Two-stage cooperative control type intelligent oil cylinder

Abstract

The invention relates to the technical field of oil cylinder control, and discloses a two-stage cooperative control type intelligent oil cylinder and a using method thereof.The two-stage cooperative control type intelligent oil cylinder comprises a first-stage cylinder, a second-stage cylinder, a piston rod, a valve control module, an outer cylinder bottom and a main valve; one end of the first-stage cylinder is connected with the outer cylinder bottom, the other end of the first-stage cylinder is coaxially nested with the second-stage cylinder, a piston rod is nested in the second-stage cylinder, the valve control module is installed on the first-stage cylinder, a flow distribution valve is arranged in the valve control module, and the flow distribution valve is communicated with a rod cavity and a rodless cavity in the first-stage cylinder, the second-stage cylinder and the piston rod to form a double-way independent hydraulic control loop; the main valve is communicated with the flow distribution valve and used for connecting pressure oil of an external hydraulic system for driving the second-stage cylinder and the piston rod to stretch into the flow distribution valve, and a valve rod of the main valve controls the amount of the pressure oil entering the flow distribution valve; and the valve control module controls the valve rod of the main valve. According to the method, a closed-loop cooperative control mechanism of displacement and pressure of the main cylinder and the auxiliary cylinder is constructed, and high-precision synchronous movement of the two-stage cylinder and self-adaptive adjustment of supporting force are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel ventilation equipment, in particular to a two-stage cooperative control type intelligent oil cylinder in foundation pit engineering and a use method thereof. BACKGROUND

[0002] In the fully mechanized coal mining face in the coal mine, the hydraulic support is the core equipment of the roof support, and the initiative and precision of the action of the support are directly related to the safety and mining efficiency of the working face. With the popularization of intelligent coal mining, higher requirements are put forward for the group cooperation and self-adaptive support ability of the hydraulic support. However, the two-stage cylinder cooperative control problem of the double telescopic oil cylinder widely used in thin coal seams and other special scenes has become a key technical bottleneck restricting the intelligent upgrading of the hydraulic support.

[0003] The root cause of this bottleneck lies in the limitations of existing control technology. At present, the control scheme based on a single electromagnetic valve or motor can realize the programmed action of ordinary oil cylinders, but when controlling the double telescopic oil cylinder, a simple sequential or independent control strategy is usually adopted. This scheme leads to a harsh connection between the main cylinder and the auxiliary cylinder in the extension and retraction process, and the support force fluctuates significantly, which cannot realize the precise matching of displacement and pressure. As a result, not only does the support quality decrease, but it may also cause structural impact under complex roof conditions, posing a safety hazard. Although some advanced control algorithms have potential in theory, due to the lack of a special control method deeply integrated with the actual working conditions of the hydraulic support, there are common problems such as system response lag and poor cooperation, which cannot meet the control requirements of intelligent working face "precision, flexibility, and efficiency".

[0004] To address this technical challenge, it is of great significance to develop an intelligent oil cylinder that integrates two-stage displacement synchronization, pressure self-adaptation, and cooperative motion planning, as well as a special control method. This patent conducts research in this direction by constructing a two-stage cooperative control architecture, combining multi-sensor information fusion and hydraulic servo driving technology, in order to improve the dynamic response capability of the oil cylinder to the changes of the working face surrounding rock and improve the shortcomings of the double telescopic oil cylinder in control accuracy. This scheme aims to seek a better balance between efficiency and stability, and provides a feasible technical reference for the development of a new generation of intelligent hydraulic support. Therefore, it is urgently needed to solve. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a two-stage cooperative control type intelligent oil cylinder and a use method thereof, which constructs a closed-loop cooperative control mechanism of the displacement and pressure of the main cylinder and the auxiliary cylinder, thereby realizing high-precision synchronous motion of the two-stage cylinder and adaptive adjustment of the support force. This not only significantly improves the control accuracy and reliability of the oil cylinder under complex support conditions, but also provides a core executive component with stronger performance for the intelligent hydraulic support.

[0006] To achieve the purpose, the technical scheme of the present application is realized as follows: a two-stage cooperative control type intelligent oil cylinder, comprising a primary cylinder, a secondary cylinder, a piston rod, a valve control module, an outer cylinder bottom and a main valve; One end of the primary cylinder is connected with the outer cylinder bottom, and the other end is coaxially nested with the secondary cylinder; the piston rod is nested in the secondary cylinder; the primary cylinder and the secondary cylinder are both provided with oil passage, and the oil passage of the primary cylinder is connected with the un-rod cavity of the primary cylinder through the flow distribution valve, so as to push the secondary cylinder to extend, and after extending to the position, the oil enters the un-rod cavity of the secondary cylinder through the opening of the bottom valve, so as to push the piston to extend; the oil passage provided on the cylinder wall of the secondary cylinder is connected with the rod cavity of the primary cylinder and the rod cavity of the secondary cylinder. The valve control module is installed on the primary cylinder, and the flow distribution valve is arranged in the valve control module, which is connected with the rod cavity and the un-rod cavity, so as to form a double-path independent hydraulic control circuit; the main valve is connected with the flow distribution valve, and is used for connecting the pressure oil of the external hydraulic system for driving the secondary cylinder and the piston rod to extend and retract into the flow distribution valve, and the valve rod of the main valve controls the amount of pressure oil entering the flow distribution valve; the valve control module controls the valve rod of the main valve according to the extension target of the secondary cylinder and the piston rod.

[0007] The structure realizes the cooperative supply and independent control of the pressure oil between the two-stage cylinder bodies through the internal pipeline, which not only reduces the connection of the external complex pipeline and reduces the leakage risk, but also enhances the integrated management of the oil supply path and improves the sealing reliability and structural compactness of the system.

[0008] The valve control module controls the valve rod of the main valve according to the extension target of the secondary cylinder and the piston rod.

[0009] Preferably, the valve control module comprises a valve seat, a high-speed on-off valve, a controller and a coded displacement sensor; the valve seat is fixedly connected with the primary cylinder, and the flow distribution valve is integrated in the valve seat; the controller and the coded displacement sensor are both installed on the valve seat; The outer walls of the secondary cylinder and the piston rod are respectively engraved with precise displacement codes which are recognized by the coded displacement sensor; the coded displacement sensor has two, and is respectively used for monitoring the displacement information of the secondary cylinder and the piston rod; the two are used for real-time and independent detection of the displacement, so as to constitute a two-stage displacement cooperative detection system; the controller is used for receiving the displacement information uploaded by the coded displacement sensor, and controlling the high-speed on-off valve to adjust the valve rod opening degree of the main valve.

[0010] Preferably, the displacement sensor is further included; the displacement sensor is used to detect the displacement information of the valve rod of the main valve in real time and feed back the displacement information of the valve rod of the main valve to the controller; the controller compares the displacement information with the set cylinder extension and retraction instruction after receiving the displacement information, generates a correction signal to drive the high-speed switch valve to control the axial displacement of the valve rod of the main valve. The high-speed switch valve directly drives the axial displacement of the valve rod by adjusting the pressure and flow of the control oil introduced from the external control oil inlet (PX1 and PX2), thereby forming a high-precision closed-loop servo driving system for the position of the valve rod of the main valve.

[0011] Preferably, the valve control module further integrates two temperature and pressure sensors; the two temperature and pressure sensors are used to collect the oil pressure and temperature signals of the rodless chamber and the rod chamber of the cylinder in real time and transmit the oil pressure and temperature signals to the controller; the controller processes the received pressure signals and displacement signals, calculates the actual output support force of the cylinder, and adjusts the main valve accordingly to realize closed-loop servo control of the support force. At the same time, based on the temperature signal, the thermal load state of the system is monitored and managed in real time, further improving the reliability and safety of the system under complex working conditions.

[0012] Preferably, the safety valve is further included; the safety valve is arranged beside the valve seat and is used to automatically open and release pressure when the working pressure of the cylinder exceeds the preset safety threshold due to excessive roof pressure and the like, thereby effectively protecting the cylinder and related hydraulic elements from damage due to overload and preventing "cylinder explosion" accidents, ensuring the safety of the support system under extreme conditions.

[0013] Preferably, a hydraulic control sequence valve is integrated in the inner cylinder bottom of the cylinder as a bottom valve; the bottom valve is used to connect or isolate the oil circuit between the first-stage cylinder and the second-stage cylinder. The bottom valve is closed in normal state and is opened when the preset control pressure is reached, realizing the connection and switching of the oil circuit between the first-stage cylinder and the second-stage cylinder. Through the two states of "normal" and "controlled opening", the valve forcibly stipulates the sequence action logic of the double-stage cylinder during extension and retraction, and plays a key role in pressure preservation and locking during the process.

[0014] Preferably, the piston rod and the outer cylinder bottom are respectively arranged as the first end and the second end of the cylinder and adopt a ball head structure design to form a double ball hinge connection with the corresponding ball socket on the hydraulic support. This structure provides the necessary swing freedom for the cylinder, enabling it to adapt to the eccentric load and frame deformation during the support process, ensuring the stability and reliability of the support system.

[0015] Preferably, the method comprises the following steps: S1, system initialization and target setting: The controller is powered on for initialization, loads preset control parameters, and receives target commands from the upper-level control system, including the target total displacement of the hydraulic cylinder. and target support force ; S2. Calculation of the coordinated error of two-stage displacement: The controller reads the displacement of the second-stage cylinder 2 from the feedback of the two coded displacement sensors in real time. and piston rod displacement Based on the total target displacement Based on the preset two-stage action sequence, the real-time target displacement of the second-stage cylinder and piston rod is calculated as follows: and The controller then calculates the two-stage displacement system error. The error function is defined as follows: ; This is a weighting coefficient used to weigh the importance of the second-stage cylinder displacement error and the piston rod displacement error; it is generally set to a value of 1. S3, Multi-sensor information fusion and force calculation: The controller simultaneously reads the rodless chamber pressure fed back by the two temperature and pressure sensors. With rod chamber pressure Combined with the known effective working area of ​​the rodless cavity Effective working area of ​​the rod cavity Real-time calculation of the actual output support force of the hydraulic cylinder : ; S4. Generate coordinated control instructions: The controller will adjust the displacement coordination error. Sum of force errors As input, control commands are generated using a fuzzy PID algorithm; The algorithm first converts precise error values ​​into fuzzy language such as "positive large" and "negative small," then performs intelligent inference based on a preset rule base, and finally defuzzifies the inference result into a precise control increment. The final control command for driving the high-speed switching valve is obtained by adding the current increment to the previous command value: ; The values ​​of the control commands are u(t-1) and u(t) after discretization, corresponding to the control command values ​​at time t-1 and time t, respectively. S5. Main valve servo drive and action execution: The controller will send control commands. Output to the high-speed switch valve, the high-speed switch valve adjusts the pressure and flow of the control oil circuit according to the instruction, and drives the valve rod of the main valve to move accurately to the target position; The displacement sensor integrated in the valve seat detects the actual displacement of the valve rod in real time and feeds back to the controller, forming high-precision closed-loop servo control of the position of the main valve rod, and finally realizing stepless adjustment of the extension / retraction speed and direction of the oil cylinder; S6, sequence action management and safety monitoring: During the action of the oil cylinder, the bottom valve forcibly ensures the two-stage sequential action of the secondary cylinder and the piston rod according to the preset opening and closing pressure and mechanical structure of the bottom valve. At the same time, the controller continuously monitors the temperature signal and system pressure monitored by the temperature and pressure sensor; if the system pressure exceeds the safety threshold, the safety valve immediately opens to release pressure; if the temperature is abnormal, the controller will take power limiting or alarm and other thermal management measures; S7, execute in a loop until the target is achieved: The controller executes steps S2 to S6 in a loop until the actual total displacement of the oil cylinder reaches the target total displacement , and the actual output support force is stabilized within the allowable error range of the target support force , completing a complete control cycle.

[0016] The beneficial effects of the present application are: (1) The oil cylinder provided by the present application reduces the dependence on external pipelines by designing the oil circuit of the rodless cavity and the rodded cavity as an internal deep hole structure, and combining the highly integrated design of the valve control module, reduces the complexity of system installation, and enhances the overall rigidity and anti-pollution ability of the oil cylinder, making the overall structure more compact and reliable.

[0017] (2) The oil cylinder provided by the present application regulates the action flow of the two-stage cylinder through the cooperation of the bottom valve and the main valve, and the action logic is reliable, which fundamentally avoids the structural impact caused by rough control, and prolongs the service life of the oil cylinder.

[0018] (3) The oil cylinder provided by the present application adopts a displacement, temperature, and pressure multi-sensor information fusion strategy, and the controller can accurately calculate the output force of the oil cylinder and monitor the system state in real time, not only realizing precise force servo control, but also providing a data basis for thermal safety management and overload protection of the system, and improving the operation reliability and safety.

[0019] (4) The hydraulic cylinder provided by this invention adopts an intelligent collaborative control algorithm based on fuzzy PID, which integrates the adaptability of fuzzy logic and the precision of PID control, and can dynamically respond to the nonlinear changes of the two-stage cylinder under complex working conditions. The algorithm calculates the collaborative error between displacement and force in real time and adjusts the control parameters autonomously. It not only achieves high-precision displacement synchronization, but also quickly performs adaptive compensation when the support force fluctuates, effectively suppressing oscillation and overshoot, significantly improving the dynamic response speed and control robustness of the system, and realizing true intelligent collaborative control. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention without the protective shell installed; Figure 2 This is the main structural view of the present invention; Figure 3 This is a cross-sectional view of the hydraulic cylinder in this invention; Figure 4 This is a schematic diagram of the valve control module without a protective shell in this invention; Figure 5 This is a schematic diagram of the hydraulic and electronic control system of the present invention; Figure 6 This is a flowchart of the two-level collaborative control method of the present invention.

[0021] Figure labels and descriptions: 1. First-stage cylinder; 2. Second-stage cylinder; 3. Piston rod; 4. Valve control module; 4-1. Valve seat; 4-2. High-speed switching valve; 4-3. Displacement sensor; 4-4. Temperature and pressure sensor; 4-5. Controller; 4-6. Encoded displacement sensor; 4-7. Safety valve; 4-8. Protective housing; 5. Outer cylinder bottom; 6. Main valve; 12. Bottom valve. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Example 1 like Figures 1-4 As shown: This invention provides a two-stage collaborative control type intelligent hydraulic cylinder, including a primary cylinder 1, a secondary cylinder 2, a piston rod 3, a valve control module 4, an outer cylinder bottom 5, and a main valve 6.

[0024] In a specific application, the valve control module 4 is integrated outside the primary cylinder 1, and mainly consists of a valve seat 4-1, a high-speed on-off valve 4-2, a displacement sensor 4-3, a temperature and pressure sensor 4-4, a controller 4-5, an encoded displacement sensor 4-6, a safety valve 4-7, and a protective shell 4-8.

[0025] The valve seat 4-1, the high-speed on-off valve 4-2, the displacement sensor 4-3, the temperature and pressure sensor 4-4, the controller 4-5, the encoded displacement sensor 4-6, and the safety valve 4-7 are electrically connected to each other.

[0026] The valve seat 4-1 is fixedly connected to the outer wall of the primary cylinder 1; the high-speed on-off valve 4-2, the displacement sensor 4-3, the temperature and pressure sensor 4-4, the controller 4-5, and the safety valve 4-7 are all installed on the valve seat 4-1; the encoded displacement sensor 4-6 has two, and is installed on the valve seat 4-1, and the outer wall of the secondary cylinder 2 and the piston rod 3 are respectively etched with precise displacement codes recognized by the encoded displacement sensor 4-6, so that the two encoded displacement sensors 4-6 are respectively arranged corresponding to the secondary cylinder 2 and the piston rod 3, and are used for monitoring the displacement of the secondary cylinder 2 and the piston rod 3, respectively. The protective shell 4-8 is arranged outside the valve seat 4-1.

[0027] One end of the primary cylinder 1 is fixedly connected to the outer cylinder bottom 5; the secondary cylinder 2 is nested inside the other end of the primary cylinder 1, and can be telescoped along the end of the primary cylinder 1; the piston rod 3 is arranged inside the secondary cylinder 2, and can be telescoped along the end of the secondary cylinder 2.

[0028] The main valve 6 is installed inside the valve seat 4-1. In the process of the oil cylinder extending, the pressure oil of the external hydraulic system is connected through the main valve 6. Under the control of the main valve 6, the pressure oil enters the rodless cavity of the primary cylinder 1, and pushes the secondary cylinder 2 and the piston rod 3 as a whole to synchronously extend. At this stage, the bottom valve 12 is in a closed state.

[0029] The controller 4-5 of the valve control module 4 starts a cooperative control program, receives the real-time displacement signals of the secondary cylinder 2 and the piston rod 3 from the two encoded displacement sensors 4-6, and comprehensively processes the oil cavity pressure data monitored by the temperature and pressure sensor 4-4.

[0030] The controller 4-5 generates a cooperative control instruction based on the multi-sensor feedback information, and drives the high-speed on-off valve 4-2 to act. The high-speed on-off valve 4-2 drives the valve rod of the main valve 6 to move by accurately adjusting the control oil introduced from the external control oil inlet PX1 and PX2. The displacement of the valve rod is detected by the displacement sensor 4-3 in real time and fed back to the controller 4-5, thereby forming a closed-loop servo control on the position of the valve rod of the main valve 6.

[0031] When the second-stage cylinder 2 reaches its stroke limit, the system pressure increases, the bottom valve 12 opens, and pressurized oil enters the rodless chamber of the piston rod 3, pushing the piston rod 3 to extend independently and complete the final extension action.

[0032] During the retraction process of the hydraulic cylinder, the controller 4-5 drives the high-speed switching valve 4-2 to adjust the control oil according to the displacement information fed back by the coded displacement sensor 4-6, which pushes the valve stem of the main valve 6 to move and switches the oil circuit so that the pressurized oil enters the rod chamber of the hydraulic cylinder.

[0033] Initially, the bottom valve 12 is closed, and the pressurized oil pushes the piston rod 3 and the secondary cylinder 2 to retract synchronously as a whole. When the secondary cylinder 2 retracts to the end of its stroke, the bottom valve 12 is opened, and the oil in the rodless chamber of the piston rod 3 flows back through the bottom valve 12, causing the piston rod 3 to retract individually until it is fully retracted. The valve control module 4 manages the retraction speed and back pressure by controlling the opening degree of the main valve 6 through a closed-loop control, ensuring smooth and coordinated operation. Safety valves 4-7 provide overload protection.

[0034] Example 2 like Figures 5-6 As shown, a control method for a two-stage collaborative control type intelligent hydraulic cylinder is characterized by: real-time detection of the displacement of the second-stage cylinder 2 relative to the first-stage cylinder 1 and the displacement of the piston rod 3 relative to the second-stage cylinder 2 by a dual-encoded displacement sensor 4-6 integrated in the valve control module 4; real-time acquisition of oil pressure and temperature signals in the rodless and rod chambers by a temperature and pressure sensor 4-4; and real-time calculation of the actual output support force and the two-stage displacement collaborative error by a controller 4-5 based on the above multi-source sensor information. The controller 4-5 generates collaborative control commands based on a fuzzy PID algorithm, drives the high-speed switching valve 4-2 to adjust the pressure and flow of the control oil circuit, and then achieves high-precision closed-loop servo control of the valve stem position of the main valve 6. Finally, through the oil circuit switching of the main valve 6 and the sequential action management of the bottom valve, the second-stage cylinder 2 and the piston rod 3 are forced to move in two stages during the extension and retraction process: synchronous displacement and individual displacement of the piston rod 3. The support force is adaptively adjusted and the system safety is monitored throughout the process, thereby achieving the control objectives of smooth collaborative motion of the two-stage cylinder, stable support force, and reliable system. The method specifically includes the following steps: S1. System Initialization and Target Setting: Controller 4-5 is powered on for initialization, loads preset control parameters, and receives target commands from the upper-level control system. These commands include the target total displacement of the hydraulic cylinder. and target support force ; S2. Calculation of the coordinated error of two-stage displacement: The controller 4-5 reads the displacement of the second-stage cylinder 2 from the feedback of the two coded displacement sensors 4-6 in real time. and piston rod displacement 3 Based on the total target displacement and preset two-stage action sequence, the real-time target displacement of the two-stage cylinder and the piston rod is calculated as and ; the controller then calculates the two-stage displacement system error , which is defined as: ; is a weight coefficient, which is used to weight the importance of the two-stage cylinder displacement error and the piston rod displacement error; The specific value ultimately depends on the system requirements: if the displacement accuracy of a certain stage (such as the two-stage cylinder) is more important than the other stage (the piston rod) in the actual system, or the sensor accuracy of a certain stage is higher and needs to be more reliable, then α can deviate from 1.

[0035] If the importance of the piston rod displacement error is to be emphasized more, then α should be greater than 1.

[0036] If the importance of the two-stage cylinder displacement error is to be emphasized more, then α should be less than 1 (for example, 0.5 or 0.8).

[0037] It needs to be determined through debugging: in actual engineering, the most accurate α value needs to be determined through system simulation and on-site debugging to achieve the best overall control performance.

[0038] In the absence of special control requirements, the general (default) value of the weight coefficient α is 1.

[0039] S3, multi-sensor information fusion and force calculation: The controller 4-5 simultaneously reads the rodless cavity pressure feedback from the two temperature and pressure sensors 4-4 and the rod cavity pressure ; combined with the known effective action area of the rodless cavity and the effective action area of the rod cavity , the actual output supporting force of the oil cylinder is calculated in real time : ; S4, generate cooperative control instructions: The controller 4-5 takes the displacement cooperative error and the force error as inputs to generate control instructions through fuzzy PID algorithm; This algorithm first converts the accurate error value into fuzzy language such as "positive large" and "negative small", then performs intelligent reasoning based on the preset rule base, and finally de-fuzzifies the reasoning result into an accurate control increment ; the control instruction for driving the high-speed on-off valve 4-2 is obtained by adding the last instruction value to the current increment: ; u is the value of the control instruction, after discretization, the control instruction values corresponding to the t-1 moment and the t moment are u(t-1) and u(t); S5, main valve servo drive and action execution: The controller 4-5 outputs the control instruction to the high-speed on-off valve 4-2; the high-speed on-off valve 4-2 adjusts the pressure and flow of the control oil circuit according to the instruction, and then drives the valve stem of the main valve 6 to move accurately to the target position; The displacement sensor 4-3 integrated in the valve seat 4-1 detects the actual displacement of the valve stem in real time and feeds back to the controller 4-5, forming a high-precision closed-loop servo control of the main valve stem position, and finally realizing stepless adjustment of the oil cylinder extension / retraction speed and direction; S6, sequence action management and safety monitoring: During the action of the oil cylinder, the bottom valve forcibly ensures the two-stage sequential action of the secondary cylinder and the piston rod according to its preset opening and closing pressure and mechanical structure, and the single displacement of the piston rod 3; At the same time, the controller 4-5 continuously monitors the temperature signal of the temperature and pressure sensor 4-4 and the system pressure; if the pressure exceeds the safety threshold, the safety valve 4-7 will immediately open to release pressure; if the temperature is abnormal, the controller 4-5 will take power limiting or alarm and other thermal management measures; S7, execute in a cycle until the target is reached: The controller 4-5 executes steps S2 to S6 in a cycle until the actual total displacement of the oil cylinder reaches the target total displacement , and the actual output support force stabilizes in the allowable error range of the target support force , completing a complete control cycle.

[0040] The above only describes the preferred embodiments of the present application and does not limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A two-stage collaborative control type intelligent hydraulic cylinder, characterized in that, It includes a primary cylinder (1), a secondary cylinder (2), a piston rod (3), a valve control module (4), an outer cylinder bottom (5), and a main valve (6); One end of the first-stage cylinder (1) is connected to the bottom of the outer cylinder (5), and the other end is coaxially nested with the second-stage cylinder (2); a piston rod (3) is nested in the second-stage cylinder (2); both the first-stage cylinder (1) and the second-stage cylinder (2) have oil passages on their cylinder walls. The oil passage on the cylinder wall of the first-stage cylinder (1) is connected to the distribution valve and the rodless chamber of the first-stage cylinder, so as to push the second-stage cylinder (2) to extend. After it extends to the end, the bottom valve (12) is opened to allow oil to enter the rodless chamber of the second-stage cylinder (2) and push the piston (3) to extend. The oil passage on the cylinder wall of the second-stage cylinder (2) is connected to the rod chamber of the first-stage cylinder (1) and the rod chamber of the second-stage cylinder (2). The valve control module (4) is installed on the first-stage cylinder (1). The valve control module (4) is equipped with a distribution valve, which is connected to the rod chamber and the rodless chamber to form a dual independent hydraulic control circuit. The main valve (6) is connected to the distribution valve and is used to connect the pressure oil of the external hydraulic system that drives the extension and retraction of the second-stage cylinder (2) and the piston rod (3) into the distribution valve. The valve stem of the main valve (6) controls the amount of pressure oil entering the distribution valve. The valve control module (4) controls the valve stem of the main valve (6) according to the extension and retraction target of the second-stage cylinder (2) and the piston rod (3).

2. The intelligent hydraulic cylinder with dual-stage collaborative control as described in claim 1, characterized in that, The valve control module (4) includes a valve seat (4-1), a high-speed switching valve (4-2), a controller (4-5), and a coded displacement sensor (4-6); the valve seat (4-1) is externally fixedly connected to the first-stage cylinder (1), and the flow distribution valve is integrated inside the valve seat (4-1); the controller (4-5) and the coded displacement sensor (4-6) are both mounted on the valve seat (4-1); The outer walls of the secondary cylinder (2) and piston rod (3) are respectively etched with precise displacement codes that are identified by the coded displacement sensors (4-6); there are two coded displacement sensors (4-6), which are used to monitor the displacement information of the secondary cylinder (2) and piston rod (3) respectively; the controller (4-5) is used to receive the displacement information uploaded by the coded displacement sensors (4-6) and control the high-speed switching valve (4-2) to adjust the valve stem opening of the main valve (6).

3. The intelligent hydraulic cylinder with dual-stage collaborative control as described in claim 2, characterized in that, It also includes a displacement sensor (4-3); the displacement sensor (4-3) is used to detect the valve stem displacement information of the main valve (6) in real time and feed the valve stem displacement information of the main valve (6) back to the controller (4-5). After receiving the valve stem displacement information, the controller (4-5) compares it with the set cylinder extension and retraction command and generates a correction signal to drive the high-speed switching valve (4-2) to control the valve stem of the main valve (6) to perform axial displacement.

4. The dual-stage collaborative control type intelligent hydraulic cylinder as described in claim 3, characterized in that, The valve control module (4) also integrates two temperature and pressure sensors (4-4); the two temperature and pressure sensors (4-4) are used to collect the oil pressure and temperature signals of the rodless chamber and rod chamber of the oil cylinder in real time, and transmit the oil pressure and temperature signals to the controller (4-5). The controller (4-5) processes the received pressure and displacement signals, calculates the actual output support force of the oil cylinder, and adaptively adjusts the main valve (6) accordingly to realize closed-loop servo control of the support force.

5. The intelligent hydraulic cylinder with dual-stage collaborative control as described in claim 4, characterized in that, It also includes a safety valve (4-7); the safety valve (4-7) is located next to the valve seat (4-1) and is used to automatically open and release pressure when the working pressure of the oil cylinder exceeds the preset safety threshold, so as to discharge the high-pressure oil back to the oil tank.

6. The intelligent hydraulic cylinder with dual-stage collaborative control as described in claim 5, characterized in that, A hydraulic sequence valve is integrated in the bottom of the inner cylinder as a bottom valve; the bottom valve is used to connect or isolate the oil circuit between the first-stage cylinder (1) and the second-stage cylinder (2).

7. A two-stage collaborative control type intelligent hydraulic cylinder as described in claim 6, characterized in that, The piston rod (3) and the outer cylinder bottom (5) serve as the beginning and end ends of the oil cylinder, respectively, and both adopt a ball head structure design to form a double ball joint connection with the corresponding ball socket on the hydraulic support.

8. A method of using a two-stage collaborative control type intelligent hydraulic cylinder as described in any one of claims 1-7, characterized in that, The method includes the following steps: S1. System Initialization and Target Setting: The controller (4-5) is powered on for initialization, loads preset control parameters, and receives target instructions from the upper-level control system, including the target total displacement of the hydraulic cylinder. and target support force ; S2. Calculation of the coordinated error of two-stage displacement: The controller (4-5) reads the displacement of the secondary cylinder (2) from the feedback of the two coded displacement sensors (4-6) in real time. and piston rod (3) displacement Based on the target total displacement Based on the preset two-stage action sequence, the real-time target displacement of the second-stage cylinder and piston rod is calculated as follows: and The controller then calculates the two-stage displacement system error. The error function is defined as follows: ； This is a weighting coefficient used to weigh the importance of the second-stage cylinder displacement error and the piston rod displacement error; the default value of the weighting coefficient α is 1. S3, Multi-sensor information fusion and force calculation: The controller (4-5) simultaneously reads the rodless chamber pressure fed back by the two temperature and pressure sensors (4-4). With rod chamber pressure Combined with the known effective working area of ​​the rodless cavity Effective working area of ​​the rod cavity Real-time calculation of the actual output support force of the hydraulic cylinder : ； S4. Generate coordinated control instructions: The controller (4-5) will adjust the displacement error. Sum of force errors As input, control commands are generated using a fuzzy PID algorithm; The algorithm first converts precise error values ​​into fuzzy language of "positive large" and "negative small", then performs intelligent inference based on a preset rule base, and finally defuzzifies the inference result into a precise control increment. The final control command for driving the high-speed switching valve (4-2) is obtained by adding the current increment to the previous command value: ； u is the value of the control command. After discretization, the control command values ​​at time t-1 and time t are u(t-1) and u(t), respectively. S5. Main valve servo drive and action execution: The controller (4-5) will send control commands. The output is sent to the high-speed switching valve (4-2), which adjusts the pressure and flow of the control oil circuit according to the command, thereby driving the valve stem of the main valve (6) to move precisely to the target position; The displacement sensor (4-3) integrated in the valve seat (4-1) detects the actual displacement of the valve stem in real time and feeds it back to the controller (4-5) to form a high-precision closed-loop servo control of the valve stem position of the main valve (6), and finally realizes stepless adjustment of the speed and direction of the cylinder extension / retraction. S6. Sequential Action Management and Safety Monitoring: During the operation of the hydraulic cylinder, the bottom valve, based on its preset opening and closing pressure and mechanical structure, forces the secondary cylinder (2) and piston rod (3) to operate in two stages: synchronous displacement and individual displacement of piston rod (3). Meanwhile, the controller (4-5) continuously monitors the temperature signal and system pressure detected by the temperature and pressure sensor (4-4); if the system pressure exceeds the safety threshold, the safety valve (4-7) will immediately open to release pressure; if the temperature is abnormal, the controller (4-5) will take thermal management measures such as power limiting or alarm. S7. Execute repeatedly until the goal is achieved: The controller (4-5) executes steps S2 to S6 in a loop until the actual total displacement of the hydraulic cylinder is reached. Achieve target total displacement And the actual output support force Stabilize at the target support force Within the allowable error range, a complete control cycle is completed.

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