlet and outlet pressure difference of the hydraulic motor of the stirring drive and the target rotational speed of the hydraulic motor of the stirring drive, that is:

[0038]

[0039]

[0040] Among them, is the hydraulic inlet and outlet pressure difference of the hydraulic motor of the stirring drive at the th sampling point, is the target rotational speed of the hydraulic motor of the stirring drive at the th sampling point, is the desired torque of the stirring shaft at the th sampling point, 、 and are the fitting coefficients of the torque-rotational speed-pressure difference characteristic equation of the hydraulic motor of the stirring drive respectively, is the slurry viscosity at the th sampling point, and are the initial parameters of the updated stirring reference model;

[0041] Based on the hydraulic pressure difference between the inlet and outlet of the hydraulic motor of the stirring drive and the target speed of the hydraulic motor of the stirring drive, obtain the target hydraulic flow rate for driving the hydraulic motor of the stirring drive, calculate the hydraulic flow error of the current hydraulic motor of the stirring drive, output the hydraulic flow control signal of the stirring drive, and adjust the rotation speed of the stirring shaft.

[0042] Specifically, the control and adjustment module includes an abnormality detection unit and an instruction update unit;

[0043] An intelligent decision-making strategy is configured in the abnormality detection unit. The intelligent decision-making strategy is used to monitor the implementation status of the control instruction of the drive according to the sensor data, conduct abnormal analysis of temperature change and torque abnormality by calculating the slurry temperature trend evaluation score and the torque abnormality score, obtain the implementation situation of the drive control instruction, and judge whether to regenerate the instruction or give an abnormality warning.

[0044] Specifically, the steps of the intelligent decision-making strategy include:

[0045] Deploy sensors at key positions of the drive and the slurry container, and set a fixed acquisition frequency to collect sensor data;

[0046] When triggering the adjustment of the slurry temperature, obtain the set expected slurry temperature, the target hydraulic valve opening of the heat exchange medium in the heat exchanger, and the hydraulic flow rate of the hydraulic valve driving the heat exchange medium in the opening drive;

[0047] Configure the monitoring interval threshold. During the monitoring interval after starting the slurry temperature adjustment, evaluate the slurry temperature trend, and calculate the slurry temperature trend evaluation score by combining the slurry temperature change direction and the slurry temperature fluctuation stability;

[0048] Configure the trend evaluation threshold. If the slurry temperature trend evaluation score is less than the trend evaluation threshold, conduct abnormal analysis of the slurry temperature change, otherwise do not perform any processing;

[0049] Configure the opening deviation threshold and the hydraulic deviation threshold, obtain the position of the heat exchange medium hydraulic valve in the opening drive, and calculate the real-time opening deviation between the opening of the heat exchange medium hydraulic valve and the target hydraulic valve opening;

[0050] If the real-time opening deviation is greater than the opening deviation threshold, obtain the real-time hydraulic flow rate of the hydraulic valve driving the heat exchange medium in the opening drive;

[0051] Calculate the real-time hydraulic deviation between the real-time hydraulic flow rate and the hydraulic flow rate of the control instruction of the opening drive. If the real-time hydraulic deviation is greater than the hydraulic deviation threshold, regenerate the control instruction of the opening drive and continue to adjust the opening of the heat exchange medium hydraulic valve. Otherwise, give an abnormality warning and generate the warning information of the opening drive;

[0052] If the real-time opening deviation is less than or equal to the opening deviation threshold, an abnormal warning is given, and a warning message for the heat exchange medium is generated.

[0053] Specifically, the steps of the intelligent decision-making strategy further include:

[0054] Configure a torque range interval, and monitor the torque of the stirring shaft of the stirring drive in real time. When the torque of the stirring shaft collected exceeds the torque range interval, the torque of the stirring shaft within the monitoring interval is obtained according to the monitoring interval threshold;

[0055] Based on the torque of the stirring shaft within the monitoring interval, torque abnormality monitoring is performed, and the torque abnormality score of the stirring shaft is calculated through the number of abnormal points of the torque of the stirring shaft and the fluctuation stability of the torque of the stirring shaft;

[0056] Configure a torque evaluation threshold. If the torque abnormality score of the stirring shaft is less than the torque evaluation threshold, torque abnormality analysis is performed, otherwise no processing is performed;

[0057] Configure a rotational speed deviation threshold, obtain the real-time slurry viscosity and the real-time rotational speed of the stirring shaft, obtain the target rotational speed of the hydraulic motor of the stirring drive according to the slurry viscosity, and calculate the real-time rotational speed deviation between the real-time rotational speed of the stirring shaft and the target rotational speed of the hydraulic motor of the stirring drive;

[0058] If the real-time rotational speed deviation is greater than the rotational speed deviation threshold, obtain the target hydraulic flow rate and the real-time hydraulic flow rate for driving the hydraulic motor of the stirring drive;

[0059] Calculate the real-time hydraulic deviation. If the real-time hydraulic deviation is greater than the hydraulic deviation threshold, a control instruction for the stirring drive is regenerated, and the target rotational speed of the hydraulic motor of the stirring drive is continuously adjusted. Otherwise, an abnormal warning is given, and a warning message for the stirring drive is generated;

[0060] If the real-time rotational speed deviation is less than or equal to the rotational speed deviation threshold, an abnormal warning is given, and a warning message for the stirring shaft is generated.

[0061] Specifically, the sensing feedback module includes a data monitoring unit and a warning processing unit;

[0062] An abnormal recognition strategy is configured in the data monitoring unit. The abnormal recognition strategy is used to monitor the data collected by the sensor in real time, and identify potential abnormal data by comparing with the preset normal data range of the sensor;

[0063] A continuous monitoring strategy is configured in the warning processing unit. The continuous monitoring strategy is used to continuously track and monitor the identified potential abnormal data, judge the severity of the abnormality by recording the duration and change of the abnormal data, and generate a sensor abnormal warning message.

[0064] Advantages of the present invention:

[0065] 1. Data is collected by deploying sensors at key parts of the heat exchanger and the slurry container. According to the slurry material, the solid-liquid phase line temperature range is set. A series of threshold detection and analysis mechanisms, such as abnormal threshold, deviation threshold, short-term change threshold, and abnormal score threshold, are used to accurately judge whether the slurry temperature is abnormal. By calculating the deviation degree and short-term change degree of potential temperature abnormal points, and combining with long-term trend evaluation, a precise decision is made on whether to adjust the temperature. Once it is determined to adjust, the mass flow rate of the target heat exchange medium is accurately calculated according to the heat balance equation, and then according to the characteristic curve of the mass flow rate of the heat exchange medium and the opening of the hydraulic valve, the opening of the hydraulic valve of the heat exchange medium is accurately adjusted to ensure that the slurry temperature is stable in the ideal process range, effectively preventing the adverse effects of temperature fluctuations on the slurry quality and ensuring the stability of product quality.

[0066] 2. Based on the sensor data at key positions of the stirring drive and the slurry container, an appropriate initial rotation speed range of the stirring drive and the maximum allowable torque of the stirring shaft are set according to the rheological characteristics of the slurry. By constructing a stirring reference model and adaptively updating parameters, the expected torque of the stirring shaft is calculated in real time according to the slurry viscosity and the rotation speed of the stirring shaft, and the target hydraulic flow rate is determined in combination with the inherent properties of the stirring drive, so as to accurately adjust the rotation speed of the stirring shaft. This adaptive strategy can automatically optimize the stirring parameters according to the real-time characteristics of the slurry, ensure uniform and efficient stirring, avoid uneven stirring or over-stirring, improve the stability of slurry quality and production efficiency, and reduce production costs.

[0067] 3. According to the intelligent decision-making strategy of the anomaly detection unit, the implementation status of the drive control instruction is closely monitored. By calculating the slurry temperature trend score and the torque anomaly score, and combining multiple threshold settings, such as monitoring interval threshold, trend evaluation threshold, opening deviation threshold, hydraulic deviation threshold, torque range interval, torque evaluation threshold, rotation speed deviation threshold, etc., it is accurately judged whether the drive is abnormal. Once an anomaly is detected, the instruction update unit can quickly regenerate the control instruction and make a precise adjustment to the drive to ensure its stable operation according to the expected instruction, effectively reducing the risk of system failure and production interruption, improving the overall stability and reliability of the hydraulic control system, reducing equipment maintenance costs and downtime, and enhancing production efficiency. Description of the Drawings

[0068] Figure 1 It is a schematic structural diagram of a hydraulic control system of the present invention;

[0069] Figure 2 It is a flowchart of the specific steps of the adaptive exchange strategy of the present invention;

[0070] Figure 3 It is a flowchart of the specific steps for adjusting the slurry temperature of the present invention;

[0071] Figure 4Flow chart of the specific steps of the adaptive control strategy of the present invention;

[0072] Figure 5 Flow chart of the specific steps of the intelligent decision-making strategy of the present invention;

[0073] Figure 6 Flow chart of the specific steps for analyzing abnormal changes in the slurry temperature of the present invention;

[0074] Figure 7 Flow chart of the specific steps for analyzing abnormal torque of the present invention. Detailed implementation mode

[0075] Please refer to Figure 1 , this embodiment introduces a hydraulic control system, including a power execution module, a control adjustment module, and a sensing feedback module;

[0076] The power execution module is used to collect data through sensors during the slurry production stage, detect abnormal slurry temperature conditions to determine whether to adjust the slurry temperature. If the slurry temperature is adjusted, the opening of the heat exchange medium hydraulic valve is adjusted through the opening driver; and based on the real-time slurry viscosity, the hydraulic flow rate of the hydraulic motor of the stirring driver is adjusted to adaptively adjust the rotation speed of the stirring shaft;

[0077] Preferably, the power execution module includes a temperature adjustment unit and a stirring control unit;

[0078] An adaptive exchange strategy is configured in the temperature adjustment unit. The adaptive exchange strategy is used to collect data through sensors, detect abnormal slurry temperature conditions, calculate the abnormal degree score of the slurry temperature trend, and determine whether to adjust the slurry temperature according to the abnormal score threshold. If the slurry temperature is adjusted, the target mass flow rate of the heat exchange medium is obtained according to the heat balance equation, and the opening of the heat exchange medium hydraulic valve is adjusted through hydraulic control;

[0079] An adaptive control strategy is configured in the stirring control unit. The adaptive control strategy is used to collect data through sensors, construct a stirring reference model and adaptively update parameters, calculate the expected stirring shaft torque in real time, combine the inherent properties of the stirring driver, obtain the target hydraulic flow rate for driving the hydraulic motor of the stirring driver, output a control signal for the stirring driver, and adjust the rotation speed of the stirring shaft in real time according to the slurry viscosity.

[0080] Please refer to Figure 2 , preferably, the specific steps of the adaptive exchange strategy include:

[0081] Deploy sensors at key positions of the heat exchanger and the slurry container, including temperature sensors and pressure sensors, and set a fixed acquisition frequency to collect sensor data to obtain the heat exchange medium temperature, heat exchange medium pressure, slurry temperature, and slurry pressure;

[0082] Set the solid-liquid phase line temperature range of the slurry according to the slurry material , where is the lowest temperature of the semi-solid state of the slurry, is the highest temperature of the semi-solid state of the slurry; clarify the reasonable temperature range boundary when the slurry is in the semi-solid state, provide an important reference standard for judging whether the slurry temperature is normal, help accurately distinguish whether the slurry temperature is within the normal process requirement range or there is an abnormal deviation, and is an important basis for subsequent temperature anomaly detection work

[0083] Configure the anomaly threshold , where is less than , is greater than . According to the anomaly threshold, detect potential temperature anomaly points outside the anomaly threshold range of the slurry temperature data, and calculate the deviation degree of the potential temperature anomaly points. The calculation formula of the deviation degree is as follows

[0084]

[0085] where is the deviation degree of the slurry temperature data at the th sampling point, is the slurry temperature data at the th sampling point, is the number of periods for evaluating the deviation degree of the anomaly point, is the slurry temperature data at the th sampling point; quantify the degree of its anomaly by calculating the deviation degree, intuitively reflect the deviation situation of the temperature anomaly, so as to provide a detailed basis for further taking targeted treatment measures, and effectively avoid adverse effects on the slurry quality and production process caused by undetected temperature anomalies

[0086] Configure the deviation threshold. If the deviation degree of the potential temperature anomaly point is greater than the deviation threshold, mark it as a temperature anomaly point, and use the average value of the slurry temperature at the previous sampling points to replace the slurry temperature where the temperature anomaly point is located to achieve the processing of the slurry temperature anomaly value, otherwise do not perform any operation; correct the identified abnormal temperature data, so that subsequent temperature analysis is based on relatively smooth data that can better reflect the true trend, reduce the interference of abnormal values caused by equipment reasons on the overall temperature trend judgment and related calculations, and improve the accuracy of subsequent analysis and decision-making

[0087] Conduct a short-term temperature change trend analysis on the slurry temperature data after anomaly value processing, and calculate the short-term change degree of the slurry temperature data in real time, that is

[0088]

[0089] Among them, is the degree of short-term change of the slurry temperature data at the th sampling point, is the slurry temperature data at the th sampling point, is the slurry temperature data at the th sampling point, is the slurry temperature data at the th sampling point, is the time interval of the acquisition frequency; when , it indicates that the change of the slurry temperature shows an accelerating upward trend; when , the change of the slurry temperature shows an accelerating downward trend; when , the change of the slurry temperature is approximately linear; obtaining the change speed and trend of the slurry temperature in the short term helps to quickly capture the abnormal fluctuations of the temperature in a short time, and provides strong support for timely responding to the temperature change and ensuring the relative stability of the temperature during the production process.

[0090] Configure the short-term change threshold , when the degree of short-term change of the slurry temperature data is outside the range of the short-term change threshold, that is: or , it is determined that there is a short-term abnormal fluctuation in the slurry temperature data, otherwise no operation is performed; based on the comparison between the degree of short-term change and the set threshold, a judgment result on whether there is a short-term abnormal fluctuation is clearly given, so as to trigger the subsequent further evaluation and regulation mechanism in time and ensure that the temperature changes according to the expected trend.

[0091] Set the abnormal evaluation interval , when it is detected that there is a short-term abnormal fluctuation in the slurry temperature data or after an abnormal evaluation interval, the degree of trend abnormality of the slurry temperature data is evaluated. Combining the long-term change degree of the slurry temperature, the short-term change degree of the slurry temperature within the abnormal evaluation interval, and the difference degree between the current slurry temperature and the solid-liquid phase line temperature of the slurry, the score of the degree of trend abnormality of the slurry temperature is calculated, that is:

[0092]

[0093] Among them, is the score of the degree of trend abnormality of the slurry temperature at the th sampling point, is the slope of the fitting straight-line equation of the slurry temperature changing with time within the abnormal evaluation interval, is the degree of short-term change of the slurry temperature data at the th sampling point, The value range of is is the time interval of the anomaly evaluation interval, , and are non - negative weighting coefficients respectively, used to balance each component of the anomaly degree score of the slurry temperature trend; a quantitative score that can overall reflect the anomaly degree of the temperature trend is calculated, providing an intuitive and comprehensive basis for judging whether the overall temperature state needs intervention, so as to decide whether to adjust the slurry temperature according to the score situation.

[0094] Configure an anomaly score threshold. If the anomaly degree score of the slurry temperature trend is less than the anomaly score threshold, no operation is performed. If the anomaly degree score of the slurry temperature trend is greater than or equal to the anomaly score threshold, the slurry temperature is adjusted; a clear decision boundary is set. When the score is less than the anomaly score threshold, the existing state is maintained to avoid unnecessary adjustment operations; when the score is greater than or equal to the anomaly score threshold, the temperature adjustment process is triggered, making the entire temperature control process more scientific and orderly, avoiding problems of over - adjustment or untimely adjustment, and ensuring the rationality and effectiveness of temperature control during the production process.

[0095] Please refer to Figure 3 , obtain the current slurry temperature and heat exchanger temperature, combine the slurry mass in the slurry container, slurry specific heat capacity, mass flow rate of the heat exchange medium, specific heat capacity of the heat exchange medium, and the set expected slurry temperature, establish a heat balance equation in the heat exchange process, and calculate the target mass flow rate of the heat exchange medium, that is:

[0096]

[0097] where, is the target mass flow rate of the heat exchange medium, is the slurry mass in the slurry container, is the slurry specific heat capacity, is the set expected slurry temperature, is the specific heat capacity of the heat exchange medium, are the inlet temperature and outlet temperature of the heat exchange medium respectively, is the heat medium flow correction coefficient, and its value range is [0, 1], which is obtained by periodically testing the performance of the heat exchanger; through heat balance calculation, the flow rate of the heat exchange medium required to make the slurry temperature reach the expected value is determined, providing an accurate flow target value for subsequent precise adjustment of the heat exchange medium flow rate and realizing accurate control of the slurry temperature, ensuring the scientificity and effectiveness of temperature adjustment.

[0098] According to the characteristics of the heat exchange medium pipeline in the heat exchanger, establish the characteristic curve of the mass flow rate of the heat exchange medium and the opening degree of the hydraulic valve. According to the current mass flow rate of the heat exchange medium and the target mass flow rate of the heat exchange medium, obtain the target opening degree of the hydraulic valve for the heat exchange medium in the heat exchanger; convert the flow demand of the heat exchange medium into a control index for the opening degree of the hydraulic valve, providing a basis for adjusting the flow rate of the heat exchange medium through the hydraulic valve, so that operating the hydraulic valve can change the flow rate of the heat exchange medium, and further achieve the purpose of adjusting the slurry temperature.

[0099] Obtain the opening degree of the hydraulic valve for the current heat exchange medium. Calculate the change in the opening degree of the hydraulic valve according to the target opening degree of the hydraulic valve, and convert the change in the opening degree of the hydraulic valve into a hydraulic control signal for the opening driver. The opening driver drives and adjusts the hydraulic flow rate of the hydraulic valve for the heat exchange medium in the opening driver according to the control signal to control the opening degree of the hydraulic valve for the heat exchange medium. If the opening degree of the hydraulic valve for the heat exchange medium increases, increase the hydraulic flow rate in the driver to drive the hydraulic valve spool of the heat exchange medium to move in the opening direction; otherwise, decrease the hydraulic flow rate in the driver and move in the closing direction; accurately control the movement of the hydraulic valve spool through the driver, change the flow rate of the heat exchange medium, and achieve the effect of adjusting the slurry temperature.

[0100] Configure a deviation threshold and set a temperature recheck interval, which is used to measure the time interval for rechecking the slurry temperature after adjustment. After the opening degree of the hydraulic valve for the heat exchange medium is adjusted, after the temperature recheck interval, obtain the slurry temperature and calculate the deviation from the expected slurry temperature. If it is greater than the deviation threshold, continue to adjust the slurry temperature; otherwise, do not perform any operation. After the opening degree of the hydraulic valve is adjusted, by regularly rechecking the slurry temperature and comparing the deviation with the expected temperature, a closed-loop temperature adjustment feedback mechanism is formed, which can timely detect possible temperature deviation problems after adjustment, determine whether further adjustment is needed, ensure that the slurry temperature can finally be stabilized within the expected reasonable range, and guarantee the stable progress of the production process and the stability of product quality.

[0101] Please refer to Figure 4 , preferably, the specific steps of the adaptive control strategy include:

[0102] Deploy sensors at key positions of the stirring driver and the slurry container, including temperature sensors, pressure sensors, flow sensors, viscosity sensors, and torque sensors, and set a fixed acquisition frequency to collect sensor data to obtain the slurry temperature, slurry pressure, slurry viscosity, hydraulic flow rate, and stirring shaft torque;

[0103] According to the rheological properties of the slurry, set the initial rotational speed range of the stirring drive, and set the maximum allowable torque of the stirring shaft according to the mechanical strength of the stirring drive; the initial rotational speed range set based on the rheological properties of the slurry can ensure that the stirring drive can stir the slurry at an appropriate rotational speed during the startup and initial operation stages, avoiding problems such as uneven stirring, slurry splashing, or failure to achieve the expected stirring effect caused by improper rotational speed.

[0104] Construct a stirring reference model for the torque of the stirring shaft, the rotational speed of the stirring shaft, and the viscosity of the slurry, that is:

[0105]

[0106] Wherein, is the torque of the stirring shaft, is the viscosity of the slurry, is the rotational speed of the stirring shaft, and are the initial parameters of the stirring reference model, which are initially set according to experience and theoretical analysis; an internal connection between the torque of the stirring shaft, the rotational speed of the stirring shaft, and the viscosity of the slurry is established from a theoretical level, providing a reference standard for subsequent control strategies, enabling the actual stirring process to have a target state for comparison and approximation, and thus achieving an efficient and stable stirring effect.

[0107] Adopt the gradient descent method to calculate the torque error signal wherein, is the torque of the stirring shaft at the th sampling point. Update the initial parameters of the stirring reference model according to the torque error signal, that is:

[0108]

[0109]

[0110] Wherein, and are the adaptive gains, and the value range is [0.01, 0.05]. Control the speed and stability of parameter update by adjusting the adaptive gain value, and are the initial parameters of the updated stirring reference model; enabling the stirring reference model to continuously self-adjust and optimize according to the data collected in real time during the actual stirring process, making it more suitable for the actual working conditions.

[0111] Obtain the viscosity of the slurry and the rotational speed of the stirring shaft in real time, and calculate the expected torque of the stirring shaft, that is:

[0112]

[0113] Wherein, is the The expected torque of the stirring shaft at the slurry viscosity at the stirring shaft speed at the sampling point; By obtaining relevant parameters in real time and calculating the expected torque of the stirring shaft, the torque value that should theoretically be achieved based on the current slurry state and stirring shaft speed can be obtained at each sampling moment. This expected torque value provides a clear comparison basis for subsequent judgment of whether the actual stirring situation meets the expectations, timely discovers deviations during the stirring process, and ensures that the slurry can be stirred and mixed evenly and sufficiently.

[0114] According to the inherent properties of the stirring drive, establish the torque-speed-pressure difference characteristic equation of the hydraulic motor of the stirring drive, that is:

[0115]

[0116] where is the output torque of the hydraulic motor of the stirring drive, is the target speed of the hydraulic motor of the stirring drive, is the hydraulic inlet and outlet pressure difference of the hydraulic motor of the stirring drive, , and are the fitting coefficients of the torque-speed-pressure difference characteristic equation of the hydraulic motor of the stirring drive, respectively obtained through loading experiments; Establishing this characteristic equation can accurately describe the quantitative relationship between the output torque, speed, and hydraulic inlet and outlet pressure difference of the hydraulic motor of the stirring drive under different working conditions, thus providing a solid theoretical basis for subsequent precise control of the hydraulic system and reasonable adjustment of the stirring shaft speed, ensuring that the hydraulic motor can work in the best state that conforms to its own performance characteristics and facilitating the smooth progress of the entire stirring process.

[0117] According to the torque-speed-pressure difference characteristic equation of the hydraulic motor of the stirring drive and the expected torque of the stirring shaft, calculate the hydraulic inlet and outlet pressure difference of the hydraulic motor of the stirring drive and the target speed of the hydraulic motor of the stirring drive, that is:

[0118]

[0119]

[0120] where is the hydraulic inlet and outlet pressure difference of the hydraulic motor of the stirring drive at the sampling point, is the The target speed of the hydraulic motor of the mixing drive at each sampling point; Through the calculation of this step, clarify the specific values of the hydraulic inlet and outlet pressure difference and speed that the hydraulic motor should have under the current desired mixing effect, and provide target values for subsequent links such as flow control and power output of the hydraulic system.

[0121] According to the hydraulic inlet and outlet pressure difference of the hydraulic motor of the mixing drive and the target speed of the hydraulic motor of the mixing drive, obtain the target hydraulic flow rate for driving the hydraulic motor of the mixing drive, calculate the hydraulic flow error from the current hydraulic motor of the mixing drive, output the hydraulic flow control signal of the mixing drive, adjust the speed of the mixing shaft, and achieve the control of the speed of the mixing shaft of the mixing drive; Make adaptive adjustments according to the real-time characteristics of the slurry. When the viscosity of the slurry increases, automatically increase the hydraulic oil flow rate and increase the speed of the mixer to ensure the stirring effect. Among them, the acquisition of the required hydraulic flow rate of the hydraulic motor of the mixing drive is obtained from the displacement of the hydraulic motor of the mixing drive and the target speed of the hydraulic motor of the mixing drive.

[0122] The control and adjustment module is used to collect data through sensors, collect drive data to monitor the implementation results of control instructions, conduct abnormal evaluation and analysis of the drive through threshold judgment and abnormal score calculation, and generate an updated drive control signal when receiving the drive instruction regeneration signal;

[0123] Preferably, the control and adjustment module includes an abnormal detection unit and an instruction update unit;

[0124] An intelligent decision-making strategy is configured in the abnormal detection unit. The intelligent decision-making strategy is used to monitor the implementation status of the control instructions of the drive according to the sensor data, conduct abnormal analysis of temperature change and torque abnormality by calculating the evaluation score of the slurry temperature trend and the torque abnormality score, and obtain the implementation situation of the drive control instructions to determine whether to regenerate instructions or give an abnormal warning;

[0125] An optimization and update strategy is configured in the instruction update unit. The optimization and update strategy is used to regenerate the control instructions for the drive with abnormal implementation of the control instructions to correct the abnormal situation.

[0126] Please refer to Figure 5 , preferably, the specific steps of the intelligent decision-making strategy include:

[0127] Deploy sensors at key positions of the drive and the slurry container. The drive includes an opening drive and a mixing drive, including a temperature sensor, a pressure sensor, a flow sensor, a speed sensor, a torque sensor, and a position sensor, and set a fixed acquisition frequency to collect sensor data to obtain the hydraulic pressure, hydraulic flow rate, position of the hydraulic valve of the heat exchange medium in the opening drive, speed of the mixing drive, and torque of the mixing shaft of the mixing drive;

[0128] When the slurry temperature adjustment is triggered, obtain the set expected slurry temperature, the target hydraulic valve opening of the heat exchange medium in the heat exchanger, and the hydraulic flow rate of the hydraulic valve driving the heat exchange medium in the opening driver.

[0129] Configure the monitoring interval threshold , which is used to characterize the number of sampling points within the monitoring interval. Let be the sampling point when the slurry temperature adjustment is triggered. Then the monitoring interval is expressed as . Within the monitoring interval after the start of the slurry temperature adjustment, evaluate the slurry temperature trend. By combining the direction of change of the slurry temperature and the stability of the slurry temperature fluctuation, calculate the slurry temperature trend evaluation score to determine whether the slurry temperature is gradually approaching the expected slurry temperature. The calculation formula for the slurry temperature trend evaluation score is as follows:

[0130]

[0131]

[0132]

[0133] Where is the slurry temperature change direction score of the th sampling point, is the set expected slurry temperature, is the slurry temperature data of the th sampling point, is the slurry temperature fluctuation stability score, is the slurry temperature trend evaluation score, and are the weight coefficients of the slurry temperature change direction score and the slurry temperature fluctuation stability score respectively, and the value range is (0, 1);

[0134] Configure the trend evaluation threshold. If the slurry temperature trend evaluation score is less than the trend evaluation threshold, perform an abnormal analysis of the slurry temperature change; otherwise, do not perform any processing.

[0135] Please refer to Figure 6, configure the opening deviation threshold and the hydraulic deviation threshold, obtain the position of the hydraulic valve of the heat exchange medium in the opening drive, calculate the real-time opening deviation between the opening of the heat exchange medium hydraulic valve and the target hydraulic valve opening. If the real-time opening deviation is greater than the opening deviation threshold, obtain the real-time hydraulic flow rate of the hydraulic valve driving the heat exchange medium in the opening drive, calculate the real-time hydraulic deviation between the real-time hydraulic flow rate and the hydraulic flow rate of the opening drive control command. If the real-time hydraulic deviation is greater than the hydraulic deviation threshold, regenerate the opening drive control command and continue to adjust the opening of the heat exchange medium hydraulic valve. Otherwise, perform an abnormal warning, generate an opening drive warning message to notify the maintenance personnel to check the heat exchange medium hydraulic valve;

[0136] If the real-time opening deviation is less than or equal to the opening deviation threshold, perform an abnormal warning and generate a heat exchange medium warning message to notify the maintenance personnel to check the heat exchange medium;

[0137] Configure the torque range interval, and monitor the torque of the stirring shaft of the stirring drive in real time. When the torque of the stirring shaft collected exceeds the torque range interval, obtain the torque of the stirring shaft within the monitoring interval according to the monitoring interval threshold;

[0138] Based on the torque of the stirring shaft within the monitoring interval, perform torque anomaly monitoring, and calculate the torque anomaly score of the stirring shaft through the number of anomaly points of the torque of the stirring shaft and the fluctuation stability of the torque of the stirring shaft, that is:

[0139]

[0140]

[0141]

[0142] Among them, is the anomaly point score of the torque of the stirring shaft at the th sampling point, is the torque of the stirring shaft at the th sampling point, is the expected torque of the stirring shaft at the th sampling point, is the torque offset threshold of the stirring shaft, is the sampling point when the torque of the stirring shaft is monitored to exceed the torque range interval, is the fluctuation stability score of the torque of the stirring shaft, is the torque anomaly score of the stirring shaft, and are the weight coefficients of the anomaly point number score and the fluctuation stability score of the torque of the stirring shaft respectively, and the value range is (0, 1);

[0143] Configure a torque evaluation threshold. If the abnormal score of the stirring shaft torque is less than the torque evaluation threshold, perform torque abnormality analysis; otherwise, do not perform any processing.

[0144] Please refer to Figure 7 , configure a rotational speed deviation threshold, obtain the real-time slurry viscosity and the real-time rotational speed of the stirring shaft, obtain the target rotational speed of the hydraulic motor of the stirring drive according to the slurry viscosity, calculate the real-time rotational speed deviation between the real-time rotational speed of the stirring shaft and the target rotational speed of the hydraulic motor of the stirring drive. If the real-time rotational speed deviation is greater than the rotational speed deviation threshold, obtain the target hydraulic flow rate and the real-time hydraulic flow rate for driving the hydraulic motor of the stirring drive, calculate the real-time hydraulic deviation. If the real-time hydraulic deviation is greater than the hydraulic deviation threshold, regenerate the control instruction for the stirring drive and continue to adjust the target rotational speed of the hydraulic motor of the stirring drive; otherwise, give an abnormality warning and generate a warning message for the stirring drive to notify the maintenance personnel to check the hydraulic motor of the stirring drive.

[0145] If the real-time rotational speed deviation is less than or equal to the rotational speed deviation threshold, give an abnormality warning and generate a warning message for the stirring shaft to notify the maintenance personnel to check the stirring shaft.

[0146] Preferably, the specific steps for optimizing the update strategy include:

[0147] After receiving the signal for regenerating the control instruction of the opening drive, retrospectively collect the sensor data related to the heat exchange process, including the temperature of the heat exchange medium, the temperature of the slurry, and the position and hydraulic flow rate of the heat exchange medium hydraulic valve in the opening drive.

[0148] Combined with the mass flow rate of the heat exchange medium and the characteristic curve of the hydraulic valve opening, re-determine the appropriate adjustment target for the opening of the heat exchange medium hydraulic valve.

[0149] According to the re-determined target hydraulic valve opening, calculate the change amount of the hydraulic valve opening and convert it into a hydraulic control signal for the opening drive.

[0150] The opening drive drives and adjusts the hydraulic flow rate for driving the heat exchange medium hydraulic valve in the opening drive according to the updated control signal to achieve the control of the hydraulic valve opening, so that the spool of the heat exchange medium hydraulic valve moves in the corresponding direction as required to change the flow rate of the heat exchange medium, and further adjust the temperature of the slurry.

[0151] After the adjustment of the hydraulic valve opening is completed, obtain the slurry temperature at the configured temperature re-inspection interval and calculate the deviation from the expected slurry temperature. If the deviation is greater than the configured deviation threshold, continue the slurry temperature adjustment process; otherwise, do not perform any operation and wait for the next monitoring and judgment.

[0152] When receiving the signal for regenerating the control instruction of the stirring driver, according to the slurry viscosity and the stirring shaft speed obtained in real time, and in accordance with the established stirring reference model and related calculation formulas, recalculate the expected torque of the stirring shaft;

[0153] Based on the torque-speed-pressure difference characteristic equation of the hydraulic motor of the stirring driver and the recalculated expected torque of the stirring shaft, determine again the hydraulic inlet and outlet pressure difference of the hydraulic motor of the stirring driver and the target speed of the hydraulic motor of the stirring driver;

[0154] According to the re-determined target speed of the hydraulic motor of the stirring driver and information such as the displacement of the hydraulic motor of the stirring driver, obtain the target hydraulic flow rate for driving the hydraulic motor of the stirring driver;

[0155] Calculate the error between the target hydraulic flow rate and the current hydraulic flow rate of the hydraulic motor of the stirring driver, output the control signal after updating the hydraulic flow rate of the stirring driver, adjust the stirring shaft speed, realize the control of the stirring shaft speed of the stirring driver, make the stirring shaft speed adaptively adjust according to the real-time characteristics of the slurry, and ensure the stirring effect.

[0156] The sensing and feedback module is used to monitor the abnormal data conditions of the data collected by various deployed sensors, monitor the abnormal data of the sensors according to the threshold setting, monitor the duration of the abnormal data, give an abnormal warning, and generate a sensor abnormal warning message.

[0157] Preferably, the sensing and feedback module includes a data monitoring unit and a warning processing unit;

[0158] An abnormal recognition strategy is configured in the data monitoring unit. The abnormal recognition strategy is used to monitor in real time various data collected by the sensors. By comparing with the preset normal data range, potential abnormal data is identified, including but not limited to abnormal changes in parameters such as temperature, pressure, flow rate, viscosity, and torque, so as to realize the preliminary screening and abnormal judgment of the sensor data to determine which data needs further attention and analysis;

[0159] A continuous monitoring strategy is configured in the warning processing unit. The continuous monitoring strategy is used to continuously track and monitor the identified potential abnormal data. By recording the duration and change of the abnormal data, the severity of the abnormality is judged. When the duration of the abnormality exceeds the set threshold or the abnormal situation further deteriorates, a sensor abnormal warning message is generated to notify relevant personnel to check and process the sensors or the corresponding equipment components in time, ensure the stable operation of the entire hydraulic control system and the accuracy of data collection, provide reliable data support for the power execution module and the control and regulation module, and ensure the smooth progress of the slurry production process and the stability of product quality.

[0160] In this embodiment, the anomaly recognition strategy is used to comprehensively and real-time monitor various types of data collected by sensors. For different types of sensors, including temperature sensors and pressure sensors at key positions of heat exchangers and slurry containers, and temperature sensors, pressure sensors, flow sensors, viscosity sensors, torque sensors, and position sensors at key positions of stirring drives, threshold parameters such as the normal value range of sensor data, the normal change rate interval, and the allowable tolerance range of data fluctuations are set respectively based on the statistical analysis of past operation data; during operation, the real-time data transmitted by the sensors is collected and analyzed, and the real-time sensor data is compared one by one with the corresponding preset thresholds; for example, for temperature sensor data, it is checked whether it exceeds the preset upper and lower limits of absolute temperature, and dynamic data analysis technology is also used to evaluate whether the temperature change slope conforms to the normal heating or cooling trend; for pressure data, it is judged whether there is an abnormal situation by comprehensively considering the normal pressure range and the smoothness of pressure change; for other types of data such as flow, viscosity, and torque, similar multi-dimensional and refined analysis methods are also used to achieve the preliminary screening of sensor data, identify potential abnormal data points, and provide accurate and reliable basic information for subsequent anomaly judgment and processing;

[0161] The continuous monitoring strategy is used to continuously track and monitor the identified potential abnormal data points; when a potential abnormal data point is detected, a timing mechanism is started to record the continuous duration of the potential abnormal data point, and a trend prediction is made for the potential abnormal data point. For example, by establishing a short-term prediction model of data change, the data trend of the potential abnormal data point is estimated, and it is judged whether the potential abnormal data point tends to stabilize and return to normal or will continue to deteriorate, and the severity level of the abnormal situation is judged according to the estimated data trend of the potential abnormal data point. Warning information is generated for the sensor where the potential abnormal data point that continues to deteriorate is located, including the specific type of the potential abnormal data point, the sensor position identifier, the real-time value and change curve of the potential abnormal data point, the abnormal continuous duration, and the severity level of the trend prediction anomaly; so as to notify relevant professionals to take corresponding inspection, debugging, maintenance, or emergency treatment measures to ensure the stable, reliable, and efficient operation of the entire hydraulic control system and the high accuracy of data collection, and provide solid and powerful data support for the precise control and adjustment of the power execution module and the scientific instruction optimization and adjustment of the control adjustment module, and effectively guarantee the efficient and smooth progress of the slurry production process and the stable and high-quality compliance of product quality.

[0162] Working principle and its effects:

[0163] In the slurry production stage of a hydraulic control system, the power execution module collects various data at key positions of the heat exchanger, slurry container, agitator driver, and slurry container through sensors. Based on this, the temperature regulation unit performs a series of complex threshold setting and calculation steps, including setting the solid-liquid phase line temperature range of the slurry, calculating the deviation degree of potential temperature anomaly points, analyzing the short-term temperature change trend, and evaluating the trend anomaly degree score, etc. It judges whether to adjust the slurry temperature according to the anomaly score threshold. If adjustment is required, it accurately controls the opening of the hydraulic valve of the heat exchange medium through the heat balance equation and the hydraulic valve opening characteristic curve; the agitation control unit also relies on sensor data, sets the initial rotation speed range and the maximum allowable torque of the agitator shaft according to the rheological characteristics of the slurry, constructs and adaptively updates the agitation reference model, calculates the expected agitator shaft torque in real time, and obtains the target hydraulic flow rate in combination with the inherent properties of the agitator driver to adjust the rotation speed of the agitator shaft.

[0164] The control and regulation module uses the drive data collected by the sensors and performs anomaly evaluation and analysis on the implementation of the drive control instructions by using various threshold configurations and score calculations in the intelligent decision-making strategy. When receiving the signal to regenerate the instruction, it generates an updated drive control signal.

[0165] The data monitoring unit of the sensing and feedback module identifies potential abnormal data by comparing with the preset normal data range, and the early warning processing unit continuously tracks and records the duration and change of the abnormal data, judges the severity, and generates early warning information.

[0166] Through the collaborative work of each module, based on accurate sensor data collection and processing, rigorous threshold judgment, and scientific control strategies, the precise regulation of the slurry temperature, the optimization of the agitation process, and the effective monitoring of the operating state of the drive are achieved, improving the stability and quality consistency of slurry production, reducing the risks brought by problems such as temperature anomalies, uneven agitation, and drive failures, enhancing the production efficiency and the overall reliability and stability of the system, reducing the uncertainty and error of manual intervention, and ensuring the efficient and stable operation of the production process.

[0167] The above is only the preferred implementation manner of the present invention. The protection scope of the present invention is not limited to the above embodiments. Any technical solutions falling within the idea of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of the present invention, several improvements and refinements should also be regarded as within the protection scope of the present invention.

Claims

1. A hydraulic control system, characterized in that, It includes a power execution module, a control and regulation module, and a sensing and feedback module; During the slurry production stage, the power execution module is used to collect data through sensors, detect abnormal slurry temperature conditions to determine whether to adjust the slurry temperature. If the slurry temperature needs to be adjusted, the opening of the heat exchange medium hydraulic valve is adjusted through the opening driver; Based on the real-time slurry viscosity, the rotational speed of the stirring shaft is adaptively adjusted by regulating the hydraulic flow rate of the hydraulic motor of the stirring driver; The control and regulation module is used to collect data through sensors, collect driver data to monitor the implementation results of control commands, conduct abnormal evaluation and analysis of the driver through threshold judgment and abnormal score calculation. When receiving the driver command regeneration signal, an updated driver control signal is generated; The sensing and feedback module is used to monitor the abnormal data conditions collected by various deployed sensors, set monitoring sensor abnormal data according to thresholds, monitor the duration of abnormal data, issue abnormal warnings, and generate sensor abnormal warning information.

2. The hydraulic control system according to claim 1, wherein, The power execution module includes a temperature regulation unit and a stirring control unit; An adaptive exchange strategy is configured in the temperature regulation unit. The adaptive exchange strategy is used to collect data through sensors, detect abnormal slurry temperature conditions, calculate the abnormal degree score of the slurry temperature trend, and determine whether to adjust the slurry temperature according to the abnormal score threshold. If the slurry temperature needs to be adjusted, the target mass flow rate of the heat exchange medium is obtained according to the heat balance equation, and the opening of the heat exchange medium hydraulic valve is adjusted through hydraulic control; An adaptive control strategy is configured in the stirring control unit. The adaptive control strategy is used to collect data through sensors, construct a stirring reference model and adaptively update parameters, calculate the expected stirring shaft torque in real time, combine the inherent properties of the stirring driver, obtain the target hydraulic flow rate for driving the hydraulic motor of the stirring driver, output the stirring driver control signal, and adjust the rotational speed of the stirring shaft in real time according to the slurry viscosity.

3. A hydraulic control system according to claim 2, wherein, The steps of the adaptive exchange strategy include: Deploy sensors at key positions of the heat exchanger and the slurry container, and set a fixed acquisition frequency to collect sensor data; According to the slurry material, set the solid-liquid phase line temperature range of the slurry, configure the abnormal threshold, detect potential temperature abnormal points where the slurry temperature data is outside the abnormal threshold range according to the abnormal threshold, set the period for evaluating the deviation degree of the abnormal points, and calculate the deviation degree of the potential temperature abnormal points based on the difference between the slurry temperature at the potential temperature abnormal point and the average slurry temperature within the period for evaluating the deviation degree of the abnormal points; Configure the deviation threshold. If the deviation degree of the potential temperature abnormal point is greater than the deviation threshold, mark it as a temperature abnormal point, and replace the slurry temperature where the temperature abnormal point is located with the average slurry temperature within the period for evaluating the deviation degree of the abnormal points; Conduct temperature change trend analysis on the slurry temperature data after abnormal value processing, and calculate the short-term change degree of the slurry temperature data in real time, that is: ； Among them, is the degree of short-term change of the slurry temperature data at the th sampling point, is the slurry temperature data at the th sampling point, is the slurry temperature data at the th sampling point, is the slurry temperature data at the th sampling point, is the time interval of the acquisition frequency; Configure the short-term change threshold , when the short-term change degree of the slurry temperature data is outside the short-term change threshold range, that is: or , it is determined that there is a short-term abnormal fluctuation in the slurry temperature data.

4. A hydraulic control system according to claim 3, characterized in that, The steps of the adaptive exchange strategy also include: Set abnormal evaluation interval , when short-term abnormal fluctuations are detected in the slurry temperature data or after an abnormal evaluation interval, evaluate the degree of trend abnormality of the slurry temperature data, that is: ； Among them, is the score of the abnormality degree of the slurry temperature trend at the -th sampling point, is the slope of the fitting straight line equation of the slurry temperature changing with time within the abnormal evaluation interval, is the short-term change degree of the slurry temperature data at the -th sampling point, The value range of is is the time interval of the abnormal evaluation interval, is the slurry solid-liquid phase line temperature range, , and are non-negative weighting coefficients respectively; Configure an abnormal score threshold. If the abnormal degree score of the slurry temperature trend is less than the abnormal score threshold, no operation is performed. If the abnormal degree score of the slurry temperature trend is greater than or equal to the abnormal score threshold, the slurry temperature is adjusted.

5. A hydraulic control system according to claim 4, characterized in that, The steps of the adaptive exchange strategy further include: Obtain the current slurry temperature and the heat exchanger temperature. Combine the slurry mass, slurry specific heat capacity, mass flow rate of the heat exchange medium, specific heat capacity of the heat exchange medium, and the set expected slurry temperature in the slurry container to establish a heat balance equation in the heat exchange process and calculate the target mass flow rate of the heat exchange medium. According to the characteristics of the heat exchange medium pipeline in the heat exchanger, establish a characteristic curve of the mass flow rate of the heat exchange medium and the hydraulic valve opening. According to the current mass flow rate of the heat exchange medium and the target mass flow rate of the heat exchange medium, obtain the target hydraulic valve opening of the heat exchange medium in the heat exchanger. Obtain the current hydraulic valve opening of the heat exchange medium. Calculate the change in the hydraulic valve opening according to the target hydraulic valve opening, convert the change in the hydraulic valve opening into a hydraulic control signal for the opening driver, and the opening driver drives and adjusts the hydraulic flow rate of the hydraulic valve for the heat exchange medium in the opening driver according to the control signal. Configure a deviation threshold and set a temperature recheck interval. After the adjustment of the hydraulic valve opening of the heat exchange medium is completed, after the temperature recheck interval, obtain the slurry temperature and calculate the deviation from the expected slurry temperature. If it is greater than the deviation threshold, continue to adjust the slurry temperature; otherwise, no operation is performed.

6. A hydraulic control system according to claim 2, wherein The steps of the adaptive control strategy include: Deploy sensors at key positions of the stirring driver and the slurry container, and set a fixed acquisition frequency to collect sensor data. According to the rheological characteristics of the slurry, set the initial rotation speed range of the stirring driver, and set the maximum allowable torque of the stirring shaft according to the mechanical strength of the stirring driver. Construct a stirring reference model of the torque of the stirring shaft, the rotation speed of the stirring shaft, and the slurry viscosity. Use the gradient descent method to calculate the torque error signal, and update the initial parameters of the stirring reference model according to the torque error signal. Obtain the slurry viscosity and the rotation speed of the stirring shaft in real time, calculate the expected torque of the stirring shaft, and establish a torque-rotation speed-pressure difference characteristic equation of the hydraulic motor of the stirring driver according to the inherent properties of the stirring driver. According to the torque-rotation speed-pressure difference characteristic equation of the hydraulic motor of the stirring driver and the expected torque of the stirring shaft, calculate the hydraulic inlet and outlet pressure difference of the hydraulic motor of the stirring driver and the target rotation speed of the hydraulic motor of the stirring driver, that is: ； ； Among them, is the hydraulic inlet and outlet pressure difference of the hydraulic motor of the stirring drive at the th sampling point, is the target speed of the hydraulic motor of the stirring drive at the th sampling point, is the expected torque of the stirring shaft at the th sampling point, , and are the fitting coefficients of the torque-speed-pressure difference characteristic equation of the hydraulic motor of the stirring drive respectively, is the slurry viscosity at the th sampling point, and are the initial parameters of the updated stirring reference model; According to the hydraulic inlet and outlet pressure difference of the hydraulic motor of the stirring driver and the target rotation speed of the hydraulic motor of the stirring driver, obtain the target hydraulic flow rate for driving the hydraulic motor of the stirring driver, calculate the error of the hydraulic flow rate from the current hydraulic motor of the stirring driver, and output a hydraulic flow rate control signal for the stirring driver to adjust the rotation speed of the stirring shaft.

7. A hydraulic control system according to claim 1, wherein The control and adjustment module includes an abnormal detection unit and an instruction update unit; An intelligent decision-making strategy is configured in the abnormal detection unit. The intelligent decision-making strategy is used to monitor the implementation status of the control instruction of the drive according to the sensor data, and through calculating the evaluation score of the slurry temperature trend and the torque abnormality score, conduct abnormal analysis of the temperature change and torque abnormality, obtain the implementation situation of the drive control instruction, and judge whether to regenerate the instruction or give an abnormal warning.

8. A hydraulic control system according to claim 7, characterized in that, The steps of the intelligent decision-making strategy include: Deploy sensors at key positions of the drive and the slurry container, and set a fixed acquisition frequency to collect sensor data; When triggering the adjustment of the slurry temperature, obtain the set expected slurry temperature, the target hydraulic valve opening of the heat exchange medium in the heat exchanger, and the hydraulic flow rate of the hydraulic valve that drives the heat exchange medium hydraulic valve in the opening drive; Configure the monitoring interval threshold. Within the monitoring interval after starting the slurry temperature adjustment, evaluate the slurry temperature trend, and calculate the evaluation score of the slurry temperature trend by combining the slurry temperature change direction and the slurry temperature fluctuation stability; Configure the trend evaluation threshold. If the evaluation score of the slurry temperature trend is less than the trend evaluation threshold, conduct abnormal analysis of the slurry temperature change, otherwise do not perform any processing; Configure the opening deviation threshold and the hydraulic deviation threshold, obtain the position of the heat exchange medium hydraulic valve in the opening drive, and calculate the real-time opening deviation between the opening of the heat exchange medium hydraulic valve and the target hydraulic valve opening; If the real-time opening deviation is greater than the opening deviation threshold, obtain the real-time hydraulic flow rate of the hydraulic valve that drives the heat exchange medium hydraulic valve in the opening drive; Calculate the real-time hydraulic deviation between the real-time hydraulic flow rate and the hydraulic flow rate of the control instruction of the opening drive. If the real-time hydraulic deviation is greater than the hydraulic deviation threshold, regenerate the control instruction of the opening drive and continue to adjust the opening of the heat exchange medium hydraulic valve. Otherwise, give an abnormal warning and generate a warning message for the opening drive; If the real-time opening deviation is less than or equal to the opening deviation threshold, give an abnormal warning and generate a warning message for the heat exchange medium.

9. A hydraulic control system according to claim 8, characterized in that, The steps of the intelligent decision-making strategy further include: Configure the torque range interval, and monitor the torque of the stirring shaft of the stirring drive in real time. When the torque of the stirring shaft collected exceeds the torque range interval, obtain the torque of the stirring shaft within the monitoring interval according to the monitoring interval threshold; Conduct torque abnormality monitoring according to the torque of the stirring shaft within the monitoring interval, and calculate the torque abnormality score of the stirring shaft through the number of abnormal points of the torque of the stirring shaft and the fluctuation stability of the torque of the stirring shaft; Configure the torque evaluation threshold. If the torque abnormality score of the stirring shaft is less than the torque evaluation threshold, conduct torque abnormality analysis, otherwise do not perform any processing; Configure the speed deviation threshold, obtain the real-time slurry viscosity and the real-time stirring shaft speed, obtain the target speed of the hydraulic motor of the stirring drive according to the slurry viscosity, and calculate the real-time speed deviation between the real-time stirring shaft speed and the target speed of the hydraulic motor of the stirring drive; If the real-time speed deviation is greater than the speed deviation threshold, obtain the target hydraulic flow rate and the real-time hydraulic flow rate of the hydraulic motor that drives the stirring drive; Calculate the real-time hydraulic deviation. If the real-time hydraulic deviation is greater than the hydraulic deviation threshold, regenerate the control instruction for the stirring drive, and continue to adjust the target speed of the hydraulic motor of the stirring drive. Otherwise, give an abnormal warning and generate a warning message for the stirring drive; If the real-time speed deviation is less than or equal to the speed deviation threshold, give an abnormal warning and generate a warning message for the stirring shaft.

10. A hydraulic control system according to claim 1, characterized in that, The sensing feedback module includes a data monitoring unit and a warning processing unit; An abnormal recognition strategy is configured in the data monitoring unit. The abnormal recognition strategy is used to monitor the data collected by the sensor in real time, and identify potential abnormal data by comparing with the preset normal data range of the sensor; A continuous monitoring strategy is configured in the warning processing unit. The continuous monitoring strategy is used to continuously track and monitor the identified potential abnormal data, judge the severity of the abnormality by recording the duration and change of the abnormal data, and generate a sensor abnormal warning message.

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