Electro-hydraulic integrated digital valve group cooperative control method

Abstract

The invention relates to the technical field of hydraulic switch control, and discloses an electro-hydraulic integrated digital valve group cooperative control method, which comprises the following steps: firstly, establishing an online monitoring module, a data collection module, a data calculation module, an induction optimization module and a data control module, and monitoring equipment online data in real time through the online monitoring module; the data collection module is responsible for collecting and receiving data, the data calculation module calculates changes of the temperature, the viscosity and the elastic modulus through a calculation formula, the data transmission module transmits calculation results, and the induction optimization module timely updates a model in a targeted mode and corrects the model in a directional mode according to calculation numerical values provided by the data calculation module. The data control module correctly implements instructions according to cooperative work of the modules, and realizes real-time monitoring of parameters of the electro-hydraulic system and dynamic updating of a model by integrating the online monitoring module, the data collection module, the data calculation module, the induction optimization module and the data control module, so that the control precision and the long-term stability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic switch control, and specifically to a collaborative control method for an electro-hydraulic integrated digital valve group. Background Art

[0002] In the application field of electro-hydraulic integrated digital valve groups, with the development of industrial automation and hydraulic system technology, higher requirements are put forward for the control accuracy, response speed and stability of electro-hydraulic integrated digital valve groups. However, the existing control methods have many limitations. For example, traditional control methods have problems such as discontinuous flow output, large computational amount, too large flow step size and single control mode for the output of the digital flow control unit, which limit the output accuracy of the digital flow control unit and affect the application of the digital valve group in the hydraulic system.

[0003] In addition, parameters in the electro-hydraulic system, such as the temperature, viscosity, elastic modulus of hydraulic oil, etc., will change with factors such as working time and environmental conditions. The changes of these parameters will affect the dynamic performance and control effect of the system, but the existing control methods are often difficult to accurately obtain the changes of these parameters in real time and update and correct the model in time, resulting in a decline in the control effect during long-term operation.

[0004] Therefore, a collaborative control method for an electro-hydraulic integrated digital valve group that can overcome the defects of the existing technology and achieve high precision, high response speed and strong stability is needed to adapt to the complex and changeable working environment and high-performance control requirements. Summary of the Invention

[0005] (I) Technical Problems to be Solved Aiming at the deficiencies of the existing technology, the present invention provides a collaborative control method for an electro-hydraulic integrated digital valve group, which has the advantages of high precision, high response speed and strong stability, and solves the problems of discontinuous flow output, large computational amount, too large flow step size and single control mode for the output of the traditional control method for the digital flow control unit.

[0006] (II) Technical Solutions To achieve the above object, the present invention provides the following technical solution: A collaborative control method for an electro-hydraulic integrated digital valve group, comprising the following steps: Step 1, establish an online monitoring module, a data collection module, a data calculation module, an induction optimization module and a data control module; Step 2, use the online monitoring module to monitor the online data of the equipment in real time; Step 3, the data collection module is responsible for collecting data related to flow control, hydraulic oil temperature, viscosity and elastic modulus, and receiving the data from the online monitoring module; Step 4: The data calculation module calculates the changes in temperature, viscosity, and elastic modulus using specific calculation formulas based on the data obtained from the data collection module. Step 5: The data transmission module quickly transmits the calculated values of the data calculation module to the induction optimization module. Step 6: The induction optimization module updates the model purposefully and corrects it directionally in a timely manner based on the calculated values provided by the data calculation module. Step 7: The data control module correctly executes the instructions based on the collaborative work of the above modules to ensure the overall performance of the system.

[0007] Preferably, the data collection module includes a temperature and environmental condition data unit, a viscosity and time data unit, and an elastic modulus and environmental condition data unit. The temperature and environmental condition data unit collects hydraulic oil temperature and related environmental condition data. The viscosity and time data unit collects data on the change of hydraulic oil viscosity over time. The elastic modulus and environmental condition data unit collects hydraulic oil elastic modulus and related environmental condition data. After numbering the data within the units, the temperature and environmental condition data unit, the viscosity and time data unit, and the elastic modulus and environmental condition data unit are connected to the data calculation module through a network.

[0008] Preferably, the hydraulic oil temperature and related environmental condition data specifically include the initial temperature of the hydraulic oil and the hydraulic oil temperature affected by the environment over a period of time. The initial temperature of the hydraulic oil is numbered , and the hydraulic oil temperature affected by the environment over a period of time is numbered , , , … .

[0009] Preferably, the data on the change of hydraulic oil viscosity over time specifically includes the initial viscosity of the hydraulic oil and the viscosity of the hydraulic oil within two cycles. The initial viscosity of the hydraulic oil is numbered , and the viscosity of the hydraulic oil within the first cycle is numbered , , , … , and the viscosity of the hydraulic oil within the second cycle is numbered , , , … .

[0010] Preferably, the hydraulic oil elastic modulus and related environmental condition data specifically include the reference elastic modulus and the current environmental conditions. The reference elastic modulus and the current environmental conditions are numbered , .

[0011] Preferably, the data calculation module includes a temperature change unit, a viscosity change unit, and an elastic modulus change unit. The temperature change unit calculates the impact of temperature change on the system according to the relationship between temperature and time. The viscosity change unit calculates the impact of viscosity change on the system according to the relationship between viscosity and time. The elastic modulus change unit calculates the impact of elastic modulus change on the system according to the relationship between elastic modulus and environmental conditions.

[0012] Preferably, the temperature change unit calculates the current temperature of the hydraulic oil according to the hydraulic oil temperature and relevant environmental condition data , and its calculation formula is:

[0013]

[0014] In the formula, represents the current temperature of the hydraulic oil, that is, the temperature at time , represents the initial temperature of the hydraulic oil, , , … represents the temperature of the hydraulic oil affected by the environment within a period of time, represents the temperature of the hydraulic oil affected by the environment at the i-th time, represents the average temperature of the hydraulic oil affected by the environment within a period of time, represents the temperature change range of the hydraulic oil, represents the coefficient of attenuation of the hydraulic oil over time, represents a period of time.

[0015] Preferably, the viscosity change unit calculates the current viscosity of the hydraulic oil according to the data of the change of the hydraulic oil viscosity over time , and its calculation formula is:

[0016]

[0017] In the formula, represents the current viscosity of the hydraulic oil, that is, the viscosity at time , represents the initial viscosity of the hydraulic oil, , , … represents the viscosity of the hydraulic oil in the first cycle, , , … Represents the viscosity of the hydraulic oil in the second cycle, Represents the average viscosity of the first cycle, Represents the average viscosity of the second cycle, Represents the cycle duration, Represents the viscosity change rate.

[0018] Preferably, the elastic modulus change unit calculates the current elastic modulus of the hydraulic oil based on the elastic modulus of the hydraulic oil and relevant environmental condition data , and its calculation formula is:

[0019] In the formula, Represents the current elastic modulus of the hydraulic oil, that is, the elastic modulus under the current environmental conditions under, Represents the current environmental conditions, Represents the reference elastic modulus, 、 、 respectively represent the sensitivity coefficients corresponding to the environmental conditions.

[0020] Preferably, the induction optimization module adjusts the temperature coefficient in the control model according to the current temperature of the hydraulic oil to compensate for the influence of temperature changes on the viscosity and elastic modulus of the hydraulic oil, adjusts the viscosity coefficient in the control model according to the current viscosity of the hydraulic oil to compensate for the influence of viscosity changes on the flow output, and adjusts the elastic modulus coefficient in the control model according to the current elastic modulus of the hydraulic oil to compensate for the influence of elastic modulus changes on the dynamic performance of the system.

[0021] Compared with the prior art, the present invention provides a collaborative control method for an electro-hydraulic integrated digital valve group, having the following beneficial effects: 1. The present invention calculates the current temperature of the hydraulic oil , performs parameter compensation according to the current temperature of the hydraulic oil , and real-time monitors the temperature of the hydraulic oil through the temperature sensor of the online monitoring module. When the temperature changes, the induction optimization module corrects the relevant parameters in the control model according to the pre-established relationship model between temperature and flow and pressure parameters. When calculating that the current temperature of the hydraulic oil increases, at this time the viscosity of the current hydraulic oil will decrease, and at this time the system still needs to maintain stable control performance. Accordingly, the proportional coefficient of the PID controller is adjusted to achieve accurate control of the flow.

[0022] 2. The present invention calculates the current viscosity of the hydraulic oil , according to the current viscosity of the hydraulic oil The viscosity parameter correction is carried out in real time. The viscosity sensor of the online monitoring module is used to detect the viscosity change of the hydraulic oil, and according to the change trend of the viscosity, the influence on the dynamic performance of the system is predicted in advance. The induction optimization module adjusts the control model directionally according to the prediction result. When the current viscosity of the hydraulic oil increases, it is judged that the pressure loss range of the system expands at this time, and it is necessary to increase the output pressure of the pump or adjust the opening of the valve port to ensure that the response speed and stability of the system are not affected. Brief Description of the Drawings

[0023] Figure 1 It is the flow chart of the method of the present invention. Detailed Embodiment

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the 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 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.

[0025] Please refer to Figure 1 , a collaborative control method for an electro-hydraulic integrated digital valve group, including the following steps: Step 1: Establish an online monitoring module, a data collection module, a data calculation module, an induction optimization module, and a data control module; Step 2: Real-time monitor the online data of the equipment through the online monitoring module. There are multiple sensor units for collecting data of different physical quantities to ensure the real-time nature of the system data; Step 3: The data collection module is responsible for collecting data related to flow control, hydraulic oil temperature, viscosity, and elastic modulus, and receiving the data from the online monitoring module. It includes three sub-units, corresponding to different types of data input respectively; Step 4: The data calculation module calculates the changes in temperature, viscosity, and elastic modulus according to the data obtained from the data collection module using specific calculation formulas. It includes three calculation units, and each unit corresponds to a specific calculation formula. Three units are set inside the data calculation module, corresponding to the calculation formulas for calculating temperature and time, environmental condition changes, the calculation formula for calculating viscosity and time, environmental condition changes, and the calculation formula for calculating elastic modulus and time, environmental condition changes respectively; Step 5: The data transmission module quickly transmits the calculated values of the data calculation module to the induction optimization module. The efficient data transmission interface and protocol ensure the real-time nature of the data; Step 6: The induction optimization module, based on the calculation values provided by the data calculation module, timely updates the model purposefully and corrects it directionally. It includes an optimization algorithm that adjusts the control strategy according to the three received calculation values to compensate for the influence caused by parameter changes, so as to improve the control effect during long-term operation. Step 7: The data control module correctly implements instructions according to the collaborative work of the above modules to ensure the overall performance of the system. It includes an instruction generation and execution mechanism to ensure that the control instructions can be accurately conveyed to the valve group.

[0026] The advantages are as follows: By integrating the online monitoring module, data collection module, data calculation module, induction optimization module, and data control module, real-time monitoring of the electro-hydraulic system parameters and dynamic update of the model are achieved, thereby improving the control accuracy and long-term stability. The data collection module includes a temperature and environmental condition data unit, a viscosity and time data unit, and an elastic modulus and environmental condition data unit. The temperature and environmental condition data unit collects the hydraulic oil temperature and related environmental condition data. The viscosity and time data unit collects the data of the change in hydraulic oil viscosity over time. The elastic modulus and environmental condition data unit collects the hydraulic oil elastic modulus and related environmental condition data. After numbering the data within the units, the temperature and environmental condition data unit, viscosity and time data unit, and elastic modulus and environmental condition data unit are connected to the data calculation module through the network.

[0027] The hydraulic oil temperature and related environmental condition data specifically include the initial temperature of the hydraulic oil and the hydraulic oil temperature affected by the environment within a period of time. The initial temperature of the hydraulic oil is numbered and the hydraulic oil temperature affected by the environment within a period of time is numbered , , … .

[0028] The data of the change in hydraulic oil viscosity over time specifically includes the initial viscosity of the hydraulic oil and the viscosity of the hydraulic oil within two cycles. The initial viscosity of the hydraulic oil is numbered , and the viscosity of the hydraulic oil within the first cycle is numbered , , … , and the viscosity of the hydraulic oil within the second cycle is numbered , , … .

[0029] The hydraulic oil elastic modulus and related environmental condition data specifically include the reference elastic modulus and the current environmental conditions. The reference elastic modulus and the current environmental conditions are numbered , 。

[0030] The data calculation module includes a temperature change unit, a viscosity change unit, and an elastic modulus change unit. The temperature change unit calculates the impact of temperature change on the system based on the relationship between temperature and time. The viscosity change unit calculates the impact of viscosity change on the system based on the relationship between viscosity and time. The elastic modulus change unit calculates the impact of elastic modulus change on the system based on the relationship between elastic modulus and environmental conditions.

[0031] The temperature change unit calculates the current temperature of the hydraulic oil based on the hydraulic oil temperature and relevant environmental condition data ,and its calculation formula is:

[0032]

[0033] In the formula, represents the current temperature of the hydraulic oil, that is, the temperature at time , represents the initial temperature of the hydraulic oil, , , … represents the temperature of the hydraulic oil affected by the environment within a period of time, represents the temperature of the hydraulic oil affected by the environment at the i-th time, represents the average temperature of the hydraulic oil affected by the environment within a period of time, represents the temperature change range of the hydraulic oil, represents the coefficient of attenuation of the hydraulic oil with time, represents a period of time.

[0034] The advantages are: by calculating the current temperature of the hydraulic oil , parameter compensation is performed according to the current temperature of the hydraulic oil . The temperature of the hydraulic oil is real-time monitored by the temperature sensor of the online monitoring module. When the temperature changes, the induction optimization module corrects the relevant parameters in the control model according to the pre-established relationship model between temperature and flow rate and pressure parameters. When calculating the current temperature of the hydraulic oil increases, at this time the viscosity of the current hydraulic oil will decrease. At this time, the system still needs to maintain stable control performance, and the proportional coefficient of the PID controller is adjusted accordingly to achieve accurate control of the flow rate.

[0035] The viscosity change unit calculates the current viscosity of the hydraulic oil based on the data of the change of the hydraulic oil viscosity with time , and its calculation formula is:

[0036]

[0037] In the formula, represents the current viscosity of the hydraulic oil, that is, the viscosity at time , represents the initial viscosity of the hydraulic oil, , , ... represents the viscosity of the hydraulic oil in the first cycle, , , ... represents the viscosity of the hydraulic oil in the second cycle, represents the average viscosity of the first cycle, represents the average viscosity of the second cycle, represents the cycle duration, represents the viscosity change rate.

[0038] The advantages are: by calculating the current viscosity of the hydraulic oil , based on the current viscosity of the hydraulic oil , the viscosity parameter correction is carried out in real time. The viscosity sensor of the online monitoring module is used to detect the viscosity change of the hydraulic oil, and according to the change trend of the viscosity, the influence on the dynamic performance of the system is predicted in advance. The induction optimization module adjusts the control model directionally according to the prediction result. When the current viscosity of the hydraulic oil increases, it is judged that the pressure loss range of the system expands at this time, then it is necessary to increase the output pressure of the pump or adjust the opening of the valve port to ensure that the response speed and stability of the system are not affected.

[0039] The elastic modulus change unit calculates the current elastic modulus of the hydraulic oil according to the elastic modulus of the hydraulic oil and the relevant environmental condition data , and its calculation formula is:

[0040] In the formula, represents the current elastic modulus of the hydraulic oil, that is, the elastic modulus under the current environmental conditions , represents the current environmental conditions, represents the reference elastic modulus, , , respectively represent the sensitivity coefficients corresponding to the environmental conditions.

[0041] The advantages are: through the current elastic modulus of the hydraulic oil , based on the current elastic modulus of the hydraulic oil Parameter adjustment is carried out to obtain the change of the elastic modulus of hydraulic oil through a specific measuring device in the online monitoring module (since the elastic modulus affects the stiffness and damping characteristics of the system, and thus affects the dynamic response of the system), and the current elastic modulus of the hydraulic oil is calculated in real time according to the change of the elastic modulus of the hydraulic oil , and the induction optimization module will adjust the gain of the controller or change the structure of the control algorithm in real time according to the size range of the current elastic modulus of the hydraulic oil so that the system can quickly adapt to the change of the elastic modulus and maintain good control effect.

[0042] The induction optimization module adjusts the temperature coefficient in the control model according to the current temperature of the hydraulic oil to compensate for the influence of temperature change on the viscosity and elastic modulus of the hydraulic oil, adjusts the viscosity coefficient in the control model according to the current viscosity of the hydraulic oil to compensate for the influence of viscosity change on the flow output, and adjusts the elastic modulus coefficient in the control model according to the current elastic modulus of the hydraulic oil to compensate for the influence of elastic modulus change on the dynamic performance of the system; The advantages are as follows: through the above compensation method, the induction optimization module can adjust the control model in real time to ensure that the output flow of the digital flow control unit is more continuous and accurate under different working conditions, reduce the calculation amount, narrow the flow step size, and provide diversified control methods, thereby improving the control accuracy, response speed and stability of the electro-hydraulic integrated digital valve group.

[0043] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A collaborative control method for an electro-hydraulic integrated digital valve group, characterized in that It includes the following steps: Step 1: Establish an online monitoring module, a data collection module, a data calculation module, a sensing optimization module, and a data control module; Step 2: Use the online monitoring module to monitor the online data of the device in real time; Step 3: The data collection module is responsible for collecting data related to flow control, hydraulic oil temperature, viscosity, and elastic modulus, and receiving the data from the online monitoring module; Step 4: The data calculation module calculates the changes in temperature, viscosity, and elastic modulus using specific calculation formulas based on the data obtained from the data collection module; Step 5: The data transmission module quickly transmits the calculated values of the data calculation module to the sensing optimization module; Step 6: The sensing optimization module updates the model purposefully and corrects it directionally in a timely manner according to the calculated values provided by the data calculation module; Step 7: The data control module correctly implements the instructions based on the collaborative work of the above modules to ensure the overall performance of the system.

2. A collaborative control method for an electro-hydraulic integrated digital valve group according to claim 1, characterized in that: The data collection module includes a temperature and environmental condition data unit, a viscosity and time data unit, and an elastic modulus and environmental condition data unit. The temperature and environmental condition data unit collects hydraulic oil temperature and related environmental condition data. The viscosity and time data unit collects data on the change of hydraulic oil viscosity over time. The elastic modulus and environmental condition data unit collects hydraulic oil elastic modulus and related environmental condition data. After numbering the data within the units, the temperature and environmental condition data unit, the viscosity and time data unit, and the elastic modulus and environmental condition data unit are connected to the data calculation module through the network.

3. A collaborative control method for an electro-hydraulic integrated digital valve group according to claim 2, characterized in that: The hydraulic oil temperature and related environmental condition data specifically include the initial temperature of the hydraulic oil and the hydraulic oil temperature affected by the environment over a period of time. The serial number of the initial temperature of the hydraulic oil is , and the serial number of the hydraulic oil temperature affected by the environment over a period of time is , , , … .

4. A collaborative control method for an electro-hydraulic integrated digital valve group according to claim 2, characterized in that: Data on the change of the viscosity of the hydraulic oil over time, specifically including the initial viscosity of the hydraulic oil and the viscosities of the hydraulic oil within two cycles. The initial viscosity of the hydraulic oil is numbered , the viscosities of the hydraulic oil within the first cycle are numbered , , ,... , and the viscosities of the hydraulic oil within the second cycle are numbered , , ,... .

5. A collaborative control method for an electro-hydraulic integrated digital valve group according to claim 2, characterized in that: The elastic modulus of the hydraulic oil and related environmental condition data, specifically including the reference elastic modulus and the current environmental conditions, and the reference elastic modulus and the current environmental conditions are numbered respectively as , .

6. A collaborative control method for an electro-hydraulic integrated digital valve group according to claim 1, characterized in that: The data calculation module includes a temperature change unit, a viscosity change unit, and an elastic modulus change unit. The temperature change unit calculates the impact of temperature change on the system based on the relationship between temperature and time. The viscosity change unit calculates the impact of viscosity change on the system based on the relationship between viscosity and time. The elastic modulus change unit calculates the impact of elastic modulus change on the system based on the relationship between elastic modulus and environmental conditions.

7. A collaborative control method for an electro-hydraulic integrated digital valve group according to claim 6, characterized in that: The temperature change unit calculates the current temperature of the hydraulic oil based on the hydraulic oil temperature and relevant environmental condition data , and its calculation formula is: ； ； In the formula, represents the current temperature of the hydraulic oil, i.e., the temperature at time , represents the initial temperature of the hydraulic oil, , , ,… represent the temperature of the hydraulic oil affected by the environment over a period of time, represents the temperature of the hydraulic oil affected by the environment at the i-th time, represents the average temperature of the hydraulic oil affected by the environment over a period of time, represents the temperature change range of the hydraulic oil, represents the coefficient of attenuation of the hydraulic oil over time, represents a period of time.

8. A collaborative control method for an electro-hydraulic integrated digital valve group according to claim 6, characterized in that: The viscosity change unit calculates the current viscosity of the hydraulic oil based on the data of the change in the viscosity of the hydraulic oil over time , and its calculation formula is: ； ； In the formula, represents the current viscosity of the hydraulic oil, that is, the viscosity at time . represents the initial viscosity of the hydraulic oil, , , , … represent the viscosities of the hydraulic oil in the first cycle, , , , … represent the viscosities of the hydraulic oil in the second cycle, represents the average viscosity of the first cycle, represents the average viscosity of the second cycle, represents the cycle duration, represents the viscosity change rate.

9. A collaborative control method for an electro-hydraulic integrated digital valve group according to claim 6, characterized in that: The elastic modulus change unit calculates the current elastic modulus of the hydraulic oil based on the elastic modulus of the hydraulic oil and relevant environmental condition data , and its calculation formula is: ； In the formula, represents the current elastic modulus of the hydraulic oil, that is, the elastic modulus under the current environmental conditions and represents the current environmental conditions, represents the reference elastic modulus, , , respectively represent the sensitivity coefficients corresponding to the environmental conditions.

10. A collaborative control method for an electro-hydraulic integrated digital valve group according to claim 1, characterized in that: The induction optimization module adjusts the temperature coefficient in the control model according to the current temperature of the hydraulic oil to compensate for the influence of temperature changes on the viscosity and elastic modulus of the hydraulic oil. According to the current viscosity of the hydraulic oil adjust the viscosity coefficient in the control model to compensate for the influence of viscosity changes on the flow output. According to the current elastic modulus of the hydraulic oil adjust the elastic modulus coefficient in the control model to compensate for the influence of elastic modulus changes on the dynamic performance of the system.

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