Monitoring method and device of hydraulic driving system and electronic equipment

Abstract

The invention discloses a monitoring method and device of a hydraulic driving system and electronic equipment, the applied hydraulic driving system is under the condition that hydraulic driving and spring driving are used in cooperation, and compared with a double-hydraulic-cylinder driving mode, the hydraulic driving system is more suitable for the application scene of a high-pressure liquid hydrogen pump. In the process of monitoring the hydraulic driving system, hydraulic driving force sampling information of a hydraulic cylinder and spring deformation quantity sampling information are obtained; the current stroke is judged, and a hydraulic driving force standard curve and a spring deformation quantity standard curve corresponding to the current stroke are called; a first difference value between the hydraulic driving force sampling value corresponding to the same sampling moment and the expected hydraulic driving force is obtained, and a second difference value between the spring deformation quantity sampling value corresponding to the same sampling moment and the expected spring deformation quantity is obtained; if the first difference value or the second difference value exceeds a set threshold value, it is judged that the current stroke of the hydraulic driving system is abnormal. According to the scheme, the abnormal situation of the driving process can be accurately judged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fault diagnosis of driving systems, and particularly relates to a hydraulic driving system monitoring method and device and electronic equipment. BACKGROUND

[0002] Hydraulic driving systems are often used to provide power for reciprocating pistons. Generally, the hydraulic driving system is a double-acting hydraulic cylinder, that is, the extension stroke and the retraction stroke of the piston are both driven by hydraulic means. When controlling the driving system of the double-acting hydraulic cylinder, the movement process of the piston in the extension stroke and the retraction stroke needs to be monitored so as to timely find and issue an alarm when an abnormality occurs in the movement process of the piston.

[0003] The driving system of the double-acting hydraulic cylinder has a very large driving force in the reciprocating process of the piston. When it is applied to a high-pressure liquid hydrogen pump, because the pressure resistance value of the liquid hydrogen storage tank is relatively low, too large pressure may bring safety risks to the tank. Therefore, the structure and monitoring method of the hydraulic driving system in the high-pressure liquid hydrogen pump need to be further improved. SUMMARY

[0004] The technical problem to be solved by the present application is that the hydraulic driving system required by the existing high-pressure liquid hydrogen pump needs to be improved, and the monitoring method of the hydraulic driving system needs to be improved. To this end, the present application provides a hydraulic driving system monitoring method, device and electronic equipment.

[0005] In view of the above technical problems, the present application provides the following technical solutions:

[0006] In a first aspect, the present application provides a hydraulic driving system monitoring method, wherein the extension stroke of the hydraulic driving system is driven by a hydraulic cylinder, and the retraction stroke is driven by a spring. The method comprises:

[0007] Obtaining hydraulic driving force sampling information and spring deformation variable sampling information of the hydraulic cylinder; the hydraulic driving force sampling information comprises a sampling time and a hydraulic driving force sampling value, and the spring deformation variable sampling information comprises a sampling time and a spring deformation variable sampling value;

[0008] Judging a current stroke and calling a hydraulic driving force standard curve and a spring deformation variable standard curve corresponding to the current stroke; the horizontal axis of the hydraulic driving force standard curve represents time, and the vertical axis represents a hydraulic driving force standard value; the horizontal axis of the spring deformation variable standard curve represents time, and the vertical axis represents a spring deformation variable standard value; the current stroke is an extension stroke or a retraction stroke;

[0009] acquire a first difference value between the hydraulic driving force sample value and an expected hydraulic driving force at the same sampling time, and acquire a second difference value between the spring deformation sample value and an expected spring deformation at the same sampling time;

[0010] If the first difference value or the second difference value exceeds a set threshold value, it is determined that the current stroke of the hydraulic driving system is abnormal.

[0011] In some schemes, the monitoring method of the hydraulic driving system further comprises, after determining the current stroke:

[0012] acquire flow sampling information of the hydraulic oil flowing out of the hydraulic cylinder outlet, the flow sampling information comprising a sampling time and a flow sampling value;

[0013] retrieve a flow standard curve corresponding to the retraction stroke, the horizontal axis of the flow standard curve representing time and the vertical axis representing a flow standard value;

[0014] acquire a third difference value between the flow sampling value and an expected flow value at the same sampling time, and if the third difference value exceeds a set threshold value, it is determined that the retraction stroke of the hydraulic system is abnormal.

[0015] In some schemes, the monitoring method of the hydraulic driving system further comprises:

[0016] after completing the extension stroke and / or the compression stroke, determine the volumetric efficiency of the hydraulic driving system;

[0017] if the difference between the volumetric efficiency and a standard volumetric efficiency exceeds an allowable error value, it is determined that the stroke of the driving system is abnormal.

[0018] In some schemes, the monitoring method of the hydraulic driving system, the determination of the volumetric efficiency of the hydraulic driving system comprises:

[0019] determining the volumetric efficiency according to the hydraulic driving force sampling information acquired during a single stroke.

[0020] In some schemes, the monitoring method of the hydraulic driving system, the determination of the volumetric efficiency of the hydraulic driving system comprises:

[0021] accumulate the running time of the hydraulic system;

[0022] if the accumulated running time reaches a preset time length, determine the volumetric efficiency according to the hydraulic driving force sampling information within the accumulated running time.

[0023] In some schemes, the monitoring method of the hydraulic driving system determines the spring deformation variable by:

[0024] obtaining the spring elastic coefficient K, the piston first end area S1, the piston second end area S2, the piston linkage system total mass m and the piston velocity V;

[0025] obtaining the hydraulic driving force sampling value P, the storage tank pressure P2, the liquid level static pressure P3, the liquid hydrogen pump outlet pressure value P4, the liquid hydrogen pump outlet one-way valve pressure drop value P5 and the storage tank jacket pressure P6 corresponding to the same sampling moment;

[0026] in the extension stroke, the spring deformation variable X = [P × S1 + (P6-P2-P3-P4-P5 × β1) × S2-β2 × V 2 -β3-m × (dV / dt)] / K;

[0027] in the retraction stroke, the spring deformation variable X = [P × S1 + (P6-P2-P3) × S2+m × (dV / dt) + β4 × V 2 +β5] / K.

[0028] In some schemes, the monitoring method of the hydraulic driving system, the hydraulic driving force standard curve, the spring deformation variable standard curve, the flow standard curve and the standard volumetric efficiency are obtained by calibration test.

[0029] In a second aspect, the technical scheme of the present application provides a monitoring device of a hydraulic driving system, the extension stroke of the hydraulic driving system is driven by a hydraulic cylinder, the retraction stroke is driven by a spring, and the device comprises:

[0030] a sampling module configured to obtain hydraulic driving force sampling information and spring deformation variable sampling information of the hydraulic cylinder; the hydraulic driving force sampling information comprises a sampling moment and a hydraulic driving force sampling value, and the spring deformation variable sampling information comprises a sampling moment and a spring deformation variable sampling value;

[0031] a judgment module configured to judge a current stroke and call a hydraulic driving force standard curve and a spring deformation variable standard curve corresponding to the current stroke; the horizontal axis of the hydraulic driving force standard curve represents time, and the vertical axis represents a hydraulic driving force standard value; the horizontal axis of the spring deformation variable standard curve represents time, and the vertical axis represents a spring deformation variable standard value; the current stroke is an extension stroke or a retraction stroke;

[0032] a difference obtaining module configured to obtain a first difference value between a hydraulic driving force sampling value and an expected hydraulic driving force corresponding to the same sampling moment, and a second difference value between a spring deformation variable sampling value and an expected spring deformation variable corresponding to the same sampling moment;

[0033] a judgment result generating module configured to determine that the current stroke of the hydraulic driving system is abnormal if the first difference value or the second difference value exceeds a set threshold.

[0034] In a third aspect, the application provides a storage medium, wherein the storage medium stores program information, and a computer reads the program information to execute the hydraulic drive system monitoring method according to any one of the first aspect.

[0035] In a fourth aspect, the application provides an electronic device, which comprises at least one processor and at least one memory, wherein the at least one memory stores program information, and the at least one processor reads the program information to execute the hydraulic drive system monitoring method according to any one of the first aspect.

[0036] The technical scheme of the application has the following technical effects compared with the prior art:

[0037] The hydraulic drive system monitoring method, device and electronic device provided by the application are applied to the case where the hydraulic drive is used in cooperation with the spring drive. Compared with the double-hydraulic-cylinder driving mode, the hydraulic drive system in the application is more suitable for the application scenario of the high-pressure liquid hydrogen pump. In the process of monitoring the hydraulic drive system, the hydraulic driving force sampling information and the spring deformation variable sampling information of the hydraulic cylinder are acquired; the current stroke is judged, and the hydraulic driving force standard curve and the spring deformation variable standard curve corresponding to the current stroke are called; the first difference value between the hydraulic driving force sampling value corresponding to the same sampling time and the expected hydraulic driving force is acquired, and the second difference value between the spring deformation variable sampling value corresponding to the same sampling time and the expected spring deformation variable is acquired; if the first difference value or the second difference value exceeds the set threshold value, it is determined that the current stroke of the hydraulic drive system is abnormal. In the scheme of the application, in the reciprocating stroke with the participation of the spring, the hydraulic driving force and the spring deformation variable (or the piston position) have a one-to-one correspondence, so the hydraulic driving force standard curve and the spring deformation variable standard curve can be stored in advance, and in the actual operation process of the hydraulic drive system, the difference between the actual hydraulic driving force sampling value and the spring deformation variable sampling value and the expected value recorded in the standard curve is acquired, and if the difference is too large, it means that the stroke is abnormal. The scheme of the application has the effects of simplicity and accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0038] The preferred embodiments of the application will be described in detail below with the help of the accompanying drawings, which will help to understand the purposes and advantages of the application, in which:

[0039] Figure 1 The flowchart of the hydraulic drive system monitoring method provided by one embodiment of the application is shown in the figure;

[0040] Figure 2 The structure schematic diagram of the hydraulic drive system described by one embodiment of the application is shown in the figure;

[0041] Figure 3a A schematic diagram of a hydraulic driving force standard curve according to an embodiment of the present application;

[0042] Figure 3b A schematic diagram of a hydraulic driving force standard curve according to another embodiment of the present application;

[0043] Figure 4 A flow chart of a monitoring method of a hydraulic driving system according to a specific example of the present application;

[0044] Figure 5 A schematic diagram of a volume efficiency calculation flow according to an embodiment of the present application;

[0045] Figure 6 A structural block diagram of a monitoring device of a hydraulic driving system according to an embodiment of the present application;

[0046] Figure 7 A schematic diagram of a hardware connection relationship of an electronic device for executing a monitoring method of a hydraulic driving system according to an embodiment of the present application. DETAILED DESCRIPTION

[0047] The technical solutions of the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0048] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0049] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0050] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0051] This embodiment provides a monitoring method for a hydraulic drive system, applicable to systems where the extension stroke is driven by a hydraulic cylinder and the retraction stroke is driven by a spring. Figure 1 As shown, the method includes:

[0052] S10: Obtain the hydraulic driving force sampling information and spring deformation sampling information of the hydraulic cylinder; the hydraulic driving force sampling information includes the sampling time and the hydraulic driving force sampling value, and the spring deformation sampling information includes the sampling time and the spring deformation sampling value.

[0053] like Figure 2 As shown, the hydraulic drive system used in this scheme includes: a hydraulic cylinder 201, a spring 202, a piston 203, and a piston valve 204 on the piston. The hydraulic cylinder 201 draws in hydraulic oil. After the hydraulic oil pushes the piston valve 204 to seal the valve hole on the piston, the hydraulic oil can push the piston to the right; this stroke is the extension stroke. When the extension stroke reaches its end, the spring 202 stores its maximum energy, and the valve stem of the piston valve 204 abuts against the inner wall. Hydraulic oil then enters the right chamber from the left cylinder. Afterward, the hydraulic oil pressure on the left decreases, the spring 202 releases its stored energy, and pushes the piston 203 to the left; this is the retraction stroke. When the piston 203 moves to the far left, the hydraulic oil in the hydraulic cylinder is emptied. At this time, the hydraulic driving force of the hydraulic cylinder should be equal to the reference pressure of the oil tank connected to the hydraulic cylinder. Therefore, throughout the operation of the hydraulic drive system, the spring deformation and the hydraulic driving force of the hydraulic cylinder change in real time.

[0054] The above-mentioned sampling information can be sampled by setting up sensors. For example, hydraulic driving force sampling information can be detected by using pressure sensors installed at the inlet and outlet of the hydraulic cylinder. Spring deformation can be calculated based on the hydraulic driving force, or the spring deformation can be determined by setting up sensors to detect the spring position.

[0055] S20: Determine the current stroke and retrieve the hydraulic drive force standard curve and spring deformation standard curve corresponding to the current stroke; the horizontal axis of the hydraulic drive force standard curve represents time, and the vertical axis represents the standard value of hydraulic drive force; the horizontal axis of the spring deformation standard curve represents time, and the vertical axis represents the standard value of spring deformation; the current stroke is the extension stroke or the retraction stroke.

[0056] The standard curves for hydraulic drive force and spring deformation can be pre-stored in the control system and determined through calibration tests, etc. For example... Figure 3a and Figure 3bThe standard curve of the hydraulic driving force in the two examples. In this scheme, data sampling is realized according to the data type recorded in the standard curve. For example, Figure 3a In the middle ordinate, the pressure value is directly used, Figure 3b In the middle ordinate, the pressure change rate is used. Therefore, if the standard curve of Figure 3a is used, the pressure value in the sampling information is the pressure value itself, and if the standard curve of Figure 3b is used, the pressure value in the sampling information can also use the result of the change rate of the detected real-time pressure value. In addition, it is also possible to make a judgment using, for example, the average value, the median, etc.

[0057] S30: Obtain the first difference value between the hydraulic driving force sampling value corresponding to the same sampling time and the expected hydraulic driving force, and the second difference value between the spring deformation variable sampling value corresponding to the same sampling time and the expected spring deformation variable.

[0058] As shown in Figure 3a and Figure 3b , the horizontal axis is time and the vertical axis is the standard value. The standard curve of the hydraulic driving force characteristic change rule shown in Figure 3a , the standard curve includes the pressure current value, the pressure inflection point, the pressure extreme value, the pressure change rate, and the time of all points on the curve, etc. According to the pressure characteristic change rule in the standard curve, as long as the sampling time is determined, the horizontal coordinate can be determined, so that the expected value of the sampling time on the standard curve can be determined, and the difference value can be obtained by directly subtracting the actual sampling value from the expected value.

[0059] S40: If the first difference value or the second difference value exceeds the set threshold value, it is determined that the current stroke of the hydraulic driving system is abnormal.

[0060] That is, if the first difference value and the second difference value can be within a reasonable range, it can be considered that the stroke is normal. Otherwise, it is determined that the stroke is abnormal.

[0061] The hydraulic driving system is used in cooperation with the spring driving, compared with the double-hydraulic-cylinder driving mode, the hydraulic driving system in the application is more suitable for the application scenario of the high-pressure liquid hydrogen pump. In the process of monitoring the hydraulic driving system, the hydraulic driving force sampling information and the spring deformation variable sampling information of the hydraulic cylinder are acquired; the current stroke is judged, and the hydraulic driving force standard curve and the spring deformation variable standard curve corresponding to the current stroke are called; the first difference value between the hydraulic driving force sampling value corresponding to the same sampling time and the expected hydraulic driving force is acquired, and the second difference value between the spring deformation variable sampling value corresponding to the same sampling time and the expected spring deformation variable is acquired; if the first difference value or the second difference value exceeds the set threshold value, it is determined that the current stroke of the hydraulic driving system is abnormal. In the scheme of the application, in the reciprocating stroke with the participation of the spring, the hydraulic driving force and the spring deformation variable (or the piston position) have a one-to-one correspondence, so the hydraulic driving force standard curve and the spring deformation variable standard curve can be stored in advance, and in the actual operation process of the hydraulic driving system, the difference between the actual hydraulic driving force sampling value and the spring deformation variable sampling value and the expected value recorded in the standard curve is acquired, and if the difference is too large, it is indicated that the stroke is abnormal. The scheme of the application has the effects of simplicity and accuracy.

[0062] Further, in the above method, after judging the current stroke, if the current stroke is the retraction stroke, the method further comprises:

[0063] S21: acquiring flow sampling information of the hydraulic cylinder outlet outflow hydraulic oil, the flow sampling information comprising a sampling time and a flow sampling value.

[0064] S22: calling a flow standard curve corresponding to the retraction stroke, the horizontal axis of the flow standard curve representing time and the vertical axis representing a flow standard value.

[0065] S23: acquiring a third difference value between the flow sampling value corresponding to the same sampling time and an expected flow value, and if the third difference value exceeds a set threshold value, determining that the retraction stroke of the hydraulic system is abnormal.

[0066] As described above, in combination with the driving system shown in Figure 2 , in the retraction stroke, the flow value also changes from the starting point to the ending point, and when the stroke ending point is reached, the flow is also basically zero. In the specific implementation, the flow standard curve can also be acquired according to the calibration test and stored in the control system.

[0067] In combination with Figure 4 , Ps, Fs and Xs are respectively the expected values of the hydraulic driving force, the flow and the spring deformation variable, and σ1-σ5 are respectively different set threshold values.

[0068] As shown in Figure 5As shown, in addition to monitoring the operation of the hydraulic system by using the standard curve, the method can further include: determining the volumetric efficiency of the hydraulic drive system after the extension stroke and / or the compression stroke is completed; and determining that the stroke of the drive system is abnormal if the difference between the volumetric efficiency and the standard volumetric efficiency exceeds the allowable error value.

[0069] In specific calculation, the volumetric efficiency can be determined according to the hydraulic driving force sample information obtained in a single stroke process. Alternatively, the running time of the hydraulic system can be accumulated; and the volumetric efficiency can be determined according to the hydraulic driving force sample information in the accumulated running time if the accumulated running time reaches a preset time length. Figure 5 As shown, μs is the standard volumetric efficiency, and σ8 and σ9 are the allowable error values corresponding to the volumetric efficiency in the two strokes.

[0070] In some preferred schemes, the spring deformation variable is determined by: obtaining the spring coefficient K, the first end area S1 of the piston, the second end area S2 of the piston, the total mass m of the piston linkage system, and the piston speed V; and obtaining the hydraulic driving force sample value P, the tank pressure P2, the liquid level static pressure P3, the liquid hydrogen pump outlet pressure value P4, the one-way valve pressure drop value P5 of the liquid hydrogen pump outlet, and the tank jacket pressure P6 corresponding to the same sampling moment. The above parameters can be determined according to the design parameters of the hydraulic cylinder or determined by using a sensor. In the extension stroke, the spring deformation variable X = [P × S1 + (P6-P2-P3-P4-P5 × β1) × S2-β2 × V 2 + β3 × m × (dV / dt)] / K; and in the retraction stroke, the spring deformation variable X = [P × S1 + (P6-P2-P3) × S2 + m × (dV / dt) + β4 × V 2 + β5] / K.

[0071] The scheme in the above embodiments provided by the present application can determine whether the running state of the drive system driven by the hydraulic drive and the spring drive at one end is normal by comparing the collected information with the pre-stored standard curve.

[0072] The present application further provides a monitoring device of a hydraulic drive system, wherein the extension stroke of the hydraulic drive system is driven by a hydraulic cylinder, and the retraction stroke is driven by a spring. Figure 6 As shown, the device includes:

[0073] The sampling module 10 is configured to acquire the hydraulic driving force sampling information and the spring deformation variable sampling information of the hydraulic cylinder; the hydraulic driving force sampling information comprises a sampling time and a hydraulic driving force sampling value, and the spring deformation variable sampling information comprises a sampling time and a spring deformation variable sampling value; the above sampling information can be sampled by setting sensors. For example, the hydraulic driving force sampling information can be detected by a pressure sensor arranged at the inlet and outlet of the hydraulic cylinder, and the spring deformation variable can be calculated according to the hydraulic driving force, or the spring position can be detected by setting a sensor to determine the spring deformation variable.

[0074] The judgment module 20 is configured to judge the current stroke and call the hydraulic driving force standard curve and the spring deformation variable standard curve corresponding to the current stroke; the horizontal axis of the hydraulic driving force standard curve represents time, and the vertical axis represents a hydraulic driving force standard value; the horizontal axis of the spring deformation variable standard curve represents time, and the vertical axis represents a spring deformation variable standard value; the current stroke is an extension stroke or a retraction stroke; the hydraulic driving force standard curve and the spring deformation variable standard curve can be pre-stored in the control system and can be determined by calibration test and the like.

[0075] The difference acquisition module 30 is configured to acquire a first difference value of the hydraulic driving force sampling value corresponding to the same sampling time and the expected hydraulic driving force, and a second difference value of the spring deformation variable sampling value corresponding to the same sampling time and the expected spring deformation variable; the standard curve of the hydraulic driving force characteristic change rule comprises a pressure current value, a pressure inflection point, a pressure extreme value, a pressure change rate, and the time of all points on the curve, etc. According to the pressure characteristic change rule in the standard curve, as long as the sampling time is determined, the abscissa can be determined, so that the expected value of the sampling time on the standard curve can be determined, and the difference value can be obtained by directly subtracting the actual sampling value from the expected value.

[0076] The judgment result generation module 40 is configured to determine that the current stroke of the hydraulic driving system is abnormal if the first difference value or the second difference value exceeds a set threshold. That is, if the first difference value and the second difference value can be within a reasonable interval, it can be considered that the stroke is normal. Otherwise, it is determined that the stroke is abnormal.

[0077] The device provided in the application is applied to the case where the hydraulic driving system is used in cooperation with the spring driving, and compared with the double-hydraulic-cylinder driving mode, the hydraulic driving system in the application is more suitable for the application scenario of the high-pressure liquid hydrogen pump. In the process of monitoring the hydraulic driving system, the hydraulic driving force sampling information and the spring deformation amount sampling information of the hydraulic cylinder are acquired; the current stroke is judged, and the hydraulic driving force standard curve and the spring deformation amount standard curve corresponding to the current stroke are called; the first difference value between the hydraulic driving force sampling value corresponding to the same sampling time and the expected hydraulic driving force is acquired, and the second difference value between the spring deformation amount sampling value corresponding to the same sampling time and the expected spring deformation amount is acquired; if the first difference value or the second difference value exceeds the set threshold value, it is determined that the current stroke of the hydraulic driving system is abnormal. In the scheme of the application, in the reciprocating stroke with the participation of the spring, there is a one-to-one correspondence between the hydraulic driving force and the spring deformation amount (or the piston position), so the hydraulic driving force standard curve and the spring deformation amount standard curve can be stored in advance, and in the actual operation process of the hydraulic driving system, the difference between the actual hydraulic driving force sampling value and the spring deformation amount sampling value and the expected value recorded in the standard curve is acquired, and if the difference is too large, it means that the stroke is abnormal. The scheme of the application has the effects of simplicity and accuracy.

[0078] Further, in the device, if the current stroke is the retraction stroke, the sampling module 10 is further used to acquire the flow sampling information of the hydraulic oil flowing out of the outlet of the hydraulic cylinder, and the flow sampling information includes the sampling time and the flow sampling value. The flow standard curve corresponding to the retraction stroke is called, and the horizontal axis of the flow standard curve represents time and the vertical axis represents the flow standard value. The third difference value between the flow sampling value corresponding to the same sampling time and the expected flow value is acquired, and if the third difference value exceeds the set threshold value, it is determined that the retraction stroke of the hydraulic system is abnormal. In the retraction stroke, the flow value also changes from the starting point to the ending point, and when the stroke ending point is reached, the flow is basically zero. In specific implementation, the flow standard curve can also be acquired according to the calibration test and stored in the control system.

[0079] The device can further include a volume efficiency comparison module: after completing the extension stroke and / or the compression stroke, the volume efficiency of the hydraulic driving system is determined; if the difference between the volume efficiency and the standard volume efficiency exceeds the allowable error value, it is determined that the stroke of the driving system is abnormal. In specific calculation, the volume efficiency can be determined according to the hydraulic driving force sampling information acquired in the single stroke process. The running time of the hydraulic system can also be accumulated; if the accumulated running time reaches the preset time length, the volume efficiency is determined according to the hydraulic driving force sampling information in the accumulated running time.

[0080] In some preferred schemes, the sampling module 10: obtains the spring coefficient K, the piston first end area S1, the piston second end area S2, the piston linkage system total mass m and the piston speed V; obtains the hydraulic driving force sampling value P, the storage tank pressure P2, the liquid level static pressure P3, the liquid hydrogen pump outlet pressure value P4, the liquid hydrogen pump pump outlet one-way valve pressure drop value P5 and the storage tank jacket pressure P6 corresponding to the same sampling moment, and the above parameters can be determined according to the design parameters of the hydraulic cylinder or determined by using a sensor to detect. In the extension stroke, the spring deformation variable X = [P × S1 + (P6-P2-P3-P4-P5 × β1) × S2-β2 × V 2 -β3-m × (dV / dt)] / K; in the retraction stroke, the spring deformation variable X = [P × S1 + (P6-P2-P3) × S2 + m × (dV / dt) + β4 × V 2 +β5] / K.

[0081] The device in the above embodiments provided in the application can judge whether the running state of the driving system driven by hydraulic pressure at one end and spring at the other end is normal by comparing the collected information with the pre-stored standard curve.

[0082] Some embodiments also provide a storage medium, which stores program information, and a computer reads the program information and executes the monitoring method of the hydraulic driving system according to any one scheme in the above method embodiments.

[0083] Some embodiments provide an electronic device, such as Figure 7As shown, the electronic device includes at least one processor 61 and at least one memory 62, at least one of the memories 62 stores program information, and at least one of the processors 61 reads the program information and executes the hydraulic drive system monitoring method described in any of the above method embodiments. The device can also include an input device 63 and an output device 64. The processor 61, memory 62, input device 63 and output device 64 can be communicatively connected. The memory 62, as a non-volatile computer readable storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs and modules. The processor 61 executes various functional applications and data processing by running the non-volatile software programs, instructions and modules stored in the memory 62, that is, implements the hydraulic drive system monitoring method provided in any of the above schemes. The memory 62 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required by a function; the data storage area can store data created according to the use of the hydraulic drive system monitoring method, etc. In addition, the memory 62 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 62 can optionally include a memory remotely arranged with respect to the processor 61, and these remote memories can be connected to the device executing the hydraulic drive system monitoring method through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof. The input device 63 can receive input user clicks and generate signal inputs related to user settings and functional controls of the hydraulic drive system monitoring method. The output device 64 can include a display device such as a display screen. When the one or more modules are stored in the memory 62 and run by the one or more processors 61, the hydraulic drive system monitoring method in any of the above method embodiments is executed.

[0084] Obviously, the above embodiments are only examples for clear illustration, and are not limitations on the embodiments. Based on the above description, other different forms of changes or variations can also be made by those of ordinary skill in the art. Here, all embodiments need not and cannot be exhausted. The changes or variations derived therefrom are still within the scope of the present application.

Claims

1. A method of monitoring a hydraulic drive system, characterized by, The extension stroke of the hydraulic driving system is driven by a hydraulic cylinder, and the retraction stroke is driven by a spring, and the method comprises: Obtaining hydraulic driving force sampling information and spring deformation variable sampling information of the hydraulic cylinder; the hydraulic driving force sampling information comprises a sampling time and a hydraulic driving force sampling value, and the spring deformation variable sampling information comprises a sampling time and a spring deformation variable sampling value; Judging a current stroke, and calling a hydraulic driving force standard curve and a spring deformation variable standard curve corresponding to the current stroke; the horizontal axis of the hydraulic driving force standard curve represents time, and the vertical axis represents a hydraulic driving force standard value; the horizontal axis of the spring deformation variable standard curve represents time, and the vertical axis represents a spring deformation variable standard value; the current stroke is an extension stroke or a retraction stroke; Obtaining a first difference value between a hydraulic driving force sampling value corresponding to a same sampling time and an expected hydraulic driving force, and a second difference value between a spring deformation variable sampling value corresponding to the same sampling time and an expected spring deformation variable; If the first difference value or the second difference value exceeds a set threshold value, it is determined that the current stroke of the hydraulic driving system is abnormal.

2. The hydraulic drive system monitoring method according to claim 1, characterized by, After judging the current stroke, if the current stroke is the retraction stroke, the method further comprises: Obtaining flow sampling information of hydraulic oil flowing out of an outlet of the hydraulic cylinder, the flow sampling information comprising a sampling time and a flow sampling value; Calling a flow standard curve corresponding to the retraction stroke, the horizontal axis of the flow standard curve representing time and the vertical axis representing a flow standard value; Obtaining a third difference value between a flow sampling value corresponding to a same sampling time and an expected flow value, and if the third difference value exceeds a set threshold value, it is determined that the retraction stroke of the hydraulic system is abnormal.

3. The hydraulic drive system monitoring method according to claim 2, characterized by, The method further comprises: After completing the extension stroke and / or the compression stroke, determining a volumetric efficiency of the hydraulic driving system; If a difference value between the volumetric efficiency and a standard volumetric efficiency exceeds an allowed error value, it is determined that the stroke of the driving system is abnormal.

4. The hydraulic drive system monitoring method according to claim 3, characterized by, The method of determining the volumetric efficiency of the hydraulic driving system comprises: Determining the volumetric efficiency according to the hydraulic driving force sampling information obtained in a single stroke process.

5. The hydraulic drive system monitoring method according to claim 3, wherein The method of determining the volumetric efficiency of the hydraulic driving system comprises: Accumulating a running time length of the hydraulic system; If the accumulated running time length reaches a preset time length, determining the volumetric efficiency according to the hydraulic driving force sampling information in the accumulated running time length.

6. A method of monitoring a hydraulic drive system according to any one of claims 3-5, characterized in that, The spring deformation variable is determined by: Obtaining an elastic coefficient K of the spring, a first end area S1 of the piston, a second end area S2 of the piston, a total mass m of a piston linkage system, and a piston speed V; Obtaining a hydraulic driving force sampling value P corresponding to a same sampling time, a storage tank pressure P2, a liquid level static pressure P3, a liquid hydrogen pump outlet pressure value P4, a one-way valve pressure drop value P5 of a liquid hydrogen pump outlet, and a storage tank jacket pressure P6; In the extension stroke, the spring deformation variable X = [P x S1 + (P6 - P2 - P3 - P4 - P5 x β1) x S2 - β2 x V 2 - β3 x m x (dV / dt)] / K; During the retraction stroke, the spring deformation X = [P×S1 + (P6 - P2 - P3)×S2 + m×(dV / dt) + β4×V] 2 +β5] / K.

7. The monitoring method of the hydraulic driving system according to claim 6, wherein: The hydraulic driving force standard curve, the spring deformation variable standard curve, the flow standard curve, and the standard volumetric efficiency are obtained by means of a calibration test.

8. A monitoring device for a hydraulic drive system, characterized in that The extension stroke of the hydraulic driving system is driven by a hydraulic cylinder, and the retraction stroke is driven by a spring, and the device comprises: The sampling module is configured to acquire hydraulic driving force sampling information and spring deformation variable sampling information of the hydraulic cylinder; the hydraulic driving force sampling information comprises a sampling time and a hydraulic driving force sampling value, and the spring deformation variable sampling information comprises a sampling time and a spring deformation variable sampling value; The judgment module is configured to judge a current stroke and call a hydraulic driving force standard curve and a spring deformation variable standard curve corresponding to the current stroke; a horizontal axis of the hydraulic driving force standard curve represents time, and a vertical axis represents a hydraulic driving force standard value; a horizontal axis of the spring deformation variable standard curve represents time, and a vertical axis represents a spring deformation variable standard value; the current stroke is an extension stroke or a retraction stroke; The difference acquisition module is configured to acquire a first difference value between a hydraulic driving force sampling value corresponding to a same sampling time and an expected hydraulic driving force, and a second difference value between a spring deformation variable sampling value corresponding to the same sampling time and an expected spring deformation variable; The judgment result generation module is configured to determine that a current stroke of the hydraulic driving system is abnormal if the first difference value or the second difference value exceeds a set threshold.

9. A storage medium, characterized by The storage medium has program information stored therein, and a computer reads the program information to execute the monitoring method of the hydraulic driving system according to any one of claims 1-7.

10. An electronic device, comprising: The electronic device comprises at least one processor and at least one memory, and the at least one memory has program information stored therein; and the at least one processor reads the program information to execute the monitoring method of the hydraulic driving system according to any one of claims 1-7.

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