Critical state hydraulic pressure detection system, method, device, equipment and medium

Abstract

The invention provides a critical state hydraulic pressure detection system, method, device and equipment and a medium, and the system comprises a control valve group which is provided with an oil inlet and an oil return port; the oil pressure detection unit is used for collecting hydraulic data of the to-be-detected hydraulic actuating mechanism, and the hydraulic data at least comprise a first steady-state pressure value and a first transient actual measurement pressure value of a rodless cavity of the to-be-detected hydraulic actuating mechanism and a second steady-state pressure value and a second transient actual measurement pressure value of a rod cavity of the to-be-detected hydraulic actuating mechanism; a first oil port pressure value of an oil inlet and a second oil port pressure value of an oil return port of the valve group are controlled; a first flow limiting valve; a second flow limiting valve; the control module is electrically connected with the oil pressure detection unit and the control valve set and used for obtaining the hydraulic data and determining the critical state hydraulic pressure result value of the rodless cavity and the critical state hydraulic pressure result value of the rod cavity according to the hydraulic data. According to the invention, critical-state hydraulic pressure detection can be realized.

Description

Technical Field

[0001] The present application relates to the field of hydraulic technology, and in particular to a critical state hydraulic pressure detection system, method, device, equipment and medium. Background Art

[0002] The so-called critical state refers to the state in which the hydraulic system medium is in a dynamic state and is about to stop but has not yet entered a steady state at the moment the hydraulic actuator is opened or closed. When in the critical state, the hydraulic medium oscillates in the actuator and hydraulic pipeline, and the pressure fluctuation amplitude is large. The actual pressure value is difficult to be directly detected by the pressure sensor, and the hydraulic pressure state parameters in the critical state are difficult to obtain real-time feedback.

[0003] During a missile launch, the hydraulic system controls the opening and closing of the launch mechanism, pushing the launch tube to a designated height before igniting the missile. The overall launch time is short, typically 3 to 5 seconds, with millisecond-level control accuracy. If the launch tube fails to reach the designated position or becomes unstable and potentially tipping over, launch failure can occur. Accurately detecting the critical pressure state of the hydraulic actuator when opening the launch tube is crucial for determining whether the missile's launch posture is effective and stable. Without accurate detection of critical pressure, timely monitoring of the launch mechanism's precise posture and adjustment of the hydraulic system would be difficult, making it impossible to guarantee a successful missile launch. Summary of the Invention

[0004] The present application aims to propose a critical hydraulic pressure detection system, method, device, equipment and medium, which can realize the critical hydraulic pressure detection of the hydraulic actuator at the moment of opening or closing.

[0005] A critical state hydraulic pressure detection system according to an embodiment of the first aspect of the present application is applied to a hydraulic actuator, including: A control valve group having an oil inlet and an oil return port, wherein the oil inlet is connected to a rodless chamber of a hydraulic actuator to be tested, and the oil return port is connected to a rod chamber of the hydraulic actuator to be tested; an oil pressure detection unit configured to collect hydraulic data of the hydraulic actuator to be tested, the hydraulic data comprising at least a first steady-state pressure value of the rodless chamber of the hydraulic actuator to be tested, a first transiently measured pressure value of the rodless chamber of the hydraulic actuator to be tested, a second steady-state pressure value of the rod chamber of the hydraulic actuator to be tested, a second transiently measured pressure value of the rod chamber of the hydraulic actuator to be tested, a first oil port pressure value of an oil inlet of the control valve group, and a second oil port pressure value of an oil return port of the control valve group, wherein the first steady-state pressure value is an initial steady-state hydraulic pressure value of the rodless chamber, the second steady-state pressure value is an initial steady-state hydraulic pressure value of the rod chamber, the first transiently measured pressure value is a critical-state hydraulic pressure value of the rodless chamber, the second transiently measured pressure value is a critical-state hydraulic pressure value of the rod chamber, the first oil port pressure value is an initial steady-state hydraulic pressure value of the oil inlet, and the second oil port pressure value is an initial steady-state hydraulic pressure value of the oil return port; a first flow limiting valve arranged on a pipeline between the rodless chamber and the oil inlet; a second flow limiting valve arranged on a pipeline between the rod chamber and the oil return port; a control module electrically connected to the oil pressure detection unit and the control valve group, configured to acquire the hydraulic data, and determine a critical-state hydraulic pressure result value of the rodless chamber and a critical-state hydraulic pressure result value of the rod chamber according to the hydraulic data.

[0006] According to some embodiments of the present application, the oil pressure detection unit comprises: a first pressure sensor configured to detect a pressure value of the rodless chamber of the hydraulic actuator to be tested; a second pressure sensor configured to detect a pressure value of the rod chamber of the hydraulic actuator to be tested; a third pressure sensor configured to detect a pressure value at the oil inlet of the control valve group; a fourth pressure sensor configured to detect a pressure value at the oil return port of the control valve group.

[0007] According to the critical-state hydraulic pressure detection method of the second aspect of the present application, the method is applied to the critical-state hydraulic pressure detection system of the first aspect of the present application, and comprises the following steps: acquiring hydraulic data collected by the oil pressure detection unit in response to a start-stop instruction; based on the water hammer effect, obtaining a first transiently calculated pressure value according to the first oil port pressure value, and obtaining a second transiently calculated pressure value according to the second oil port pressure value; According to the first steady-state pressure value, a first difference between the first transient measured pressure value and the first steady-state pressure value, a second difference between the first transient calculated pressure value and the first steady-state pressure value, a critical-state hydraulic pressure result value of the rodless cavity of the to-be-tested hydraulic actuator is obtained. According to the second steady-state pressure value, a third difference between the second transient measured pressure value and the second steady-state pressure value, a fourth difference between the second transient calculated pressure value and the second steady-state pressure value, a critical-state hydraulic pressure result value of the rod cavity of the to-be-tested hydraulic actuator is obtained.

[0008] According to some embodiments of the present application, the first steady-state pressure value, the second steady-state pressure value, the first oil port pressure value and the second oil port pressure value are collected at least in a first period, and the first transient measured pressure value and the second transient measured pressure value are collected at least in a second period, and the first period and the second period are two consecutive periods in time sequence.

[0009] According to some embodiments of the present application, the critical-state hydraulic pressure result value of the rodless cavity of the to-be-tested hydraulic actuator is obtained according to the first steady-state pressure value, a first difference between the first transient measured pressure value and the first steady-state pressure value, a second difference between the first transient calculated pressure value and the first steady-state pressure value, comprising: obtaining a preset first coefficient and a second coefficient; determining a first product of the first difference and the first coefficient; determining a second product of the second difference and the second coefficient; summing the first steady-state pressure value, the first product and the second product to obtain the critical-state hydraulic pressure result value of the rodless cavity.

[0010] According to some embodiments of the present application, the first coefficient is between 0.1 and 0.2, and the second coefficient is between 0.8 and 0.95.

[0011] According to some embodiments of the present application, the first transient calculated pressure value is obtained according to the first oil port pressure value based on the water hammer effect, and is limited by the following expression: P JG2 =C×(V2÷C2) ×L2÷T+ P P2 ; Wherein, P JG2 is the first transient calculated pressure value, and P P2C is a constant determined according to a medium viscosity coefficient, V2 is an oil inlet flow rate obtained through hydraulic system design matching calculation, C2 is a throttle safety valve group damping coefficient of the control valve group to the rodless cavity, L2 is a pipeline length of the control valve group to the rodless cavity, and T is a gradient time of opening / closing of the control valve group.

[0012] The critical state hydraulic pressure detection device according to the third aspect of the present application comprises: The hydraulic data acquisition module is configured to acquire hydraulic data collected by the hydraulic detection unit in response to the start / stop instruction. The intermediate calculation module is configured to obtain a first transient calculation pressure value according to the first oil port pressure value and a second transient calculation pressure value according to the second oil port pressure value based on the water hammer effect. The first result value acquisition module is configured to obtain a critical state hydraulic pressure result value of the rodless cavity of the to-be-detected hydraulic actuator according to the first steady state pressure value, a first difference between the first transient measured pressure value and the first steady state pressure value, and a second difference between the first transient calculation pressure value and the first steady state pressure value. The second result value acquisition module is configured to obtain a critical state hydraulic pressure result value of the rod cavity of the to-be-detected hydraulic actuator according to the second steady state pressure value, a third difference between the second transient measured pressure value and the second steady state pressure value, and a fourth difference between the second transient calculation pressure value and the second steady state pressure value.

[0013] The electronic device according to the fourth aspect of the present application comprises a processor and a memory, the memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to implement the steps of the critical state hydraulic pressure detection method according to any one of the first aspect of the present application.

[0014] The computer readable storage medium according to the fifth aspect of the present application stores computer executable instructions for executing the critical state hydraulic pressure detection method according to the first aspect of the present application.

[0015] In the embodiments of the present application, the critical state hydraulic pressure detection system device is composed of the control valve group, the oil pressure detection unit, the flow limiting valve and the control module, various different hydraulic pressure values collected by the oil pressure detection unit are processed, the critical state hydraulic pressure result values of the rodless cavity and the rod cavity of the to-be-detected hydraulic actuator are obtained, the problem of critical state hydraulic pressure detection is solved, real-time feedback of hydraulic pressure state parameters under the critical state is realized, and then timely adjustment of the hydraulic system based on the critical state hydraulic pressure value is realized, the posture of the missile is stabilized, and the smooth launching of the missile is ensured.

[0016] Other features and advantages of the present application will be set forth in the following description, and in part will be apparent from the description, or may be learned by practicing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 is a structural diagram of an embodiment of a critical state hydraulic pressure detection system of the present application; Figure 2 is a flow chart of an embodiment of a critical state hydraulic pressure detection method of the present application; Figure 3 1 is a schematic structural diagram of an embodiment of a critical state hydraulic pressure detection device of the present application; Figure 4 It is a hardware structure diagram of an embodiment of the electronic device of the present application. DETAILED DESCRIPTION

[0018] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0019] In the description of this application, if there is a description of first, second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0020] In the description of this application, it should be understood that descriptions involving orientation, such as the orientation or positional relationship indicated by up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0021] In the description of this application, it should be noted that, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technical personnel in the relevant technical field can reasonably determine the specific meaning of the above terms in this application based on the specific content of the technical solution.

[0022] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described below are only part of the embodiments of the present application, not all of the embodiments.

[0023] Figure 1 is a structural schematic diagram of an embodiment of a critical state hydraulic pressure detection system of the present application; Figure 2 is a flow schematic diagram of an embodiment of a critical state hydraulic pressure detection method provided by the present application; Figure 3 is a structural schematic diagram of an embodiment of a critical state hydraulic pressure detection device of the present application; Figure 4 is a hardware structural schematic diagram of an embodiment of an electronic device of the present application. See below Figures 1 to 4 , the present application is further described.

[0024] As Figure 1 shown, the present application provides a critical state hydraulic pressure detection system, comprising a control valve group, an oil pressure detection unit, a first flow limiting valve, a second flow limiting valve and a control module; The control valve group has an oil inlet and an oil return port. The oil inlet is connected to the rodless chamber of the hydraulic actuator to be measured, and the oil return port is connected to the rod chamber of the hydraulic actuator to be measured. The oil pressure detection unit is used to collect hydraulic data of the hydraulic actuator to be measured. The hydraulic data at least includes a first steady state pressure value of the rodless chamber of the hydraulic actuator to be measured, a first transient measured pressure value, a second steady state pressure value of the rod chamber of the hydraulic actuator to be measured, a second transient measured pressure value, and a first oil port pressure value of the oil inlet of the control valve group and a second oil port pressure value of the oil return port. Wherein, the first steady state pressure value is the initial steady state hydraulic pressure value of the rodless chamber, the second steady state pressure value is the initial steady state hydraulic pressure value of the rod chamber, the first transient measured pressure value is the critical state hydraulic pressure value of the rodless chamber, the second transient measured pressure value is the critical state hydraulic pressure value of the rod chamber, the first oil port pressure value is the initial steady state hydraulic pressure value of the oil inlet, and the second oil port pressure value is the initial steady state hydraulic pressure value of the oil return port. The first flow limiting valve is arranged on the pipeline between the rodless chamber and the oil inlet. The second flow limiting valve is arranged on the pipeline between the rod chamber and the oil return port. The control module is electrically connected with the oil pressure detection unit and the control valve group, used to acquire the hydraulic data, and determine the critical state hydraulic pressure result value of the rodless chamber and the critical state hydraulic pressure result value of the rod chamber according to the hydraulic data.

[0025] In the present application, the control valve group, the oil pressure detection unit, the flow limiting valve and the control module form a critical state hydraulic pressure detection system device. The various hydraulic pressure values collected by the oil pressure detection unit are processed to obtain the critical state hydraulic pressure result values of the rodless chamber and the rod chamber of the hydraulic actuator to be measured. The problem of critical state hydraulic pressure detection is solved, the real-time feedback of hydraulic pressure state parameters under critical state is realized, and the timely adjustment of the hydraulic system based on the critical state hydraulic pressure value is realized, which stabilizes the missile launch attitude and ensures the smooth launch of the missile.

[0026] The first flow limiting valve is arranged on a hydraulic pipeline between the rod cavity and an oil inlet, i.e., a P port; and the second flow limiting valve is arranged on a hydraulic pipeline between the rod cavity and an oil return port, i.e., a T port.

[0027] The to-be-tested hydraulic actuator can be various types of hydraulic actuators, specifically, a hydraulic cylinder, a pneumatic cylinder, a motor, a hydraulic support leg, and the like, and can be further extended to a hydraulic and pneumatic power source, such as an oil pump and a gas pump.

[0028] The control valve group is a key component in the hydraulic system, which can control and regulate the pressure, flow rate, and direction of the hydraulic oil, so as to realize accurate control of the hydraulic actuator. Specifically, the control valve group can be a conventional proportional valve or a servo control valve.

[0029] The oil pressure detection unit can include a plurality of pressure sensors arranged at different positions in the system to collect relevant hydraulic pressure data. It should be noted that the pressure data collected by the oil pressure detection unit can be in units of national standards, and can be uniformly in units of Bar.

[0030] The first flow limiting valve is arranged on a hydraulic pipeline between the rodless cavity and the oil inlet, and can be used to regulate the flow rate of the oil inlet pipeline; the second flow limiting valve is arranged on a hydraulic pipeline between the rod cavity and the oil return port, and can be used to regulate the flow rate of the oil outlet pipeline; specifically, the first flow limiting valve and the second flow limiting valve can be a throttling safety valve group.

[0031] In some embodiments, the critical state hydraulic pressure detection system further includes a display module, and the display module and the control module can constitute a display and control module, which can display the collected hydraulic data and the determined critical state hydraulic pressure result value. Specifically, the display and control module includes a controller and a display and control terminal, the display and control terminal facilitates real-time data collection and observation of data changes by the staff, and can also reasonably control the system according to the actual situation.

[0032] In some embodiments, the oil pressure detection unit includes: The first pressure sensor is configured to detect the pressure value of the rodless cavity of the to-be-tested hydraulic actuator. The second pressure sensor is configured to detect the pressure value of the rod cavity of the to-be-tested hydraulic actuator. The third pressure sensor is configured to detect the pressure value at the oil inlet of the control valve group. The fourth pressure sensor is configured to detect the pressure value at the oil return port of the control valve group.

[0033] In this embodiment, the conventional pressure sensor arrangement scheme for oil pressure detection is often to install pressure sensors only on the inlet and outlet oil ports of the actuator, directly read the pressure value, and then obtain the steady-state pressure parameter by truncating the pressure parameter, or obtain the pressure parameter difference by performing difference calculation on the inlet and outlet oil pressure parameters, and determine the measured value as the result value. Only the pressure value of the actuator is considered, and the influence of external control is not associated. The measured result value is only effective when it is completely static, and cannot be accurately measured in the critical state. In this application, the first pressure sensor, the second pressure sensor, the third pressure sensor and the fourth pressure sensor are arranged at different positions of the system, and the different collected data are subsequently processed to determine the result value, which can achieve accurate measurement in the critical state.

[0034] The first pressure sensor can be arranged at the oil port of the rodless chamber of the hydraulic actuator to be tested or at a place connected to the oil port. The second pressure sensor can be arranged at the oil port of the rod chamber of the hydraulic actuator to be tested or at a place connected to the oil port. The third pressure sensor can be arranged at the oil inlet of the control valve group. The fourth pressure sensor can be arranged at the oil return port of the control valve group. In some cases, the third sensor and the fourth sensor can be the electronic control ports attached to the control valve group. like Figure 2 As shown, the embodiment of the present application further proposes a critical state hydraulic pressure detection method, which can be applied to the above critical state hydraulic pressure detection system. The critical state hydraulic pressure detection method includes the following steps: Step 101: In response to a start / stop instruction, obtain hydraulic data collected by a hydraulic detection unit; Step 102: Based on the water hammer effect, obtain a first transient calculated pressure value according to the first oil port pressure value, and obtain a second transient calculated pressure value according to the second oil port pressure value; Step 103: Obtain a critical hydraulic pressure result value of the rodless chamber of the hydraulic actuator to be tested based on the first steady-state pressure value, the first difference between the first transient measured pressure value and the first steady-state pressure value, and the second difference between the first transient calculated pressure value and the first steady-state pressure value; Step 104 , obtain the critical hydraulic pressure result value of the rod chamber of the hydraulic actuator to be tested based on the second steady-state pressure value, the third difference between the second transient measured pressure value and the second steady-state pressure value, and the fourth difference between the second transient calculated pressure value and the second steady-state pressure value.

[0035] In the embodiment of the present application, the critical state hydraulic pressure detection system device is composed of a control valve group, an oil pressure detection unit, a flow limiting valve and a control module. The various different hydraulic pressure values collected by the oil pressure detection unit are processed to obtain the critical state hydraulic pressure result values of the rodless cavity and the rod cavity of the hydraulic actuator to be measured, thereby solving the problem of critical state hydraulic pressure detection, realizing real-time feedback of the hydraulic pressure state parameters under the critical state, and further realizing timely adjustment of the hydraulic system based on the critical state hydraulic pressure value, stabilizing the missile launch posture and ensuring the smooth launch of the missile.

[0036] The start-stop instruction can be an opening / closing control instruction signal of the hydraulic actuator to be measured, and receiving the instruction indicates that the hydraulic actuator to be measured enters the critical state at the opening or closing moment.

[0037] The water hammer effect refers to that when the flow rate of liquid changes suddenly due to some reasons, such as sudden closing or opening of a valve, the internal pressure of the liquid will change sharply, a very high pressure peak (positive water hammer) or a sudden pressure drop (negative water hammer) is generated, and the pressure propagates in the pipeline system, like a hammer hitting the pipe wall, which affects the normal operation of the equipment and system. Therefore, the actual critical state hydraulic pressure value of the hydraulic actuator at the opening moment or the closing moment will be affected by the water hammer effect, so the first transient calculation pressure value can be obtained according to the first oil port pressure value, the second transient calculation pressure value can be obtained according to the second oil port pressure value, and the calculation pressure value considering the influence of the water hammer effect can be obtained.

[0038] In some embodiments, the first steady state pressure value, the second steady state pressure value, the first oil port pressure value and the second oil port pressure value are collected at least in a first period, the first transient measured pressure value and the second transient measured pressure value are collected at least in a second period, and the first period and the second period are two consecutive periods in time sequence.

[0039] The first steady state pressure value is the initial steady state hydraulic pressure value of the rodless cavity, the second steady state pressure value is the initial steady state hydraulic pressure value of the rod cavity, the first transient measured pressure value is the critical state hydraulic pressure value of the rodless cavity, the second transient measured pressure value is the critical state hydraulic pressure value of the rod cavity, the first oil port pressure value is the initial steady state hydraulic pressure value of the oil inlet, and the second oil port pressure value is the initial steady state hydraulic pressure value of the oil return port.

[0040] It can be understood that after receiving the start-stop instruction, the first to fourth pressure sensors will start to collect continuously at the working frequency, obtaining a plurality of instantaneous hydraulic pressure values, obtaining a scatter plot of the change of the instantaneous hydraulic pressure measurement value with time, for example, the first to fourth pressure sensors will start to collect continuously at a working frequency of 1000Hz, that is, an instantaneous value is collected every 1ms. In some cases, the collected plurality of instantaneous hydraulic pressure values can be filtered to remove spikes and outliers, and a reasonable standard value and amplitude can be determined according to the plurality of data in a period, and then the range of the normal value is determined, and the measurement data outside the normal range is removed, and only the measurement data within the normal range is retained for subsequent calculation.

[0041] In the time range of the first period after receiving the start-stop instruction, it can be considered as an initial steady-state time period in which the hydraulic pressure has not fluctuated greatly, and the first steady-state pressure value, the second steady-state pressure value, the first oil port pressure value and the second oil port pressure value should be collected in this stage. After the first period, enter the time range of the second period, which can be considered as a critical transient time period in which the hydraulic pressure starts to fluctuate, and the first transient measured pressure value and the second transient measured pressure value should be collected in this stage. For example, 0 to 100ms after receiving the start-stop instruction can be considered as the first period, and 100ms to 400ms can be considered as the second period. It can be understood that the first period and the second period can be adjusted according to actual conditions.

[0042] The first steady-state pressure value can be obtained by averaging or taking the median of the plurality of instantaneous hydraulic pressure values of the rodless cavity collected by the first pressure sensor at the working frequency in the first period to obtain the first steady-state pressure value. The second steady-state pressure value can be obtained by averaging or taking the median of the plurality of instantaneous hydraulic pressure values of the rod cavity collected by the second pressure sensor at the working frequency in the first period to obtain the second steady-state pressure value. It can be understood that only one first steady-state pressure value and one second steady-state pressure value are output after the first period of time.

[0043] The first oil port pressure value can be obtained by averaging or taking the median of the plurality of instantaneous hydraulic pressure values of the oil inlet collected by the third pressure sensor at the working frequency in the first period to obtain the first oil port pressure value. The second oil port pressure value can be obtained by averaging or taking the median of the plurality of instantaneous hydraulic pressure values of the oil return port collected by the fourth pressure sensor at the working frequency in the first period to obtain the second oil port pressure value. It can be understood that only one first oil port pressure value and one second oil port pressure value are output after the first period of time.

[0044] The first transient measured pressure value can be determined according to the plurality of instantaneous hydraulic pressure values of the rodless cavity collected by the first pressure sensor at the working frequency in the second period. The second transient measured pressure value can be determined by collecting a plurality of instantaneous hydraulic pressure values of the rod cavity by the second pressure sensor at the working frequency in the second period. It should be noted that the average value or the median value of the plurality of instantaneous hydraulic pressure values in the second period can be taken as the result output, and one first transient measured pressure value and one second transient measured pressure value are output. For example, after 100 ms to 400 ms of the second period, the average value or the median value of the plurality of instantaneous hydraulic pressure values collected by the first sensor in 100 ms to 400 ms at 400 ms is output as the first transient measured pressure value. In some cases, a plurality of first transient measured pressure values and a plurality of second transient measured pressure values can also be output in the second period. Specifically, the second period includes a plurality of sub-periods with the same length, and the average value or the median value of the plurality of instantaneous hydraulic pressure values in each sub-period can be taken as the result output. For example, in the second period of 100 ms to 400 ms, each sub-period is 100 ms, and the average value or the median value of the plurality of instantaneous hydraulic pressure values collected by the first sensor in 100 ms to 200 ms at 200 ms is output as the first transient measured pressure value, the average value or the median value of the plurality of instantaneous hydraulic pressure values collected by the first sensor in 200 ms to 300 ms at 300 ms is output as the first transient measured pressure value, and the average value or the median value of the plurality of instantaneous hydraulic pressure values collected by the first sensor in 300 ms to 400 ms at 400 ms is output as the first transient measured pressure value.

[0045] It should be noted that the step of obtaining the critical state hydraulic pressure result value of the rodless cavity of the hydraulic actuator to be measured according to the first steady state pressure value, the first difference between the first transient measured pressure value and the first steady state pressure value, and the second difference between the first transient calculated pressure value and the first steady state pressure value can update the calculation of the critical state hydraulic pressure result value of the rodless cavity after the first transient measured pressure value is updated.

[0046] In some embodiments, the critical state hydraulic pressure result value of the rodless cavity of the hydraulic actuator to be measured is obtained according to the first steady state pressure value, the first difference between the first transient measured pressure value and the first steady state pressure value, and the second difference between the first transient calculated pressure value and the first steady state pressure value, comprising: obtaining a first coefficient and a second coefficient; determining a first product of the first difference and the first coefficient; determining a second product of the second difference and the second coefficient; The first steady-state pressure value, the first product and the second product are summed to obtain a critical-state hydraulic pressure result value of the rodless cavity.

[0047] In the embodiment, the first steady-state pressure value, the first difference between the first transient measured pressure value and the first steady-state pressure value, the second difference between the first transient calculated pressure value and the first steady-state pressure value are comprehensively considered, and the first coefficient and the second coefficient are assigned a proportion, so that an accurate critical-state hydraulic pressure result value of the rodless cavity can be calculated.

[0048] In some embodiments, the critical-state hydraulic pressure result value of the rodless cavity of the hydraulic actuator to be measured is obtained according to the first steady-state pressure value, the first difference between the first transient measured pressure value and the first steady-state pressure value, and the second difference between the first transient calculated pressure value and the first steady-state pressure value, and is limited by the following expression: P JG2 = P 02 +α×(P S2 -P 02 ) +β×(P JS2 -P 02 ); Wherein, P JG2 is the critical-state hydraulic pressure result value of the rodless cavity of the hydraulic actuator to be measured, P 02 is the first steady-state pressure value, P S2 is the first transient measured pressure value, P JS2 is the first transient calculated pressure value, and α is the first coefficient and β is the second coefficient.

[0049] In some embodiments, the critical-state hydraulic pressure result value of the rod cavity of the hydraulic actuator to be measured is obtained according to the second steady-state pressure value, the third difference between the second transient measured pressure value and the second steady-state pressure value, and the fourth difference between the second transient calculated pressure value and the second steady-state pressure value, including: obtaining a preset first coefficient and a second coefficient; determining a third product of the third difference and the first coefficient; determining a fourth product of the fourth difference and the second coefficient; The second steady-state pressure value, the third product and the fourth product are summed to obtain a critical-state hydraulic pressure result value of the rodless cavity.

[0050] In the embodiment, the second steady-state pressure value, the third difference between the second transient measured pressure value and the second steady-state pressure value, and the fourth difference between the second transient calculated pressure value and the second steady-state pressure value are comprehensively considered, and the first coefficient and the second coefficient are assigned a proportion, so that an accurate critical-state hydraulic pressure result value of the rodless cavity can be calculated.

[0051] In some embodiments, a critical hydraulic pressure result value of the rod chamber of the hydraulic actuator to be tested is obtained based on the second steady-state pressure value, the third difference between the second transient measured pressure value and the second steady-state pressure value, and the fourth difference between the second transient calculated pressure value and the second steady-state pressure value, and is constrained by the following expression: P JG3 = P 03 +α×(P S3 -P 03 ) +β×(P JS3 -P 03 ); Among them, P JG3 is the critical hydraulic pressure result value of the rod chamber of the hydraulic actuator to be tested, P 03 is the second steady-state pressure value, P S3 is the second transient measured pressure value, P JS3 Calculate the pressure value for the second transient, α is the first coefficient, and β is the second coefficient.

[0052] In some embodiments, the first coefficient is between 0.1 and 0.2, and the second coefficient is between 0.8 and 0.95. In this embodiment, by taking values ​​for the first coefficient and the second coefficient within the corresponding ranges, more accurate critical hydraulic pressure results for the rod chamber and the rodless chamber of the hydraulic actuator under test can be obtained. The specific values ​​of the first coefficient and the second coefficient can be adaptively adjusted according to actual conditions.

[0053] In some implementations, based on the water hammer effect, a first transient calculated pressure value is obtained according to the first oil port pressure value, which is limited by the following expression: P JS2 =C×(V2÷C2) ×L2÷T+ P P2 ; Among them, P JS2 Calculate the pressure value for the first transient, P P2 is the pressure value of the first oil port, C is a constant determined by the viscosity coefficient of the medium, V2 is the oil inlet flow rate calculated by the hydraulic system design matching, C2 is the damping coefficient of the throttling safety valve group from the control valve group to the rodless chamber, L2 is the pipeline length from the control valve group to the rodless chamber, and T is the gradient time for opening / closing the control valve group.

[0054] In some implementations, based on the water hammer effect, a second transient calculated pressure value is obtained according to the second oil port pressure value, which is limited by the following expression: P JS3 =C×(V3÷C3) ×L3÷T+ P T3 ; Among them, P JS3 Calculate the pressure value for the second transient, P T3P2 is the pressure value of the second oil port, C is a constant determined according to a medium viscosity coefficient, V3 is an oil return port flow rate obtained through hydraulic system design matching calculation, C3 is a throttle safety valve group damping coefficient of a control valve group to a rod cavity, L3 is a pipeline length of the control valve group to the rod cavity, and T is a gradient time of opening / closing of the control valve group.

[0055] It should be noted that C, V2, V3, C2, C3, L2, L3, and T are system design parameters of the hydraulic actuator to be tested, and are known parameters that can be obtained in advance.

[0056] In some embodiments, the constant C can have a value ranging from 0.068 to 0.072, the oil inlet port flow rate V2 obtained through hydraulic system design matching calculation is generally 3 to 10 m / s, the oil return port flow rate V3 is generally 1 to 3 m / s, the throttle safety valve group damping coefficient C2 of the control valve group to the rod cavity is generally 0.1 to 2, the throttle safety valve group damping coefficient C3 of the control valve group to the rod cavity is generally 0.1 to 2, the pipeline length L2 of the control valve group to the rod cavity and the pipeline length L3 of the control valve group to the rod cavity are obtained according to actual conditions, and the unit is meter, and T is the gradient time of opening / closing of the control valve group, that is, the time from opening to stable pressure, and the unit is second.

[0057] In some embodiments, in the scene of weapon launching, the hydraulic system controls the opening and closing of the launching cylinder and pushes the launching cylinder to a specified height position, and then ignites and launches, but if the launching cylinder does not reach the specified position or the attitude is unstable and may fall, it may cause the launching to fail, and it is necessary to accurately detect the pressure condition of the hydraulic actuator in the critical state when the launching cylinder is opened, to judge whether the launching attitude of the missile is stable, and if the pressure condition in the critical state cannot be accurately detected, it is difficult to adjust the hydraulic system in time, so as to ensure the smooth launching of the missile.

[0058] Specifically, after receiving the launch signal, the hydraulic actuator to be tested will receive an opening control signal, open the launch tube, and push the launch tube to the specified height position. This preparation process needs to be completed within 0.5 seconds, and then the launch is ignited. If the launch tube does not reach the specified position or is unstable and may tip over, it will seriously affect the launch process. Therefore, the critical state hydraulic pressure result value of the hydraulic actuator needs to be obtained to determine the specific situation of the launch tube according to the pressure value. Within 100 ms after receiving the start-stop command, the first steady-state pressure value, the second steady-state pressure value, the first oil port pressure value, and the second oil port pressure value can be obtained. Within 100 ms to 400 ms, the first transient measured pressure value and the second transient measured pressure value can be obtained. Then, the critical state hydraulic pressure result value of the hydraulic actuator is calculated according to the above values. If the critical state hydraulic pressure result value is normal, the launch is continued. If the critical state hydraulic pressure result value is abnormal, the launch tube is adjusted in time through the hydraulic system, or the launch is cancelled.

[0059] In some embodiments, the critical state hydraulic pressure detection method of the present application can also be widely applied to various different hydraulic actuators in working scenarios that require detection and rapid feedback of critical state hydraulic pressure.

[0060] For example, it can be applied to the scenario of mechanical arm movement: In industrial production, the mechanical arm moves the heavy workpiece to the specified position quickly, and the hydraulic system drives the extension and rotation of its joints. At the moment of switching the action of the mechanical arm joints, such as from static to rapid extension or from high-speed movement to precise positioning, the hydraulic actuator is in a critical state. At this time, the mechanical arm shaking will affect the precise placement of the workpiece, and even may damage the workpiece or the mechanical arm itself due to loss of control. Detecting the critical state hydraulic pressure value at this time can help to adjust the hydraulic pressure in real time, ensuring the stable operation and operation accuracy of the mechanical arm.

[0061] For example, it can be applied to the scenario of aircraft landing gear retraction: The retraction process of the aircraft landing gear relies on the hydraulic system. Whether it is the retraction of the landing gear during takeoff or the lowering and locking during landing, the hydraulic actuator will be in a critical state at the moment of action switching. At this time, if the landing gear cannot be retracted normally or locked firmly, it will seriously endanger flight safety. Detecting the pressure in the critical state can timely find and eliminate abnormal pressure conditions, ensuring the safety and stability of the hydraulic system during the critical action of the landing gear, and ensuring the safety of the aircraft takeoff and landing.

[0062] For example, it can be applied to the scene of automatic assembly line product transfer: on the automatic assembly line, a hydraulic drive conveying device is used to quickly transfer small parts from one station to another. During the transfer process, there may be a position deviation or a part falling at the moment when the hydraulic actuator starts or stops the rotation movement, which affects the accuracy and efficiency of assembly. By detecting the critical state, timely finding and excluding pressure abnormal conditions, the pressure change of the hydraulic system can be accurately controlled, the transfer process is stable and reliable, and the assembly quality is improved.

[0063] The critical state hydraulic pressure detection method provided by the embodiments of the present application can be executed by the critical state hydraulic pressure detection device 200. In the embodiments of the present application, the critical state hydraulic pressure detection method is executed by the critical state hydraulic pressure detection device 200 as an example to illustrate the critical state hydraulic pressure detection device 200 provided by the embodiments of the present application.

[0064] Please refer to Figure 3 , which is a structural schematic diagram of a critical state hydraulic pressure detection device 200 provided by the embodiments of the present application. As Figure 3 indicated, the critical state hydraulic pressure detection device 200 includes: The hydraulic data acquisition module 201 is configured to acquire hydraulic data collected by the hydraulic detection unit in response to the start-stop instruction. The intermediate calculation module 202 is configured to obtain a first transient calculation pressure value based on the water hammer effect according to the first oil port pressure value, and obtain a second transient calculation pressure value according to the second oil port pressure value. The first result value acquisition module 203 is configured to obtain a critical state hydraulic pressure result value of the rodless cavity of the hydraulic actuator to be tested according to the first steady state pressure value, the first transient measured pressure value and the first difference value between the first steady state pressure value, the second difference value between the first transient calculation pressure value and the first steady state pressure value. The second result value acquisition module 204 is configured to obtain a critical state hydraulic pressure result value of the rod cavity of the hydraulic actuator to be tested according to the second steady state pressure value, the second transient measured pressure value and the third difference value between the second steady state pressure value, the fourth difference value between the second transient calculation pressure value and the second steady state pressure value.

[0065] In some embodiments, the first steady state pressure value, the second steady state pressure value, the first oil port pressure value and the second oil port pressure value are collected at least in the first period, and the first transient measured pressure value and the second transient measured pressure value are collected at least in the second period. The first period and the second period are two consecutive periods in time sequence.

[0066] In some embodiments, the first result value acquisition module 203 can be configured to: obtain a preset first coefficient and a second coefficient; determining a first product of the first difference and a first coefficient; determining a second product of the second difference and a second coefficient; summing the first steady state pressure value, the first product and the second product to obtain a critical state hydraulic pressure result value of the rodless cavity.

[0067] In some embodiments, the first coefficient is between 0.1 and 0.2, and the second coefficient is between 0.8 and 0.95.

[0068] In some embodiments, the intermediate calculation module 202 is limited by the following expression: P JS2 =C×(V2÷C2) ×L2÷T+ P P2 ; wherein P JS2 is the first transient calculation pressure value, P P2 is the first oil port pressure value, C is a constant determined according to a medium viscosity coefficient, V2 is an oil inlet flow rate obtained by hydraulic system design matching calculation, C2 is a throttle safety valve group damping coefficient from the control valve group to the rodless cavity, L2 is a pipeline length from the control valve group to the rodless cavity, and T is a gradient time of opening / closing of the control valve group.

[0069] Figure 4 is a hardware structure schematic diagram of an electronic device provided by the embodiments of the present application.

[0070] The electronic device can include a processor 301 and a memory 302 having stored computer program instructions.

[0071] Specifically, the processor 301 described above can include a central processing unit (CPU), or a specific integrated circuit (Application Specific Integrated Circuit, ASIC), or can be configured as one or more integrated circuits that implement the embodiments of the present application.

[0072] The memory 302 can include a mass storage for data or instructions. By way of example and not limitation, the memory 302 can include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a Universal Serial Bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 302 can include removable or non-removable (or fixed) media. Where appropriate, the memory 302 can be internal or external to the integrated gateway disaster recovery device. In certain embodiments, the memory 302 is a non-volatile solid-state memory.

[0073] In some embodiments, the memory 302 can include read-only memory (ROM), random-access memory (RAM), magnetic disk storage mediums devices, optical storage mediums devices, flash memory devices, electrical, optical, or other physical / tangible memory storage devices. Thus, generally, the memory includes one or more tangible (non-transitory) computer-readable storage mediums (e.g., a memory device) encoded with software that, when executed (e.g., by one or more processors), is operable to perform the operations described with reference to the methods according to an aspect of the present disclosure.

[0074] The processor 301 implements any one of the critical state hydraulic pressure detection methods in the above-described embodiments by reading and executing computer program instructions stored in the memory 302.

[0075] In one example, the electronic device can further include a communication interface 303 and a bus 310. As shown, the processor 301, the memory 302, and the communication interface 303 are connected through the bus 310 and complete communication therebetween. Figure 4

[0076] The communication interface 303 is mainly used to realize the communication between the modules, devices, units, and / or equipment in the embodiments of the present application.

[0077] The bus 310 includes hardware, software, or both, that couples components of the online data traffic billing device to each other in a known manner. By way of example, and not limitation, the bus can include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand™ interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or another suitable bus or a combination of two or more of these. Where appropriate, the bus 310 can include one or more buses. Although the present application describes and illustrates a particular bus, the present application contemplates any suitable bus or interconnect.

[0078] The electronic device can perform the critical state hydraulic pressure detection method in the embodiments of the present application, thereby realizing the critical state hydraulic pressure detection method and device described in combination with Figure 2 and Figure 3

[0079] ​​In addition, in combination with the critical state hydraulic pressure detection method in the above embodiments, the embodiments of the present application can provide a computer storage medium for implementation. The computer storage medium has computer program instructions stored thereon; the computer program instructions are executed by a processor to implement any one of the critical state hydraulic pressure detection methods in the above embodiments.

[0080] It should be noted that the present application is not limited to the specific configurations and processes described above and shown in the drawings. For the sake of brevity, detailed descriptions of well-known methods are omitted. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order of the steps, after understanding the spirit of the present application.

[0081] The functional blocks shown in the structural block diagrams described above can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a functional card, etc. When implemented in software, the elements of the present application are program or code segments used to perform the required tasks. The program or code segments can be stored in a machine-readable medium or transmitted through a data signal carried in a carrier wave over a transmission medium or communication link. The "machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segments can be downloaded via a computer network such as the Internet, an intranet, etc.

[0082] It should also be noted that the exemplary embodiments mentioned in the present application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in an order different from the embodiments, or several steps can be performed simultaneously.

[0083] In addition, the exemplary embodiments mentioned in this application cannot be used as a limitation of this application. The specific cases described are only to help understand the implementation methods of the technical solution of this patent and do not constitute a limitation on the scope of protection of the claims. Any equivalent replacement, technical feature reorganization, implementation scenario expansion or technical parameter adjustment based on the core idea of ​​this patent, as long as its technical solution does not deviate from the inventive concept of this patent, should be deemed to fall within the scope of protection of this patent. Those skilled in the art should understand that the scope of protection of the patent right should be based on the technical features and their equivalent features recorded in the claims, and non-essential technical features such as specific process parameters, structural details, material selection, etc. recorded in the embodiments of the specification should not be used as the basis for restrictive interpretation. There may be multiple forms of changes in the description of the embodiments of this patent, and the technical features in different embodiments can be combined and reconstructed. These implementation methods derived from the technical ideas of this patent all fall within the scope of rights claimed by this patent.

[0084] Aspects of the present disclosure have been described above with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each block in the flowcharts and / or block diagrams, as well as combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine such that execution of these instructions by the processor of the computer or other programmable data processing device enables the implementation of the functions / actions specified in one or more blocks in the flowcharts and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It should also be understood that each block in the block diagrams and / or flowcharts, as well as combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by dedicated hardware that performs the specified functions or actions, or by a combination of dedicated hardware and computer instructions.

[0085] The above description is only a specific embodiment of the present application. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present application.

Claims

1. A critical hydraulic pressure detection system, applied to a hydraulic actuator, characterized in that: include: A control valve group having an oil inlet and an oil return port, wherein the oil inlet is connected to a rodless chamber of a hydraulic actuator to be tested, and the oil return port is connected to a rod chamber of the hydraulic actuator to be tested; An oil pressure detection unit is used to collect hydraulic data of the hydraulic actuator to be tested, wherein the hydraulic data at least include a first steady-state pressure value and a first transient measured pressure value of the rodless chamber of the hydraulic actuator to be tested, a second steady-state pressure value and a second transient measured pressure value of the rod chamber of the hydraulic actuator to be tested, and a first oil port pressure value of the oil inlet and a second oil port pressure value of the oil return port of the control valve group; wherein the first steady-state pressure value is the initial steady-state hydraulic pressure value of the rodless chamber, the second steady-state pressure value is the initial steady-state hydraulic pressure value of the rod chamber, the first transient measured pressure value is the critical hydraulic pressure value of the rodless chamber, the second transient measured pressure value is the critical hydraulic pressure value of the rod chamber, the first oil port pressure value is the initial steady-state hydraulic pressure value of the oil inlet, and the second oil port pressure value is the initial steady-state hydraulic pressure value of the oil return port; a first flow limiting valve, provided on the pipeline between the rodless chamber and the oil inlet; a second flow limiting valve, provided on the pipeline between the rod chamber and the oil return port; A control module is electrically connected to the oil pressure detection unit and the control valve group, and is used to obtain the hydraulic data and determine the critical hydraulic pressure result value of the rodless chamber and the critical hydraulic pressure result value of the rod chamber based on the hydraulic data.

2. The critical hydraulic pressure detection system according to claim 1, characterized in that: The oil pressure detection unit includes: a first pressure sensor, configured to detect the pressure value of the rodless chamber of the hydraulic actuator to be tested; a second pressure sensor, configured to detect the pressure value of the rod chamber of the hydraulic actuator to be tested; a third pressure sensor, configured to detect the pressure value at the oil inlet of the control valve group; The fourth pressure sensor is used to detect the pressure value at the oil return port of the control valve group.

3. A critical hydraulic pressure detection method, applied to the critical hydraulic pressure detection system according to claim 1 or 2, characterized in that: include: In response to a start / stop instruction, obtaining hydraulic data collected by the hydraulic detection unit; Based on the water hammer effect, a first transient calculated pressure value is obtained according to the first oil port pressure value, and a second transient calculated pressure value is obtained according to the second oil port pressure value; Obtaining a critical hydraulic pressure result value of the rodless chamber of the hydraulic actuator to be tested according to the first steady-state pressure value, a first difference between the first transient measured pressure value and the first steady-state pressure value, and a second difference between the first transient calculated pressure value and the first steady-state pressure value; According to the second steady-state pressure value, the third difference between the second transient measured pressure value and the second steady-state pressure value, and the fourth difference between the second transient calculated pressure value and the second steady-state pressure value, the critical hydraulic pressure result value of the rod chamber of the hydraulic actuator to be tested is obtained.

4. The critical hydraulic pressure detection method according to claim 3, characterized in that: The first steady-state pressure value, the second steady-state pressure value, the first oil port pressure value and the second oil port pressure value are collected at least within a first cycle, and the first transient measured pressure value and the second transient measured pressure value are collected at least within a second cycle. The first cycle and the second cycle are two consecutive cycles in time sequence.

5. The critical hydraulic pressure detection method according to claim 3, characterized in that: Obtaining a critical hydraulic pressure result value of the rodless chamber of the hydraulic actuator to be tested based on the first steady-state pressure value, a first difference between the first transient measured pressure value and the first steady-state pressure value, and a second difference between the first transient calculated pressure value and the first steady-state pressure value, includes: Obtaining a preset first coefficient and a second coefficient; determining a first product of the first difference and the first coefficient; determining a second product of the second difference and the second coefficient; The first steady-state pressure value, the first product, and the second product are summed to obtain a critical-state hydraulic pressure result value of the rodless chamber.

6. The critical hydraulic pressure detection method according to claim 5, characterized in that: The first coefficient is between 0.1 and 0.2, and the second coefficient is between 0.8 and 0.

95.

7. The critical hydraulic pressure detection method according to claim 3, characterized in that: The first transient calculated pressure value obtained according to the first oil port pressure value based on the water hammer effect is limited by the following expression: P JS2 =C×(V2÷C2) ×L2÷T+ P P2 ; Among them, P JS2 Calculate the pressure value for the first transient, P P2 is the first oil port pressure value, C is a constant determined according to the medium viscosity coefficient, V2 is the oil inlet flow rate obtained by the hydraulic system design matching calculation, C2 is the damping coefficient of the throttling safety valve group from the control valve group to the rodless cavity, L2 is the pipeline length from the control valve group to the rodless cavity, and T is the gradient time for opening / closing the control valve group.

8. A critical state hydraulic pressure detection device, applied to the critical state hydraulic pressure detection system according to claim 1 or 2, characterized in that: include: a hydraulic data acquisition module, configured to acquire the hydraulic data collected by the hydraulic detection unit in response to a start / stop instruction; an intermediate calculation module, configured to obtain a first transient calculated pressure value according to the first oil port pressure value and a second transient calculated pressure value according to the second oil port pressure value based on a water hammer effect; a first result value acquisition module, configured to obtain a critical hydraulic pressure result value of the rodless chamber of the hydraulic actuator to be tested based on the first steady-state pressure value, a first difference between the first transient measured pressure value and the first steady-state pressure value, and a second difference between the first transient calculated pressure value and the first steady-state pressure value; The second result value acquisition module is used to obtain the critical hydraulic pressure result value of the rod chamber of the hydraulic actuator to be tested based on the second steady-state pressure value, the third difference between the second transient measured pressure value and the second steady-state pressure value, and the fourth difference between the second transient calculated pressure value and the second steady-state pressure value.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of the critical hydraulic pressure detection method according to any one of claims 3 to 7 are implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the critical hydraulic pressure detection method according to any one of claims 3 to 7.

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