Energy-saving control method and system for servo hydraulic motor

Abstract

The present invention discloses a servo hydraulic motor energy-saving control method and system, comprising: detecting and obtaining the initial state of the load, determining the initial flow and initial pressure required by the servo hydraulic motor; setting the initial speed and initial torque of the servo hydraulic motor, and calculating the power required by the servo hydraulic motor, thereby driving the servo hydraulic motor to operate; obtaining real-time data of the servo hydraulic motor in the operation stage, calculating the deviation of the servo hydraulic motor according to the real-time data, and adjusting the operating speed and operating torque of the servo hydraulic motor in real time according to the deviation; when the servo hydraulic motor is in the operation stage, monitoring the hydraulic oil temperature in real time, and when the hydraulic oil temperature exceeds a set threshold, recovering the heat of the servo hydraulic motor through a heat recovery device, and storing the recovered heat through a phase change material; when the servo hydraulic motor is in the braking stage, generating electricity by reversing the servo hydraulic motor, and storing the generated electrical energy in an energy storage device.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to an energy-saving control method and system for a servo hydraulic motor. Background Art

[0002] In modern industrial production, the requirements for hydraulic systems' control accuracy, response speed, and energy efficiency are becoming increasingly stringent. For example, in CNC machine tools, robotics, automated production lines, and other fields, hydraulic systems must be able to quickly and accurately execute various motion instructions while reducing energy consumption and lowering production costs. This has led to the continuous emergence of various advanced servo hydraulic motor control technologies and methods.

[0003] At present, energy-saving control strategies include closed-loop control and open-loop control. Open-loop control achieves high-precision speed regulation of the motor by decomposing the stator current vector of the asynchronous motor into excitation current and torque current and controlling them separately. However, it is still open-loop control in essence and is inferior to closed-loop control in terms of control accuracy and dynamic performance. It has poor adaptability to sudden changes in load and changes in motor parameters, which may cause system instability and affect energy-saving effects. The control parameters of open-loop control are difficult to maintain optimal within the entire operating range, resulting in deficiencies in the system in terms of dynamic response speed, control accuracy and stability. In particular, when the load changes greatly, overshoot or undershoot is prone to occur, affecting energy-saving effects. Summary of the Invention

[0004] The present invention provides a servo hydraulic motor energy-saving control method and system to solve the technical problems in the prior art that the system has slow dynamic response speed, low control accuracy, and is prone to overshoot or undershoot, resulting in high energy consumption.

[0005] In order to solve the above technical problems, an embodiment of the present invention provides a servo hydraulic motor energy-saving control method, comprising:

[0006] Detecting and obtaining an initial state of the load, and determining an initial flow rate and an initial pressure required by the servo hydraulic motor according to the initial state of the load;

[0007] According to the initial flow rate and initial pressure, the initial speed and initial torque of the servo hydraulic motor are set, and the power required by the servo hydraulic motor is calculated, so as to drive the servo hydraulic motor to operate;

[0008] Acquiring real-time data of the servo hydraulic motor during operation, calculating a deviation of the servo hydraulic motor based on the real-time data, and adjusting the operating speed and operating torque of the servo hydraulic motor in real time based on the deviation;

[0009] When the servo hydraulic motor is in operation, the hydraulic oil temperature is monitored in real time. When the hydraulic oil temperature exceeds a set threshold, the heat of the servo hydraulic motor is recovered through a heat recovery device, and the recovered heat is stored through a phase change material;

[0010] When the servo hydraulic motor is in the braking stage, power is generated by reversing the rotation of the servo hydraulic motor, and the generated electrical energy is stored in the energy storage device.

[0011] As a preferred solution, the detecting and obtaining of the initial state of the load, and determining the initial flow and initial pressure required by the servo hydraulic motor according to the initial state of the load, specifically includes:

[0012] Obtaining the load size, load direction, load speed, and load acceleration of the servo hydraulic motor, and determining the initial state of the load based on the detected load type;

[0013] By presetting a hydraulic system simulation model, the initial state is input into the preset hydraulic system simulation model, and the initial flow and initial pressure required by the servo hydraulic motor are output.

[0014] As a preferred solution, the method for constructing the preset hydraulic system simulation model includes:

[0015] Constructing an initial simulation model corresponding to each load type; wherein the load types include: constant load, periodic load, impact load, variable load and composite load;

[0016] Obtaining load training data corresponding to a constant load, a periodic load, an impact load, a variable load, and a combined load, respectively; wherein the load training data includes historical load magnitude, historical load direction, historical load speed, historical load acceleration, historical flow rate, and historical pressure under each load type;

[0017] The historical load magnitude, historical load direction, historical load speed, and historical load acceleration are sequentially used as inputs of an initial simulation model, and the historical flow rate and historical pressure are used as outputs of the initial simulation model, and the initial simulation model is iteratively trained;

[0018] After the training is completed, a simulation model corresponding to each load type is obtained, and the simulation model is constructed into a preset hydraulic system simulation model.

[0019] As a preferred solution, the initial speed and initial torque of the servo hydraulic motor are set according to the initial flow rate and initial pressure, and the power required by the servo hydraulic motor is calculated, thereby driving the servo hydraulic motor to operate, which specifically includes:

[0020] Obtain the displacement of the hydraulic pump in the servo hydraulic motor and calculate the initial speed of the servo hydraulic motor based on the initial flow required by the load;

[0021] Determining the initial torque of the servo hydraulic motor according to the speed-torque characteristic curve of the servo hydraulic motor and the initial speed;

[0022] Obtaining the efficiency curve and volumetric efficiency of the servo hydraulic motor, and calculating the power required by the servo hydraulic motor based on the initial flow rate and initial pressure;

[0023] The initial speed and initial torque of the servo hydraulic motor are set by a servo driver, and the servo hydraulic motor is driven to operate according to the power required by the servo hydraulic motor.

[0024] As a preferred solution, the method of acquiring real-time data of the servo hydraulic motor during operation, calculating the deviation of the servo hydraulic motor according to the real-time data, and adjusting the operating speed and operating torque of the servo hydraulic motor in real time according to the deviation specifically includes:

[0025] Real-time monitoring and acquisition of real-time data of the servo hydraulic motor during operation; wherein the real-time data includes real-time pressure value and real-time flow value;

[0026] Comparing the real-time pressure value with a preset pressure setting value, and when the real-time pressure value exceeds an error range of the preset pressure setting value, calculating a pressure deviation based on the real-time pressure value and the preset pressure setting value, and calculating a proportional term, an integral term, and a differential term of the output pressure based on the pressure deviation, thereby determining a total pressure control output based on the proportional term, the integral term, and the differential term, and adjusting the speed and torque of the servo motor based on the total pressure control output, thereby adjusting the output pressure of the hydraulic pump;

[0027] The real-time flow value is compared with a preset flow setting value. When the real-time flow value exceeds the error range of the preset flow setting value, the flow deviation is calculated based on the real-time flow value and the preset flow setting value, and the proportional term, integral term and differential term of the output flow are calculated based on the flow deviation. The total flow control output is determined based on the proportional term, integral term and differential term, and the speed and torque of the servo motor are adjusted based on the total flow control output, thereby adjusting the output flow of the hydraulic pump.

[0028] As a preferred solution, when the servo hydraulic motor is in the operation stage, the hydraulic oil temperature is monitored in real time, and when the hydraulic oil temperature exceeds a set threshold, the heat of the servo hydraulic motor is recovered by a heat recovery device, and the recovered heat is stored by a phase change material, specifically including:

[0029] When the servo hydraulic motor is in the running stage, the temperature of the hydraulic oil in the hydraulic pump of the servo hydraulic motor is monitored in real time through the temperature sensor;

[0030] When the hydraulic oil temperature exceeds a set threshold, the heat of the hydraulic pump of the servo hydraulic motor is recovered through a heat recovery device, and the recovered heat is stored through a phase change material;

[0031] Wherein, the driving servo hydraulic motor to operate further includes:

[0032] The stored heat is released by the phase change material to preheat the hydraulic oil of the hydraulic pump of the servo hydraulic motor.

[0033] As a preferred solution, when the servo hydraulic motor is in the braking stage, the servo hydraulic motor is reversed to generate electricity, and the generated electrical energy is stored in the energy storage device, which specifically includes:

[0034] When the servo hydraulic motor is in a braking stage, the mode is switched to a motor kinetic energy recovery mode, and the servo hydraulic motor is controlled to reverse, thereby generating electricity through the reverse rotation of the servo hydraulic motor;

[0035] The electrical energy generated by the power generation is stored in the energy storage device through the rectifier circuit.

[0036] Accordingly, the present invention also provides a servo hydraulic motor energy-saving control system, comprising:

[0037] an acquisition module, configured to detect and acquire an initial state of the load, and determine an initial flow rate and an initial pressure required by the servo hydraulic motor according to the initial state of the load;

[0038] An initial module, configured to set an initial speed and an initial torque of the servo hydraulic motor according to the initial flow rate and the initial pressure, and calculate the power required by the servo hydraulic motor, thereby driving the servo hydraulic motor to operate;

[0039] An operation module is used to obtain real-time data of the servo hydraulic motor during the operation phase, calculate the deviation of the servo hydraulic motor according to the real-time data, and adjust the operating speed and operating torque of the servo hydraulic motor in real time according to the deviation;

[0040] A heat module is used to monitor the hydraulic oil temperature in real time when the servo hydraulic motor is in operation, and when the hydraulic oil temperature exceeds a set threshold, recover the heat of the servo hydraulic motor through a heat recovery device and store the recovered heat through a phase change material;

[0041] The electric energy module is used to generate electricity by reversing the servo hydraulic motor when the servo hydraulic motor is in the braking stage, and store the generated electric energy in the energy storage device.

[0042] Correspondingly, the present invention also provides a terminal device, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the servo hydraulic motor energy-saving control method as described in any one of the above items is implemented.

[0043] Accordingly, the present invention also provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the servo hydraulic motor energy-saving control method as described in any one of the above.

[0044] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0045] The technical solution of the present invention regulates the full-process control of the servo hydraulic motor, determines the initial flow and initial pressure of the servo hydraulic motor in the pre-operation stage, thereby avoiding energy loss caused by initial startup, and then calculates the data deviation of the servo hydraulic motor in real time during the operation stage, and adjusts the operating speed and operating torque of the servo hydraulic motor in real time, avoiding the situation where high power handles small load, improving energy utilization efficiency, and monitoring the hydraulic oil temperature in real time. When the oil temperature exceeds the set threshold, heat is recovered, which can avoid the oil temperature being too high affecting the motor performance. At the same time, waste heat recovery also reduces the workload and energy consumption of the cooling system. Finally, when the servo hydraulic motor is in the braking stage, the servo hydraulic motor is reversed to generate electricity to store electrical energy, thereby realizing efficient and energy-saving control of the servo hydraulic motor, realizing the secondary utilization of energy, and improving energy utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 : A flowchart of a servo hydraulic motor energy-saving control method provided by an embodiment of the present invention;

[0047] Figure 2 : A structural diagram of a servo hydraulic motor energy-saving control system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0049] Example 1

[0050] Please refer to Figure 1, a servo hydraulic motor energy-saving control method provided by an embodiment of the present invention includes the following steps S101-S105:

[0051] S101: Detecting and acquiring an initial state of a load, and determining an initial flow rate and an initial pressure required by a servo hydraulic motor according to the initial state of the load.

[0052] As a preferred solution, the detecting and obtaining of the initial state of the load, and determining the initial flow and initial pressure required by the servo hydraulic motor according to the initial state of the load, specifically includes:

[0053] Obtaining the load size, load direction, load speed, and load acceleration of the servo hydraulic motor, and determining the initial state of the load based on the detected load type;

[0054] By presetting a hydraulic system simulation model, the initial state is input into the preset hydraulic system simulation model, and the initial flow and initial pressure required by the servo hydraulic motor are output.

[0055] In this embodiment, the magnitude of the load refers to the magnitude of the force or torque applied by the load to the hydraulic system. The magnitude of the load can be calculated by detecting the pressure difference between the inlet and outlet of the hydraulic cylinder or hydraulic motor through a pressure sensor, combined with the mechanical transmission ratio and displacement load or velocity load of the system. The direction of the load refers to the direction of action of the load force or torque. This direction determines the direction in which the hydraulic system needs to provide pressure. The direction of movement of the load is detected by a position sensor or a velocity sensor, and the direction of the load can be determined by combining the data of the pressure sensor. The load speed refers to the distance moved or the angle of rotation of the load per unit time, which can directly affect the flow required by the system. The speed of the load is directly measured by a velocity sensor, or the speed is calculated by measuring the displacement change of the load within a certain period of time through a position sensor. The load acceleration refers to the rate of change of the load speed, which has a significant impact on the flow and pressure required by the system under dynamic load conditions. The acceleration of the load is directly measured by an acceleration sensor, or the acceleration is calculated by numerical differentiation of the data from the velocity sensor.

[0056] In this embodiment, load type refers to the nature of the load, such as constant load, cyclic load, and impact load, which affects the system's dynamic demand for flow and pressure. Load type can be identified by analyzing historical operating data or system design parameters in combination with real-time monitoring data. Specifically, load types include, but are not limited to, constant load, cyclic load, impact load, variable load, and combined load.

[0057] In this embodiment, the servo hydraulic system comprehensively considers initial state parameters such as load size, direction, speed, acceleration, and type to accurately determine the initial flow rate and pressure required by the servo hydraulic motor, achieving efficient and energy-saving operation of the system. The calculation method varies under different load types.

[0058] For constant load: Initial flow calculation, for hydraulic cylinder: Q=A·v, for hydraulic motor: Q= T / K T (K T is the torque coefficient of the hydraulic motor). Initial pressure calculation: for hydraulic cylinder: P=F / A, for hydraulic motor: P= T / K T Where, Q: initial flow rate (L / min or m³ / s), A: effective area of ​​hydraulic cylinder (m²), v: load speed (m / s), T: load torque (N·m).

[0059] For periodic loads: Initial flow calculation can be done by determining the maximum flow demand of the load in one cycle and taking its peak value as the initial flow: Q initial = max(Q(t)); If the cycle is stable and regular, the mean area under the flow-time curve can be used: ; Initial pressure calculation, determine the initial pressure according to the maximum pressure requirement: P initial = max(P(t)); If the pressure fluctuation is small, the mean value is used: .

[0060] For impact loads, the initial flow rate can be calculated based on the load impact characteristics, taking the maximum flow rate in the impact stage as the standard: Q initial = Q peak ; and through the flow sensor installed in the hydraulic system to monitor and adjust dynamically in real time. Initial pressure calculation, the peak pressure in the impact stage can be used to determine the initial pressure: P initial = P peak Combined with the pressure sensor feedback, the controller adjusts the servo motor output in real time to ensure that the pressure meets the demand.

[0061] To calculate the initial flow rate, we analyze load variations (e.g., linear or exponential) to establish a dynamic model of flow and load parameters: Q(t) = f(F(t), v(t), a(t)). Load parameters are monitored in real time and substituted into the model to calculate the initial flow rate. Using machine learning algorithms, we train a prediction model based on historical data to predict the initial flow rate under varying loads.

[0062] Initial pressure calculation can also be done by establishing a dynamic pressure model based on load variation: P(t) = f(F(t), v(t), a(t)). Sensor feedback is then combined to calculate the initial pressure in real time. Using a predictive model to determine the initial pressure ensures stable system operation.

[0063] For a composite load (a system containing multiple sub-loads), the initial flow calculation can be to decompose the composite load into multiple sub-loads, calculate the flow requirements of each sub-load separately, and take the maximum of the total as the initial flow: Q initial =max(∑Qi(t)). If the sub-loads affect each other, the initial flow rate is determined by comprehensively considering the coupling effect through system identification and simulation modeling. For initial pressure calculation, the maximum pressure required by each sub-load is taken as the initial pressure: P initial = max(∑Pi(t)). The mutual influence between sub-loads must also be considered, and the initial pressure can be determined through simulation optimization if necessary.

[0064] Under complex operating conditions, it's understandable that simulation software (such as AMESim and SimHydraulics) can be used to build a hydraulic system model, input initial state parameters for simulation calculations, and optimize the initial flow and pressure. Simultaneously, by combining real-time monitoring feedback with predictive maintenance, the initial flow and pressure can be dynamically adjusted to achieve energy-saving control.

[0065] As a preferred solution of this embodiment, the method for constructing the preset hydraulic system simulation model includes:

[0066] Constructing an initial simulation model corresponding to each load type; wherein the load types include: constant load, periodic load, impact load, variable load and composite load;

[0067] Obtaining load training data corresponding to a constant load, a periodic load, an impact load, a variable load, and a combined load, respectively; wherein the load training data includes historical load magnitude, historical load direction, historical load speed, historical load acceleration, historical flow rate, and historical pressure under each load type;

[0068] The historical load magnitude, historical load direction, historical load speed, and historical load acceleration are sequentially used as inputs of an initial simulation model, and the historical flow rate and historical pressure are used as outputs of the initial simulation model, and the initial simulation model is iteratively trained;

[0069] After the training is completed, a simulation model corresponding to each load type is obtained, and the simulation model is constructed into a preset hydraulic system simulation model.

[0070] In this embodiment, for each load type (constant load, periodic load, impact load, variable load and compound load), an initial simulation model is constructed based on the basic physical principles and mathematical models of the hydraulic system. For example, for a load system driven by a hydraulic cylinder, an initial model is constructed using a hydraulic library module, including parts such as a hydraulic pump, a servo valve, a hydraulic cylinder, and a load. The initial parameters of the model are set, such as the hydraulic pump displacement, the servo valve flow gain, the viscosity and density of the hydraulic oil, etc. These parameters can be obtained from the specifications of the hydraulic system or actual measurements. At the same time, the model is refined according to the characteristics of the load type. For periodic loads, considering the frequency and amplitude variation of the load, a corresponding periodic function module is added to the model to simulate the load variation. For impact loads, an impact load module is constructed based on the intensity, duration and frequency of the impact to simulate its impact on the system.

[0071] In this embodiment, historical operating data is collected for each load type. This data includes historical load magnitude, historical load direction, historical load speed, historical load acceleration, historical flow rate, and historical pressure. This data can be obtained using sensors installed in the actual hydraulic system (such as pressure sensors, flow sensors, position sensors, velocity sensors, and acceleration sensors).

[0072] In this embodiment, historical load magnitude, historical load direction, historical load velocity, and historical load acceleration are used as input variables for the initial simulation model. For example, these historical data are input into the corresponding input ports of the model in the form of a time series, and historical flow and pressure are used as the model's expected outputs. During the model training process, the model parameters are adjusted by comparing the model's actual output (simulated flow and pressure) with the expected output (historical flow and pressure). An iterative training algorithm, such as a gradient descent algorithm, is used to train the initial simulation model. During each iteration, the error between the model output and the expected output is calculated. Model parameters, such as the damping coefficient and stiffness coefficient of the hydraulic components, are adjusted based on the error. After training, the simulation model for each load type is validated using an independent validation dataset. Error metrics (such as mean squared error and mean absolute error) between the model output and the validation data are calculated to evaluate the model's accuracy and generalization ability. The validated simulation models for each load type are integrated to construct a predefined hydraulic system simulation model. This predefined hydraulic system simulation model can be used to predict and optimize hydraulic system performance under different load conditions.

[0073] It's understandable that by building simulation models for different load types and conducting specialized training, it's possible to more accurately simulate the actual operation of hydraulic systems under various load conditions. Compared to traditional general-purpose models, this load-type-based modeling approach can reduce model errors and improve the credibility of simulation results. For example, when simulating the impact of shock loads on a hydraulic system, a dedicated shock load simulation model can more accurately predict transient changes in system pressure, providing a more reliable basis for system safety design and control strategy optimization. Furthermore, more accurate control strategies can improve the overall energy savings of servo hydraulic motors and enhance energy efficiency.

[0074] S102: According to the initial flow rate and initial pressure, the initial speed and initial torque of the servo hydraulic motor are set, and the power required by the servo hydraulic motor is calculated, so as to drive the servo hydraulic motor to operate.

[0075] As a preferred solution, the initial speed and initial torque of the servo hydraulic motor are set according to the initial flow rate and initial pressure, and the power required by the servo hydraulic motor is calculated, thereby driving the servo hydraulic motor to operate, which specifically includes:

[0076] Obtain the displacement of the hydraulic pump in the servo hydraulic motor and calculate the initial speed of the servo hydraulic motor based on the initial flow required by the load;

[0077] Determining the initial torque of the servo hydraulic motor according to the speed-torque characteristic curve of the servo hydraulic motor and the initial speed;

[0078] Obtaining the efficiency curve and volumetric efficiency of the servo hydraulic motor, and calculating the power required by the servo hydraulic motor based on the initial flow rate and initial pressure;

[0079] The initial speed and initial torque of the servo hydraulic motor are set by a servo driver, and the servo hydraulic motor is driven to operate according to the power required by the servo hydraulic motor.

[0080] In this embodiment, the characteristics of the motor and hydraulic pump in the servo hydraulic motor can be determined first, that is, the torque-speed characteristic curve and efficiency curve of the servo motor can be obtained, so that the efficiency of the motor at different speeds and torques can be determined; the displacement (flow output per unit speed), volumetric efficiency, and total efficiency of the hydraulic pump can be obtained. Among them, the displacement, volumetric efficiency, and total efficiency parameters are usually provided by the hydraulic pump manufacturer. Then, based on the initial flow Q and pressure P required by the load, the power P required by the servo motor can be calculated. motor :

[0081] ;

[0082] Where Q is the initial flow rate required by the load, P is the initial pressure required by the load, and η pv is the volumetric efficiency of the hydraulic pump, η m is the mechanical efficiency of the servo motor.

[0083] In this embodiment, the motor speed can be calculated based on the hydraulic pump displacement and required flow rate to determine the theoretical motor speed: n = Q / C, where n is the motor speed and C is the hydraulic pump displacement. The initial torque of the servo hydraulic motor can be determined by calculating the calculated initial speed and the servo hydraulic motor's speed-torque characteristic curve. The speed-torque characteristic curve represents the relationship between the servo hydraulic motor's speed and torque.

[0084] S103: Acquire real-time data of the servo hydraulic motor during the operation phase, calculate the deviation of the servo hydraulic motor according to the real-time data, and adjust the operating speed and operating torque of the servo hydraulic motor in real time according to the deviation.

[0085] As a preferred solution, the method of acquiring real-time data of the servo hydraulic motor during operation, calculating the deviation of the servo hydraulic motor according to the real-time data, and adjusting the operating speed and operating torque of the servo hydraulic motor in real time according to the deviation specifically includes:

[0086] Real-time monitoring and acquisition of real-time data of the servo hydraulic motor during operation; wherein the real-time data includes real-time pressure value and real-time flow value;

[0087] Comparing the real-time pressure value with a preset pressure setting value, and when the real-time pressure value exceeds an error range of the preset pressure setting value, calculating a pressure deviation based on the real-time pressure value and the preset pressure setting value, and calculating a proportional term, an integral term, and a differential term of the output pressure based on the pressure deviation, thereby determining a total pressure control output based on the proportional term, the integral term, and the differential term, and adjusting the speed and torque of the servo motor based on the total pressure control output, thereby adjusting the output pressure of the hydraulic pump;

[0088] The real-time flow value is compared with a preset flow setting value. When the real-time flow value exceeds the error range of the preset flow setting value, the flow deviation is calculated based on the real-time flow value and the preset flow setting value, and the proportional term, integral term and differential term of the output flow are calculated based on the flow deviation. The total flow control output is determined based on the proportional term, integral term and differential term, and the speed and torque of the servo motor are adjusted based on the total flow control output, thereby adjusting the output flow of the hydraulic pump.

[0089] In this embodiment, when the real-time pressure value or real-time flow value monitored in real time deviates from the set value, the PID control algorithm can be used to calculate and adjust the deviation to ensure stable operation of the system and accurately meet the load requirements. Among them, for pressure control, the pressure deviation is calculated: pressure deviation e p (t)=P set -P actual , where P set is the set pressure, P actual is the actual pressure. Proportional term P term =K p ·e p (t), through the proportional gain K p Directly adjust the pressure deviation, integral term , through the integral gain K i Eliminate the cumulative effect of pressure deviation, differential term , through the differential gain Predict the changing trend of pressure deviation. Then, the total control output u p (t) = P term + I term + D term , will u p (t) Input the servo driver to adjust the speed and torque of the servo motor, thereby adjusting the output pressure of the hydraulic pump.

[0090] In this embodiment, for flow control, the flow deviation is calculated: flow deviation e q (t)=Q set -Q actual , where Q set To set the flow rate, Q actual is the actual flow rate. The proportional term Q term =K q ·e q (t), through the proportional gain K q Directly adjust the pressure deviation, integral term , through the integral gain K i Eliminate the cumulative effect of pressure deviation, differential term , through the differential gain Predict the changing trend of pressure deviation. Then, the total control output u q (t) = P term + I term + D term , will u q (t) Input servo driver to adjust the speed and torque of servo motor, thereby adjusting the output flow of hydraulic pump.

[0091] S104: When the servo hydraulic motor is in the operation stage, the hydraulic oil temperature is monitored in real time, and when the hydraulic oil temperature exceeds a set threshold, the heat of the servo hydraulic motor is recovered through a heat recovery device, and the recovered heat is stored through a phase change material.

[0092] As a preferred solution, when the servo hydraulic motor is in the operation stage, the hydraulic oil temperature is monitored in real time, and when the hydraulic oil temperature exceeds a set threshold, the heat of the servo hydraulic motor is recovered by a heat recovery device, and the recovered heat is stored by a phase change material, specifically including:

[0093] When the servo hydraulic motor is in the running stage, the temperature of the hydraulic oil in the hydraulic pump of the servo hydraulic motor is monitored in real time through the temperature sensor;

[0094] When the hydraulic oil temperature exceeds a set threshold, the heat of the hydraulic pump of the servo hydraulic motor is recovered through a heat recovery device, and the recovered heat is stored through a phase change material;

[0095] Wherein, the driving servo hydraulic motor to operate further includes:

[0096] The stored heat is released by the phase change material to preheat the hydraulic oil of the hydraulic pump of the servo hydraulic motor.

[0097] In this embodiment, when the servo hydraulic motor is in operation, the temperature of the hydraulic oil in the hydraulic pump of the servo hydraulic motor can be monitored in real time through a temperature sensor. When the oil temperature exceeds a set threshold, the waste heat recovery device is activated and the recovered heat is calculated and rationally utilized according to the heat exchange formula. The heat exchange formula is a convective heat transfer formula, which is applicable to heat exchange of oil in a pipeline or heat exchanger, and specifically includes:

[0098] Q = h· A·ΔT;

[0099] Where Q is the amount of heat transferred (in watts, W), h is the convective heat transfer coefficient (in watts per square meter Celsius, W / (m²·°C)), A is the heat transfer area (in square meters, m²), and ΔT is the temperature difference between the oil and the surrounding environment or cooling / heating medium (in degrees Celsius, °C).

[0100] It is understandable that servo hydraulic motor systems generate a large amount of heat during operation. If not recovered, this heat will be dissipated into the environment through radiators and other means, resulting in energy waste. Waste heat recovery devices can collect this heat, reducing energy losses caused by heat dissipation and improving system efficiency. At the same time, in hydraulic systems, a cooling system is usually required to dissipate heat to prevent excessive oil temperatures from affecting performance. Waste heat recovery devices can recycle excess heat, reducing the workload and energy consumption of the cooling system. In addition, waste heat recovery can prevent excessive heat from accumulating around the motor, lowering the motor's operating environment temperature, improving motor efficiency and extending its service life, reducing motor failures and maintenance costs caused by high temperatures, ensuring stable system operation, and indirectly achieving energy savings.

[0101] Furthermore, heat is stored through phase change materials. Suitable phase change materials (such as phase change paraffin wax, calcium chloride hexahydrate, calcium chloride trihydrate, and sodium acetate) are selected and encapsulated in a porous carrier to create a phase change heat storage tank. When the system generates heat, the heat is transferred to the phase change material through a heat exchanger, causing it to undergo a phase change (e.g., from solid to liquid) and store the heat. Simultaneously, when heat is needed, the heat in the phase change material is released through the heat exchanger and used to heat hydraulic oil or other media. For example, when starting a servo hydraulic motor system in a cold environment, the hydraulic oil has a high viscosity, making the system difficult to start and consuming high energy. The heat recovered by the phase change material can be used to preheat the hydraulic oil, reducing its viscosity, making startup easier, and reducing energy consumption and wear during the startup phase.

[0102] S105: When the servo hydraulic motor is in the braking stage, the servo hydraulic motor is reversed to generate electricity, and the generated electrical energy is stored in the energy storage device.

[0103] As a preferred solution, when the servo hydraulic motor is in the braking stage, the servo hydraulic motor is reversed to generate electricity, and the generated electrical energy is stored in the energy storage device, which specifically includes:

[0104] When the servo hydraulic motor is in a braking stage, the mode is switched to a motor kinetic energy recovery mode, and the servo hydraulic motor is controlled to reverse, thereby generating electricity through the reverse rotation of the servo hydraulic motor;

[0105] The electrical energy generated by the power generation is stored in the energy storage device through the rectifier circuit.

[0106] In this embodiment, when the servo hydraulic motor is in the braking phase, the servo motor can be reversed through pulse control, analog control, or communication control. By reconnecting the power supply and restarting the servo motor controller, the motor will begin reverse rotation and generate electricity. During the reversal process, the motor's rotor cuts through the magnetic flux lines, generating an induced electromotive force and achieving power generation. Furthermore, it is also possible to directly brake and generate electricity by cutting through the magnetic flux lines using the motor's rotor.

[0107] It can be understood that by implementing the motor kinetic energy recovery mode during the braking phase, the recovered energy can be supplied for the next start or auxiliary operation, thereby reducing energy usage and achieving energy-saving control of the servo hydraulic motor.

[0108] In this embodiment, the power required by the servo motor is calculated to drive the hydraulic pump to provide initial power for the system. During the operation and adjustment phase, the speed and torque of the servo motor are dynamically adjusted based on real-time data from multi-sensor fusion and combined with a predictive control algorithm. The system pressure and flow feedback values ​​are monitored in real time and compared with the set values. The deviation is calculated using a PID control algorithm, and the output parameters of the servo motor are adjusted based on the deviation to ensure stable operation of the system.

[0109] During the operation phase, the hydraulic oil temperature is monitored in real time. When the oil temperature exceeds the set threshold, the waste heat recovery device is activated; based on the heat exchange formula, the recovered heat is calculated and reasonably utilized; when the system brakes, the control logic switches to energy recovery mode, the servo motor reverses to generate electricity, and the electrical energy is stored in the energy storage device through the rectifier circuit; the recovered energy can be used for the next startup or auxiliary operation, improving energy utilization and realizing secondary energy utilization.

[0110] The implementation of the above embodiment has the following effects:

[0111] The technical solution of the present invention regulates the full-process control of the servo hydraulic motor, determines the initial flow and initial pressure of the servo hydraulic motor in the pre-operation stage, thereby avoiding energy loss caused by initial startup, and then calculates the data deviation of the servo hydraulic motor in real time during the operation stage, and adjusts the operating speed and operating torque of the servo hydraulic motor in real time, avoiding the situation where high power handles small load, improving energy utilization efficiency, and monitoring the hydraulic oil temperature in real time. When the oil temperature exceeds the set threshold, heat is recovered, which can avoid the oil temperature being too high affecting the motor performance. At the same time, waste heat recovery also reduces the workload and energy consumption of the cooling system. Finally, when the servo hydraulic motor is in the braking stage, the servo hydraulic motor is reversed to generate electricity to store electrical energy, thereby realizing efficient and energy-saving control of the servo hydraulic motor, realizing the secondary utilization of energy, and improving energy utilization.

[0112] Example 2

[0113] See also Figure 2 , which is a servo hydraulic motor energy-saving control system provided by the present invention, comprising:

[0114] An acquisition module 201 is configured to detect and acquire an initial state of a load, and determine an initial flow rate and an initial pressure required by the servo hydraulic motor according to the initial state of the load;

[0115] An initial module 202 is used to set the initial speed and initial torque of the servo hydraulic motor according to the initial flow rate and initial pressure, and calculate the power required by the servo hydraulic motor, so as to drive the servo hydraulic motor to operate;

[0116] An operation module 203 is configured to obtain real-time data of the servo hydraulic motor during operation, calculate a deviation of the servo hydraulic motor based on the real-time data, and adjust the operating speed and operating torque of the servo hydraulic motor in real time based on the deviation;

[0117] The heat module 204 is used to monitor the hydraulic oil temperature in real time when the servo hydraulic motor is in operation, and when the hydraulic oil temperature exceeds a set threshold, recover the heat of the servo hydraulic motor through a heat recovery device and store the recovered heat through a phase change material;

[0118] The electric energy module 205 is used to generate electricity by reversing the servo hydraulic motor when the servo hydraulic motor is in the braking stage, and store the generated electric energy in the energy storage device.

[0119] As a preferred solution, the detecting and obtaining of the initial state of the load, and determining the initial flow and initial pressure required by the servo hydraulic motor according to the initial state of the load, specifically includes:

[0120] Obtaining the load size, load direction, load speed, and load acceleration of the servo hydraulic motor, and determining the initial state of the load based on the detected load type;

[0121] By presetting a hydraulic system simulation model, the initial state is input into the preset hydraulic system simulation model, and the initial flow and initial pressure required by the servo hydraulic motor are output.

[0122] As a preferred solution, the method for constructing the preset hydraulic system simulation model includes:

[0123] Constructing an initial simulation model corresponding to each load type; wherein the load types include: constant load, periodic load, impact load, variable load and composite load;

[0124] Obtaining load training data corresponding to a constant load, a periodic load, an impact load, a variable load, and a combined load, respectively; wherein the load training data includes historical load magnitude, historical load direction, historical load speed, historical load acceleration, historical flow rate, and historical pressure under each load type;

[0125] The historical load magnitude, historical load direction, historical load speed, and historical load acceleration are sequentially used as inputs of an initial simulation model, and the historical flow rate and historical pressure are used as outputs of the initial simulation model, and the initial simulation model is iteratively trained;

[0126] After the training is completed, a simulation model corresponding to each load type is obtained, and the simulation model is constructed into a preset hydraulic system simulation model.

[0127] As a preferred solution, the initial speed and initial torque of the servo hydraulic motor are set according to the initial flow rate and initial pressure, and the power required by the servo hydraulic motor is calculated, thereby driving the servo hydraulic motor to operate, which specifically includes:

[0128] Obtain the displacement of the hydraulic pump in the servo hydraulic motor and calculate the initial speed of the servo hydraulic motor based on the initial flow required by the load;

[0129] Determining the initial torque of the servo hydraulic motor according to the speed-torque characteristic curve of the servo hydraulic motor and the initial speed;

[0130] Obtaining the efficiency curve and volumetric efficiency of the servo hydraulic motor, and calculating the power required by the servo hydraulic motor based on the initial flow rate and initial pressure;

[0131] The initial speed and initial torque of the servo hydraulic motor are set by a servo driver, and the servo hydraulic motor is driven to operate according to the power required by the servo hydraulic motor.

[0132] As a preferred solution, the method of acquiring real-time data of the servo hydraulic motor during operation, calculating the deviation of the servo hydraulic motor according to the real-time data, and adjusting the operating speed and operating torque of the servo hydraulic motor in real time according to the deviation specifically includes:

[0133] Real-time monitoring and acquisition of real-time data of the servo hydraulic motor during operation; wherein the real-time data includes real-time pressure value and real-time flow value;

[0134] Comparing the real-time pressure value with a preset pressure setting value, and when the real-time pressure value exceeds an error range of the preset pressure setting value, calculating a pressure deviation based on the real-time pressure value and the preset pressure setting value, and calculating a proportional term, an integral term, and a differential term of the output pressure based on the pressure deviation, thereby determining a total pressure control output based on the proportional term, the integral term, and the differential term, and adjusting the speed and torque of the servo motor based on the total pressure control output, thereby adjusting the output pressure of the hydraulic pump;

[0135] The real-time flow value is compared with a preset flow setting value. When the real-time flow value exceeds the error range of the preset flow setting value, the flow deviation is calculated based on the real-time flow value and the preset flow setting value, and the proportional term, integral term and differential term of the output flow are calculated based on the flow deviation. The total flow control output is determined based on the proportional term, integral term and differential term, and the speed and torque of the servo motor are adjusted based on the total flow control output, thereby adjusting the output flow of the hydraulic pump.

[0136] As a preferred solution, when the servo hydraulic motor is in the operation stage, the hydraulic oil temperature is monitored in real time, and when the hydraulic oil temperature exceeds a set threshold, the heat of the servo hydraulic motor is recovered by a heat recovery device, and the recovered heat is stored by a phase change material, specifically including:

[0137] When the servo hydraulic motor is in the running stage, the temperature of the hydraulic oil in the hydraulic pump of the servo hydraulic motor is monitored in real time through the temperature sensor;

[0138] When the hydraulic oil temperature exceeds a set threshold, the heat of the hydraulic pump of the servo hydraulic motor is recovered through a heat recovery device, and the recovered heat is stored through a phase change material;

[0139] Wherein, the driving servo hydraulic motor to operate further includes:

[0140] The stored heat is released by the phase change material to preheat the hydraulic oil of the hydraulic pump of the servo hydraulic motor.

[0141] As a preferred solution, when the servo hydraulic motor is in the braking stage, the servo hydraulic motor is reversed to generate electricity, and the generated electrical energy is stored in the energy storage device, which specifically includes:

[0142] When the servo hydraulic motor is in a braking stage, the mode is switched to a motor kinetic energy recovery mode, and the servo hydraulic motor is controlled to reverse, thereby generating electricity through the reverse rotation of the servo hydraulic motor;

[0143] The electrical energy generated by the power generation is stored in the energy storage device through the rectifier circuit.

[0144] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0145] The implementation of the above embodiment has the following effects:

[0146] The technical solution of the present invention regulates the full-process control of the servo hydraulic motor, determines the initial flow and initial pressure of the servo hydraulic motor in the pre-operation stage, thereby avoiding energy loss caused by initial startup, and then calculates the data deviation of the servo hydraulic motor in real time during the operation stage, and adjusts the operating speed and operating torque of the servo hydraulic motor in real time, avoiding the situation where high power handles small load, improving energy utilization efficiency, and monitoring the hydraulic oil temperature in real time. When the oil temperature exceeds the set threshold, heat is recovered, which can avoid the oil temperature being too high affecting the motor performance. At the same time, waste heat recovery also reduces the workload and energy consumption of the cooling system. Finally, when the servo hydraulic motor is in the braking stage, the servo hydraulic motor is reversed to generate electricity to store electrical energy, thereby realizing efficient and energy-saving control of the servo hydraulic motor, realizing the secondary utilization of energy, and improving energy utilization.

[0147] Example 3

[0148] Correspondingly, the present invention also provides a terminal device, comprising: a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the servo hydraulic motor energy-saving control method as described in any one of the above embodiments is implemented.

[0149] The terminal device of this embodiment includes: a processor, a memory, and a computer program and computer instructions stored in the memory and capable of running on the processor. When the processor executes the computer program, each step in the above embodiment 1 is implemented, such as Figure 1 Alternatively, when the processor executes the computer program, the functions of each module / unit in the above device embodiment are realized, such as the operation module 203.

[0150] Exemplarily, the computer program can be divided into one or more modules / units, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program in the terminal device. For example, the operation module 203 is used to obtain real-time data of the servo hydraulic motor during the operation phase, calculate the deviation of the servo hydraulic motor based on the real-time data, and adjust the operating speed and operating torque of the servo hydraulic motor in real time based on the deviation.

[0151] The terminal device may be a computing device such as a desktop computer, laptop, PDA, or cloud server. The terminal device may include, but is not limited to, a processor and memory. Those skilled in the art will appreciate that the schematic diagram is merely an example of a terminal device and does not limit the terminal device. The terminal device may include more or fewer components than shown, or a combination of certain components, or different components. For example, the terminal device may also include input / output devices, network access devices, buses, and the like.

[0152] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor. The processor is the control center of the terminal device and connects various parts of the entire terminal device using various interfaces and lines.

[0153] The memory can be used to store the computer programs and / or modules. The processor implements various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store an operating system, at least one application required for a function, etc.; the data storage area may store data created based on the use of the mobile terminal, etc. In addition, the memory may include high-speed random access memory and non-volatile memory, such as a hard disk, internal memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0154] If the module / unit integrated into the terminal device is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention can implement all or part of the process steps in the above-mentioned method embodiments by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal, and software distribution medium. It should be noted that the content of the computer-readable medium can be appropriately increased or decreased based on the requirements of legislation and patent practice in a jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media does not include electric carrier signals and telecommunication signals.

[0155] Example 4

[0156] Accordingly, the present invention also provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the servo hydraulic motor energy-saving control method described in any one of the above embodiments.

[0157] The specific embodiments described above further illustrate the objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A servo hydraulic motor energy-saving control method, characterized in that: include: Detecting and obtaining an initial state of the load, and determining an initial flow rate and an initial pressure required by the servo hydraulic motor according to the initial state of the load; According to the initial flow rate and initial pressure, the initial speed and initial torque of the servo hydraulic motor are set, and the power required by the servo hydraulic motor is calculated, so as to drive the servo hydraulic motor to operate; Acquiring real-time data of the servo hydraulic motor during operation, calculating a deviation of the servo hydraulic motor based on the real-time data, and adjusting the operating speed and operating torque of the servo hydraulic motor in real time based on the deviation; When the servo hydraulic motor is in operation, the hydraulic oil temperature is monitored in real time. When the hydraulic oil temperature exceeds a set threshold, the heat of the servo hydraulic motor is recovered through a heat recovery device, and the recovered heat is stored through a phase change material; When the servo hydraulic motor is in the braking stage, electricity is generated by the servo hydraulic motor, and the generated electrical energy is stored in the energy storage device; The step of setting the initial speed and initial torque of the servo hydraulic motor according to the initial flow rate and initial pressure, and calculating the power required by the servo hydraulic motor to drive the servo hydraulic motor to operate specifically includes: Obtain the displacement of the hydraulic pump in the servo hydraulic motor and calculate the initial speed of the servo hydraulic motor based on the initial flow required by the load; Determining the initial torque of the servo hydraulic motor according to the speed-torque characteristic curve of the servo hydraulic motor and the initial speed; Obtaining the efficiency curve and volumetric efficiency of the servo hydraulic motor, and calculating the power required by the servo hydraulic motor based on the initial flow rate and initial pressure; The initial speed and initial torque of the servo hydraulic motor are set by a servo driver, and the servo hydraulic motor is driven to operate according to the power required by the servo hydraulic motor.

2. A servo hydraulic motor energy-saving control method according to claim 1, characterized in that: The detecting and obtaining the initial state of the load, and determining the initial flow and initial pressure required by the servo hydraulic motor according to the initial state of the load, specifically includes: Obtaining the load size, load direction, load speed, and load acceleration of the servo hydraulic motor, and determining the initial state of the load based on the detected load type; By presetting a hydraulic system simulation model, the initial state is input into the preset hydraulic system simulation model, and the initial flow and initial pressure required by the servo hydraulic motor are output.

3. A servo hydraulic motor energy-saving control method according to claim 2, characterized in that: The method for constructing the preset hydraulic system simulation model includes: Constructing an initial simulation model corresponding to each load type; wherein the load types include: constant load, periodic load, impact load, variable load and composite load; Obtaining load training data corresponding to a constant load, a periodic load, an impact load, a variable load, and a combined load, respectively; wherein the load training data includes historical load magnitude, historical load direction, historical load speed, historical load acceleration, historical flow rate, and historical pressure under each load type; The historical load magnitude, historical load direction, historical load speed, and historical load acceleration are sequentially used as inputs of an initial simulation model, and the historical flow rate and historical pressure are used as outputs of the initial simulation model, and the initial simulation model is iteratively trained; After the training is completed, a simulation model corresponding to each load type is obtained, and the simulation model is constructed into a preset hydraulic system simulation model.

4. The energy-saving control method for a servo hydraulic motor according to claim 1, characterized in that: The method of acquiring real-time data of the servo hydraulic motor during operation, calculating a deviation of the servo hydraulic motor according to the real-time data, and adjusting the operating speed and operating torque of the servo hydraulic motor in real time according to the deviation specifically includes: Real-time monitoring and acquisition of real-time data of the servo hydraulic motor during operation; wherein the real-time data includes real-time pressure value and real-time flow value; Comparing the real-time pressure value with a preset pressure setting value, and when the real-time pressure value exceeds an error range of the preset pressure setting value, calculating a pressure deviation based on the real-time pressure value and the preset pressure setting value, and calculating a proportional term, an integral term, and a differential term of the output pressure based on the pressure deviation, thereby determining a total pressure control output based on the proportional term, the integral term, and the differential term, and adjusting the speed and torque of the servo motor based on the total pressure control output, thereby adjusting the output pressure of the hydraulic pump; The real-time flow value is compared with a preset flow setting value. When the real-time flow value exceeds the error range of the preset flow setting value, the flow deviation is calculated based on the real-time flow value and the preset flow setting value, and the proportional term, integral term and differential term of the output flow are calculated based on the flow deviation. The total flow control output is determined based on the proportional term, integral term and differential term, and the speed and torque of the servo motor are adjusted based on the total flow control output, thereby adjusting the output flow of the hydraulic pump.

5. A servo hydraulic motor energy-saving control method according to any one of claims 1 to 4, characterized in that: When the servo hydraulic motor is in the operation stage, the hydraulic oil temperature is monitored in real time, and when the hydraulic oil temperature exceeds a set threshold, the heat of the servo hydraulic motor is recovered by a heat recovery device, and the recovered heat is stored in a phase change material, specifically including: When the servo hydraulic motor is in the running stage, the temperature of the hydraulic oil in the hydraulic pump of the servo hydraulic motor is monitored in real time through the temperature sensor; When the hydraulic oil temperature exceeds a set threshold, the heat of the hydraulic pump of the servo hydraulic motor is recovered through a heat recovery device, and the recovered heat is stored through a phase change material; Wherein, the driving servo hydraulic motor to operate further includes: The stored heat is released by the phase change material to preheat the hydraulic oil of the hydraulic pump of the servo hydraulic motor.

6. A servo hydraulic motor energy-saving control system, characterized in that: include: an acquisition module, configured to detect and acquire an initial state of the load, and determine an initial flow rate and an initial pressure required by the servo hydraulic motor according to the initial state of the load; An initial module, configured to set an initial speed and an initial torque of the servo hydraulic motor according to the initial flow rate and the initial pressure, and calculate the power required by the servo hydraulic motor, thereby driving the servo hydraulic motor to operate; An operation module is used to obtain real-time data of the servo hydraulic motor during the operation phase, calculate the deviation of the servo hydraulic motor according to the real-time data, and adjust the operating speed and operating torque of the servo hydraulic motor in real time according to the deviation; A heat module is used to monitor the hydraulic oil temperature in real time when the servo hydraulic motor is in operation, and when the hydraulic oil temperature exceeds a set threshold, recover the heat of the servo hydraulic motor through a heat recovery device and store the recovered heat through a phase change material; The electric energy module is used to generate electricity through the servo hydraulic motor when the servo hydraulic motor is in the braking stage, and store the generated electric energy in the energy storage device.

7. A terminal device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the servo hydraulic motor energy-saving control method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the servo hydraulic motor energy-saving control method according to any one of claims 1 to 5.

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