PID (Proportion Integration Differentiation) closed-loop electric cylinder extension and retraction control method and device and storage medium

Abstract

The invention discloses a PID (Proportion Integration Differentiation) closed-loop electric cylinder stretching control method and device and a storage medium in the technical field of automatic control of road construction equipment. The method comprises the following steps: calculating a speed correction coefficient according to a preset target advancing speed and an actual advancing speed; calculating a deviation value according to a preset target cement thickness value and the actual cement thickness value; calculating dynamic deviation according to the speed correction coefficient and the deviation value; if the dynamic deviation is larger than the preset allowable error, a material door telescopic electric cylinder is driven to stretch out and draw back; a feedback signal is generated based on the actual telescopic displacement and the actual advancing speed of the material door telescopic electric cylinder; and correcting the dynamic deviation in combination with the feedback signal, obtaining the corrected dynamic deviation, and dynamically adjusting the PID parameter by adopting a working condition-deviation two-dimensional linkage strategy until the dynamic deviation is smaller than or equal to a preset allowable error. The technical problem that the paving efficiency is low due to the fact that cement supply fluctuation and paving speed change are difficult to deal with in the prior art can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic control of road construction equipment, and particularly relates to a PID closed-loop electric cylinder extension and retraction control method and device and a storage medium. BACKGROUND

[0002] The paving quality of a slipform paver depends on the stable control of the cement thickness in the material bin. The control logic of the traditional control method is dispersed, and it is difficult to cope with complex scenarios such as cement supply fluctuations and paving speed changes. The dynamic adaptability of the PID adjustment is poor, which leads to insufficient lifting precision of the material blocking door, response lag, and ultimately causes problems such as uneven paving thickness, material shortage or material overflow, and low paving efficiency.

[0003] Therefore, there is an urgent need for a PID closed-loop electric cylinder extension and retraction control method, device and storage medium to solve the above technical problems. SUMMARY

[0004] The present application aims to overcome the deficiencies in the prior art and provide a PID closed-loop electric cylinder extension and retraction control method, device and storage medium, which can solve the technical problem of low paving efficiency caused by the difficulty in coping with cement supply fluctuations and paving speed changes in the prior art.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0006] In a first aspect, the present application provides a PID closed-loop electric cylinder extension and retraction control method, which is based on a slipform paver and includes a material bin, comprising:

[0007] Real-time acquisition of the actual cement thickness value in the material bin and the actual travel speed of the slipform paver;

[0008] Calculation of a speed correction coefficient according to a preset target travel speed and the actual travel speed;

[0009] Calculation of a deviation amount according to a preset target cement thickness value and the actual cement thickness value;

[0010] Calculation of a dynamic deviation according to the speed correction coefficient and the deviation amount;

[0011] If the dynamic deviation is greater than a preset allowable error, drive the material door extension and retraction electric cylinder to extend and retract;

[0012] Generation of a feedback signal based on the actual extension and retraction displacement of the material door extension and retraction electric cylinder and the speed correction coefficient;

[0013] The dynamic deviation is corrected in combination with the feedback signal, a corrected dynamic deviation is obtained, a PID parameter is dynamically adjusted based on the corrected dynamic deviation by using a working condition-deviation two-dimensional linkage strategy until the dynamic deviation is less than or equal to a preset allowable error, and stable closed-loop control is realized.

[0014] Further, after the dynamic deviation is calculated according to the speed correction coefficient and the deviation amount:

[0015] If the dynamic deviation is less than or equal to a preset allowable error, the current baffle door height is maintained;

[0016] After the PID parameter is dynamically adjusted until the dynamic deviation is less than or equal to a preset allowable error, the current baffle door height is maintained.

[0017] Further, the material door telescopic cylinder is driven to extend and retract, the baffle door is controlled to rise and fall by the mechanical linkage assembly, and the discharge flow of the material bin is adjusted, including:

[0018] When the actual cement thickness value is greater than the target cement thickness value and the actual travel speed is greater than or equal to the target travel speed, the material door telescopic cylinder is driven to extend, the baffle door is driven to rise, and the discharge flow of the material bin is expanded;

[0019] When the actual cement thickness value is less than the target cement thickness value and the actual travel speed is less than or equal to the target travel speed, the material door telescopic cylinder is driven to retract, the baffle door is driven to lower, and the discharge flow of the material bin is reduced.

[0020] Further, the speed correction coefficient is calculated according to a preset target travel speed and the actual travel speed, including:

[0021] ,

[0022] wherein, the speed correction coefficient is, the actual travel speed is, the target travel speed is.

[0023] Further, the deviation amount is calculated according to a preset target cement thickness value and the actual cement thickness value, including:

[0024] ,

[0025] wherein, the deviation amount is, the actual cement thickness value is, the target cement thickness value is;

[0026] The dynamic deviation is calculated according to the speed correction coefficient and the deviation amount, including:

[0027] ;

[0028] wherein, is a dynamic deviation, is a speed correction coefficient.

[0029] Further, a feedback signal is generated based on the actual telescopic displacement of the material gate telescopic electric cylinder and the speed correction coefficient, and the expression includes:

[0030] ,

[0031] wherein, is a feedback signal, is a displacement-thickness conversion coefficient, is a preset initial displacement of the material gate telescopic electric cylinder, is an actual telescopic displacement, is a speed correction coefficient;

[0032] The dynamic deviation is corrected by combining the feedback signal, and a corrected dynamic deviation is obtained, and the expression includes:

[0033] ,

[0034] wherein, is a corrected dynamic deviation, is a dynamic deviation.

[0035] Further, based on the corrected dynamic deviation, a working condition-deviation two-dimensional linkage strategy is used to dynamically adjust the PID parameters, including:

[0036] When the absolute value of the corrected dynamic deviation is greater than or equal to a preset allowable error, the proportional coefficient is increased and the integral time is shortened, and the telescopic response speed of the electric cylinder is improved, which is used to offset the corrected dynamic deviation;

[0037] When the absolute value of the corrected dynamic deviation is less than the preset allowable error, the proportional coefficient is reduced and the integral time is lengthened, and the electric cylinder action frequency is reduced, which is used to maintain the stable operation of the system;

[0038] When the actual travel speed is greater than the target travel speed, the proportional coefficient is further increased and the integral time is shortened on the basis of the PID parameters corresponding to the current corrected dynamic deviation, to compensate for the change in discharge flow during high-speed paving;

[0039] When the pre-acquired actual cement slump is greater than the preset target cement slump, the proportional coefficient is further reduced and the integral time is lengthened on the basis of the PID parameters corresponding to the current corrected dynamic deviation.

[0040] In a second aspect, the present application provides a PID closed-loop electric cylinder telescopic control device, comprising:

[0041] The data acquisition module is used to acquire the actual thickness of cement in the concrete bin and the actual travel speed of the slipform paver in real time.

[0042] The vehicle controller is used to calculate a speed correction coefficient based on a preset target travel speed and the actual travel speed; to calculate a deviation based on a preset target cement thickness value and the actual cement thickness value; and to calculate a dynamic deviation based on the speed correction coefficient and the deviation.

[0043] The servo drive module is used to drive the telescopic cylinder of the material gate to extend or retract if the dynamic deviation is greater than the preset allowable error.

[0044] The feedback signal generation module is used to generate a feedback signal based on the actual extension and retraction displacement of the material gate telescopic electric cylinder and the speed correction coefficient.

[0045] The dynamic feedback calibration module is used to correct the dynamic deviation by combining the feedback signal, obtain the corrected dynamic deviation, and dynamically adjust the PID parameters based on the corrected dynamic deviation using a two-dimensional linkage strategy of operating condition and deviation until the dynamic deviation is less than or equal to the preset allowable error, thereby achieving stable closed-loop control.

[0046] Furthermore, it also includes:

[0047] The PLC communication conversion module is connected to the vehicle controller via CAN communication and to the servo drive module via EtherCAT communication. It is used to realize bidirectional conversion between CAN communication protocol and EtherCAT communication protocol, and to accurately transmit the PID adjustment command generated by the vehicle controller to the servo drive module.

[0048] The CAN communication uses the CANopen protocol, with a communication baud rate ≥250kbps and a communication delay ≤10ms; the EtherCAT communication uses the CoE protocol, with a communication period ≤1ms, and supports real-time control signal transmission.

[0049] Thirdly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described above.

[0050] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0051] This invention first proposes a PID closed-loop electric cylinder telescopic control method. It calculates a speed correction coefficient and deviation based on the real-time acquisition of the actual cement thickness and actual travel speed within the material distribution bin. Then, it calculates the dynamic deviation based on the speed correction coefficient and deviation. When the dynamic deviation exceeds a preset allowable error, it drives the material gate telescopic electric cylinder to extend or retract. A feedback signal is generated based on the actual extension / retraction displacement and actual travel speed of the material gate telescopic electric cylinder. This feedback signal is used to correct the dynamic deviation, obtaining the corrected dynamic deviation. Finally, based on the corrected dynamic deviation, the PID parameters are dynamically adjusted until the dynamic deviation is less than or equal to the preset allowable error, thus achieving closed-loop control. This method ensures that the dynamic deviation remains within the preset allowable error when facing fluctuations in cement supply and changes in paving speed. No manual intervention in the material gate adjustment is required throughout the process. The collaborative design of multiple communication links and closed-loop control reduces human error and improves paving efficiency.

[0052] Low communication latency: Adopting a CAN+EtherCAT dual communication link design, the EtherCAT communication cycle is ≤1ms, and the signal transmission latency is reduced by more than 80% compared with the traditional method, ensuring real-time response to PID adjustment commands. Attached Figure Description

[0053] Figure 1 This is a flowchart of a PID closed-loop electric cylinder telescopic control method provided in an embodiment of the present invention. Detailed Implementation

[0054] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments and specific features in the embodiments are detailed descriptions of the technical solution of the present application, rather than limitations thereof. In the absence of conflict, the embodiments and technical features in the embodiments can be combined with each other.

[0055] In this invention, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B together, or B alone. Additionally, in this invention, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0056] Example 1:

[0057] Figure 1This is a flowchart of the PID closed-loop electric cylinder telescopic control method in Embodiment 1 of the present invention, based on a slipform paver. The slipform paver includes a material bin, a material gate telescopic electric cylinder, and a material gate. The slipform paver and its internal material bin, material gate telescopic electric cylinder, and material gate are all conventional prior art, so their connection methods and structural principles will not be described in detail here. This flowchart only shows the logical sequence of the method described in this embodiment. Under the premise of no conflict, in other possible embodiments of the present invention, different methods may be used. Figure 1 Complete the steps shown or described in the order indicated.

[0058] The PID closed-loop electric cylinder telescopic control method provided in this embodiment can be applied to a terminal and can be executed by a mechanical equipment fault identification device. This device can be implemented in software and / or hardware and can be integrated into the terminal, such as any smartphone, tablet, or computer device with communication capabilities. The method in this embodiment specifically includes the following steps:

[0059] Step 1: Real-time acquisition of the actual cement thickness in the concrete bin and the actual travel speed of the slipform paver;

[0060] Step 2: Calculate the speed correction coefficient based on the preset target speed and the actual speed. The expression includes:

[0061] ,

[0062] in, For speed correction factor, This represents the actual speed of travel. The target speed of travel.

[0063] Step 3: Calculate the deviation based on the preset target cement thickness value and the actual cement thickness value. The expression includes:

[0064] ,

[0065] in, This is the deviation amount. This represents the actual thickness of the cement. The target cement thickness value.

[0066] Step 4: Calculate the dynamic deviation based on the speed correction coefficient and the deviation amount. The expression includes:

[0067] ;

[0068] in, For dynamic deviation, This is the speed correction factor.

[0069] Step 5: If the dynamic deviation exceeds the preset allowable error, the electric cylinder for extending and retracting the material gate is driven to extend and retract, and the raising and lowering of the material gate is controlled by the mechanical linkage component to adjust the material discharge flow rate of the material hopper. Specifically, this includes:

[0070] When the actual thickness of the cement is greater than the target thickness and the actual travel speed is greater than or equal to the target travel speed, the electric cylinder for extending the material gate is driven to extend, and the material gate is raised through the mechanical linkage component to increase the discharge flow of the material distribution bin.

[0071] When the actual thickness of the cement is less than the target thickness and the actual travel speed is less than or equal to the target travel speed, the electric cylinder for retracting the material gate is driven to retract, and the material gate is lowered through the mechanical linkage component, thereby reducing the discharge flow of the material distribution hopper.

[0072] If the dynamic deviation is less than or equal to the preset allowable error, maintain the current gate height.

[0073] Step Six: Generate a feedback signal based on the actual telescopic displacement of the material gate's telescopic cylinder and the speed correction coefficient. The expression includes:

[0074] ,

[0075] in, As a feedback signal, This is the displacement-thickness conversion factor. The calibration value is determined by parameters such as the mechanical transmission ratio of the material gate and the cross-sectional area of ​​the material bin. For example, =0.8 means that for every 1mm extension and retraction of the electric cylinder, the corresponding change in cement thickness is 0.8mm. The initial displacement preset for the telescopic electric cylinder of the material gate. This represents the actual expansion and contraction displacement. This is the speed correction factor.

[0076] Step 7: Combine the feedback signal to correct the dynamic deviation, obtain the corrected dynamic deviation, and based on the corrected dynamic deviation, use the working condition-deviation dual-dimensional linkage strategy to dynamically adjust the PID parameters until the dynamic deviation is less than or equal to the preset allowable error, the cement thickness stabilizes at the target value, and the height of the material gate is maintained at this time to achieve stable closed-loop control.

[0077] The dynamic deviation is corrected by incorporating the feedback signal to obtain the corrected dynamic deviation, and the expression includes:

[0078] ,

[0079] in, This is the corrected dynamic deviation. This refers to dynamic deviation.

[0080] The physical meaning of the above formula is: using feedback signal The displacement equivalent thickness correction amount offsets the dynamic deviation. The unresponsive part, for example, when Greater than Dynamic deviation If positive, the system outputs a command to drive the electric cylinder to extend ( Greater than ), feedback signal Positive, corrected deviation Decrease until It falls within the allowable error range.

[0081] Specifically, based on the corrected dynamic deviation, a dual-dimensional linkage strategy of operating condition and deviation is adopted to dynamically adjust the PID parameters, taking into account both system response speed and adjustment stability, including:

[0082] When the absolute value of the corrected dynamic deviation is greater than or equal to the preset allowable error, the proportional coefficient K_p is increased and the integral time T_i is shortened to improve the extension and retraction response speed of the electric cylinder, which is used to quickly offset the corrected dynamic deviation.

[0083] When the absolute value of the corrected dynamic deviation is less than the preset allowable error, the proportional coefficient K_p is reduced and the integral time T_i is extended to reduce the electric cylinder action frequency and avoid overshoot, thereby maintaining stable system operation.

[0084] When the actual travel speed is greater than the target travel speed, the proportional coefficient K_p is further increased and the integral time T_i is shortened based on the PID parameters corresponding to the current corrected dynamic deviation. The response rate of the material gate is accelerated through EtherCAT high-speed communication to compensate for the change in the discharge flow rate during high-speed paving.

[0085] When the actual cement slump is greater than the preset target cement slump, the proportional coefficient K_p and the integral time T_i are further reduced based on the PID parameters corresponding to the current corrected dynamic deviation. The extension and retraction speed of the electric cylinder is smoothly adjusted by the servo driver to prevent thickness fluctuations caused by excessive material flowability.

[0086] Example 2:

[0087] Embodiment 2 of the present invention provides a PID closed-loop electric cylinder telescopic control device, comprising:

[0088] The data acquisition module is used to acquire the actual thickness of cement in the concrete bin and the actual travel speed of the slipform paver in real time.

[0089] The data acquisition module includes at least one high-protection-level material level sensor, installed at a preset position inside the concrete hopper of the slipform paver or above the material gate. It is used to collect the actual thickness signal of cement in the concrete hopper in real time, and after anti-interference processing, it is converted into a 4-20mA standard electrical signal output. The material level sensor can be selected as a dustproof and waterproof radar material level sensor or a high-temperature resistant capacitive material level sensor, with a protection level ≥ IP67, detection accuracy ≤ ±0.3%FS, vibration resistance frequency range of 10-2000Hz, and is suitable for the cement dust environment in the concrete hopper.

[0090] The vehicle controller, which can be an SL8X series, is used to calculate a speed correction coefficient based on a preset target travel speed and the actual travel speed; to calculate a deviation based on a preset target cement thickness value and the actual cement thickness value; and to calculate dynamic deviation based on the speed correction coefficient and the deviation.

[0091] The servo drive module is selected from the IS810N series. If the dynamic deviation is greater than the preset allowable error, it is used to drive the extension and retraction of the material gate electric cylinder, and control the lifting and lowering of the material gate through the mechanical linkage component to adjust the material discharge flow of the material hopper.

[0092] The servo drive module includes a servo driver and an explosion-proof power amplifier unit. It has overcurrent, overvoltage, overload, stall prevention and position overtravel protection functions. Relying on the native protection algorithm of the servo driver, it automatically cuts off the drive signal under abnormal operating conditions and feeds it back to the vehicle controller through the communication link.

[0093] Working condition adaptable material gate telescopic electric cylinder actuator: includes anti-vibration servo electric cylinder, displacement detection unit and mechanical linkage component. The servo electric cylinder controls the lifting and lowering of the material gate through telescopic movement. The displacement detection unit collects the actual telescopic displacement signal of the electric cylinder in real time.

[0094] The positioning accuracy of the telescopic electric cylinder of the material gate is ≤ ±0.01mm, the stroke range is 50-300mm, the mechanical linkage component is made of wear-resistant alloy material, one end is fixedly connected to the piston rod of the electric cylinder, and the other end is rigidly connected to the material gate. The displacement detection unit is a high-precision encoder with a resolution ≥ 0.001mm. The collected displacement signal is transmitted back to the PLC communication conversion module via EtherCAT communication.

[0095] The feedback signal generation module is used to generate a feedback signal based on the actual extension and retraction displacement of the material gate telescopic electric cylinder and the speed correction coefficient.

[0096] The dynamic feedback calibration module is used to correct the dynamic deviation by combining the feedback signal, obtain the corrected dynamic deviation, and dynamically adjust the PID parameters based on the corrected dynamic deviation using a two-dimensional linkage strategy of operating condition and deviation until the dynamic deviation is less than or equal to the preset allowable error, thereby achieving stable closed-loop control.

[0097] In addition, it also includes:

[0098] The PLC communication conversion module uses the H3U series. The PLC communication conversion module is connected to the vehicle controller via CAN communication and to the servo drive module via EtherCAT communication. It is used to realize bidirectional conversion between CAN communication protocol and EtherCAT communication protocol and accurately transmit the PID adjustment command generated by the vehicle controller to the servo drive module.

[0099] The CAN communication uses the CANopen protocol, with a communication baud rate ≥250kbps and a communication delay ≤10ms; the EtherCAT communication uses the CoE protocol, with a communication period ≤1ms, and supports real-time control signal transmission.

[0100] Based on the above, specific embodiments are provided, wherein the parameters can be set as follows:

[0101] The target cement thickness is 400mm, with an allowable error of ±3mm. The initial PID parameters are Kp=3.2, Ti=1.0s, and Td=0.6s. The CAN communication baud rate is 250kbps, and the EtherCAT communication cycle is 1ms. The maximum stroke of the electric cylinder is 150mm, and the minimum stroke is 0mm. The paver's preset travel speed is 3m / min, and it is compatible with a cement slump of 120mm.

[0102] Control Process: When the paver travels at 3.2 m / min, the material level sensor detects an actual cement thickness of 406 mm, calculates a dynamic deviation of 6.4 mm, and generates an adjustment command which is sent to the PLC communication conversion module via CAN communication. After being converted into an EtherCAT signal, it is transmitted to the servo drive module, which drives the electric cylinder to extend 12 mm, raising the material gate. The displacement signal is collected by the encoder and transmitted back to the PLC via EtherCAT, where it is converted into a CAN signal. The PID parameters are dynamically adjusted to Kp=3.5, Ti=0.9s, and Td=0.5s, and the cement thickness gradually decreases to 401 mm with a deviation ≤3 mm, and the system stabilizes. When the cement slump becomes 150 mm, the PID parameters are automatically adjusted to Kp=2.8, Ti=1.2s, and Td=0.7s, and the driver smoothly adjusts the electric cylinder speed to avoid sudden changes in the discharge flow rate.

[0103] Based on the specific control process described above, the ultimately achieved beneficial effects include:

[0104] The combination of dynamic deviation calculation of the vehicle controller, high-precision positioning of the servo drive module and ±0.01mm-level positioning of the electric cylinder ensures that the cement thickness control error is ≤±3mm and the paving thickness deviation is ≤±2%.

[0105] It can integrate multi-dimensional working condition parameters, and the PID parameters are dynamically adjusted according to the paving speed and cement slump. The servo drive and electric cylinder are designed to be compatible with paving speeds of 0-5m / min and cement slump of 50-180mm.

[0106] The servo drive module's native protection function and explosion-proof design, combined with the anti-interference detection module, reduce the impact of dust and vibration on the system at the construction site, reducing the equipment failure rate by more than 30%.

[0107] The PID closed-loop electric cylinder telescopic control device provided in Embodiment 2 of the present invention can execute the PID closed-loop electric cylinder telescopic control method provided in Embodiment 1 of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0108] Example 3:

[0109] Embodiment 4 of the present invention also provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the steps of the method described in Embodiment 1, and has the corresponding functional modules and beneficial effects of the method.

[0110] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0111] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (devices), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0112] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0113] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0114] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A PID closed loop cylinder extension and retraction control method, based on a slipform paver, the slipform paver comprising a material distribution bin, characterized by, The method comprises the following steps: real-time acquisition of the actual cement thickness value in the cloth bin and the actual traveling speed of the slip-form paver; calculation of a speed correction coefficient according to the preset target traveling speed and the actual traveling speed; calculation of a deviation amount according to the preset target cement thickness value and the actual cement thickness value; calculation of a dynamic deviation according to the speed correction coefficient and the deviation amount; if the dynamic deviation is greater than a preset allowable error, driving the material gate telescopic cylinder to extend and retract; generation of a feedback signal based on the actual telescopic displacement of the material gate telescopic cylinder and the speed correction coefficient; correction of the dynamic deviation in combination with the feedback signal to obtain a corrected dynamic deviation, dynamic adjustment of PID parameters based on the corrected dynamic deviation by using a working condition-deviation two-dimensional linkage strategy until the dynamic deviation is less than or equal to the preset allowable error, and realization of stable closed-loop control.

2. The PID closed-loop telescopic control method of the electric cylinder according to claim 1, characterized in that, After the dynamic deviation is calculated according to the speed correction coefficient and the deviation amount: if the dynamic deviation is less than or equal to the preset allowable error, the current material blocking gate height is maintained; after the PID parameters are dynamically adjusted until the dynamic deviation is less than or equal to the preset allowable error, the current material blocking gate height is maintained.

3. The PID closed-loop electro-cylinder extension and retraction control method of claim 1, wherein, Driving the material gate telescopic cylinder to extend and retract comprises: when the actual cement thickness value is greater than the target cement thickness value and the actual traveling speed is greater than or equal to the target traveling speed, driving the material gate telescopic cylinder to extend, thereby driving the material blocking gate to rise and expanding the discharge flow of the cloth bin; when the actual cement thickness value is less than the target cement thickness value and the actual traveling speed is less than or equal to the target traveling speed, driving the material gate telescopic cylinder to retract, thereby driving the material blocking gate to lower and reducing the discharge flow of the cloth bin.

4. The PID closed-loop electro-cylinder extension and retraction control method of claim 1, wherein, The calculation of the speed correction coefficient according to the preset target traveling speed and the actual traveling speed comprises: ， wherein, is a speed correction factor, is an actual travel speed, is a target travel speed.

5. The PID closed-loop electro-cylinder extension and retraction control method of claim 1, wherein, The calculation of the deviation amount according to the preset target cement thickness value and the actual cement thickness value comprises: ， wherein, is the deviation amount, is the actual thickness value of the cement, is the target cement thickness value; The calculation of the dynamic deviation according to the speed correction coefficient and the deviation amount comprises: ； wherein, is a dynamic bias, is a speed correction factor.

6. The PID closed-loop electro-cylinder extension and retraction control method of claim 1, wherein, The generation of the feedback signal based on the actual telescopic displacement of the material gate telescopic cylinder and the speed correction coefficient comprises: ， wherein, is a feedback signal, is a displacement-thickness conversion coefficient, is a preset initial displacement of the material gate telescopic electric cylinder, is an actual telescopic displacement, is a speed correction coefficient; The correction of the dynamic deviation in combination with the feedback signal to obtain the corrected dynamic deviation comprises: ， wherein is the corrected dynamic bias, is the dynamic bias.

7. The PID closed-loop electro-cylinder extension and retraction control method of claim 1, wherein, The dynamic adjustment of the PID parameters based on the corrected dynamic deviation by using the working condition-deviation two-dimensional linkage strategy comprises: when the absolute value of the corrected dynamic deviation is greater than or equal to the preset allowable error, increasing the proportional coefficient and shortening the integral time to improve the telescopic response speed of the cylinder, which is used to offset the corrected dynamic deviation; when the absolute value of the corrected dynamic deviation is less than the preset allowable error, reducing the proportional coefficient and prolonging the integral time to reduce the action frequency of the cylinder, which is used to maintain the stable operation of the system; when the actual traveling speed is greater than the target traveling speed, further increasing the proportional coefficient and shortening the integral time on the basis of the PID parameters corresponding to the current corrected dynamic deviation to compensate for the change in the discharge flow at high speed paving; when the pre-acquired actual cement slump is greater than the preset target cement slump, further reducing the proportional coefficient and prolonging the integral time on the basis of the PID parameters corresponding to the current corrected dynamic deviation.

8. A PID closed loop electric cylinder extension and retraction control device, characterized by, The method comprises the following steps: The data acquisition module is configured to acquire a cement actual thickness value in the cloth bin and an actual traveling speed of the slip-form paver in real time. The vehicle controller is configured to calculate a speed correction coefficient according to a preset target traveling speed and the actual traveling speed. The deviation amount is calculated according to a preset target cement thickness value and the cement actual thickness value. The dynamic deviation is calculated according to the speed correction coefficient and the deviation amount. The servo drive module is configured to drive the material door telescopic cylinder to extend or retract if the dynamic deviation is greater than a preset allowable error. The feedback signal generation module is configured to generate a feedback signal based on an actual telescopic displacement of the material door telescopic cylinder and the speed correction coefficient. The dynamic feedback calibration module is configured to correct the dynamic deviation in combination with the feedback signal to obtain a corrected dynamic deviation, dynamically adjust PID parameters based on the corrected dynamic deviation by using a working condition-deviation two-dimensional linkage strategy until the dynamic deviation is less than or equal to the preset allowable error, and realize stable closed-loop control.

9. The PID closed-loop telescopic control device of the electric cylinder according to claim 8, wherein, Further comprising: The PLC communication conversion module is connected with the vehicle controller through CAN communication and connected with the servo drive module through EtherCAT communication, is configured to realize bidirectional conversion of CAN communication protocol and EtherCAT communication protocol, and transmit the PID adjustment instruction generated by the vehicle controller to the servo drive module. The CAN communication adopts CANopen protocol, the communication baud rate is greater than or equal to 250 kbps, and the communication delay is less than or equal to 10 ms; the EtherCAT communication adopts CoE protocol, the communication period is less than or equal to 1 ms, and supports real-time control signal transmission.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the steps of the method in any one of claims 1 to 7.

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