An adaptive valve regulation system and method based on hydraulic control

Abstract

The application discloses a kind of self-adapting valve regulating system and method based on hydraulic control, it is related to hydraulic regulating technical field, comprising: set monitoring period, continuously collect data, and identify the characteristic data beyond operating threshold, extract corresponding valve regulating information, form regulating packing data;Through calculating the unit change value of these data, and combining valve parameter, the comprehensive change value of each feature under different valve parameters is solved;Using linear fitting algorithm, system analysis and construct the fitting function of valve parameter and characteristic data;When monitoring abnormal data, the system will execute valve regulating strategy: if only one characteristic data is abnormal, corresponding valve will be selected and parameter is set, and the fitting function is used to predict the regulating effect, analog regulation is carried out, to ensure that other data is within threshold;If multiple data is abnormal, then analyze and select the fastest regulating method separately;Realize the accurate monitoring and intelligent regulation of hydraulic system, ensure the stable operation of system.

Description

TECHNICAL FIELD

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

[0002] With the rapid development of industrial automation and intelligent manufacturing, hydraulic systems, as one of the key technologies, are widely used in various mechanical equipment, such as steam turbines; hydraulic systems control and drive various industrial equipment through fluid transmission, with the advantages of smooth transmission, compact structure, easy to realize automatic control, etc.; however, in actual operation, the performance of the hydraulic system is often affected by various factors, such as oil temperature, pressure fluctuation, valve state, etc., which may cause system performance degradation, even cause failure;

[0003] In order to ensure the stable operation of the hydraulic system and improve its working efficiency and reliability, adaptive valve regulation technology has emerged as the times require; this technology can dynamically adjust the opening and parameters of the valve according to the real-time running state of the hydraulic system, to realize the optimal control of the system performance;

[0004] Traditional valve regulation methods rely on empirical formulas or manual adjustment, which are difficult to adapt to complex and variable working conditions, and have low regulation efficiency; secondly, traditional hydraulic control methods may only focus on the regulation of a single characteristic data, ignoring the mutual influence between these characteristic data, which may cause other characteristic data to exceed its running threshold when regulating one characteristic data, thereby affecting the stability and performance of the system. SUMMARY

[0005] (I) Technical problems solved

[0006] In view of the technical problems in the background art, the present application proposes an adaptive valve regulation system and method based on hydraulic control, which uses fitting function to predict the regulation effect, and comprehensively considers the mutual influence of multiple characteristic data, to ensure that other characteristic data remains stable when regulating one characteristic; thereby solving the technical problems recorded in the background art.

[0007] (II) Technical solutions

[0008] In order to achieve the above purpose, the present application is realized by the following technical solutions:

[0009] An adaptive valve regulation method based on hydraulic control, comprising:

[0010] Monitoring characteristic data when the hydraulic control system executes tasks, setting a monitoring period and storing monitoring data; identifying characteristic data that exceeds the corresponding running threshold range from historical monitoring data, and extracting corresponding valve regulation data for packaging and marking to obtain regulation packaging data;

[0011] Calculate the unit change value of all feature data in each adjustment packaged data, combine the data of the same valve adjustment parameter, and 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 each type of feature data through the linear fitting algorithm;

[0012] When it is monitored that the feature data exceeds the corresponding operating threshold range, execute the valve adjustment strategy;

[0013] 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; perform adjustment simulation, and select the adjustment method based on whether the remaining feature data is still within the corresponding operating threshold range after adjustment;

[0014] If multiple feature data exceeds the corresponding operating threshold range, analyze the feature data separately and select the method with the shortest adjustment duration for adjustment.

[0015] Specifically, the feature data includes the piston displacement , movement speed , and force on the piston ; obtain the main associated valve of each feature data, wherein the main associated valve of the piston displacement is the electromagnetic reversing valve, the main associated valve of the piston movement speed is the throttle valve, and the main associated valve of the force on the piston is the overflow valve;

[0016] Set a monitoring period , periodically monitor the feature data, and store the monitored data in the execution record library of each type of task, wherein the execution record library of each type of task includes a monitoring data table, and the monitoring data table stores historical monitoring data and valve adjustment data of each feature data.

[0017] Specifically, determine the type of the feature data to be adjusted based on whether the feature data value corresponding to the start time of each valve adjustment data exceeds the corresponding operating threshold range;

[0018] Combine each valve adjustment data with the corresponding feature data type to be adjusted, obtain the duration of each valve adjustment data and the corresponding valve adjustment parameter data, obtain the monitoring data of each type of feature data within the duration of the corresponding valve adjustment data, mark after packaging with the corresponding valve adjustment data, and record as the adjustment packaged data of the corresponding task.

[0019] Further, calculate and obtain the change set of each feature data in each adjustment packaged data, and the number of continuous periods in the valve adjustment data , calculate the unit change value of all feature data in each adjustment package data , the expression is:

[0020] ;

[0021] wherein, , , are the initial values of the piston displacement, the movement speed, and the force of the piston in each adjustment package data, respectively; , , are the final values of the piston displacement, the movement speed, and the force of the piston in each adjustment package data, respectively.

[0022] Further, the adjustment package data of the same type and value of the valve adjustment parameter data are combined, the unit change values of the feature data corresponding to the adjustment package data are averaged, and the comprehensive unit change values of the feature data corresponding to the valve adjustment parameter data type at the specified value are obtained.

[0023] Further, the comprehensive unit change values of the feature data corresponding to the same type of valve adjustment parameter data at different values are recorded in different time sequence graphs, the corresponding relationship between the valve adjustment parameter data and the feature data is analyzed based on the linear fitting algorithm, and the fitting function of the valve adjustment parameter data and the feature data is fitted, the expression is: wherein, , represent the slope and the intercept, represent the comprehensive unit change values of the feature data; represent the values of the valve adjustment parameter; therefore, 9 fitting functions are fitted.

[0024] Specifically, if there is only one feature data type that exceeds the corresponding operating threshold range, the corresponding valve type is selected based on the feature data type that exceeds the corresponding operating threshold range, the value range of the corresponding valve adjustment parameter is obtained from the historical monitoring data of all tasks, and the maximum value in the value range is taken as the starting value, the values are sequentially substituted into the fitting function of the corresponding feature data and the corresponding valve in the order of , and the comprehensive unit change value of the corresponding feature data under each valve adjustment parameter is calculated, wherein, ;

[0025] Adjustment simulation is performed, the value of the corresponding feature data that exceeds the operating threshold range is subjected to ratio operation with the calculated comprehensive unit change value, and the proportional time of the valve adjustment under the current valve adjustment parameter is obtained, wherein, the adjustment time is the proportional time and a cycle length The product of the two.

[0026] Further, the comprehensive unit change value of the remaining two characteristic data under the specified valve adjustment parameter is calculated, and the calculated comprehensive unit change value is multiplied by the proportional time calculated under the current valve adjustment parameter to obtain the data change value of the remaining two characteristic data after adjustment according to the current valve adjustment parameter;

[0027] The calculated data change value is added to the actual value of each characteristic data to obtain the final value of the remaining two characteristic data after adjustment according to the current valve adjustment parameter;

[0028] If the final values of the remaining two characteristic data after adjustment are still within the corresponding operating threshold range, the corresponding valve is adjusted according to the current valve adjustment parameter;

[0029] If the final values of the remaining two characteristic data after adjustment are not all within the corresponding operating threshold range, the next valve adjustment parameter is analyzed and operated.

[0030] Specifically, if there are multiple characteristic data types exceeding the corresponding operating threshold range, each characteristic data is analyzed separately, and the valve adjustment method and adjustment duration corresponding to each characteristic data type exceeding the threshold are calculated, and the valve adjustment method with the shortest adjustment duration is selected for adjustment.

[0031] An adaptive valve adjustment system based on hydraulic control, comprising:

[0032] A data collection module for monitoring characteristic data when the hydraulic control system performs a task, setting a monitoring period and storing monitoring data; identifying characteristic data exceeding the corresponding operating threshold range from historical monitoring data, and extracting corresponding valve adjustment data for packaging and marking to obtain adjustment packaging data;

[0033] A function fitting module for calculating the unit change value of all characteristic data in each adjustment packaging data, combining data with the same valve adjustment parameter to obtain the comprehensive unit change value of each characteristic data under each valve adjustment parameter; analyzing and fitting the fitting function of the valve adjustment parameter and each type of characteristic data through a linear fitting algorithm;

[0034] A valve adjustment module for executing a valve adjustment strategy when monitoring that the characteristic data exceeds the corresponding operating threshold range, including a single characteristic data adjustment unit and a multiple characteristic data adjustment unit;

[0035] Among them, the single feature data adjustment unit is used for selecting the corresponding valve type and setting the specified valve adjustment parameter value, calculating the data change of the corresponding feature data through the fitting function; adjustment simulation is carried out, and whether the remaining feature data is still in the corresponding operation threshold range is selected based on the adjustment mode;

[0036] The multi-feature data adjustment unit is used for separate analysis of the feature data, and the method with the shortest adjustment duration is selected for adjustment.

[0037] (Three) beneficial effects

[0038] The application provides a self-adaptive valve adjustment system and method based on hydraulic control, which has the following beneficial effects:

[0039] 1. By monitoring the key feature data of the hydraulic control system in real time, and combining the preset operation threshold to identify the abnormality, the running state of the hydraulic control system is accurately controlled; by packing and marking the adjustment data, accurate data basis is provided for subsequent self-adaptive valve adjustment, and the stability and performance of the hydraulic control system are effectively improved;

[0040] 2. By deeply analyzing the adjustment packing data, the unit change value of the feature data is accurately calculated, and the comprehensive change value of each feature under different valve parameters is effectively obtained in combination with the valve adjustment parameter; further, the linear fitting algorithm is used to construct the fitting function of the valve parameter and the feature data, which provides a scientific mathematical basis for the self-adaptive valve adjustment of the hydraulic control system, and significantly improves the accuracy and efficiency of the adjustment;

[0041] 3. By monitoring the feature data in real time and triggering the valve adjustment strategy, the hydraulic system is accurately controlled; when the feature data exceeds the threshold, the valve type and the setting parameter can be intelligently selected, the adjustment effect of all feature data can be predicted by using the fitting function, the influence of the feature data on other feature data is considered, and the stability of the system after adjustment is ensured; at the same time, multiple over-standard feature data are analyzed and optimally adjusted, and the adjustment efficiency and system performance are significantly improved. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 A self-adaptive valve adjustment method based on hydraulic control provided by the application is shown in the figure;

[0043] Figure 2 A self-adaptive valve adjustment system based on hydraulic control provided by the application is shown in the figure. DETAILED DESCRIPTION

[0044] Clearly, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present application.

[0045] Reference Figure 1 The present application provides a self-adaptive valve adjustment method based on hydraulic control, comprising:

[0046] Step one, monitoring feature data when the hydraulic control system performs tasks, setting a monitoring period and storing monitoring data; identifying feature data exceeding the corresponding operating threshold range from historical monitoring data, and extracting corresponding valve adjustment data for packaging and marking to obtain adjustment packaging data;

[0047] The step one includes the following steps:

[0048] Step 101, monitoring feature data of the hydraulic control system when it performs tasks, the feature data including piston displacement , movement speed , and piston force in the hydraulic cylinder; obtaining the main associated valve of each feature data, i.e. the valve directly adjusting the corresponding feature data, wherein the main associated valve of the piston displacement is the electromagnetic reversing 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 overflow valve; obtaining the secondary associated valve of each feature data, i.e. the valve indirectly adjusting the corresponding feature data, adjusting each feature data will have a corresponding impact on the other two feature data, so the main associated valve of each feature data is the secondary associated valve of each of the remaining feature data; when an abnormal feature data is monitored, in addition to adjusting the main associated valve of the feature data, the impact on the remaining feature data after adjustment needs to be considered;

[0049] Wherein, the displacement of the piston refers to the distance of the piston moving in the hydraulic cylinder, which is specifically controlled by changing the oil supply and oil discharge direction of the hydraulic cylinder through the current in the electromagnetic reversing valve, thereby controlling the displacement of the piston; the movement speed of the piston refers to the speed of the piston moving in the hydraulic cylinder, which is specifically controlled by adjusting the opening area of the throttle valve to control the flow of the hydraulic cylinder, thereby controlling the movement speed of the piston, the smaller the opening area, the smaller the flow, and the slower the movement speed of the piston;

[0050] The force on the piston refers to the force exerted on the piston by the hydraulic oil in the hydraulic cylinder, which is calculated by the pressure at the oil inlet of the hydraulic oil circuit and the area of the piston. The pressure at the oil inlet of the hydraulic oil circuit is controlled by adjusting the rotating screw in the overflow valve, thereby controlling the force on the piston. Counterclockwise rotation of the adjusting screw increases the set pressure of the overflow valve, thereby increasing the force on the piston. Clockwise rotation of the adjusting screw decreases the set pressure of the overflow valve, thereby decreasing the force on the piston.

[0051] Step 102, integrate the displacement sensor and the speed sensor into the same monitoring device, and install the 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 for measuring the pressure at the oil inlet , and combine the area of the circular face of the piston , according to the formula , the force on the piston is calculated ;

[0052] Set the monitoring period , monitor the corresponding characteristic data during the execution of the hydraulic control system, and store the preprocessed monitoring data in the execution record library of each type of task. The execution record library of each type of task includes a monitoring data table that stores the monitoring values of each characteristic data in each execution record. The monitoring data table stores the historical monitoring data of each characteristic data and the valve adjustment data.

[0053] Step 103, obtain the running threshold range of each characteristic data during the execution of each type of task preset by the relevant management personnel. When a certain characteristic data exceeds the corresponding threshold range, it indicates that the associated valve of the characteristic data needs to be adjusted.

[0054] Obtain several monitoring data tables in the execution record library of each type of task, and obtain the historical monitoring data of each characteristic data from the several monitoring data tables of each type of task, i.e., the values of each characteristic data monitored during the historical execution of the corresponding task.

[0055] Step 104, obtain the valve adjustment data from the historical monitoring data corresponding to each type of task, and determine the type of characteristic data to be adjusted based on whether the value of the characteristic data corresponding to the start time of each valve adjustment data exceeds the corresponding running threshold range.

[0056] Combine each valve adjustment data with the corresponding characteristic data type to be adjusted to obtain the duration of each valve adjustment data and the corresponding valve adjustment parameter data. Obtain the monitoring data of each type of characteristic data within the duration of the corresponding valve adjustment data, package it with the corresponding valve adjustment data, and mark it as adjustment package data for the corresponding task. The mark includes the corresponding task type and the characteristic data type to be adjusted.

[0057] For example, in a certain monitoring data table, the same valve adjustment data is recorded from the 3rd cycle to the 5th cycle, and the recorded displacement of the piston in the hydraulic cylinder in the corresponding cycle exceeds the preset operating threshold range. The monitoring data of all feature data in the current monitoring data table from the 3rd cycle to the 5th cycle is obtained, packaged with the corresponding valve adjustment data, and marked with the corresponding task type and the type of feature data to be adjusted (i.e., the piston displacement data).

[0058] In use, the contents in steps 101 to 104 are combined:

[0059] By monitoring the key feature data of the hydraulic control system in real time and combining the preset operating threshold for abnormal identification, the running state of the hydraulic control system is accurately controlled. By packaging and marking the adjustment data, accurate data basis is provided for subsequent adaptive valve adjustment, effectively improving the stability and performance of the hydraulic control system.

[0060] Step two, calculate the unit change value of all feature data in each adjustment packaging data, combine the data of the same valve adjustment parameter, and 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 each type of feature data through the linear fitting algorithm;

[0061] The step two includes the following steps:

[0062] Step 201, calculate and obtain the change set of each feature data in each adjustment packaging data , and the duration data in the valve adjustment data, i.e., the number of continuous cycles , calculate the unit change value of all feature data in each adjustment packaging data , i.e., the change amount in the unit cycle, the expression is:

[0063] ;

[0064] Among them, , , are the initial values of the piston displacement, movement speed, and piston force in each adjustment packaging data, i.e., the first value of the piston displacement, movement speed, and piston force; , , are the final values of the piston displacement, movement speed, and piston force in each adjustment packaging data, i.e., the last value of the piston displacement, movement speed, and piston force;

[0065] Step 202, obtaining valve adjustment parameter data in each adjustment packaged data, wherein the valve adjustment parameter data of the piston displacement refers to the current in the electromagnetic reversing valve ; the valve adjustment parameter data of the piston movement speed refers to the opening area of the throttle valve ; and the valve adjustment parameter data of the force borne by the piston refers to the rotation angle of the rotating screw in the overflow valve , and the clockwise rotation is the positive direction;

[0066] Combining the adjustment packaged data with the same type and value of valve adjustment parameter data, the mean value operation is performed on the unit change values of each feature data in the adjustment packaged data to obtain the comprehensive unit change values of each type of feature data corresponding to the valve adjustment parameter data type at a specified value.

[0067] Step 203, recording the comprehensive unit change values of each type of feature data corresponding to the same type of valve adjustment parameter data at different values in different time sequence graphs, analyzing the corresponding relationship between each type of valve adjustment parameter data and each type of feature data based on the linear fitting algorithm, and fitting the fitting function of each type of valve adjustment parameter data and each type of feature data, the expression is: , wherein, , represents the slope and intercept, which are obtained based on the linear fitting algorithm; represents the comprehensive unit change value of each type of feature data, which can be the current value in the electromagnetic reversing valve, the opening area of the throttle valve, or the rotation angle of the rotating screw in the overflow valve; represents the unit change value of each type of valve adjustment parameter, which can be the piston displacement, the movement speed, or the force borne by the piston;

[0068] The linear fitting algorithm is usually used to estimate the slope and intercept of a straight line according to a set of data points, so as to establish a linear relationship model between two variables; in the present application, the two variables are the value of the valve adjustment parameter ( ) and the comprehensive unit change value of the corresponding feature data ( ); using the least square method, a straight line is found that minimizes the sum of the squares of the perpendicular distances of all data points to the line, and based on the number of data pairs (i.e., the combination of and ) and the comprehensive unit change values of the valve adjustment parameter and the feature data in each data pair, the slope and intercept of the straight line are calculated, and the function is fitted.

[0069] There are three types of feature data and three types of valves, so nine fitting functions are fitted.

[0070] In use, in combination with the contents in steps 201 to 203:

[0071] By deeply analyzing the adjustment of the packaged data, the unit change value of the characteristic data is accurately calculated, and the comprehensive change value of each feature under different valve parameters is effectively obtained by combining the valve adjustment parameters; further, the fitting function of the valve parameters and the characteristic data is constructed by using the linear fitting algorithm, which provides a scientific mathematical basis for the adaptive valve adjustment of the hydraulic control system, and significantly improves the accuracy and efficiency of the adjustment.

[0072] Step three, when the characteristic data is monitored to exceed the corresponding operating threshold range, the valve adjustment strategy is executed; if only one type of characteristic data exceeds the corresponding operating threshold range, the corresponding valve type is selected and the specified valve adjustment parameter value is set, the data change of the corresponding characteristic data is calculated through the fitting function; adjustment simulation is performed, and the adjustment method is selected based on whether the remaining characteristic data is still within the corresponding operating threshold range after adjustment; if multiple characteristic data exceeds the corresponding operating threshold range, the characteristic data is analyzed separately, and the method with the shortest adjustment time is selected for adjustment.

[0073] The step three includes the following steps:

[0074] Step 301, when the hydraulic system executes a task, the characteristic data is monitored according to the set monitoring period; when the characteristic data is monitored to exceed the corresponding operating threshold range, the valve adjustment strategy is triggered;

[0075] Step 302, after triggering the valve adjustment strategy, the type of characteristic data exceeding the corresponding operating threshold range is determined, and the value exceeding the operating threshold range is calculated;

[0076] If there is only one type of characteristic data exceeding the corresponding operating threshold range, the corresponding valve type is selected based on the type of characteristic data exceeding the corresponding operating threshold range, the value range of the corresponding valve adjustment parameter is obtained from the historical monitoring data of all tasks, the maximum value in the value range is selected as the initial value of the corresponding valve adjustment parameter, and the initial value is substituted into the fitting function of the corresponding characteristic data and the corresponding valve in sequence to calculate the comprehensive unit change value of the corresponding characteristic data under each valve adjustment parameter. Start, according to The value is substituted into the fitting function of the corresponding characteristic data and the corresponding valve in sequence to calculate the comprehensive unit change value of the corresponding characteristic data under each valve adjustment parameter. ;

[0077] Step 303, after calculating the comprehensive unit change value of the corresponding characteristic data under the specified valve adjustment parameter each time, adjustment simulation is performed, specifically, the value of the corresponding characteristic data exceeding the operating threshold range is compared with the calculated comprehensive unit change value to obtain the proportion of time that the valve needs to be adjusted under the current valve adjustment parameter, and the proportion of time is a proportion of a monitoring period length, wherein the adjustment time is the proportion of time and a cycle length The product of the ratio time and the cycle length; if the ratio time is calculated as 1 / 2, it means that the valve adjustment time is ;

[0078] The comprehensive unit change value of the remaining two characteristic data under the specified valve adjustment parameter is calculated, and the calculated comprehensive unit change value is multiplied by the ratio time calculated under the current valve adjustment parameter to obtain the data change value of the remaining two characteristic data after adjustment according to the current valve adjustment parameter; after adding the calculated data change value to the actual value of each characteristic data, the final value of the remaining two characteristic data after adjustment according to the current valve adjustment parameter is obtained;

[0079] If the final values of the remaining two characteristic data after adjustment are still within the corresponding operating threshold range, the corresponding valve is adjusted according to the current valve adjustment parameter, and the adjustment time is the product of the corresponding ratio time and the cycle length;

[0080] If the final values of the remaining two characteristic data after adjustment are not all within the corresponding operating threshold range, the analysis and operation of the next valve adjustment parameter are performed;

[0081] Step 304, if there are multiple characteristic data types exceeding the corresponding operating threshold range, each characteristic data is analyzed separately according to steps 302 and 303, and the valve adjustment method and adjustment time corresponding to each characteristic data type exceeding the threshold are calculated, and the valve adjustment method with the shortest adjustment time is selected for adjustment.

[0082] In use, the contents in steps 301 to 304 are combined:

[0083] By monitoring the characteristic data in real time and triggering the valve adjustment strategy, accurate control of the hydraulic system is realized; when the characteristic data exceeds the threshold, the valve type and setting parameters can be intelligently selected, the adjustment effect of all characteristic data can be predicted by using the fitting function, the influence of the characteristic data on other characteristic data is considered, and the stability of the system after adjustment is ensured; at the same time, multiple over-standard characteristic data are analyzed and optimally adjusted, which significantly improves the adjustment efficiency and system performance.

[0084] Reference Figure 2 The application also provides a self-adaptive valve adjustment system based on hydraulic control, comprising:

[0085] A data collection module is used for monitoring characteristic data when the hydraulic control system performs a task, setting a monitoring period and storing monitoring data; identifying characteristic data exceeding the corresponding operating threshold range from historical monitoring data, and extracting corresponding valve adjustment data for packaging and marking to obtain adjustment packaged data;

[0086] The function fitting module is configured to calculate a unit change value of all feature data in the adjusted packaged data, combine data of the same valve adjustment parameter, and obtain a comprehensive unit change value of each feature data under each valve adjustment parameter; and analyze and fit a fitting function of the valve adjustment parameter and each type of feature data through a linear fitting algorithm.

[0087] The valve adjustment module is configured to execute a valve adjustment strategy when it is monitored that the feature data exceeds the corresponding operation threshold range, including a single-feature-data adjustment unit and a multi-feature-data adjustment unit.

[0088] The single-feature-data adjustment unit is configured to select a corresponding valve type and set a specified valve adjustment parameter value, calculate data change of the corresponding feature data through the fitting function, and perform adjustment simulation to select an adjustment mode based on whether the remaining feature data is still within the corresponding operation threshold range after adjustment.

[0089] The multi-feature-data adjustment unit is configured to separately analyze the feature data and select a method with the shortest adjustment duration for adjustment.

[0090] In the above embodiments, the implementation can be achieved wholly or partially by software, hardware, firmware, or any combination thereof. When implemented by software, the implementation can be achieved wholly or partially 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 flow or function described in the embodiments of the present application is wholly or partially generated. 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.

[0091] The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center through a wired (for example, coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (for example, infrared, wireless, microwave, etc.) manner. The computer storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that includes one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)), etc.

[0092] The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center through a wired (for example, coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (for example, infrared, wireless, microwave, etc.) manner. The computer storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that includes one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)), etc.

[0093] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of adaptive valve regulation based on hydraulic control, characterized by: Comprise the following steps: Monitoring of characteristic data is performed while the hydraulic control system is performing a task, a monitoring period is set and monitoring data is stored, specifically: The characteristic data includes piston displacement in the hydraulic cylinder , movement speed , and force on the piston ; a main associated valve for each characteristic data is obtained, wherein the main associated valve for the piston displacement is an electromagnetic reversing valve, the main associated valve for the movement speed is a throttle valve, and the main associated valve for the force on the piston is a relief valve; Setting monitoring period monitoring feature data and storing the monitored data in an execution record library of various tasks, the execution record library of various tasks including a monitoring data table in which historical monitoring data and valve adjustment data of each feature data are stored; From the historical monitoring data, identify the characteristic data that exceeds the corresponding operating threshold range, and extract the corresponding valve adjustment data for packaging and labeling to obtain the adjustment packaged data; Calculate the unit change value of all characteristic data in each adjustment packaged data, combine the data of the same valve adjustment parameter, and calculate 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 each type of characteristic data through the linear fitting algorithm; When the characteristic data is monitored to exceed 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 exceeds the corresponding operating threshold range, analyze the characteristic data separately and select the method with the shortest adjustment time for adjustment.

2. The adaptive valve adjustment method based on hydraulic control according to claim 1, characterized in that: Determine the type of characteristic data to be adjusted based on whether the value of the characteristic data corresponding to the start time of each valve adjustment data exceeds the corresponding operating threshold range; Combine each valve adjustment data with the corresponding characteristic data to be adjusted to obtain the duration of each valve adjustment data and the corresponding valve adjustment parameter data, obtain the monitoring data of each type of characteristic data within the duration of the corresponding valve adjustment data, and mark the packaged data after combining with the corresponding valve adjustment data, and record it as the adjustment packaged data of the corresponding task.

3. The adaptive valve adjustment method based on hydraulic control according to claim 2, characterized in that: The variation set of each feature data in the adjustment packaged data is calculated and obtained And the number of continuous periods in the valve adjustment data The unit variation value of all feature data in each adjustment packaged data is calculated The expression is: ； wherein, , , are initial values of piston displacement, velocity of motion, and force on the piston in each adjusted packing data, respectively; , , are final values of piston displacement, velocity of motion, and force on the piston in each adjusted packing data, respectively.

4. The adaptive valve adjustment method based on hydraulic control according to claim 3, characterized in that: Combine the adjustment packaged data with the same type and value of valve adjustment parameter data, and perform mean value operation on the unit change value of each characteristic data in these adjustment packaged data to obtain the comprehensive unit change value of each type of characteristic data corresponding to the specified value of the corresponding valve adjustment parameter data type.

5. The adaptive valve adjustment method based on hydraulic control according to claim 4, characterized in that: The same valve adjustment parameter data type is recorded in different time sequence graphs under each value, and the corresponding comprehensive unit change value of each type of feature data is recorded in different time sequence graphs. The corresponding relationship between each type of valve adjustment parameter data and each type of feature data is analyzed based on a linear fitting algorithm, and a fitting function of each type of valve adjustment parameter data and each type of feature data is fitted, and the expression is: wherein, , indicates the slope and intercept, indicates the comprehensive unit change value of each type of feature data; indicates the value of each type of valve adjustment parameter; there are three types of feature data and three types of valves, so nine fitting functions are fitted.

6. The adaptive valve adjustment method based on hydraulic control according to claim 5, characterized in that: If only one feature data type exceeds the corresponding operating threshold range, select the corresponding valve type based on the feature data type exceeding the corresponding operating threshold range, obtain the numerical range of the corresponding valve adjustment parameter from the historical monitoring data of all tasks, and select the maximum value from the numerical range. Begin, according to The values ​​are successively substituted into the fitting functions of the corresponding feature data and the corresponding valves to calculate the comprehensive unit change value of the corresponding feature data under each valve adjustment parameter. ; The adjustment simulation is performed, and the value corresponding to the characteristic data exceeding the operation threshold range is subjected to ratio operation with the calculated comprehensive unit change value to obtain a proportional time in which the valve needs to be adjusted under the current valve adjustment parameter condition, wherein the adjustment time length is the product of the proportional time and a cycle time length. The adjustment simulation is performed, and the value corresponding to the characteristic data exceeding the operation threshold range is subjected to ratio operation with the calculated comprehensive unit change value to obtain a proportional time in which the valve needs to be adjusted under the current valve adjustment parameter condition, wherein the adjustment time length is the product of the proportional time and a cycle time length. The adjustment simulation is performed, and the value corresponding 7. The adaptive valve adjustment method based on hydraulic control according to claim 6, characterized in that: Calculate the comprehensive unit change value of the remaining 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 remaining two characteristic data after adjustment according to the current valve adjustment parameter; The calculated data change value is added to the actual value of each feature data to obtain the final value of the remaining two feature data after adjustment according to the current valve adjustment parameter. If the final values of the remaining two feature data after adjustment are still within the corresponding operating threshold range, the corresponding valve is adjusted according to the current valve adjustment parameter. If the final values of the remaining two feature data after adjustment are not all within the corresponding operating threshold range, the next valve adjustment parameter is analyzed and operated.

8. The adaptive valve adjustment method based on hydraulic control according to claim 7, characterized in that: If there are multiple feature data types exceeding the corresponding operating threshold range, each feature data is analyzed separately, and the valve adjustment method and adjustment time corresponding to each feature data type exceeding the threshold are calculated, and the valve adjustment method with the shortest adjustment time is selected for adjustment.

9. An adaptive valve regulation system based on hydraulic control for implementing the method of any one of claims 1 to 8, characterized in that, Comprising: A data collection module for monitoring feature data when the hydraulic control system performs tasks, setting a monitoring period and storing monitoring data; Identify feature data that exceeds the corresponding operating threshold range from historical monitoring data, and extract corresponding valve adjustment data for packaging and labeling to obtain adjustment packaging data; A function fitting module for calculating the unit change value of all feature data in each adjustment packaging data, combining data with the same valve adjustment parameter 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 each type of feature data through a linear fitting algorithm; A valve adjustment module for executing valve adjustment strategies when monitoring feature data that exceeds the corresponding operating threshold range, including a single feature data adjustment unit and a multiple feature data adjustment unit; The single feature 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 feature data through the fitting function; perform adjustment simulation, and select the adjustment method based on whether the remaining feature data after adjustment is still within the corresponding operating threshold range; The multiple feature data adjustment unit is used to analyze the feature data separately and select the method with the shortest adjustment time for adjustment.

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