A hydraulic control system

Abstract

The application discloses a kind of hydraulic control systems, belong to hydraulic control field, it includes power execution module, control adjustment module and sensing feedback module;In slurry production stage, data is collected by sensor, detects slurry temperature abnormal condition to judge whether adjustment slurry temperature, and based on real-time slurry viscosity, by adjusting the hydraulic flow of stirring driver hydraulic motor, stirring shaft speed is adaptively adjusted;Driver data is collected to monitor control instruction implementation result, by threshold value judgment and abnormal score calculation, abnormal evaluation analysis is carried out to driver, after receiving driver instruction regenerating signal, updated driver control signal is generated;The data abnormal condition of each kind of sensor collected by monitoring deployment is monitored, sensor abnormal data is monitored, and abnormal data duration is monitored, to carry out abnormal early warning, and generate abnormal early warning information;Solve the problem that slurry temperature is difficult to self-adaptive adjustment and disturbance under hydraulic control under pressure casting equipment.

Description

Technical Field

[0001] This invention relates to the field of hydraulic control, and more specifically to a hydraulic control system. Background Technology

[0002] In modern industrial manufacturing, numerous advanced molding processes are constantly emerging to meet the demands of various fields for high-precision, high-strength, and complex structural components. Among these processes, a new molding technology is gradually gaining prominence. The raw materials involved possess unique rheological properties, existing between liquid and solid states. Under specific pressure, they can flow like a liquid and fill the mold cavity, making them widely used in manufacturing complex-shaped, thin-walled, and high-strength parts. However, the efficient and precise implementation of this new molding process places extremely stringent requirements on its supporting hydraulic control system. Throughout the entire process, from controlling key parameters during the initial raw material processing to mold closing, material filling, pressure maintenance, mold opening, and product demolding—a series of complex actions—the flow direction, pressure, and volume of oil in the hydraulic system must be precisely controlled.

[0003] Chinese patent application CN112916820A discloses an intelligent control system for die casting, including a frame, a support platform, a lifting module, a mold, a translation module, a lead injection device, a push rod mechanism, a hydraulic station, a first proportional valve, a second proportional valve, and a control module. The lifting module can drive the support platform to rise or fall. The mold is set on the support platform and has an ejection hole at its bottom. The translation module is set on the support platform and can drive the mold to move on the support platform. The lead injection device is set on the frame and is used to inject lead into the mold. The push rod mechanism is set on the support platform and corresponds to the ejection hole. The hydraulic station is set on the frame and is connected to the lifting module, the translation module, and the push rod mechanism. The first proportional valve is set between the lifting module and the hydraulic station, and the second proportional valve is set between the translation module and the hydraulic station. The control module is set on the frame and controls the operation of the control system.

[0004] Although existing technologies achieve high positioning accuracy and smooth mold movement by precisely controlling the flow rate of hydraulic oil, they still fail to solve problems in the preparation of slurry for die casting equipment. These problems include precise adaptive control of slurry temperature under complex working conditions, precise control of the stirring process based on the real-time characteristics of the slurry, and effective monitoring and timely correction of abnormal commands for the operating status of various drives in the entire system. Therefore, in order to overcome these limitations, this invention proposes a hydraulic control system. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide a hydraulic control system that solves the problems of inability to accurately control the temperature and stirring shaft speed of hydraulic adjustment using the real-time status of the slurry, and the inability to effectively monitor the status of the hydraulic actuator and handle abnormal commands, resulting in poor overall system performance and difficulty in meeting production needs. Through the coordinated operation of a power execution module, a control and adjustment module, and a sensor feedback module, the system can collect data using sensors during the slurry preparation stage to achieve precise adjustment of the slurry temperature and adaptive control of the stirring shaft speed. Simultaneously, it effectively monitors the actuator and corrects abnormal commands, thereby improving the system's stability, reliability, and control accuracy, and better meeting actual production requirements.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

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

[0008] The power execution module is used during the slurry preparation stage to collect data through sensors, detect abnormal slurry temperatures 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; and based on the real-time slurry viscosity, the hydraulic flow of the stirring driver hydraulic motor is adjusted to adaptively adjust the stirring shaft speed.

[0009] The control and adjustment module is used to collect data through sensors, acquire driver data to monitor the implementation results of control commands, perform anomaly evaluation and analysis on the driver through threshold judgment and anomaly score calculation, and generate updated driver control signals after receiving driver commands to regenerate signals.

[0010] The sensor feedback module is used to monitor abnormal data collected by various deployed sensors. It monitors abnormal sensor data according to threshold settings, monitors the duration of abnormal data, issues early warnings, and generates sensor abnormality warning information.

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

[0012] The temperature control unit is equipped with an adaptive exchange strategy. The adaptive exchange strategy is used to collect data through sensors, detect abnormal slurry temperature, and calculate the degree of abnormality of slurry temperature trend. Based on the abnormality score threshold, it is determined whether to adjust the slurry temperature. If the slurry temperature is adjusted, the target heat exchange medium mass flow rate is obtained according to the heat balance equation, and the opening of the heat exchange medium hydraulic valve is adjusted by hydraulic control.

[0013] The stirring control unit is equipped with an adaptive control strategy. The adaptive control strategy is used to collect data through sensors, build a stirring reference model and adaptively update parameters, calculate the desired stirring shaft torque in real time, obtain the target hydraulic flow rate of the hydraulic motor driving the stirring driver by combining the inherent properties of the stirring driver, output the stirring driver control signal, and adjust the stirring shaft speed in real time according to the viscosity of the slurry.

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

[0015] Sensors were deployed at key locations in the heat exchanger and slurry container, and sensor data was collected at a fixed acquisition frequency.

[0016] Based on the slurry material, set the solid-liquid phase temperature range of the slurry, configure anomaly thresholds, detect potential temperature anomalies in the slurry temperature data outside the abnormal threshold range based on the anomaly thresholds, set the period for evaluating the deviation of the anomaly points, and calculate the deviation of the potential temperature anomalies based on the difference between the slurry temperature of the potential temperature anomaly point and the average slurry temperature within the evaluation period.

[0017] Configure a deviation threshold. If the deviation of a potential temperature anomaly is greater than the deviation threshold, mark it as a temperature anomaly and replace the slurry temperature of the anomaly with the average slurry temperature within the period in which the deviation of the anomaly is evaluated.

[0018] After outlier processing, the slurry temperature data is analyzed for temperature change trends, and the degree of short-term change in slurry temperature data is calculated in real time.

[0019] ;

[0020] in, It is the first The degree of short-term variation in slurry temperature data at each sampling point It is the first Slurry temperature data at each sampling point It is the first Slurry temperature data at each sampling point It is the first Slurry temperature data at each sampling point It is the time interval for sampling frequency;

[0021] Configure short-term change threshold When the short-term variation of the slurry temperature data is outside the short-term variation threshold range, that is: or If this occurs, it is determined that there are short-term abnormal fluctuations in the slurry temperature data.

[0022] Specifically, the steps of the adaptive switching strategy also include:

[0023] Set anomaly assessment interval When short-term abnormal fluctuations in slurry temperature data are detected, or after one abnormal assessment interval, the degree of trend abnormality in the slurry temperature data is assessed, i.e.:

[0024] ;

[0025] in, It is the first Scoring of the degree of abnormality in slurry temperature trend at each sampling point It is the slope of the fitted linear equation of the slurry temperature change over time within the anomaly assessment interval. It is the first The degree of short-term variation in slurry temperature data at each sampling point The range of values ​​is , It is the time interval for anomaly assessment. It refers to the solid-liquid phase temperature range of the slurry. , and These are the non-negative weighting coefficients;

[0026] Configure anomaly score thresholds. If the score for the abnormality of the slurry temperature trend is less than the anomaly score threshold, no action will be taken. If the score for the abnormality of the slurry temperature trend is greater than or equal to the anomaly score threshold, the slurry temperature will be adjusted.

[0027] Specifically, the steps of the adaptive switching strategy also include:

[0028] The current slurry temperature and heat exchanger temperature are obtained. Combined with the slurry mass in the slurry container, the specific heat capacity of the slurry, the mass flow rate of the heat exchange medium, the specific heat capacity of the heat exchange medium, and the set expected slurry temperature, the heat balance equation in the heat exchange process is established, and the target mass flow rate of the heat exchange medium is calculated.

[0029] Based on the characteristics of the heat exchange medium pipeline in the heat exchanger, a characteristic curve of the mass flow rate of the heat exchange medium and the opening degree of the hydraulic valve is established. Based on the current mass flow rate of the heat exchange medium and the target mass flow rate of the heat exchange medium, the target hydraulic valve opening degree of the heat exchange medium in the heat exchanger is obtained.

[0030] The hydraulic valve opening of the current heat exchange medium is obtained, the change in hydraulic valve opening is calculated based on the target hydraulic valve opening, and the change in hydraulic valve opening is converted into a hydraulic control signal for the opening actuator. The opening actuator adjusts the hydraulic flow of the hydraulic valve that drives the heat exchange medium according to the control signal.

[0031] Configure the deviation threshold, set the temperature re-inspection interval, and after the hydraulic valve opening of the heat exchange medium is adjusted, obtain the slurry temperature after the temperature re-inspection interval, 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.

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

[0033] Sensors were deployed at key locations on the agitator drive and slurry container, and sensor data was collected at a fixed acquisition frequency.

[0034] Based on the rheological properties of the slurry, the initial speed range of the agitator driver is set, and based on the mechanical strength of the agitator driver, the maximum allowable torque of the agitator shaft is set.

[0035] A stirring reference model is constructed that incorporates stirring shaft torque, stirring shaft speed, and slurry viscosity. The torque error signal is calculated using the gradient descent method, and the initial parameters of the stirring reference model are updated based on the torque error signal.

[0036] The viscosity of the slurry and the rotational speed of the stirring shaft are acquired in real time, the desired torque of the stirring shaft is calculated, and the torque-speed-pressure difference characteristic equation of the hydraulic motor of the stirring driver is established based on the inherent properties of the stirring driver.

[0037] Based on the torque-speed-pressure difference characteristic equation of the hydraulic motor of the agitator actuator and the desired agitator shaft torque, the hydraulic inlet and outlet pressure difference and the target speed of the hydraulic motor of the agitator actuator are calculated, namely:

[0038] ;

[0039] ;

[0040] in, It is the first The pressure difference between the inlet and outlet of the hydraulic motor of the stirring drive at each sampling point It is the first The target rotational speed of the hydraulic motor driving the stirrer at each sampling point. It is the first The expected stirring shaft torque at each sampling point , and These are the fitting coefficients of the torque-speed-pressure difference characteristic equation of the hydraulic motor of the agitator actuator. It is the first The viscosity of the slurry at each sampling point and These are the initial parameters of the updated stirring reference model;

[0041] Based on the pressure difference between the hydraulic inlet and outlet of the stirring driver hydraulic motor and the target speed of the stirring driver hydraulic motor, the target hydraulic flow rate for driving the stirring driver hydraulic motor is obtained, and the error of the current hydraulic flow rate of the stirring driver hydraulic motor is calculated. The stirring driver hydraulic flow control signal is then output to adjust the stirring shaft speed.

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

[0043] The anomaly detection unit is equipped with an intelligent decision-making strategy. The intelligent decision-making strategy is used to monitor the implementation status of the driver's control commands based on sensor data, and to perform temperature change anomaly analysis and torque anomaly analysis by calculating the slurry temperature trend evaluation score and torque anomaly score. It then obtains the implementation status of the driver's control commands and determines whether to regenerate the commands or issue an anomaly warning.

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

[0045] Sensors are deployed at key locations in the drive and slurry container, and sensor data is collected at a fixed acquisition frequency.

[0046] When the slurry temperature adjustment is triggered, 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 are obtained.

[0047] Configure monitoring interval thresholds, evaluate the slurry temperature trend within the monitoring interval after the start of slurry temperature adjustment, and calculate the slurry temperature trend evaluation score by combining the direction of slurry temperature change and the stability of slurry temperature fluctuation.

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

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

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

[0051] Calculate the real-time hydraulic flow rate and the real-time hydraulic flow rate of the opening actuator control command. If the real-time hydraulic flow rate deviation is greater than the hydraulic flow rate deviation threshold, regenerate the opening actuator control command and continue to adjust the opening of the heat exchange medium hydraulic valve. Otherwise, issue an abnormal warning and generate an opening actuator warning message.

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

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

[0054] Configure the torque range range and monitor the stirring shaft torque of the stirring driver in real time. When the collected stirring shaft torque exceeds the torque range range, obtain the stirring shaft torque within the monitoring range according to the monitoring range threshold.

[0055] Based on the torque of the stirring shaft within the monitoring range, torque anomaly monitoring is performed. The stirring shaft torque anomaly score is calculated by the number of abnormal points and the fluctuation stability of the stirring shaft torque.

[0056] Configure a torque evaluation threshold. If the torque anomaly score of the stirring shaft is less than the torque evaluation threshold, then perform torque anomaly analysis; otherwise, do not perform any processing.

[0057] Configure the speed deviation threshold, obtain the real-time slurry viscosity and the real-time stirring shaft speed, obtain the target speed of the stirring driver hydraulic motor based on the slurry viscosity, and calculate the real-time speed deviation between the real-time stirring shaft speed and the target speed of the stirring driver hydraulic motor;

[0058] If the real-time speed deviation is greater than the speed deviation threshold, then obtain the target hydraulic flow and real-time hydraulic flow of the hydraulic motor driving the agitator.

[0059] Calculate the real-time hydraulic deviation. If the real-time hydraulic deviation is greater than the hydraulic deviation threshold, regenerate the control command for the agitator driver and continue to adjust the target speed of the hydraulic motor of the agitator driver. Otherwise, issue an abnormal warning and generate a warning message for the agitator driver.

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

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

[0062] The data monitoring unit is equipped with an anomaly detection strategy, which is used to monitor the data collected by the sensor in real time and identify potential abnormal data by comparing it with the preset normal data range of the sensor.

[0063] The early warning processing unit is equipped with a continuous monitoring strategy, which is used to continuously track and monitor the identified potential abnormal data. By recording the duration and changes of the abnormal data, the severity of the abnormality is determined and sensor abnormality early warning information is generated.

[0064] The beneficial effects of this invention are:

[0065] 1. By deploying sensors at key locations in the heat exchanger and slurry container to collect data, and setting the solid-liquid phase temperature range based on the slurry material, a series of threshold detection and analysis mechanisms, such as anomaly thresholds, deviation thresholds, short-term change thresholds, and anomaly score thresholds, are used to accurately determine whether the slurry temperature is abnormal. By calculating the degree of deviation and short-term change of potential temperature anomalies and combining this with long-term trend assessment, a precise decision is made on whether temperature adjustment is necessary. Once adjustment is determined, the target heat exchange medium mass flow rate is accurately calculated based on the heat balance equation. Then, based on the characteristic curve of the heat exchange medium mass flow rate versus the hydraulic valve opening, the opening of the heat exchange medium hydraulic valve is precisely adjusted to ensure that the slurry temperature remains stable within the ideal process range. This effectively prevents adverse effects on slurry quality caused by temperature fluctuations and ensures product quality stability.

[0066] 2. Based on sensor data at key locations in the agitator and slurry container, an appropriate initial speed range for the agitator and the maximum allowable torque of the agitator shaft are set according to the rheological characteristics of the slurry. By constructing a mixing reference model and adaptively updating parameters, the desired agitator shaft torque is calculated in real time based on the slurry viscosity and agitator shaft speed. Combined with the inherent properties of the agitator, the target hydraulic flow rate is determined, thereby precisely adjusting the agitator shaft speed. This adaptive strategy can automatically optimize mixing parameters according to the real-time characteristics of the slurry, ensuring uniform and efficient mixing, avoiding uneven or over-mixing, improving slurry quality stability and production efficiency, and reducing production costs.

[0067] 3. Based on the intelligent decision-making strategy of the anomaly detection unit, the implementation status of the drive control commands is closely monitored. By calculating the slurry temperature trend score and torque anomaly score, combined with various threshold settings, such as monitoring interval threshold, trend evaluation threshold, opening deviation threshold, hydraulic deviation threshold, torque range interval, torque evaluation threshold, and speed deviation threshold, the system accurately determines whether the drive is abnormal. Once an anomaly is detected, the command update unit can quickly regenerate the control commands and make precise adjustments to the drive to ensure its stable operation according to the expected commands. This effectively reduces the risk of system failure and production interruption, improves the overall stability and reliability of the hydraulic control system, reduces equipment maintenance costs and downtime, and enhances production efficiency. Attached Figure Description

[0068] Figure 1 This is a schematic diagram of the structure of a hydraulic control system according to the present invention;

[0069] Figure 2 This is a flowchart illustrating the specific steps of the adaptive switching strategy of the present invention;

[0070] Figure 3 A flowchart illustrating the specific steps involved in adjusting the slurry temperature according to the present invention;

[0071] Figure 4This is a flowchart illustrating the specific steps of the adaptive control strategy of the present invention;

[0072] Figure 5 This is a flowchart illustrating the specific steps of the intelligent decision-making strategy of the present invention;

[0073] Figure 6 A flowchart illustrating the specific steps involved in analyzing abnormal temperature changes in the slurry according to this invention.

[0074] Figure 7 The flowchart shows the specific steps involved in the torque anomaly analysis according to the present invention. Detailed Implementation

[0075] Please see 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 preparation stage, detect abnormal slurry temperature 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; and based on the real-time slurry viscosity, the hydraulic flow of the stirring driver hydraulic motor is adjusted to adaptively adjust the stirring shaft speed.

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

[0078] The temperature control unit is equipped with an adaptive exchange strategy. The adaptive exchange strategy is used to collect data through sensors, detect abnormal slurry temperature, and calculate the degree of abnormality of slurry temperature trend. Based on the abnormality score threshold, it is determined whether to adjust the slurry temperature. If the slurry temperature is adjusted, the target heat exchange medium mass flow rate is obtained according to the heat balance equation, and the opening of the heat exchange medium hydraulic valve is adjusted by hydraulic control.

[0079] The stirring control unit is equipped with an adaptive control strategy. The adaptive control strategy is used to collect data through sensors, build a stirring reference model and adaptively update parameters, calculate the desired stirring shaft torque in real time, obtain the target hydraulic flow rate of the hydraulic motor driving the stirring driver by combining the inherent properties of the stirring driver, output the stirring driver control signal, and adjust the stirring shaft speed in real time according to the viscosity of the slurry.

[0080] Please see Figure 2 The preferred adaptive switching strategy includes the following specific steps:

[0081] Sensors, including temperature and pressure sensors, are deployed at key locations in the heat exchanger and slurry container, and sensor data is collected at a fixed acquisition frequency to obtain the temperature and pressure of the heat exchange medium, the slurry temperature, and the slurry pressure.

[0082] Set the solid-liquid phase temperature range according to the slurry material. ,in, It is the lowest temperature at which the slurry is in a semi-solid state. It is the highest temperature of the slurry in a semi-solid state; clearly defining the reasonable temperature range boundary when the slurry is in a semi-solid state provides an important reference standard for judging whether the slurry temperature is normal. It helps to accurately distinguish whether the slurry temperature is within the normal process requirement range or has deviated abnormally, and is an important basis for subsequent temperature anomaly detection work.

[0083] Configure abnormal thresholds ,in, Less than , Greater than Based on the anomaly threshold, potential temperature anomalies in the slurry temperature data outside the threshold range are detected, and the degree of deviation of the potential temperature anomalies is calculated. The formula for calculating the degree of deviation is as follows:

[0084] ;

[0085] in, It is the first The degree of deviation of the slurry temperature data at each sampling point It is the first Slurry temperature data at each sampling point It is the number of cycles used to assess the degree of deviation from outliers. It is the first The slurry temperature data from each sampling point is used to quantify the degree of abnormality by calculating the deviation, which intuitively reflects the deviation of the temperature abnormality. This provides a detailed basis for taking further targeted measures and effectively avoids adverse effects on slurry quality and production process caused by undetected temperature abnormalities.

[0086] Configure a deviation threshold. If the deviation of a potential temperature anomaly exceeds the threshold, it is marked as a temperature anomaly and the previous threshold is applied. The average slurry temperature of each sampling point is used to replace the slurry temperature of the abnormal point to handle the abnormal slurry temperature value; otherwise, no operation is performed. The identified abnormal temperature data is corrected so that the subsequent temperature analysis is based on relatively smooth data that better reflects the true trend, reducing the interference of abnormal values ​​caused by equipment on the overall temperature trend judgment and related calculations, and improving the accuracy of subsequent analysis and decision-making.

[0087] Short-term temperature change trend analysis was performed on the slurry temperature data after outlier processing, and the degree of short-term change in slurry temperature data was calculated in real time, i.e.:

[0088] ;

[0089] in, It is the first The degree of short-term variation in slurry temperature data at each sampling point It is the first Slurry temperature data at each sampling point It is the first Slurry temperature data at each sampling point It is the first Slurry temperature data at each sampling point It is the time interval of the sampling frequency; when When this occurs, it indicates that the slurry temperature change shows an accelerating upward trend; when At that time, the slurry temperature showed an accelerated downward trend; when At that time, the temperature change of the slurry is approximately linear; obtaining the speed and trend of the temperature change of the slurry in a short period of time helps to quickly capture abnormal temperature fluctuations in a short period of time, and provides strong support for timely response to temperature changes and ensuring the relative stability of temperature in the production process.

[0090] Configure short-term change threshold When the short-term variation of the slurry temperature data is outside the short-term variation threshold range, that is: or If the temperature of the slurry fluctuates abnormally in a short period of time, it is determined that there is such fluctuation; otherwise, no operation is performed. Based on the comparison between the degree of short-term change and the set threshold, the judgment result of whether there is short-term abnormal fluctuation is given so as to trigger the subsequent further evaluation and control mechanism in a timely manner to ensure that the temperature changes according to the expected trend.

[0091] Set anomaly assessment interval When short-term abnormal fluctuations in slurry temperature data are detected, or after one abnormal assessment interval, the degree of trend abnormality in the slurry temperature data is assessed. This assessment combines the long-term degree of slurry temperature change, the short-term degree of slurry temperature change within the abnormal assessment interval, and the difference between the current slurry temperature and the slurry solid-liquid phase temperature to calculate a score indicating the degree of trend abnormality in slurry temperature.

[0092] ;

[0093] in, It is the first Scoring of the degree of abnormality in slurry temperature trend at each sampling point It is the slope of the fitted linear equation of the slurry temperature change over time within the anomaly assessment interval. It is the first The degree of short-term variation in slurry temperature data at each sampling point The range of values ​​is , It is the time interval for anomaly assessment. , and These are non-negative weighting coefficients used to balance each component of the score for the degree of abnormality in slurry temperature trends. By calculating a quantitative score that can reflect the overall degree of abnormality in temperature trends, an intuitive and comprehensive basis is provided for judging whether intervention is needed for the overall temperature status, so as to decide whether to adjust the slurry temperature based on the score.

[0094] An abnormal score threshold is configured. If the score for the abnormality of the slurry temperature trend is less than the threshold, no action is taken. If the score is greater than or equal to the threshold, the slurry temperature is adjusted. A clear decision boundary is set: when the score is less than the threshold, the current state is maintained to avoid unnecessary adjustments; when the score is greater than or equal to the threshold, the temperature adjustment process is triggered, making the entire temperature control process more scientific and orderly, avoiding over-adjustment or untimely adjustment, and ensuring the rationality and effectiveness of temperature control during production.

[0095] Please see Figure 3 The system obtains the current slurry temperature and heat exchanger temperature, and combines this with the slurry mass, 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 to establish the heat balance equation for the heat exchange process and calculate the target mass flow rate of the heat exchange medium.

[0096] ;

[0097] in, It is the mass flow rate of the target heat exchange medium. It refers to the quality of the slurry in the slurry container. It is the specific heat capacity of the slurry. It is the set expected slurry temperature. It is the specific heat capacity of the heat exchange medium. These are the inlet and outlet temperatures of the heat exchange medium, respectively. It is the heat medium flow rate correction coefficient, with a value range of [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 achieve the expected slurry temperature is determined, providing an accurate flow target value for subsequent precise adjustment of the heat exchange medium flow rate and accurate control of the slurry temperature, ensuring the scientific nature and effectiveness of temperature regulation.

[0098] Based on the characteristics of the heat exchange medium pipeline in the heat exchanger, a characteristic curve of the mass flow rate of the heat exchange medium and the opening degree of the hydraulic valve is established. Based on the current mass flow rate of the heat exchange medium and the target mass flow rate of the heat exchange medium, the target hydraulic valve opening degree of the heat exchange medium in the heat exchanger is obtained. The flow rate requirement of the heat exchange medium is transformed into a hydraulic valve opening degree control index, providing a basis for adjusting the flow rate of the heat exchange medium through the hydraulic valve, so that the operation of the hydraulic valve can change the flow rate of the heat exchange medium, thereby achieving the purpose of regulating the temperature of the slurry.

[0099] The system acquires the current hydraulic valve opening degree of the heat exchange medium, calculates the change in hydraulic valve opening degree based on the target opening degree, and converts this change into a hydraulic control signal for the opening actuator. The opening actuator then adjusts the hydraulic flow rate of the hydraulic valve driving the heat exchange medium according to this control signal, thereby controlling the valve opening degree. If the opening degree of the heat exchange medium hydraulic valve increases, the hydraulic flow rate in the actuator increases, driving the valve core to move in the opening direction; otherwise, the hydraulic flow rate decreases, moving the valve core in the closing direction. By accurately controlling the movement of the valve core through the actuator, the flow rate of the heat exchange medium is changed, achieving the effect of regulating the slurry temperature.

[0100] A deviation threshold is configured, and a temperature re-inspection interval is set to measure the time interval for re-inspecting the slurry temperature after adjustment. After the hydraulic valve opening of the heat exchange medium is adjusted, the slurry temperature is obtained after the temperature re-inspection interval, and the deviation from the expected slurry temperature is calculated. If it is greater than the deviation threshold, the slurry temperature adjustment continues; otherwise, no operation is performed. After the hydraulic valve opening is adjusted, a closed-loop temperature regulation feedback mechanism is formed by periodically re-inspecting the slurry temperature and comparing it with the expected temperature. This mechanism can promptly detect any remaining temperature deviations after adjustment, determine whether further adjustments are needed, and ensure that the slurry temperature eventually stabilizes within the expected reasonable range, guaranteeing the stable operation of the production process and the stability of product quality.

[0101] Please see Figure 4 The preferred adaptive control strategy includes the following specific steps:

[0102] Sensors, including temperature sensors, pressure sensors, flow sensors, viscosity sensors, and torque sensors, are deployed at key locations in the agitator and slurry container. Sensor data is collected at a fixed acquisition frequency to obtain slurry temperature, slurry pressure, slurry viscosity, hydraulic flow, and agitator shaft torque.

[0103] Based on the rheological properties of the slurry, the initial speed range of the agitator is set, and the maximum allowable torque of the agitator shaft is set according to the mechanical strength of the agitator. The initial speed range set based on the slurry's rheological properties ensures that the agitator can agitate the slurry at a suitable speed during startup and initial operation, avoiding problems such as uneven agitation, slurry splashing, or failure to achieve the desired agitation effect due to improper speed.

[0104] A mixing reference model is constructed that relates the stirring shaft torque to the stirring shaft speed and the slurry viscosity, namely:

[0105] ;

[0106] in, It is the torque of the stirring shaft. It refers to the viscosity of the slurry. It is the rotational speed of the stirring shaft. and These are the initial parameters of the mixing reference model, which are initially set based on experience and theoretical analysis. They establish the intrinsic relationship between the mixing shaft torque, mixing shaft speed, and slurry viscosity from a theoretical perspective, providing a reference standard for subsequent control strategies. This gives the actual mixing process a target state that can be compared and approximated, thereby achieving efficient and stable mixing results.

[0107] The torque error signal is calculated using the gradient descent method. ,in, It is the first The stirring shaft torque at each sampling point is used to update the initial parameters of the stirring reference model based on the torque error signal, i.e.:

[0108] ;

[0109] ;

[0110] in, and It is an adaptive gain, with a value range of [0.01, 0.05]. Adjusting the adaptive gain value controls the speed and stability of parameter updates. and These are the initial parameters of the updated mixing reference model; enabling the mixing reference model to continuously adjust and optimize itself based on real-time data collected during the actual mixing process, making it more closely match the actual working conditions.

[0111] The slurry viscosity and stirring shaft speed are acquired in real time, and the desired stirring shaft torque is calculated, i.e.:

[0112] ;

[0113] in, It is the first The expected stirring shaft torque at each sampling point It is the first The viscosity of the slurry at each sampling point It is the first The stirring shaft speed is measured at each sampling point; relevant parameters are acquired in real time and the expected stirring shaft torque is calculated. At each sampling moment, the torque value that should theoretically be achieved based on the current slurry state and stirring shaft speed can be obtained. This expected torque value provides a clear basis for comparison to judge whether the actual stirring situation meets expectations, so as to detect deviations in the stirring process in time and ensure that the slurry can be uniformly and fully stirred and mixed.

[0114] Based on the inherent properties of the agitator actuator, the torque-speed-pressure difference characteristic equation of the hydraulic motor of the agitator actuator is established, namely:

[0115] ;

[0116] in, It is the output torque of the hydraulic motor of the stirring drive. It is the target speed of the hydraulic motor of the agitator driver. It is the pressure difference between the hydraulic inlet and outlet of the hydraulic motor of the agitator driver. , and These are the fitting coefficients of the torque-speed-pressure difference characteristic equation of the hydraulic motor of the agitator driver, 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 under different working conditions. This provides a solid theoretical basis for the subsequent precise control of the hydraulic system and the reasonable adjustment of the agitator shaft speed, ensuring that the hydraulic motor can work in the best condition that meets its own performance characteristics, and helping the entire agitation process to proceed smoothly.

[0117] Based on the torque-speed-pressure difference characteristic equation of the hydraulic motor of the agitator actuator and the desired agitator shaft torque, the hydraulic inlet and outlet pressure difference and the target speed of the hydraulic motor of the agitator actuator are calculated, namely:

[0118] ;

[0119] ;

[0120] in, It is the first The pressure difference between the inlet and outlet of the hydraulic motor of the stirring drive at each sampling point It is the first The target speed of the hydraulic motor driving the agitator at each sampling point is calculated. Through this step, the specific values ​​of the hydraulic inlet and outlet pressure difference and speed that the hydraulic motor should have under the current desired agitation effect are determined, providing target values ​​for subsequent hydraulic system flow control, power output, and other aspects.

[0121] Based on the pressure difference between the inlet and outlet of the hydraulic motor and its target speed, the target hydraulic flow rate for driving the hydraulic motor is obtained. The error between this target flow rate and the current flow rate is calculated, and a hydraulic flow control signal is output to adjust the agitator shaft speed, thus controlling the agitator shaft speed. Adaptive adjustments are made based on the real-time characteristics of the slurry; when the slurry viscosity increases, the hydraulic oil flow rate is automatically increased to raise the agitator speed and ensure effective agitation. The required hydraulic flow rate for the hydraulic motor is obtained through the motor's displacement and target speed.

[0122] The control and adjustment module is used to collect data through sensors, acquire driver data to monitor the implementation results of control commands, perform anomaly evaluation and analysis on the driver through threshold judgment and anomaly score calculation, and generate updated driver control signals after receiving driver commands to regenerate signals.

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

[0124] The anomaly detection unit is equipped with an intelligent decision-making strategy. The intelligent decision-making strategy is used to monitor the implementation status of the driver's control commands based on sensor data. By calculating the slurry temperature trend evaluation score and torque anomaly score, it performs temperature change anomaly analysis and torque anomaly analysis to obtain the implementation status of the driver's control commands, so as to determine whether to regenerate the commands or issue an anomaly warning.

[0125] The instruction update unit is configured with an optimization update strategy, which is used to regenerate control instructions for drivers with abnormal control instruction implementation in order to correct the abnormal situation.

[0126] Please see Figure 5 The preferred intelligent decision-making strategy includes the following specific steps:

[0127] Sensors are deployed at key locations in the actuator and slurry container. The actuator includes an opening actuator and a stirring actuator. These sensors include temperature sensors, pressure sensors, flow sensors, speed sensors, torque sensors, and position sensors. A fixed acquisition frequency is set to collect sensor data to obtain hydraulic pressure, hydraulic flow, the position of the hydraulic valve for heat exchange medium in the opening actuator, the speed of the stirring actuator, and the torque of the stirring shaft of the stirring actuator.

[0128] When the slurry temperature adjustment is triggered, 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 are obtained.

[0129] Configure monitoring interval thresholds Used to characterize the number of sampling points within the monitoring interval, let If the sampling point triggers the slurry temperature adjustment, then the monitoring interval is represented as follows: Within the monitoring period after the initial slurry temperature adjustment, the slurry temperature trend is assessed. By combining the direction of slurry temperature change and the stability of slurry temperature fluctuations, a slurry temperature trend assessment score is calculated to determine whether the slurry temperature is gradually approaching the expected slurry temperature. The formula for calculating the slurry temperature trend assessment score is as follows:

[0130] ;

[0131] ;

[0132] ;

[0133] in, It is the first Scoring based on the direction of slurry temperature change at each sampling point. It is the set expected slurry temperature. It is the first Slurry temperature data at each sampling point It is the score for the stability of slurry temperature fluctuation. It is the slurry temperature trend assessment score. and These are the weighting coefficients for the slurry temperature change direction score and the slurry temperature fluctuation stability score, respectively, with a value range of (0,1).

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

[0135] Please see Figure 6Configure the opening deviation threshold and hydraulic deviation threshold, obtain the position of the heat exchange medium hydraulic valve in the opening actuator, 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 of the heat exchange medium hydraulic valve driven in the opening actuator, calculate the real-time hydraulic deviation between the real-time hydraulic flow and the hydraulic flow of the opening actuator control command, if the real-time hydraulic deviation is greater than the hydraulic deviation threshold, regenerate the opening actuator control command, and continue to adjust the opening of the heat exchange medium hydraulic valve; otherwise, issue an abnormal warning and generate an opening actuator warning message to notify 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, an abnormal warning will be issued, generating a heat exchange medium warning message to notify maintenance personnel to check the heat exchange medium.

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

[0138] Based on the stirring shaft torque within the monitoring range, torque anomaly monitoring is performed. Anomaly scores are calculated by analyzing the number of abnormal stirring shaft torque points and the stability of stirring shaft torque fluctuations.

[0139] ;

[0140] ;

[0141] ;

[0142] in, It is the first Anomaly score for the stirring shaft torque at each sampling point. It is the first The stirring shaft torque at each sampling point It is the first The expected stirring shaft torque at each sampling point It is the threshold value for the torque offset of the stirring shaft. These are sampling points where the torque of the stirring shaft exceeds the specified range. It is the score for the stability of the stirring shaft torque fluctuation. The score is due to abnormal stirring shaft torque. and These are the weighting coefficients for the number of abnormal points in the stirring shaft torque and the fluctuation stability score of the stirring shaft torque, respectively, with a value range of (0,1).

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

[0144] Please see Figure 7 Configure the speed deviation threshold, obtain the real-time slurry viscosity and the real-time stirring shaft speed, obtain the target speed of the stirring driver hydraulic motor based on the slurry viscosity, calculate the real-time speed deviation between the real-time stirring shaft speed and the target speed of the stirring driver hydraulic motor, if the real-time speed deviation is greater than the speed deviation threshold, obtain the target hydraulic flow rate and real-time hydraulic flow rate of the stirring driver hydraulic motor, calculate the real-time hydraulic deviation, if the real-time hydraulic deviation is greater than the hydraulic deviation threshold, regenerate the stirring driver control command, and continue to adjust the target speed of the stirring driver hydraulic motor; otherwise, issue an abnormal warning and generate a stirring driver warning message to notify maintenance personnel to check the stirring driver hydraulic motor.

[0145] If the real-time speed deviation is less than or equal to the speed deviation threshold, an abnormality warning will be issued, generating an agitator shaft warning message to notify maintenance personnel to check the agitator shaft.

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

[0147] After receiving the opening actuator control command and regenerating the signal, the sensor data related to the heat exchange process are collected retrospectively, including the temperature of the heat exchange medium, the temperature of the slurry, and the position and hydraulic flow of the heat exchange medium hydraulic valve in the opening actuator.

[0148] Based on the characteristic curves of mass flow rate of heat exchange medium and hydraulic valve opening, a suitable target for adjusting the hydraulic valve opening of heat exchange medium is redefined.

[0149] Based on the newly determined target hydraulic valve opening, calculate the change in hydraulic valve opening and convert it into a hydraulic control signal for the opening actuator.

[0150] The opening actuator adjusts the hydraulic flow of the hydraulic valve that drives the heat exchange medium according to the updated control signal, thereby controlling the opening of the hydraulic valve and causing the valve core of the heat exchange medium hydraulic valve to move in the corresponding direction as required, so as to change the flow of the heat exchange medium and thus adjust the slurry temperature.

[0151] After the hydraulic valve opening is adjusted, the slurry temperature is obtained according to the configured temperature re-inspection interval, and the deviation from the expected slurry temperature is calculated. If the deviation is greater than the configured deviation threshold, the slurry temperature adjustment process continues; otherwise, no operation is performed, and the process waits for the next monitoring and judgment.

[0152] When a regenerated signal is received from the agitator drive control command, the desired agitator shaft torque is recalculated based on the real-time slurry viscosity and agitator shaft speed, according to the established agitation reference model and related calculation formulas.

[0153] Based on the torque-speed-pressure difference characteristic equation of the hydraulic motor of the agitator driver and the recalculated desired agitator shaft torque, the hydraulic inlet and outlet pressure difference and the target speed of the hydraulic motor of the agitator driver are determined again.

[0154] Based on the redefined target speed and displacement of the hydraulic motor of the agitator driver, the target hydraulic flow rate for driving the hydraulic motor of the agitator driver is obtained.

[0155] The error between the target hydraulic flow rate and the current hydraulic flow rate of the agitator driver's hydraulic motor is calculated, and the updated control signal of the agitator driver's hydraulic flow rate is output. The speed of the agitator shaft is adjusted to control the speed of the agitator driver's agitator shaft, so that the speed of the agitator shaft can be adaptively adjusted according to the real-time characteristics of the slurry to ensure the agitation effect.

[0156] The sensor feedback module is used to monitor abnormal data collected by various deployed sensors. It monitors abnormal sensor data according to threshold settings, monitors the duration of abnormal data, issues early warnings, and generates sensor abnormality warning information.

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

[0158] The data monitoring unit is equipped with an anomaly identification strategy, which is used to monitor various types of data collected by the sensors in real time. By comparing them with the preset normal data range, it identifies potential abnormal data, including but not limited to abnormal changes in parameters such as temperature, pressure, flow rate, viscosity, and torque. This enables preliminary screening and anomaly judgment of sensor data to determine which data needs further attention and analysis.

[0159] The early warning processing unit is equipped with a continuous monitoring strategy. This strategy is used to continuously track and monitor the identified potential abnormal data. By recording the duration and changes of abnormal data, the severity of the abnormality is determined. When the duration of the abnormality exceeds a set threshold or the abnormality worsens, a sensor abnormality early warning message is generated, notifying relevant personnel to promptly check and handle the sensor or corresponding equipment components. This ensures the stable operation of the entire hydraulic control system and the accuracy of data acquisition, providing reliable data support for the power execution module and control adjustment module, and guaranteeing the smooth progress of the slurry production process and the stability of product quality.

[0160] In this embodiment, the anomaly identification strategy is used to comprehensively and in real-time monitor various types of data collected by sensors. For different types of sensors, including temperature and pressure sensors at key locations in heat exchangers and slurry containers, and temperature, pressure, flow, viscosity, torque, and position sensors at key locations in the agitator actuator, threshold parameters such as normal data range, normal rate of change interval, and allowable tolerance range for data fluctuations are set based on statistical analysis of past operating data. During operation, real-time data from 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 used to evaluate whether the slope of its temperature change conforms to a normal heating or cooling trend. For pressure data, the presence of anomalies is determined by comprehensively considering the normal pressure range and the stability of pressure changes. Similar multi-dimensional and refined analysis methods are also used for other types of data such as flow, viscosity, and torque to achieve 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 identified potential abnormal data points. When a potential abnormal data point is detected, a timing mechanism is activated to record the duration of the abnormal data point and predict its trend. For example, by establishing a short-term predictive model of data changes, the data trend of the potential abnormal data point is estimated to determine whether it will stabilize and return to normal or continue to deteriorate. Based on the estimated data trend, the severity level of the abnormality is determined. Early warning information is generated for sensors containing continuously deteriorating potential abnormal data points, including the specific type of the potential abnormal data point, sensor location identifier, real-time value and change curve of the potential abnormal data point, duration of the abnormality, and the predicted severity level of the abnormality. This is to notify relevant professionals to take appropriate inspection, debugging, repair, or emergency handling measures, ensuring the stable, reliable, and efficient operation of the entire hydraulic control system and the high accuracy of data acquisition. This provides 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 and adjustment module, effectively guaranteeing the efficient and smooth progress of the slurry production process and the stable and high-quality achievement of product standards.

[0162] Working principle and its effects:

[0163] In a hydraulic control system, during the slurry preparation stage, the power execution module collects various data from the heat exchanger, slurry container, agitator, and key locations within the slurry container via sensors. Based on this data, the temperature regulation unit performs a series of complex threshold settings and calculations, including setting the slurry solid-liquid phase temperature range, calculating the deviation of potential temperature anomalies, analyzing short-term temperature change trends, and evaluating the degree of trend anomaly. It then determines whether to adjust the slurry temperature based on the anomaly score threshold. If adjustment is needed, it precisely controls the opening of the heat exchange medium hydraulic valve using the heat balance equation and the hydraulic valve opening characteristic curve. Similarly, the agitator control unit relies on sensor data to set the initial rotational speed range and the maximum allowable torque of the agitator shaft based on the slurry's rheological characteristics. It constructs and adaptively updates the agitator reference model, calculates the desired agitator shaft torque in real time, and adjusts the agitator shaft speed by obtaining the target hydraulic flow rate based on the inherent properties of the agitator.

[0164] The control and adjustment module uses the driver data collected by the sensors and the various threshold configurations and score calculations in the intelligent decision-making strategy to perform anomaly evaluation and analysis on the implementation of driver control commands. When a regenerated command signal is received, an updated driver control signal is generated.

[0165] The data monitoring unit of the sensor feedback module identifies potential abnormal data by comparing it with a preset normal data range, and the early warning processing unit continuously tracks and records the duration and changes of abnormal data to determine the severity and generate early warning information.

[0166] Through the collaborative work of various modules, based on precise sensor data acquisition and processing, rigorous threshold judgment, and scientific control strategies, the system achieves accurate control of slurry temperature, optimization of the mixing process, and effective monitoring of the actuator's operating status. This improves the stability and quality consistency of slurry production, reduces the risks caused by abnormal temperature, uneven mixing, and actuator failure, enhances production efficiency and the overall reliability and stability of the system, reduces the uncertainty and error of manual intervention, and ensures the efficient and stable operation of the production process.

[0167] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A hydraulic control system characterized by, The power execution module, the control adjustment module and the sensing feedback module are included. The power execution module is used to collect data through sensors in the slurry making stage, detect slurry temperature abnormal conditions to determine whether to adjust the slurry temperature, and if the slurry temperature adjustment is performed, adjust the heat exchange medium hydraulic valve opening degree through the opening degree driver. And based on the real-time slurry viscosity, the stirring shaft speed is adaptively adjusted by adjusting the hydraulic flow of the stirring driver hydraulic motor. The power execution module includes a temperature adjustment unit and a stirring control unit. The temperature adjustment unit is configured with an adaptive exchange strategy, which is used to collect data through sensors, detect slurry temperature abnormal conditions, calculate slurry temperature trend abnormality score, determine whether to adjust the slurry temperature according to the abnormal score threshold, and if the slurry temperature adjustment is performed, obtain the target heat exchange medium mass flow according to the heat balance equation, and adjust the heat exchange medium hydraulic valve opening degree through hydraulic control. The stirring control unit is configured with an adaptive control strategy, which is used to collect data through sensors, build a stirring reference model and adaptively update parameters, calculate the expected stirring shaft torque in real time, obtain the target hydraulic flow of the stirring driver hydraulic motor combined with the inherent properties of the stirring driver, output the stirring driver control signal, and adjust the stirring shaft speed in real time according to the slurry viscosity. The control adjustment module is used to collect data through sensors, collect driver data to monitor the implementation results of control instructions, perform abnormal evaluation analysis on the driver through threshold judgment and abnormal score calculation, and generate updated driver control signals after receiving the driver instruction regeneration signal. The control adjustment module includes an abnormality detection unit and an instruction update unit. The intelligent decision-making strategy in the abnormality detection unit is used to monitor the control instruction implementation state of the driver according to the sensor data, calculate the slurry temperature trend evaluation score and the torque abnormality score, perform temperature change abnormality analysis and torque abnormality analysis, obtain the driver control instruction implementation, and determine whether to regenerate the instruction or perform abnormal warning. The sensing feedback module is used to monitor the data abnormality of various sensors deployed, monitor the abnormal sensor data according to the threshold setting, monitor the abnormal data duration, perform abnormal warning, and generate sensor abnormal warning information. 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 collection frequency to collect sensor data; According to the slurry material, set the slurry solid-liquid phase line temperature range, configure the abnormal threshold, detect the potential temperature abnormal points of the slurry temperature data outside the abnormal threshold range according to the abnormal threshold, set the period for evaluating the deviation degree of the abnormal points, calculate the deviation degree of the potential temperature abnormal points according to the difference between the slurry temperature of the potential temperature abnormal points and the average slurry temperature in the period for evaluating the deviation degree of the abnormal points. A deviation threshold is configured, and if the deviation degree of the potential temperature abnormal point is greater than the deviation threshold, the potential temperature abnormal point is marked as a temperature abnormal point, and the average slurry temperature in the period in which the deviation degree of the abnormal point is evaluated is used to replace the slurry temperature at the temperature abnormal point; After the abnormal value processing, the slurry temperature data is analyzed for temperature change trend, and the short-term change degree of the slurry temperature data is calculated in real time; configuring a short-term change threshold When the degree of short-term change in the slurry temperature data is outside the short-term change threshold range, i.e.: or then it is determined that the slurry temperature data has a short-term abnormal fluctuation; Setting an abnormality evaluation interval When a short-term abnormal fluctuation of the slurry temperature data is detected or one abnormality evaluation interval has elapsed, a trend abnormality degree of the slurry temperature data is evaluated, and a trend abnormality degree score of the slurry temperature is calculated in combination with a long-term change degree of the slurry temperature, a short-term change degree of the slurry temperature within the abnormality evaluation interval, and a difference degree between the current slurry temperature and the slurry solid-liquid phase line temperature. An abnormal score threshold is configured, if the slurry temperature trend abnormal degree score is less than the abnormal score threshold, no operation is performed, and if the slurry temperature trend abnormal degree score is greater than or equal to the abnormal score threshold, the slurry temperature is adjusted.

2. A hydraulic control system as claimed in claim 1, characterised in that, The formula for calculating the short-term change degree of the slurry temperature data is: ； wherein, is a short-term degree of variation in the slurry temperature data of the th sampling point, is the slurry temperature data of the th sampling point, is the slurry temperature data of the th sampling point, is the slurry temperature data of the th sampling point, is a time interval of the collection frequency.

3. A hydraulic control system as claimed in claim 1, characterised in that, The formula for calculating the slurry temperature trend abnormal degree score is: ； wherein, is a slurry temperature trend anomaly score for the i-th sampling point, is a slope of a fitted straight line equation of slurry temperature change over time within the anomaly assessment interval, is a short-term variation degree of slurry temperature data for the i-th sampling point, , is a time interval of the anomaly assessment interval, is a slurry solid-liquid phase line temperature range, , and are non-negative weighting coefficients, respectively.​​​ 4. A hydraulic control system as claimed in claim 1, characterised in that, The steps of the adaptive exchange strategy further include: The current slurry temperature and the heat exchanger temperature are obtained, the mass of the slurry in the slurry container, the specific heat capacity of the slurry, the mass flow of the heat exchange medium, the specific heat capacity of the heat exchange medium, and the set expected slurry temperature are combined to establish a heat balance equation in the heat exchange process, and the target heat exchange medium mass flow is calculated; According to the characteristics of the heat exchange medium pipeline in the heat exchanger, a characteristic curve of the heat exchange medium mass flow and the hydraulic valve opening degree is established, and according to the current heat exchange medium mass flow and the target heat exchange medium mass flow, the target hydraulic valve opening degree of the heat exchange medium in the heat exchanger is obtained; The current hydraulic valve opening degree of the heat exchange medium is obtained, the target hydraulic valve opening degree is calculated to obtain the hydraulic valve opening degree change, the hydraulic valve opening degree change is converted into an opening degree driver hydraulic control signal, and the opening degree driver drives the adjustment of the hydraulic flow of the heat exchange medium hydraulic valve in the opening degree driver according to the control signal; A deviation threshold is configured, and a temperature recheck interval is set, after the completion of the adjustment of the hydraulic valve opening degree of the heat exchange medium, the slurry temperature is obtained after the temperature recheck interval, and the deviation of the slurry temperature from the expected slurry temperature is calculated, if the deviation is greater than the deviation threshold, the slurry temperature adjustment is continued, otherwise, no operation is performed.

5. A hydraulic control system as claimed in claim 1, characterised in that, The steps of the adaptive control strategy include: Sensors are deployed at key positions of the stirring driver and the slurry container, and a fixed collection frequency is set to collect sensor data; According to the rheological properties of the slurry, an initial stirring driver speed range is set, and according to the mechanical strength of the stirring driver, a maximum allowable stirring shaft torque is set; A stirring reference model of the stirring shaft torque, the stirring shaft speed, and the slurry viscosity is constructed, a torque error signal is calculated using the gradient descent method, and the initial parameters of the stirring reference model are updated according to the torque error signal; The slurry viscosity and the stirring shaft speed are obtained in real time, the expected stirring shaft torque is calculated, and the torque-speed-pressure difference characteristic equation of the stirring driver hydraulic motor is established according to the inherent properties of the stirring driver; According to the torque-speed-pressure difference characteristic equation of the stirring driver hydraulic motor and the expected stirring shaft torque, the hydraulic inlet and outlet pressure difference of the stirring driver hydraulic motor and the target speed of the stirring driver hydraulic motor are calculated, that is: ； ； in, It is the first The pressure difference between the inlet and outlet of the hydraulic motor of the stirring drive at each sampling point It is the first The target rotational speed of the hydraulic motor driving the stirrer at each sampling point. It is the first The expected stirring shaft torque at each sampling point , and These are the fitting coefficients of the torque-speed-pressure difference characteristic equation of the hydraulic motor of the agitator actuator. It is the first The viscosity of the slurry at each sampling point and These are the initial parameters of the updated stirring reference model; According to the pressure difference of the hydraulic inlet and outlet of the stirring driver hydraulic motor and the target rotating speed of the stirring driver hydraulic motor, a target hydraulic flow for driving the stirring driver hydraulic motor is obtained, and a hydraulic flow error of the stirring driver hydraulic motor is calculated, a stirring driver hydraulic flow control signal is output, and the stirring shaft rotating speed is adjusted.

6. A hydraulic control system as claimed in claim 1, characterised in that, The steps of the intelligent decision strategy include: Deploy sensors at key positions of the driver and the slurry container, and set a fixed collection frequency to collect sensor data; When the slurry temperature adjustment is triggered, the set expected slurry temperature, the target hydraulic valve opening degree of the heat exchange medium in the heat exchanger, and the hydraulic flow for driving the heat exchange medium hydraulic valve in the opening degree driver are obtained; Configure a monitoring interval threshold value, evaluate the slurry temperature trend in the monitoring interval after the slurry temperature adjustment is started, and calculate a slurry temperature trend evaluation score by combining the slurry temperature change direction and the slurry temperature fluctuation stability; Configure a trend evaluation threshold value, if the slurry temperature trend evaluation score is less than the trend evaluation threshold value, perform slurry temperature change abnormality analysis, otherwise, do not perform any processing; Configure an opening degree deviation threshold value and a hydraulic deviation threshold value, obtain the position of the heat exchange medium hydraulic valve in the opening degree driver, and calculate the real-time opening degree deviation of the heat exchange medium hydraulic valve opening degree and the target hydraulic valve opening degree; If the real-time opening degree deviation is greater than the opening degree deviation threshold value, obtain the real-time hydraulic flow for driving the heat exchange medium hydraulic valve in the opening degree driver; Calculate the real-time hydraulic flow deviation, if the real-time hydraulic flow deviation is greater than the hydraulic flow deviation threshold value, re-generate the opening degree driver control instruction, continue to adjust the heat exchange medium hydraulic valve opening degree, otherwise, perform abnormality early warning, and generate the opening degree driver early warning information; If the real-time opening degree deviation is less than or equal to the opening degree deviation threshold value, perform abnormality early warning, and generate the heat exchange medium early warning information.

7. A hydraulic control system as claimed in claim 6, characterised in that, The steps of the intelligent decision strategy further include: Configure a torque range interval, and real-time monitor the stirring shaft torque of the stirring driver, when the stirring shaft torque collected exceeds the torque range interval, obtain the stirring shaft torque in the monitoring interval according to the monitoring interval threshold value; According to the stirring shaft torque in the monitoring interval, perform torque abnormality monitoring, calculate a stirring shaft torque abnormality score by the number of abnormal points of the stirring shaft torque and the fluctuation stability of the stirring shaft torque; Configure a torque evaluation threshold value, if the stirring shaft torque abnormality score is less than the torque evaluation threshold value, perform torque abnormality analysis, otherwise, do not perform any processing; Configure a rotating speed deviation threshold value, obtain the real-time slurry viscosity and the real-time stirring shaft rotating speed, obtain the stirring driver hydraulic motor target rotating speed according to the slurry viscosity, and calculate the real-time rotating speed deviation of the real-time stirring shaft rotating speed and the stirring driver hydraulic motor target rotating speed; If the real-time rotating speed deviation is greater than the rotating speed deviation threshold value, obtain the target hydraulic flow for driving the stirring driver hydraulic motor and the real-time hydraulic flow; Calculate the real-time hydraulic flow deviation, if the real-time hydraulic flow deviation is greater than the hydraulic flow deviation threshold value, re-generate the stirring driver control instruction, continue to adjust the stirring driver hydraulic motor target rotating speed, otherwise, perform abnormality early warning, and generate the stirring driver early warning information; If the real-time rotation speed deviation is less than or equal to the rotation speed deviation threshold value, an abnormality early warning is performed, and a stirring shaft early warning information is generated.

8. A hydraulic control system as claimed in claim 1, characterised in that, The sensing feedback module comprises a data monitoring unit and an early warning processing unit. The data monitoring unit is configured with an abnormality identification strategy, which is used for real-time monitoring of the data collected by the sensor, and identifying potential abnormal data by comparing with the preset normal data range of the sensor. The early warning processing unit is configured with a continuous monitoring strategy, which is used for continuously tracking and monitoring the identified potential abnormal data, judging the severity of the abnormality by recording the duration and change of the abnormal data, and generating a sensor abnormality early warning information.

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