A monitoring method and device of a hydraulic drive system and an electronic device

Abstract

The application discloses a monitoring method and device of a hydraulic driving system and electronic equipment, and the hydraulic driving system is applied to the case that the hydraulic driving is cooperated with spring driving. Compared with the double-hydraulic-cylinder driving mode, the hydraulic driving system 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 moment 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 moment 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. The scheme can accurately judge the abnormal situation in the driving process.

Description

Technical Field

[0001] This application relates to the field of fault diagnosis technology for drive systems, and in particular to a monitoring method, device and electronic equipment for a hydraulic drive system. Background Technology

[0002] Hydraulic drive systems are frequently used to power reciprocating pistons. Generally, hydraulic drive systems are double-acting hydraulic cylinders, meaning both the piston's extension and retraction strokes are driven hydraulically. When controlling a double-cylinder drive system, it is necessary to monitor the piston's movement during the extension and retraction strokes to promptly detect and issue an alarm if any abnormalities occur.

[0003] The dual-cylinder drive system generates significant driving force during the reciprocating motion of the piston. When applied to a high-pressure liquid hydrogen pump, this poses a safety risk due to the relatively low pressure resistance of the liquid hydrogen storage tank, especially when the pressure exceeds the limit. Therefore, the structure and monitoring methods of the hydraulic drive system in the high-pressure liquid hydrogen pump require further improvement. Summary of the Invention

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

[0005] To address the aforementioned technical problems, this application provides the following technical solution:

[0006] In a first aspect, the present application provides a monitoring method for 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, and the method includes:

[0007] The hydraulic driving force sampling information and spring deformation sampling information of the hydraulic cylinder are obtained; 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.

[0008] 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.

[0009] Obtain the first difference between the hydraulic driving force sample value and the expected hydraulic driving force at the same sampling time, and obtain the second difference between the spring deformation sample value and the expected spring deformation at the same sampling time.

[0010] If either the first difference value or the second difference value exceeds a set threshold, the current stroke of the hydraulic drive system is determined to be abnormal.

[0011] Some solutions describe a monitoring method for a hydraulic drive system that, after determining the current stroke, further includes, if the current stroke is a retraction stroke:

[0012] Obtain flow rate sampling information of hydraulic oil flowing out of the hydraulic cylinder outlet, wherein the flow rate sampling information includes sampling time and flow rate sampling value;

[0013] Retrieve the flow rate standard curve corresponding to the retraction stroke. The horizontal axis of the flow rate standard curve represents time, and the vertical axis represents the standard flow rate value.

[0014] Obtain the third difference value between the flow rate sample value and the expected flow rate value at the same sampling time. If the third difference value exceeds a set threshold, the retraction stroke of the hydraulic system is determined to be abnormal.

[0015] Some of the monitoring methods for hydraulic drive systems described in the solutions also include:

[0016] After the extension and / or compression strokes are completed, determine the volumetric efficiency of the hydraulic drive system;

[0017] If the difference between the volumetric efficiency and the standard volumetric efficiency exceeds the allowable error value, the drive system is determined to have a stroke abnormality.

[0018] Some solutions describe a method for monitoring a hydraulic drive system, wherein determining the volumetric efficiency of the hydraulic drive system includes:

[0019] The volumetric efficiency is determined based on the hydraulic drive force sampling information obtained during a single stroke.

[0020] Some solutions describe a method for monitoring a hydraulic drive system, wherein determining the volumetric efficiency of the hydraulic drive system includes:

[0021] Accumulate the operating time of the hydraulic system;

[0022] If the cumulative running time reaches the preset duration, the volumetric efficiency is determined based on the hydraulic drive force sampling information within the cumulative running time.

[0023] Some solutions describe methods for monitoring hydraulic drive systems, which determine spring deformation in the following ways:

[0024] Obtain the spring constant K, the area of ​​the first end of the piston S1, the area of ​​the second end of the piston S2, the total mass m of the piston linkage system, and the piston velocity V;

[0025] Acquire the hydraulic driving force sampling value P, tank pressure P2, liquid level static pressure P3, liquid hydrogen pump outlet pressure P4, liquid hydrogen pump outlet check valve pressure drop value P5, and tank jacket pressure P6 corresponding to the same sampling time.

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

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

[0028] In some solutions, the monitoring method for hydraulic drive systems obtains the standard curves of hydraulic drive force, spring deformation, flow rate, and standard volumetric efficiency through calibration tests.

[0029] Secondly, this application provides a monitoring device for 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. The device includes:

[0030] The sampling module is configured to acquire hydraulic driving force sampling information and spring deformation sampling information of the hydraulic cylinder; the hydraulic driving force sampling information includes sampling time and hydraulic driving force sampling value, and the spring deformation sampling information includes sampling time and spring deformation sampling value;

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

[0032] The difference acquisition module is configured to acquire the first difference between the hydraulic driving force sample value and the expected hydraulic driving force at the same sampling time, and to acquire the second difference between the spring deformation sample value and the expected spring deformation at the same sampling time.

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

[0034] Thirdly, the present application provides a storage medium storing program information, wherein a computer reads the program information and executes the monitoring method of the hydraulic drive system described in any of the solutions of the first aspect.

[0035] Fourthly, the present application provides an electronic device, which includes at least one processor and at least one memory, wherein at least one memory stores program information, and at least one processor reads the program information and executes the monitoring method of the hydraulic drive system described in any of the first aspects.

[0036] The technical solution of this application has the following technical advantages over the prior art:

[0037] The monitoring method, apparatus, and electronic equipment for the hydraulic drive system provided in this application utilize a combination of hydraulic and spring drives. Compared to dual-cylinder drives, the hydraulic drive system in this application is more suitable for high-pressure liquid hydrogen pump applications. During the monitoring of the hydraulic drive system, the following steps are taken: acquiring hydraulic drive force sampling information and spring deformation sampling information; determining the current stroke and retrieving the corresponding hydraulic drive force standard curve and spring deformation standard curve; obtaining a first difference value between the hydraulic drive force sampling value at the same sampling time and the expected hydraulic drive force, and obtaining a second difference value between the spring deformation sampling value at the same sampling time and the expected spring deformation; if either the first or second difference value exceeds a set threshold, the current stroke of the hydraulic drive system is determined to be abnormal. In this application's solution, during the reciprocating stroke involving a spring, there is a one-to-one correspondence between the hydraulic driving force and the spring deformation (or piston position). Therefore, by pre-storing standard curves for the hydraulic driving force and spring deformation, the difference between the actual sampled values ​​of the hydraulic driving force and spring deformation and the expected values ​​recorded in the standard curves can be collected during the actual operation of the hydraulic drive system. If the difference is too large, it indicates an abnormal stroke. This application's solution is simple and accurate. Attached Figure Description

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

[0039] Figure 1 A flowchart illustrating a monitoring method for a hydraulic drive system provided in one embodiment of this application;

[0040] Figure 2 This is a schematic diagram of the structure of a hydraulic drive system according to one embodiment of this application;

[0041] Figure 3a This is a schematic diagram of a standard curve of hydraulic driving force according to one embodiment of this application;

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

[0043] Figure 4 Here is a flowchart of a monitoring method for a hydraulic drive system in a specific example of this application;

[0044] Figure 5 This is a schematic diagram of the volumetric efficiency calculation process according to one embodiment of this application;

[0045] Figure 6 This is a structural block diagram of a monitoring device for a hydraulic drive system according to one embodiment of this application;

[0046] Figure 7 This is a schematic diagram of the hardware connections of an electronic device that performs a monitoring method for a hydraulic drive system according to an embodiment of this application. Detailed Implementation

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

[0048] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0049] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on 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 above describes standard curves for hydraulic driving force in two examples. In this scheme, data sampling is implemented based on the data type described in the standard curve. For example, Figure 3a The vertical axis directly uses the pressure value, while Figure 3b The vertical axis represents the rate of change of pressure. Therefore, if we use... Figure 3a If the standard curve is used, then the pressure value in the sampled information is the pressure value itself. However, if a standard curve is used... Figure 3b If the standard curve is obtained, the pressure value in the sampling information can also be calculated using the rate of change of the detected real-time pressure value. In addition, other metrics such as the mean and median can be used for further analysis.

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

[0058] like Figure 3a and Figure 3b The horizontal axis represents time, and the vertical axis represents the standard value. Figure 3a The standard curve shown illustrates the variation of hydraulic driving force characteristics. The standard curve includes the current pressure value, pressure inflection point, pressure extreme value, pressure change rate, and the time for all points on the curve. Based on the pressure characteristic variation pattern in the standard curve, once the sampling time is determined, the horizontal axis can be determined, thus allowing the expected value of the sampling time on the standard curve to be determined. The difference value can be obtained by directly subtracting the actual sampled value from the expected value.

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

[0060] In other words, if the first and second difference values ​​are within a reasonable range, the trip can be considered normal. Otherwise, the trip is considered abnormal.

[0061] The method provided in this application utilizes a hydraulic drive system that combines hydraulic and spring drives. Compared to a dual-cylinder drive system, the hydraulic drive system in this application is more suitable for high-pressure liquid hydrogen pump applications. During the monitoring of the hydraulic drive system, the system acquires hydraulic drive force sampling information and spring deformation sampling information; determines the current stroke and retrieves the corresponding hydraulic drive force standard curve and spring deformation standard curve; obtains the first difference between the hydraulic drive force sampling value and the expected hydraulic drive force at the same sampling time, and obtains the second difference between the spring deformation sampling value and the expected spring deformation at the same sampling time; if the first or second difference exceeds a set threshold, the current stroke of the hydraulic drive system is determined to be abnormal. In the scheme of this application, during the reciprocating stroke involving a spring, there is a one-to-one correspondence between the hydraulic drive force and the spring deformation (or piston position). Therefore, by pre-storing the hydraulic drive force standard curve and the spring deformation standard curve, the actual difference between the hydraulic drive force sampling value and the spring deformation sampling value and the expected value recorded in the standard curve is collected during the actual operation of the hydraulic drive system. If the difference is too large, it indicates an abnormal stroke. The solution proposed in this application is simple and accurate.

[0062] Furthermore, in the above method, after determining the current trip, if the current trip is a retraction trip, it further includes:

[0063] S21: Obtain flow rate sampling information of hydraulic oil flowing out of the hydraulic cylinder outlet, wherein the flow rate sampling information includes sampling time and flow rate sampling value.

[0064] S22: Retrieve the flow rate standard curve corresponding to the retraction stroke. The horizontal axis of the flow rate standard curve represents time, and the vertical axis represents the standard flow rate value.

[0065] S23: Obtain the third difference value between the flow rate sample value and the expected flow rate value at the same sampling time. If the third difference value exceeds the set threshold, the retraction stroke of the hydraulic system is determined to be abnormal.

[0066] As mentioned above, in combination Figure 2 The drive system shown has a constantly changing flow rate from the start to the end of the retraction stroke. When the end of the stroke is reached, the flow rate is basically zero. In practice, a standard flow rate curve can be obtained from calibration tests and stored in the control system.

[0067] Combination Figure 4 As shown, Ps, Fs, and Xs are the expected values ​​of hydraulic driving force, flow rate, and spring deformation, respectively, and σ1 to σ5 are their respective set thresholds.

[0068] like Figure 5As shown, in addition to using a standard curve to monitor the operation of the hydraulic system, the method may also include: after completing the extension stroke and / or compression stroke, determining the volumetric efficiency of the hydraulic drive system; if the difference between the volumetric efficiency and the standard volumetric efficiency exceeds the allowable error value, then the stroke of the drive system is determined to be abnormal.

[0069] In specific calculations, the volumetric efficiency can be determined either based on the hydraulic drive force sampling information obtained during a single stroke, or by accumulating the operating time of the hydraulic system; if the accumulated operating time reaches a preset duration, the volumetric efficiency is determined based on the hydraulic drive force sampling information within that accumulated operating time. (Combined with...) Figure 5 As shown, μs is the standard volumetric efficiency, and σ8 and σ9 are the permissible error values ​​for the volumetric efficiency under the two strokes.

[0070] In some preferred embodiments, the spring deformation is determined as follows: The spring constant K, the piston first end area S1, the piston second end area S2, the total mass m of the piston linkage system, and the piston speed V are obtained; the hydraulic driving force sampling value P, the tank pressure P2, the liquid level static pressure P3, the liquid hydrogen pump outlet pressure P4, the one-way valve pressure drop value P5 at the liquid hydrogen pump outlet, and the tank jacket pressure P6 are obtained at the same sampling moment. All of these parameters can be determined based on the hydraulic cylinder design parameters or by sensor detection. During the extension stroke, the spring deformation X = [P × S1 + (P6 - P2 - P3 - P4 - P5 × β1) × S2 - β2 × V] 2 -β3-m×(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.

[0071] The solution in the above embodiments provided in this application can determine whether the operating status of a drive system with hydraulic drive at one end and spring drive at the other end is normal by comparing the collected information with a pre-stored standard curve.

[0072] This application embodiment also provides a monitoring device for 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, such as... Figure 6 As shown, the device includes:

[0073] The sampling module 10 is configured to acquire 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. The above sampling information can be sampled by setting sensors. For example, the hydraulic driving force sampling information can be detected using pressure sensors installed at the inlet and outlet of the hydraulic cylinder. The spring deformation can be calculated based on the hydraulic driving force, or the spring deformation can be determined by detecting the spring position using sensors.

[0074] The judgment module 20 is configured to judge the current stroke and retrieve the hydraulic driving force standard curve and spring deformation standard curve corresponding to the current stroke; the horizontal axis of the hydraulic driving force standard curve represents time and the vertical axis represents the standard value of hydraulic driving force, and 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; the hydraulic driving force standard curve and the spring deformation standard curve can be pre-stored in the control system and can be determined by calibration tests or other methods.

[0075] The difference acquisition module 30 is configured to acquire the first difference between the hydraulic driving force sample value and the expected hydraulic driving force at the same sampling time, and the second difference between the spring deformation sample value and the expected spring deformation at the same sampling time. A standard curve representing the change in hydraulic driving force characteristics is used, including the current pressure value, pressure inflection point, pressure extreme value, pressure change rate, and the time of all points on the curve. Based on the pressure characteristic change pattern in the standard curve, once the sampling time is determined, the horizontal axis can be determined, thus allowing the expected value of the sampling time on the standard curve to be determined. The difference value can then be obtained by directly subtracting the expected value from the actual sample value.

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

[0077] The device provided in this application utilizes a hydraulic drive system that combines hydraulic and spring drives. Compared to a dual-cylinder drive system, the hydraulic drive system in this application is more suitable for high-pressure liquid hydrogen pump applications. During the monitoring of the hydraulic drive system, the system acquires hydraulic drive force sampling information and spring deformation sampling information; determines the current stroke and retrieves the corresponding hydraulic drive force standard curve and spring deformation standard curve; obtains the first difference between the hydraulic drive force sampling value and the expected hydraulic drive force at the same sampling time, and obtains the second difference between the spring deformation sampling value and the expected spring deformation at the same sampling time; if the first or second difference exceeds a set threshold, the current stroke of the hydraulic drive system is determined to be abnormal. In the solution of this application, during the reciprocating stroke involving the spring, there is a one-to-one correspondence between the hydraulic drive force and the spring deformation (or piston position). Therefore, by pre-storing the hydraulic drive force standard curve and the spring deformation standard curve, the actual difference between the hydraulic drive force sampling value and the spring deformation sampling value and the expected value recorded in the standard curve is collected during the actual operation of the hydraulic drive system. If the difference is too large, it indicates an abnormal stroke. The solution proposed in this application is simple and accurate.

[0078] Furthermore, in the above-mentioned device, if the current stroke is a retraction stroke, the sampling module 10 is also used to obtain flow rate sampling information of the hydraulic oil flowing out of the hydraulic cylinder outlet. The flow rate sampling information includes the sampling time and the flow rate sampling value. A flow rate standard curve corresponding to the retraction stroke is retrieved, where the horizontal axis of the flow rate standard curve represents time and the vertical axis represents the flow rate standard value. A third difference value is obtained between the flow rate sampling value corresponding to the same sampling time and the expected flow rate value. If the third difference value exceeds a set threshold, the retraction stroke of the hydraulic system is determined to be abnormal. During the retraction stroke, the flow rate value continuously changes from the start point to the end point. When the stroke ends, the flow rate is essentially zero. In practical implementation, the flow rate standard curve can also be obtained based on calibration tests and stored in the control system.

[0079] The device may further include a volumetric efficiency comparison module: after completing the extension stroke and / or compression stroke, the volumetric efficiency of the hydraulic drive system is determined; if the difference between the volumetric efficiency and the standard volumetric efficiency exceeds the allowable error value, the stroke of the drive system is determined to be abnormal. In specific calculations, the volumetric efficiency can be determined based on hydraulic drive force sampling information obtained during a single stroke. Alternatively, the operating time of the hydraulic system can be accumulated; if the accumulated operating time reaches a preset duration, the volumetric efficiency is determined based on the hydraulic drive force sampling information within the accumulated operating time.

[0080] In some preferred embodiments, sampling module 10 acquires the spring constant K, the piston first end area S1, the piston second end area S2, the total mass m of the piston linkage system, and the piston speed V; it also acquires the hydraulic driving force sampling value P, the tank pressure P2, the liquid level static pressure P3, the liquid hydrogen pump outlet pressure P4, the one-way valve pressure drop value P5 at the liquid hydrogen pump outlet, and the tank jacket pressure P6 at the same sampling moment. These parameters can be determined based on the hydraulic cylinder design parameters or by sensor detection. During the extension stroke, the spring deformation X = [P × S1 + (P6 - P2 - P3 - P4 - P5 × β1) × S2 - β2 × V]. 2 -β3-m×(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.

[0081] The device in the above embodiments provided in this application can determine whether the operating status of the drive system with hydraulic drive at one end and spring drive 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 storing program information, and after the computer reads the program information, it executes the monitoring method of the hydraulic drive system described in any of the above method embodiments.

[0083] In some embodiments, an electronic device, such as Figure 7As shown, the electronic device includes at least one processor 61 and at least one memory 62. The at least one memory 62 stores program information. After reading the program information, the at least one processor 61 executes the monitoring method for the hydraulic drive system described in any of the above embodiments. The device may further 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, thereby implementing the monitoring method for the hydraulic drive system provided in any of the above embodiments. The memory 62 may include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the monitoring method for the hydraulic drive system. Furthermore, memory 62 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state memory device. In some embodiments, memory 62 may optionally include memory remotely located relative to processor 61, which can be connected via a network to means of performing the monitoring method for the hydraulic drive system. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof. Input device 63 may receive user clicks and generate signal inputs related to user settings and function control of the monitoring method for the hydraulic drive system. Output device 64 may include a display device such as a display screen. When the one or more modules are stored in memory 62 and are run by the one or more processors 61, the monitoring method for the hydraulic drive system in any of the above method embodiments is executed.

[0084] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this application.

Claims

1. A monitoring method for a hydraulic drive system, characterized in that, The extension stroke of the hydraulic drive system is driven by a hydraulic cylinder, and the retraction stroke is driven by a spring. The method includes: The hydraulic driving force sampling information and spring deformation sampling information of the hydraulic cylinder are obtained; 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. 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. Obtain the first difference between the hydraulic driving force sample value and the expected hydraulic driving force at the same sampling time, and obtain the second difference between the spring deformation sample value and the expected spring deformation at the same sampling time. If either the first difference value or the second difference value exceeds a set threshold, the current stroke of the hydraulic drive system is determined to be abnormal.

2. The monitoring method for a hydraulic drive system according to claim 1, characterized in that, After determining the current trip, if the current trip is a reversal trip, then the following is also included: Obtain flow rate sampling information of hydraulic oil flowing out of the hydraulic cylinder outlet, wherein the flow rate sampling information includes sampling time and flow rate sampling value; Retrieve the flow rate standard curve corresponding to the retraction stroke. The horizontal axis of the flow rate standard curve represents time, and the vertical axis represents the standard flow rate value. Obtain the third difference value between the flow rate sample value and the expected flow rate value at the same sampling time. If the third difference value exceeds a set threshold, the retraction stroke of the hydraulic system is determined to be abnormal.

3. The monitoring method for a hydraulic drive system according to claim 2, characterized in that, Also includes: After the extension and / or compression strokes are completed, determine the volumetric efficiency of the hydraulic drive system; If the difference between the volumetric efficiency and the standard volumetric efficiency exceeds the allowable error value, the drive system is determined to have a stroke abnormality.

4. The monitoring method for a hydraulic drive system according to claim 3, characterized in that, Determining the volumetric efficiency of the hydraulic drive system includes: The volumetric efficiency is determined based on the hydraulic drive force sampling information obtained during a single stroke.

5. The monitoring method for a hydraulic drive system according to claim 3, characterized in that, Determining the volumetric efficiency of the hydraulic drive system includes: Accumulate the operating time of the hydraulic system; If the cumulative running time reaches the preset duration, the volumetric efficiency is determined based on the hydraulic drive force sampling information within the cumulative running time.

6. The monitoring method for a hydraulic drive system according to any one of claims 3-5, characterized in that, The spring deformation is determined as follows: Obtain the spring constant K, the area of ​​the first end of the piston S1, the area of ​​the second end of the piston S2, the total mass m of the piston linkage system, and the piston velocity V; Acquire the hydraulic driving force sampling value P, tank pressure P2, liquid level static pressure P3, liquid hydrogen pump outlet pressure P4, liquid hydrogen pump outlet check valve pressure drop value P5, and tank jacket pressure P6 corresponding to the same sampling time. During the extension stroke, the spring deformation X = [P × S1 + (P6 - P2 - P3 - P4 - P5 × β1) × S2 - β2 × V] 2 -β3-m×(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 for a hydraulic drive system according to claim 6, characterized in that: The standard curves for hydraulic driving force, spring deformation, flow rate, and standard volumetric efficiency are obtained through calibration tests.

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

9. A storage medium, characterized in that, The storage medium stores program information, and after the computer reads the program information, it executes the monitoring method of the hydraulic drive system according to any one of claims 1-7.

10. An electronic device, characterized in that, The electronic device includes at least one processor and at least one memory, wherein at least one memory stores program information, and at least one processor reads the program information and executes the monitoring method of the hydraulic drive system according to any one of claims 1-7.

Images