An electro-hydraulic integrated digital valve group cooperative control method

Abstract

The application relates to the technical field of hydraulic switch control, and discloses a kind of electro-hydraulic integrated digital valve group cooperative control method, first establish online monitoring module, data collection module, data calculation module, sensing optimization module and data control module, real-time monitoring equipment online data through online monitoring module, data collection module is responsible for collecting and receiving data, data calculation module calculates the change of temperature, viscosity and elastic modulus through calculation formula, data transmission module transmits calculation result, sensing optimization module updates and corrects the model in a purposeful and directional manner according to the calculation value provided by the data calculation module, and the data control module correctly implements the instruction according to the cooperative work of the above modules, by integrating the online monitoring module, data collection module, data calculation module, sensing optimization module and data control module, the real-time monitoring of electro-hydraulic system parameters and the dynamic updating of model are realized, so as to improve the control precision and long-term stability.

Description

Technical Field

[0001] This invention relates to the field of hydraulic switch control technology, specifically to a method for coordinated control of an electro-hydraulic integrated digital valve group. Background Technology

[0002] In the application of electro-hydraulic integrated digital valve assemblies, the development of industrial automation and hydraulic system technology has placed higher demands on the control accuracy, response speed, and stability of these assemblies. However, existing control methods have many limitations. For example, traditional control methods suffer from discontinuous flow output, large computational load, excessively large flow step sizes, and a single control mode, which limits the output accuracy of the digital flow control unit and affects the application of digital valve assemblies in hydraulic systems.

[0003] Furthermore, parameters in electro-hydraulic systems, such as the temperature, viscosity, and elastic modulus of hydraulic oil, change with operating time and environmental conditions. These changes affect the system's dynamic performance and control effectiveness, but existing control methods often struggle to accurately capture these parameter changes in real time and update and correct the model accordingly, leading to a decline in control effectiveness over long-term operation.

[0004] Therefore, there is a need for a collaborative control method for electro-hydraulic integrated digital valve groups that can overcome the shortcomings of existing technologies and achieve high precision, high response speed and strong stability, so as to adapt to complex and ever-changing working environments and high-performance control requirements. Summary of the Invention

[0005] (a) Technical problems to be solved To address the shortcomings of existing technologies, this invention provides an electro-hydraulic integrated digital valve group collaborative control method, which has the advantages of high precision, high response speed and strong stability. It solves the problems of discontinuous flow output, large computational load, excessively large flow step size and single control mode in traditional control methods for digital flow control units.

[0006] (II) Technical Solution To achieve the above objectives, the present invention provides the following technical solution: a method for coordinated control of an electro-hydraulic integrated digital valve group, comprising the following steps: Step 1: Establish online monitoring module, data collection module, data calculation module, sensing optimization module, and data control module; Step 2: Monitor the online data of the equipment in real time through the online monitoring module; Step 3: The data collection module is responsible for collecting data related to flow control, hydraulic oil temperature, viscosity, and elastic modulus, and receiving data from the online monitoring module; Step 4: The data calculation module uses specific calculation formulas to calculate the changes in temperature, viscosity, and elastic modulus based on the data obtained from the data collection module. Step 5: The data transmission module quickly transmits the calculated values ​​from the data calculation module to the sensing optimization module; Step Six: The sensing optimization module updates and corrects the model in a timely and purposeful manner based on the calculated values ​​provided by the data calculation module. Step 7: The data control module, through the coordinated work of the above modules, correctly implements instructions to ensure the overall performance of the system.

[0007] Preferably, the data collection module includes a temperature and environmental conditions data unit, a viscosity and time data unit, and an elastic modulus and environmental conditions data unit. The temperature and environmental conditions data unit collects hydraulic oil temperature and related environmental conditions data. The viscosity and time data unit collects data on the change of hydraulic oil viscosity over time. The elastic modulus and environmental conditions data unit collects hydraulic oil elastic modulus and related environmental conditions data. After the data in the temperature and environmental conditions data unit, viscosity and time data unit, and elastic modulus and environmental conditions data unit are numbered within the unit, they 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, wherein the initial temperature of the hydraulic oil is numbered as follows: The hydraulic oil temperature affected by the environment during the aforementioned period is numbered as follows: , , … .

[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 over two periods, wherein the initial viscosity of the hydraulic oil is designated as follows: The viscosity of the hydraulic oil in the first cycle is numbered as follows: , , … The viscosity of the hydraulic oil in the second cycle is numbered as follows: , , … .

[0010] Preferably, the hydraulic oil elastic modulus and related environmental condition data specifically include a reference elastic modulus and current environmental conditions, wherein the reference elastic modulus and current environmental conditions are respectively numbered as follows: , .

[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 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.

[0012] Preferably, the temperature change unit calculates the current temperature of the hydraulic oil based on the hydraulic oil temperature and relevant environmental condition data. The calculation formula is as follows:

[0013]

[0014] In the formula, Indicates the current temperature of the hydraulic oil, i.e., time. The temperature at that time This indicates the initial temperature of the hydraulic oil. , , … This indicates the hydraulic oil temperature affected by environmental factors over a period of time. This represents the hydraulic oil temperature at time i, affected by environmental factors. This indicates the average temperature of hydraulic oil over a period of time, influenced by environmental factors. This indicates the range of temperature change in the hydraulic oil. A coefficient representing the degradation of hydraulic oil over time. Indicates a period of time.

[0015] The preferred viscosity change unit calculates the current viscosity of the hydraulic oil based on data showing the change in hydraulic oil viscosity over time. The calculation formula is as follows:

[0016]

[0017] In the formula, This indicates the current viscosity of the hydraulic oil, i.e., time. viscosity at that time Indicates the initial viscosity of the hydraulic oil. , , … This indicates the viscosity of the hydraulic oil during the first cycle. , , … This indicates the viscosity of the hydraulic oil during the second cycle. This represents the average viscosity during the first period. This indicates the average viscosity of the second period. Indicates the duration of the period. This represents the rate of change in viscosity.

[0018] Preferably, the elastic modulus variation unit calculates the current elastic modulus of the hydraulic oil based on the hydraulic oil elastic modulus and relevant environmental condition data. The calculation formula is as follows:

[0019] In the formula, This indicates the current elastic modulus of the hydraulic oil, i.e., the current environmental conditions. The elastic modulus below, Indicates the current environmental conditions. Indicates the reference elastic modulus. , , These represent the sensitivity coefficients for the corresponding environmental conditions.

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

[0021] Compared with the prior art, the present invention provides an electro-hydraulic integrated digital valve group cooperative control method, which has the following beneficial effects: 1. This invention calculates the current temperature of the hydraulic oil. According to the current temperature of the hydraulic oil Parameter compensation is performed by real-time monitoring of the hydraulic oil temperature using a temperature sensor in the online monitoring module. When the temperature changes, the sensing optimization module corrects the relevant parameters in the control model based on a pre-established relationship model between temperature, flow rate, and pressure parameters. This process is repeated when the current hydraulic oil temperature is calculated. When the flow rate increases, the viscosity of the hydraulic oil decreases. At this point, the system needs to maintain stable control performance. The proportional coefficient of the PID controller is adjusted accordingly to achieve accurate flow control.

[0022] 2. This invention calculates the current viscosity of the hydraulic oil. According to the current viscosity of the hydraulic oil Real-time viscosity parameter correction is performed by using a viscosity sensor in the online monitoring module to detect changes in the hydraulic oil viscosity. Based on the viscosity change trend, the impact on the system's dynamic performance is predicted in advance. The sensing optimization module then makes directional adjustments to the control model based on the prediction results. When the pressure loss range of the system increases, it is determined that the output pressure of the pump needs to be increased or the valve opening needs to be adjusted to ensure that the system's response speed and stability are not affected. Attached Figure Description

[0023] Figure 1 This is a flowchart of the method of the present invention. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] Please see Figure 1 A method for coordinated control of an electro-hydraulic integrated digital valve group includes the following steps: Step 1: Establish online monitoring module, data collection module, data calculation module, sensing optimization module, and data control module; Step 2: Monitor the online data of the equipment in real time through the online monitoring module. It is equipped with multiple sensor units to collect different physical quantity data to ensure the real-time performance 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 data from the online monitoring module. It consists of three sub-units, each corresponding to a different type of data input. Step 4: The data calculation module uses specific calculation formulas to calculate the changes in temperature, viscosity, and elastic modulus based on the data obtained from the data collection module. It contains three calculation units, each corresponding to a specific calculation formula. The data calculation module has three units, which respectively correspond to the calculation formulas for the changes in temperature, time, and environmental conditions, the calculation formulas for the changes in viscosity, time, and environmental conditions, and the calculation formulas for the changes in elastic modulus, time, and environmental conditions. Step 5: The data transmission module quickly transmits the calculated values ​​from the data calculation module to the sensing optimization module. The efficient data transmission interface and protocol ensure the real-time performance of the data. Step Six: The sensing optimization module updates and corrects the model in a timely and purposeful manner based on the calculated values ​​provided by the data calculation module. This includes optimization algorithms. Based on the three received calculated values, the control strategy is adjusted to compensate for the impact of parameter changes and improve the control effect in long-term operation. Step 7: The data control module, based on the collaborative work of the above modules, correctly implements the instructions to ensure the overall performance of the system. This includes the instruction generation and execution mechanism to ensure that control instructions can be accurately transmitted to the valve group.

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

[0027] The hydraulic oil temperature and related environmental conditions 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 designated as follows: The hydraulic oil temperature affected by the environment over a period of time is designated as follows: , , … .

[0028] Data on the change of hydraulic oil viscosity over time, specifically including the initial viscosity and the viscosity of the hydraulic oil over two periods. The initial viscosity of the hydraulic oil is designated as follows: The viscosity of the hydraulic oil in the first cycle is designated as follows: , , … The viscosity number of the hydraulic oil in the second cycle is: , , … .

[0029] Hydraulic oil elastic modulus and related environmental condition data, specifically including the baseline elastic modulus and current environmental conditions, which are respectively numbered as follows: , .

[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 conditions. The calculation formula is as follows:

[0032]

[0033] In the formula, Indicates the current temperature of the hydraulic oil, i.e., time. The temperature at that time This indicates the initial temperature of the hydraulic oil. , , … This indicates the hydraulic oil temperature affected by environmental factors over a period of time. This represents the hydraulic oil temperature at time i, affected by environmental factors. This indicates the average temperature of hydraulic oil over a period of time, influenced by environmental factors. This indicates the range of temperature change in the hydraulic oil. A coefficient representing the degradation of hydraulic oil over time. Indicates a period of time.

[0034] The advantage is that it calculates the current temperature of the hydraulic oil. According to the current temperature of the hydraulic oil Parameter compensation is performed by real-time monitoring of the hydraulic oil temperature using a temperature sensor in the online monitoring module. When the temperature changes, the sensing optimization module corrects the relevant parameters in the control model based on a pre-established relationship model between temperature, flow rate, and pressure parameters. This process is repeated when the current hydraulic oil temperature is calculated. When the flow rate increases, the viscosity of the hydraulic oil decreases. At this point, the system needs to maintain stable control performance. The proportional coefficient of the PID controller is adjusted accordingly to achieve accurate flow control.

[0035] The viscosity change unit calculates the current viscosity of the hydraulic oil based on the data showing how the hydraulic oil viscosity changes over time. The calculation formula is as follows:

[0036]

[0037] In the formula, This indicates the current viscosity of the hydraulic oil, i.e., time. viscosity at that time Indicates the initial viscosity of the hydraulic oil. , , … This indicates the viscosity of the hydraulic oil during the first cycle. , , … This indicates the viscosity of the hydraulic oil during the second cycle. This represents the average viscosity during the first period. This indicates the average viscosity of the second period. Indicates the duration of the period. This represents the rate of change in viscosity.

[0038] The advantage is that it allows you to calculate the current viscosity of the hydraulic oil. According to the current viscosity of the hydraulic oil Real-time viscosity parameter correction is performed by using a viscosity sensor in the online monitoring module to detect changes in the hydraulic oil viscosity. Based on the viscosity change trend, the impact on the system's dynamic performance is predicted in advance. The sensing optimization module then makes directional adjustments to the control model based on the prediction results. When the pressure loss range of the system increases, it is determined that the output pressure of the pump needs to be increased or the valve opening needs to be adjusted to ensure that the system's response speed and stability are not affected.

[0039] The elastic modulus variation unit calculates the current elastic modulus of the hydraulic oil based on the hydraulic oil's elastic modulus and relevant environmental conditions. The calculation formula is as follows:

[0040] In the formula, This indicates the current elastic modulus of the hydraulic oil, i.e., the current environmental conditions. The elastic modulus below, Indicates the current environmental conditions. Indicates the reference elastic modulus. , , These represent the sensitivity coefficients for the corresponding environmental conditions.

[0041] The advantage is that it utilizes the current hydraulic oil elastic modulus. Based on the current elastic modulus of hydraulic oil Parameter adjustments are made by acquiring changes in the hydraulic oil's elastic modulus through a specific measuring device in the online monitoring module (since the elastic modulus affects the system's stiffness and damping characteristics, thus influencing the system's dynamic response). The current hydraulic oil elastic modulus is calculated in real time based on these changes. The sensing optimization module will adjust the current hydraulic oil elastic modulus based on the current hydraulic oil elastic modulus. The size range can be adjusted in real time to change the gain of the controller or change the structure of the control algorithm, so that the system can quickly adapt to changes in the elastic modulus and maintain good control performance.

[0042] The sensing optimization module adjusts based on the current temperature of the hydraulic oil. Adjust the temperature coefficient in the control model to compensate for the effects of temperature changes on the viscosity and elastic modulus of the hydraulic oil, based on the current viscosity of the hydraulic oil. Adjust the viscosity coefficient in the control model to compensate for the impact of viscosity changes on flow output, based on the current hydraulic oil elastic modulus. Adjust the elastic modulus coefficient in the control model to compensate for the impact of changes in the elastic modulus on the dynamic performance of the system; The advantages are: through the above compensation method, the induction optimization module can adjust the control model in real time, ensuring that the output flow of the digital flow control unit is more continuous and accurate under different working conditions, reducing the amount of calculation, narrowing the flow step size, and providing diversified control methods, thereby improving the control accuracy, response speed and stability of the electro-hydraulic integrated digital valve group.

[0043] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for coordinated control of an electro-hydraulic integrated digital valve group, characterized in that, Includes the following steps: Step 1: Establish online monitoring module, data collection module, data calculation module, sensing optimization module, and data control module; Step 2: Monitor the online data of the equipment in real time through the online monitoring module; Step 3: The data collection module is responsible for collecting data related to flow control, hydraulic oil temperature, viscosity, and elastic modulus, and receiving data from the online monitoring module; Step 4: The data calculation module uses specific calculation formulas to calculate the changes in temperature, viscosity, and elastic modulus based on the data obtained from the data collection module. Step 5: The data transmission module quickly transmits the calculated values ​​from the data calculation module to the sensing optimization module; Step Six: The sensing optimization module updates and corrects the model in a timely and purposeful manner based on the calculated values ​​provided by the data calculation module. Step 7: The data control module, through the coordinated work of the above modules, correctly implements instructions to ensure the overall performance of the system; The data collection module includes a temperature and environmental conditions data unit, a viscosity and time data unit, and an elastic modulus and environmental conditions data unit. The temperature and environmental conditions data unit collects hydraulic oil temperature and related environmental conditions data. The viscosity and time data unit collects data on the change of hydraulic oil viscosity over time. The elastic modulus and environmental conditions data unit collects hydraulic oil elastic modulus and related environmental conditions data. After the data in the temperature, viscosity and time, and elastic modulus and environmental conditions data units are numbered within the unit, they are connected to the data calculation module through a network. 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 as follows: The hydraulic oil temperature affected by the environment during the aforementioned period is numbered as follows: , , … ; 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 over two periods. The initial viscosity of the hydraulic oil is designated as follows: The viscosity of the hydraulic oil in the first cycle is numbered as follows: , , … The viscosity of the hydraulic oil in the second cycle is numbered as follows: , , … ; The hydraulic oil elastic modulus and related environmental condition data specifically include the reference elastic modulus and current environmental conditions, which are respectively numbered as follows: , ; 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.

2. The electro-hydraulic integrated digital valve group collaborative control method according to claim 1, characterized in that: The temperature change unit calculates the current temperature of the hydraulic oil based on the hydraulic oil temperature and relevant environmental conditions. The calculation formula is as follows: ； ； In the formula, Indicates the current temperature of the hydraulic oil, i.e., time. The temperature at that time This indicates the initial temperature of the hydraulic oil. , , … This indicates the hydraulic oil temperature affected by environmental factors over a period of time. This represents the hydraulic oil temperature at time i, affected by environmental factors. This indicates the average temperature of hydraulic oil over a period of time, influenced by environmental factors. This indicates the range of temperature change in the hydraulic oil. A coefficient representing the degradation of hydraulic oil over time. Indicates a period of time.

3. The electro-hydraulic integrated digital valve group collaborative control method according to claim 1, characterized in that: The viscosity change unit calculates the current viscosity of the hydraulic oil based on the data showing the change in hydraulic oil viscosity over time. The calculation formula is as follows: ； ； In the formula, This indicates the current viscosity of the hydraulic oil, i.e., time. viscosity at that time Indicates the initial viscosity of the hydraulic oil. , , … This indicates the viscosity of the hydraulic oil during the first cycle. , , … This indicates the viscosity of the hydraulic oil during the second cycle. This represents the average viscosity during the first period. This indicates the average viscosity of the second period. Indicates the duration of the period. This represents the rate of change in viscosity.

4. The electro-hydraulic integrated digital valve group collaborative control method according to claim 1, characterized in that: The elastic modulus variation unit calculates the current elastic modulus of the hydraulic oil based on the hydraulic oil elastic modulus and relevant environmental condition data. The calculation formula is as follows: ； In the formula, This indicates the current elastic modulus of the hydraulic oil, i.e., the current environmental conditions. The elastic modulus below, Indicates the current environmental conditions. Indicates the reference elastic modulus. , , These represent the sensitivity coefficients for the corresponding environmental conditions.

5. The electro-hydraulic integrated digital valve group collaborative control method according to claim 1, characterized in that: The sensing optimization module adjusts based on the current temperature of the hydraulic oil. Adjust the temperature coefficient in the control model to compensate for the effects of temperature changes on the viscosity and elastic modulus of the hydraulic oil, based on the current viscosity of the hydraulic oil. Adjust the viscosity coefficient in the control model to compensate for the impact of viscosity changes on flow output, based on the current hydraulic oil elastic modulus. Adjust the elastic modulus coefficient in the control model to compensate for the impact of changes in the elastic modulus on the dynamic performance of the system.

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