Self-adaptive valve adjusting system and method based on hydraulic control

Abstract

The invention discloses a self-adaptive valve adjusting system and method based on hydraulic control, and relates to the technical field of hydraulic adjusting.The method comprises the steps that a monitoring period is set, data are continuously collected, feature data exceeding an operation threshold value are recognized, corresponding valve adjusting information is extracted, and adjusting packaging data are formed; calculating unit change values of the data and combining valve parameters to obtain comprehensive change values of the characteristics under different valve parameters; systematically analyzing and constructing a fitting function of the valve parameters and the characteristic data by using a straight line fitting algorithm; when abnormal data is monitored, the system executes a valve adjustment strategy: if only one piece of feature data is abnormal, a corresponding valve is selected, parameters are set, an adjustment effect is predicted by using a fitting function, simulation adjustment is carried out, and it is ensured that other data are within a threshold value; if multiple items of data are abnormal, independently analyzing and selecting a fastest adjustment method; accurate monitoring and intelligent adjustment of the hydraulic system are achieved, and stable operation of the system is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic regulation, and in particular to an adaptive valve regulation system and method based on hydraulic control. Background Art

[0002] With the rapid development of industrial automation and intelligent manufacturing, the hydraulic system, as one of the key technologies, is widely used in various mechanical equipment, such as steam turbines; the hydraulic system controls and drives various industrial equipment through fluid transmission, and has the advantages of smooth transmission, compact structure, and easy implementation of automatic control; however, in the actual operation process, the performance of the hydraulic system is often affected by various factors, such as oil temperature, pressure fluctuation, valve state, etc., and these factors may lead to a decline in system performance and even cause failures; In order to ensure the stable operation of the hydraulic system and improve its working efficiency and reliability, the adaptive valve regulation technology has emerged; this technology can dynamically adjust the opening and parameters of the valve according to the real-time operation state of the hydraulic system to achieve optimal control of the system performance; Traditional valve regulation methods mostly rely on empirical formulas or manual adjustment, which are difficult to adapt to complex and changeable working conditions, and the regulation efficiency is low; secondly, traditional hydraulic control methods may only focus on the regulation of single characteristic data and ignore the mutual influence between these characteristic data, which may cause other characteristic data to exceed their operating thresholds when adjusting one characteristic data, thus affecting the stability and performance of the system. Summary of the Invention

[0003] (I) Technical Problems to be Solved Aiming at the technical problems in the background art, the present invention proposes an adaptive valve regulation system and method based on hydraulic control, uses a fitting function to predict the regulation effect, comprehensively considers the mutual influence of multiple characteristic data, and ensures that other characteristic data remain stable when adjusting one characteristic; thus solving the technical problems recorded in the background art.

[0004] (II) Technical Solutions To achieve the above object, the present invention is realized through the following technical solutions: An adaptive valve regulation method based on hydraulic control, comprising: Monitoring characteristic data when the hydraulic control system executes tasks, setting a monitoring period and storing the monitoring data; identifying characteristic data that exceed the corresponding operating threshold range from the historical monitoring data, and extracting the corresponding valve regulation data for packaging and marking to obtain regulation packaging data; Calculate the unit change value of all feature data in each adjusted and packed data. Combine the data with the same valve adjustment parameters to obtain the comprehensive unit change value of each feature data under each valve adjustment parameter. Analyze and fit the fitting function of the valve adjustment parameter and various feature data through the linear fitting algorithm. When it is detected that the feature data exceeds the corresponding operating threshold range, execute the valve adjustment strategy. If only one type of feature data exceeds the corresponding operating threshold range, select the corresponding valve type and set the specified valve adjustment parameter value. Calculate the data change of the corresponding feature data through the fitting function. Conduct an adjustment simulation and select the adjustment method based on whether the remaining feature data after adjustment is still within the corresponding operating threshold range. If multiple feature data exceed the corresponding operating threshold range, analyze the feature data separately and select the method with the shortest adjustment duration for adjustment.

[0005] Specifically, the feature data includes the piston displacement in the hydraulic cylinder , the movement speed , and the piston force ; Obtain the main associated valve of each feature data. Among them, the main associated valve of the piston displacement is the electromagnetic directional valve, the main associated valve of the piston movement speed is the throttle valve, and the main associated valve of the piston force is the relief valve. Set the monitoring period , monitor the feature data periodically, and store the monitored data in the execution record library of various tasks. The execution record library of various tasks includes a monitoring data table, and the monitoring data table stores the historical monitoring data and valve adjustment data of each feature data.

[0006] Specifically, based on whether the feature data value corresponding to the start time of each valve adjustment data exceeds the corresponding operating threshold range, determine the type of feature data to be adjusted currently. Combine each valve adjustment data with the corresponding type of feature data to be adjusted, obtain the duration of each valve adjustment data and the corresponding valve adjustment parameter data, obtain the monitoring data of each feature data during the duration of the corresponding valve adjustment data, and mark them after packing with the corresponding valve adjustment data, and record them as the adjusted and packed data of the corresponding task.

[0007] Furthermore, calculate and obtain the change set of each feature data in each adjusted and packed data , and the number of continuous cycles in the valve adjustment data , calculate the unit change value of all feature data in each adjusted and packed data , and the expression is: ; Among them, , , are respectively the initial values of the piston displacement, movement speed, and piston force in each adjusted and packed data; , , are respectively the final values of the piston displacement, movement speed, and piston force in each adjusted and packed data.

[0008] Furthermore, combine the adjusted and packed data with the same data type and the same value of the valve adjustment parameter, perform a mean operation on the unit change values corresponding to each characteristic data in these adjusted and packed data, and obtain the comprehensive unit change value corresponding to each type of characteristic data under the specified value of the corresponding valve adjustment parameter data type.

[0009] Furthermore, record the comprehensive unit change values corresponding to each type of characteristic data under each value of the same valve adjustment parameter data type in different time series graphs, analyze the corresponding relationship between each type of valve adjustment parameter data and each type of characteristic data based on the linear fitting algorithm, and fit the fitting function between each type of valve adjustment parameter data and each type of characteristic data. The expression is: , where , represent the slope and intercept, represents the comprehensive unit change value of each type of characteristic data; represents the value of each type of valve adjustment parameter; therefore, a total of 9 fitting functions are fitted.

[0010] Specifically, if there is only one type of characteristic data that exceeds the corresponding operating threshold range, select the corresponding valve type based on the type of characteristic data that exceeds the corresponding operating threshold range, obtain the numerical range of the corresponding valve adjustment parameter from the historical monitoring data of all tasks, and start from the maximum value in the numerical range, and substitute the values in accordance with into the fitting functions of the corresponding characteristic data and the corresponding valve in turn, and calculate the comprehensive unit change value of the corresponding characteristic data under each valve adjustment parameter. Among them, ; Perform an adjustment simulation, perform a ratio operation on the value of the corresponding characteristic data that exceeds the operating threshold range and the calculated comprehensive unit change value, and obtain the proportional time for adjusting the valve under the current valve adjustment parameter. Among them, the adjustment duration is the product of the proportional time and a cycle duration .

[0011] Furthermore, calculate the comprehensive unit change values of the other two characteristic data under the specified valve adjustment parameter, and multiply the calculated comprehensive unit change values by the proportional time calculated by the current valve adjustment parameter to obtain the data change values of the other two characteristic data after adjustment according to the current valve adjustment parameter; After adding the calculated data change values to the actual values of the current respective characteristic data, the final values of the other two characteristic data after being adjusted according to the current valve adjustment parameters are obtained; If the final values of the other two characteristic data after adjustment are still within the corresponding operating threshold ranges, the corresponding valves are adjusted according to the current valve adjustment parameters; If the final values of the other two characteristic data after adjustment are not all within the corresponding operating threshold ranges, the analysis and calculation of the next valve adjustment parameter are performed.

[0012] Specifically, if there are multiple types of characteristic data exceeding the corresponding operating threshold ranges, each characteristic data is analyzed separately, and the valve adjustment methods and adjustment durations corresponding to each type of characteristic data exceeding the threshold are calculated respectively, and the valve adjustment method with the shortest adjustment duration is selected for adjustment.

[0013] An adaptive valve adjustment system based on hydraulic control, comprising: A data collection module, configured to monitor characteristic data when the hydraulic control system performs tasks, set a monitoring period and store the monitoring data; identify the characteristic data exceeding the corresponding operating threshold range from the historical monitoring data, and extract the corresponding valve adjustment data for packaging and marking to obtain adjustment packaging data; A function fitting module, configured to calculate the unit change values of all characteristic data in each adjustment packaging data, and combine the data with the same valve adjustment parameters to obtain the comprehensive unit change values of each characteristic data under each valve adjustment parameter; analyze and fit the fitting functions of the valve adjustment parameters and various characteristic data through a linear fitting algorithm; A valve adjustment module, configured to execute a valve adjustment strategy when it is detected that the characteristic data exceeds the corresponding operating threshold range, including a single characteristic data adjustment unit and a multi-characteristic data adjustment unit; Among them, the single characteristic data adjustment unit is configured to select the corresponding valve type and set the specified valve adjustment parameter value, calculate the data change of the corresponding characteristic data through the fitting function; perform adjustment simulation, and select the adjustment method based on whether the remaining characteristic data after adjustment is still within the corresponding operating threshold range; The multi-characteristic data adjustment unit is configured to analyze each characteristic data separately and select the method with the shortest adjustment duration for adjustment.

[0014] (III) Beneficial effects The present invention provides an adaptive valve adjustment system and method based on hydraulic control, having the following beneficial effects: 1. By real-time monitoring of the key feature data of the hydraulic control system and combining with preset operation thresholds for anomaly identification, the accurate control of the operation state of the hydraulic control system is achieved; by packing and marking the adjustment data, an accurate data basis is provided for subsequent adaptive valve adjustment, effectively improving the stability and performance of the hydraulic control system; 2. By deeply analyzing the adjusted packed data, accurately calculating the unit change value of the feature data, and combining with the valve adjustment parameters, the comprehensive change value of each feature under different valve parameters is effectively obtained; further using the linear fitting algorithm to construct the fitting function between the valve parameters and the feature data, providing a scientific mathematical basis for the adaptive valve adjustment of the hydraulic control system, and significantly improving the accuracy and efficiency of the adjustment; 3. By real-time monitoring of the feature data and triggering the valve adjustment strategy, the accurate control of the hydraulic system is achieved; when the feature data exceeds the threshold, it can intelligently select the valve type and set parameters, use the fitting function to predict the adjustment effect of all feature data, consider the influence of the feature data on other feature data, and ensure the stability of the system after adjustment; at the same time, by separately analyzing and optimally selecting multiple excessive feature data, the adjustment efficiency and system performance are significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a step schematic diagram of an adaptive valve adjustment method based on hydraulic control provided by the present invention; Figure 2 It is a structural schematic diagram of an adaptive valve adjustment system based on hydraulic control provided by the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0016] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0017] Refer to Figure 1 , the present invention provides an adaptive valve adjustment method based on hydraulic control, including: Step 1. Monitor the feature data when the hydraulic control system executes tasks, set the monitoring period and store the monitoring data; identify the feature data that exceeds the corresponding operation threshold range from the historical monitoring data, and extract the corresponding valve adjustment data for packing and marking to obtain the adjusted packed data; The steps in Step 1 include the following steps: Step 101: Monitor the characteristic data of the hydraulic control system during task execution. The characteristic data includes the piston displacement in the hydraulic cylinder , movement speed , and piston force ; Obtain the main associated valves for each characteristic data, that is, the valves directly adjusting the corresponding characteristic data. Among them, the main associated valve for piston displacement is the electromagnetic directional control valve, the main associated valve for piston movement speed is the throttle valve, and the main associated valve for piston force is the relief valve; Obtain the secondary associated valves for each characteristic data, that is, the valves indirectly adjusting the corresponding characteristic data. After adjusting the above characteristic data, it will have corresponding impacts on the other two characteristic data. Therefore, the main associated valves of each characteristic data are the secondary associated valves of each of the remaining characteristic data; When a certain characteristic data is monitored to be abnormal, in addition to adjusting the main associated valve of this characteristic data, it is also necessary to consider the impacts on each of the remaining characteristic data after adjustment; Among them, the displacement of the piston refers to the distance that the piston moves in the hydraulic cylinder, and specifically, the oil supply and drainage directions of the hydraulic cylinder are changed by controlling the current in the electromagnetic directional control valve, thereby controlling the piston displacement; The movement speed of the piston refers to how fast the piston moves in the hydraulic cylinder, and specifically, the flow rate of the hydraulic cylinder is controlled by adjusting the opening area of the throttle valve, thereby controlling the piston movement speed. The smaller the opening area, the smaller the flow rate, and the slower the piston movement speed; The piston force refers to the force exerted on the piston by the oil in the hydraulic cylinder, which is calculated from the pressure at the oil inlet of the hydraulic oil circuit and the area of the piston. Specifically, the pressure at the oil inlet of the hydraulic oil circuit is controlled by adjusting the rotating screw in the relief valve, thereby controlling the force received by the piston; Rotate the adjusting screw counterclockwise to increase the set pressure of the relief valve, thereby increasing the force received by the piston; Rotate the adjusting screw clockwise to decrease the set pressure of the relief valve, thereby reducing the force received by the piston; Step 102: Integrate the displacement sensor and the speed sensor into the same monitoring device, and install this monitoring device outside the hydraulic cylinder, parallel to the piston rod; Install the pressure sensor at the oil inlet of the hydraulic oil circuit in the hydraulic cylinder to measure the pressure at the oil inlet , and combine it with the circular area of the piston , and calculate according to the formula to obtain the magnitude of the force received by the piston ; Set the monitoring period , during the execution of the hydraulic control system tasks, periodically monitor the corresponding characteristic data, and preprocess the monitored data and store it in the execution record library of various tasks. The execution record library of various tasks includes a monitoring data table storing the monitoring values of each characteristic data in each execution record, and the monitoring data table stores the historical monitoring data and valve adjustment data of each characteristic data; Step 103: Obtain the operating threshold ranges of various characteristic data when various tasks are preset by relevant managers. When a certain characteristic data exceeds the corresponding threshold range, it indicates that the main associated valve of this characteristic data needs to be adjusted; Obtain several monitoring data tables in the execution record library of various tasks, and obtain the historical monitoring data of each characteristic data from the several monitoring data tables of various tasks, that is, the values of each characteristic data monitored when the corresponding tasks are executed historically; Step 104: Obtain valve adjustment data from the historical monitoring data corresponding to each type of task. Based on whether the characteristic data value corresponding to the start time of each valve adjustment data exceeds the corresponding operating threshold range, determine the type of characteristic data to be adjusted currently; Combine each valve adjustment data with the corresponding type of characteristic data to be adjusted, obtain the duration of each valve adjustment data and the corresponding valve adjustment parameter data, obtain the monitoring data of various characteristic data during the duration of the corresponding valve adjustment data, and mark them after packing with the corresponding valve adjustment data, and record them as the adjustment packed data of the corresponding task. The marking includes the corresponding task type and the type of characteristic data to be adjusted; For example, in a certain monitoring data table, it is recorded that the same valve adjustment data is carried out from the 3rd cycle to the 5th cycle, and the displacement of the piston in the hydraulic cylinder recorded in the corresponding cycle exceeds the preset operating threshold range. Then, obtain the monitoring data of all characteristic data from the 3rd cycle to the 5th cycle in the current monitoring data table, pack them with the corresponding valve adjustment data, and perform the marking of the corresponding task type and the type of characteristic data to be adjusted (i.e., piston displacement data).

[0018] During use, combine the content in Steps 101 to 104: By real-time monitoring the key characteristic data of the hydraulic control system and combining with the preset operating threshold for anomaly identification, the accurate control of the operating state of the hydraulic control system is realized; by packing and marking the adjustment data, an accurate data basis is provided for subsequent adaptive valve adjustment, effectively improving the stability and performance of the hydraulic control system.

[0019] Step Two: Calculate the unit change value of all characteristic data in each adjustment packed data, and combine the data with the same valve adjustment parameters to obtain the comprehensive unit change value of each characteristic data under each valve adjustment parameter; analyze and fit the fitting function of the valve adjustment parameter and various characteristic data through the linear fitting algorithm; The second step includes the following steps: Step 201: Calculate and obtain the change set of each characteristic data in each adjustment packed data and the duration data in the valve adjustment data, that is, the number of consecutive cycles , calculate the unit change value of all feature data in each adjusted packaged data , that is, the change amount within a unit cycle, and the expression is: ; Among them, , , are respectively the initial values of the piston displacement, movement speed, and piston force in each adjusted packaged data, that is, the first values of the piston displacement, movement speed, and piston force; , , are respectively the final values of the piston displacement, movement speed, and piston force in each adjusted packaged data, that is, the last values of the piston displacement, movement speed, and piston force; Step 202, obtain the valve adjustment parameter data in each adjusted packaged data. Among them, the valve adjustment parameter data of the piston displacement refers to the current in the electromagnetic directional valve ; the valve adjustment parameter data of the piston movement speed refers to the opening area of the throttle valve ; the valve adjustment parameter data of the piston force refers to the rotation angle of the rotating screw in the relief valve , and the counterclockwise direction is the positive rotation direction; Combine the adjusted packaged data with the same type and value of valve adjustment parameter data, and perform a mean operation on the unit change values corresponding to the respective feature data in these adjusted packaged data to obtain the comprehensive unit change values corresponding to various feature data at the specified value of the corresponding valve adjustment parameter data type; Step 203, record the comprehensive unit change values corresponding to various feature data at each value of the same valve adjustment parameter data type in different time series graphs respectively, analyze the corresponding relationship between various valve adjustment parameter data and various feature data based on the linear fitting algorithm, and fit the fitting functions of various valve adjustment parameter data and various feature data. The expression is: , among which, , represent the slope and intercept, which are obtained by analyzing based on the linear fitting algorithm; represents the comprehensive unit change value of various feature data, which can be the current value in the electromagnetic directional valve, the opening area of the throttle valve, or the rotation angle of the rotating screw in the relief valve; represents the values of various valve adjustment parameters, which can be the unit change values of the piston displacement, movement speed, or piston force; Among them, the linear fitting algorithm is usually used to estimate the slope and intercept of a straight line based on a set of data points, so as to establish a linear relationship model between two variables; in the present invention, the two variables are respectively the values of the valve adjustment parameters ( ), and the comprehensive unit change value of the corresponding characteristic data ( ); Using the least squares method, find a straight line that minimizes the sum of the squares of the perpendicular distances from all data points to this straight line, and based on the number of data pairs (i.e., and combination), as well as the comprehensive unit change value of the valve adjustment parameter and the characteristic data in each data pair, calculate the slope and intercept of this straight line, and then fit the function ; There are three types of characteristic data and three types of valves, so a total of 9 fitting functions are fitted.

[0020] When in use, combine the content in steps 201 to 203: By deeply analyzing the adjusted package data, accurately calculate the unit change value of the characteristic data, and combine the valve adjustment parameters to effectively obtain the comprehensive change value of each characteristic under different valve parameters; further use the linear fitting algorithm to construct the fitting function between the valve parameters and the characteristic data, providing a scientific mathematical basis for the adaptive valve adjustment of the hydraulic control system, and significantly improving the accuracy and efficiency of the adjustment.

[0021] Step three: When it is monitored that the characteristic data exceeds the corresponding operating threshold range, execute the valve adjustment strategy; if only one type of characteristic data exceeds the corresponding operating threshold range, select the corresponding valve type and set the specified valve adjustment parameter value, calculate the data change of the corresponding characteristic data through the fitting function; perform adjustment simulation, and select the adjustment method based on whether the remaining characteristic data is still within the corresponding operating threshold range after adjustment; if multiple characteristic data exceed the corresponding operating threshold range, analyze the characteristic data separately and select the method with the shortest adjustment duration for adjustment.

[0022] The steps in step three include the following steps: Step 301: When the hydraulic system executes a task, monitor each characteristic data according to the set monitoring period; when it is monitored that the characteristic data exceeds the corresponding operating threshold range, trigger the valve adjustment strategy; Step 302: After triggering the valve adjustment strategy, determine the type of characteristic data that exceeds the corresponding operating threshold range, and calculate the value that exceeds the operating threshold range; If there is only one type of characteristic data that exceeds the corresponding operating threshold range, select the corresponding valve type based on the type of characteristic data that exceeds the corresponding operating threshold range, obtain the numerical range of the corresponding valve adjustment parameter from the historical monitoring data of all tasks, and start from the maximum value in the numerical range, and substitute the values in into the fitting function of the corresponding characteristic data and the corresponding valve in turn, and calculate the comprehensive unit change value of the corresponding characteristic data under each valve adjustment parameter. Among them, ; Step 303: After calculating the comprehensive unit change value of the corresponding characteristic data under each specified valve adjustment parameter, perform an adjustment simulation. Specifically, divide the value of the corresponding characteristic data that exceeds the operating threshold range by the calculated comprehensive unit change value to obtain the proportional time for adjusting the valve under the current valve adjustment parameter. The proportional time refers to the proportion of a monitoring cycle duration. Among them, the adjustment duration is the product of the proportional time and the duration of one cycle ; for example, if the calculated proportional time is 1 / 2, it means that the adjustment duration of the valve is ; Calculate the comprehensive unit change values of the other two characteristic data under the specified valve adjustment parameter, and multiply the calculated comprehensive unit change values by the proportional time calculated according to the current valve adjustment parameter to obtain the data change values of the other two characteristic data after adjustment according to the current valve adjustment parameter; after adding the calculated data change values to the actual values of the current respective characteristic data, obtain the final values of the other two characteristic data after adjustment according to the current valve adjustment parameter; If the final values of the other two characteristic data after adjustment are still within the corresponding operating threshold ranges, then adjust the corresponding valve according to the current valve adjustment parameter, and the adjustment duration is the product of the corresponding proportional time and the cycle length; If the final values of the other two characteristic data after adjustment are not all within the corresponding operating threshold ranges, then perform the analysis and calculation of the next valve adjustment parameter; Step 304: If there are multiple types of characteristic data that exceed the corresponding operating threshold ranges, then perform separate analysis on each characteristic data according to Steps 302 and 303, calculate the valve adjustment methods and adjustment durations corresponding to each type of characteristic data that exceeds the threshold respectively, and select the valve adjustment method with the shortest adjustment duration for adjustment.

[0023] During use, combine the content in Steps 301 to 304: By real-time monitoring of characteristic data and triggering the valve adjustment strategy, precise control of the hydraulic system is achieved; when the characteristic data exceeds the threshold, the valve type and setting parameters can be intelligently selected, and the adjustment effects of all characteristic data are predicted using the fitting function, considering the influence of characteristic data on other characteristic data, ensuring the stability of the system after adjustment; at the same time, separate analysis and optimal adjustment selection for multiple exceeded characteristic data significantly improve the adjustment efficiency and system performance.

[0024] Refer to Figure 2 , the present invention also provides an adaptive valve adjustment system based on hydraulic control, including: A data collection module, which is used to monitor characteristic data when the hydraulic control system executes tasks, set a monitoring period and store the monitoring data; identify characteristic data that exceeds the corresponding operating threshold range from the historical monitoring data, and extract the corresponding valve adjustment data for packaging and marking to obtain adjusted and packaged data; A function fitting module, which is used to calculate the unit change value of all characteristic data in each adjusted and packaged data, combine the data with the same valve adjustment parameters, and obtain the comprehensive unit change value of each characteristic data under each valve adjustment parameter; analyze and fit the fitting function of the valve adjustment parameter and various characteristic data through a linear fitting algorithm; A valve adjustment module, which is used to execute a valve adjustment strategy when it is detected that the characteristic data exceeds the corresponding operating threshold range, including a single characteristic data adjustment unit and a multi-characteristic data adjustment unit; Among them, the single characteristic data adjustment unit is used to select the corresponding valve type and set the specified valve adjustment parameter value, calculate the data change of the corresponding characteristic data through the fitting function; perform adjustment simulation, and select the adjustment method based on whether the remaining characteristic data is still within the corresponding operating threshold range after adjustment; The multi-characteristic data adjustment unit is used to analyze the characteristic data separately and select the method with the shortest adjustment duration for adjustment.

[0025] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present invention are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer storage medium or transmitted through a computer storage medium.

[0026] The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) manner. The computer storage medium can be any available medium that the computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available media can be magnetic media (e.g., floppy disk, hard disk, magnetic tape), optical media (e.g., DVD), or semiconductor media (e.g., solid state disk (SSD)), etc.

[0027] As described above, it is only the specific implementation manner of the present application. However, the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims described above.

Claims

1. An adaptive valve regulation method based on hydraulic control, characterized in that: It includes the following steps: Monitor the characteristic data during the operation of the hydraulic control system, set the monitoring period and store the monitoring data; identify the characteristic data that exceeds the corresponding operating threshold range from the historical monitoring data, and extract the corresponding valve adjustment data for packaging and marking to obtain the adjusted packaged data; Calculate the unit change value of all characteristic data in each adjusted packaged data, combine the data with the same valve adjustment parameters, and obtain the comprehensive unit change value of each characteristic data under each valve adjustment parameter; analyze and fit the fitting function of the valve adjustment parameter and various characteristic data through the linear fitting algorithm; When it is monitored that the characteristic data exceeds the corresponding operating threshold range, execute the valve adjustment strategy; If only one type of characteristic data exceeds the corresponding operating threshold range, select the corresponding valve type and set the specified valve adjustment parameter value, calculate the data change of the corresponding characteristic data through the fitting function; perform adjustment simulation, and select the adjustment method based on whether the remaining characteristic data is still within the corresponding operating threshold range after adjustment; If multiple characteristic data exceed the corresponding operating threshold range, analyze the characteristic data separately and select the method with the shortest adjustment duration for adjustment.

2. The adaptive valve adjustment method based on hydraulic control according to claim 1, wherein: The characteristic data includes the piston displacement in the hydraulic cylinder , the movement speed , and the piston force ; the main associated valves for obtaining each characteristic data, wherein the main associated valve for the piston displacement is the electromagnetic directional control valve, the main associated valve for the piston movement speed is the throttle valve, and the main associated valve for the piston force is the relief valve; Set the monitoring period , monitor the characteristic data periodically, and store the monitored data in the execution record library of various tasks. The execution record library of various tasks includes a monitoring data table, and the historical monitoring data and valve adjustment data of each characteristic data are stored in the monitoring data table.

3. The adaptive valve adjustment method based on hydraulic control according to claim 2, wherein: Determine the type of characteristic data to be adjusted currently based on whether the characteristic data value corresponding to the start time of each valve adjustment data exceeds the corresponding operating threshold range; Combine each valve adjustment data with the corresponding type of characteristic data to be adjusted, obtain the duration of each valve adjustment data and the corresponding valve adjustment parameter data, obtain the monitoring data of various characteristic data during the duration of the corresponding valve adjustment data, package and mark it with the corresponding valve adjustment data, and record it as the adjusted packaged data for the corresponding task.

4. The adaptive valve adjustment method based on hydraulic control according to claim 3, wherein: Calculate and obtain the change set of each characteristic data in the adjusted packet data , and the number of consecutive cycles in the valve adjustment data , calculate the unit change value of all characteristic data in each adjusted packet data , the expression is: ； Among them, , , are the initial values of the piston displacement, movement speed, and piston force in each adjustment package data respectively; , , are the final values of the piston displacement, movement speed, and piston force in each adjustment package data respectively.

5. The adaptive valve adjustment method based on hydraulic control according to claim 4, wherein: Combine the adjusted packaged data with the same valve adjustment parameter data type and the same numerical value, perform a mean operation on the unit change values corresponding to each characteristic data in these adjusted packaged data, and obtain the comprehensive unit change value corresponding to various characteristic data under the specified numerical value of the corresponding valve adjustment parameter data type.

6. The adaptive valve adjustment method based on hydraulic control according to claim 5, wherein: Record the comprehensive unit change values corresponding to various feature data for the same valve adjustment parameter data type at each value in different time series graphs, analyze the corresponding relationship between various valve adjustment parameter data and various feature data based on the linear fitting algorithm, and fit the fitting functions of various valve adjustment parameter data and various feature data. The expression is: , where 、 represent the slope and intercept, represents the comprehensive unit change value of various feature data; represents the values of various valve adjustment parameters; Therefore, a total of 9 fitting functions are fitted.

7. The adaptive valve adjustment method based on hydraulic control according to claim 6, wherein: If there is only one type of characteristic data that exceeds the corresponding operating threshold range, select the corresponding valve type based on the type of characteristic data that exceeds the corresponding operating threshold range, obtain the numerical range of the corresponding valve adjustment parameter from the historical monitoring data of all tasks, and start from the maximum value in the numerical range and substitute the values in sequence according to into the fitting function of the corresponding characteristic data and the corresponding valve to calculate the comprehensive unit change value of the corresponding characteristic data under each valve adjustment parameter, where ; Perform adjustment simulation. For the values of the corresponding characteristic data that exceed the operating threshold range, perform a ratio operation with the calculated comprehensive unit change value to obtain the proportional time required to adjust the valve under the current valve adjustment parameter conditions. Among them, the adjustment duration is the product of the proportional time and a cycle duration. The product.

8. The adaptive valve adjustment method based on hydraulic control according to claim 7, wherein: Calculate the comprehensive unit change value of the other two characteristic data under the specified valve adjustment parameter, and multiply the calculated comprehensive unit change value by the proportional time calculated by the current valve adjustment parameter to obtain the data change value of the other two characteristic data after adjustment according to the current valve adjustment parameter; After adding the calculated data change values to the actual values of each current characteristic data respectively, the final values of the other two characteristic data after being adjusted according to the current valve adjustment parameters are obtained; If the final values of the other two characteristic data after adjustment are still within the corresponding operating threshold ranges, the corresponding valves are adjusted according to the current valve adjustment parameters; If the final values of the other two characteristic data after adjustment are not all within the corresponding operating threshold ranges, the analysis and calculation of the next valve adjustment parameter are performed.

9. An adaptive valve adjustment method based on hydraulic control according to claim 8, characterized in that: If there are multiple types of characteristic data exceeding the corresponding operating threshold ranges, each characteristic data is analyzed separately, and the valve adjustment methods and adjustment durations corresponding to each type of characteristic data exceeding the threshold are calculated respectively, and the valve adjustment method with the shortest adjustment duration is selected for adjustment.

10. An adaptive valve regulation system based on hydraulic control, characterized in that, Including: A data collection module, which is used to monitor characteristic data when the hydraulic control system executes tasks, set a monitoring period and store the monitoring data; Identify the characteristic data exceeding the corresponding operating threshold range from the historical monitoring data, and extract the corresponding valve adjustment data for packaging and marking to obtain the adjustment packaging data; A function fitting module, which is used to calculate the unit change values of all characteristic data in each adjustment packaging data, combine the data with the same valve adjustment parameters, and obtain the comprehensive unit change values of each characteristic data under each valve adjustment parameter; analyze and fit the fitting functions of the valve adjustment parameters and various characteristic data through the linear fitting algorithm; A valve adjustment module, which is used to execute the valve adjustment strategy when it is detected that the characteristic data exceeds the corresponding operating threshold range, including a single characteristic data adjustment unit and a multi-characteristic data adjustment unit; Among them, the single characteristic data adjustment unit is used to select the corresponding valve type and set the specified valve adjustment parameter value, calculate the data change of the corresponding characteristic data through the fitting function; perform adjustment simulation, and select the adjustment method based on whether the remaining characteristic data is still within the corresponding operating threshold range after adjustment; The multi-characteristic data adjustment unit is used to analyze the characteristic data separately and select the method with the shortest adjustment duration for adjustment.

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