Filling steady flow control method based on intelligent control algorithm and storage medium

Abstract

The invention discloses a filling steady flow control method based on an intelligent control algorithm and a storage medium, and the method comprises the following steps: (1) system starting self-inspection: before a filling pump is started, automatically detecting the state of each part of the system, if a fault is detected, giving an alarm and locking starting, and if the fault is normal, entering an equipment starting step; (2) starting equipment: starting a main motor of the filling pump in sequence, detecting the oil temperature of hydraulic oil, and automatically heating to a threshold value or above if the oil temperature is lower than a preset threshold value; (3) pumping operation is conducted, specifically, displacement is set, pumping is started, a displacement-reversing cooperative control algorithm and a self-adaptive pre-protection algorithm are executed in the pumping process, cooperative control over oil cylinder displacement and check valve reversing is achieved through the displacement-reversing cooperative control algorithm, and dynamic control over oil temperature and pumping pressure is achieved through the self-adaptive pre-protection algorithm; and (4) pumping is stopped, wherein after a stop instruction is received, pumping, the check valve, the flow stabilizer and the filling pump main motor are stopped in sequence.

Description

Technical Field

[0001] This invention belongs to the field of mine backfilling control technology, specifically relating to a backfilling flow stabilization control method and storage medium based on intelligent control algorithms. Background Technology

[0002] Traditional filling flow stabilization systems face significant technical bottlenecks in industrial applications: First, insufficient flow stabilization accuracy, relying on fixed logic to control pump volume, cannot respond in real time to dynamic changes in multiple variables such as pressure, oil temperature, and displacement, resulting in large flow fluctuations and failing to meet the high-precision process requirements of mine filling and construction grouting; second, poor equipment coordination, with the timing of the filling pump, flow stabilization device, and check valve action relying on manual settings or fixed interval triggering, leading to problems such as lag in reversing and poor synchronization, easily causing material backflow, hydraulic shock, and equipment wear; third, a simplistic pre-protection mechanism, using only fixed thresholds (e.g., starting at 20℃ oil temperature and stopping at 12MPa pressure), without dynamic adjustment based on operating conditions, resulting in untimely protection or a high false alarm rate, and a high failure rate of key components. Furthermore, the original system's reversing control relies solely on a fixed distance (100mm), without integrating pressure and speed compensation, highlighting problems of high-speed inertia or low-speed overshoot; oil temperature control is coarse, lacking adaptive adjustment based on ambient temperature and load; and multiple devices are controlled independently, with insufficient data interaction and coordination. Summary of the Invention

[0003] The present invention aims to overcome the shortcomings of the prior art and provide a filling constant current control method and storage medium based on intelligent control algorithm.

[0004] To achieve the above objectives, the technical solution provided by this invention is as follows: The filling flow stabilization control method based on intelligent control algorithm is implemented in a control system including a filling pump, a flow stabilization device, and a check valve, and includes the following steps: (1) System startup self-test: Before the filling pump is started, the status of each component of the system is automatically detected. If a fault is detected, an alarm is triggered and the start is locked. If the system is normal, the equipment startup procedure is initiated. (2) Equipment start-up: Start the main motor of the filling pump in sequence and check the hydraulic oil temperature. If the oil temperature is lower than the preset threshold, it will be automatically heated to above the threshold. (3) Pumping operation: Set the displacement and start pumping. During the pumping process, execute the displacement-reversal coordinated control algorithm and the adaptive pre-protection algorithm. The displacement-reversal coordinated control algorithm realizes the coordinated control of cylinder displacement and check valve reversal. The adaptive pre-protection algorithm realizes the dynamic control of oil temperature and pumping pressure. The displacement-reversal coordinated control algorithm includes: ① calculating the reversal triggering condition through the reversal triggering algorithm; ② when the reversal triggering condition is detected, calculating the check valve action time according to the check valve action control algorithm and controlling the check valve action; The adaptive pre-protection algorithm includes: ① monitoring the oil temperature and dynamically adjusting the heating power or cooling fan speed according to the oil temperature and ambient temperature; ② monitoring the pumping pressure, automatically reducing the displacement and prompting when the pressure is in the warning range, and executing emergency shutdown when the pressure reaches the emergency shutdown threshold. (4) Pumping stop: After receiving the stop command, stop the pumping, check valve, flow stabilizing device and filling pump main motor in sequence.

[0005] Preferably, the displacement-commutation cooperative control algorithm in step (3) includes: ① Reversal trigger condition: in, S 设定 Based on the reversing distance, K ω This is the working condition correction factor. P 实时 To ensure real-time pumping pressure, P 基准 The reference pumping pressure is given by f(v), and f(v) is the velocity correction function. S 老化 This is the compensation amount for cylinder aging. ② Check valve action control algorithm: in, L 油缸 Stop valve cylinder stroke δ p This is the pressure compensation coefficient. V 加权 For the weighted average velocity, t 延迟 This is the valve group response delay time.

[0006] More preferably, the adaptive pre-protection algorithm in step (3) includes: ① Heating power algorithm / Cooling fan speed algorithm: Heating power algorithm: P 加热 =(20 – T)× K h × sgn(T - T 环境 ), Among them, P 加热K represents the heating power. h sgn is the heating coefficient, sgn is the sign function, T is the oil temperature, and T 环境 The ambient temperature; Cooling fan speed algorithm: n = 1500 + 50 × (T - 50) (rpm, T ≤ 60℃), Where n is the cooling fan speed and T is the oil temperature; ② When the pumping pressure P meets the condition of 8 MPa ≤ P < 12 MPa, it enters the early warning state and automatically reduces the pumping discharge by 5%~10%; when P ≥ 12 MPa, it enters the emergency stop state, stops the check valve and flow stabilizing device within 0.5 seconds, and cuts off the main motor of the filling pump within 1 second.

[0007] Preferably, step (3) further includes a step of dynamically adjusting the displacement according to the real-time displacement algorithm.

[0008] More preferably, the real-time displacement algorithm is: in, Q 实时 For real-time displacement, Q 0 represents the initial displacement. P 实时 For real-time pressure, P 额定 Where is the rated pressure, and f(v) is the speed compensation factor. K μ The viscosity coefficient of the material. L 修正 This is a correction item for pipe length.

[0009] Preferably, the velocity correction function f(v) in the displacement-reversal coordinated control algorithm is a piecewise function: when v ≤ 0.3 m / s, f(v) = 1.1 - 0.033v; when 0.3 m / s < v ≤ 0.6 m / s, f(v) = 1.0 + 0.008v; when v > 0.6 m / s, f(v) = 1.05 + 0.005v.

[0010] Preferably, the speed compensation factor f(v) in the real-time displacement algorithm is a piecewise function: when v ≤ 0.2 m / s, f(v) = 1.1; when 0.2 m / s < v ≤ 0.7 m / s, f(v) = 1.0; when v > 0.7 m / s, f(v) = 0.9.

[0011] Preferably, the components detected in step (1) include a water tank proximity switch, a swing cylinder proximity switch, a motor running / fault signal, an oil level and an oil temperature; the fault information is displayed on the touch screen and the cabinet fault indicator light is triggered synchronously.

[0012] The present invention also provides a computer-readable storage medium storing a computer program that can implement the above-described filling current stabilization control method based on intelligent control algorithm, including the algorithm described therein.

[0013] The present invention will be further described below: The control system for implementing the intelligent control algorithm-based filling flow stabilization control method of this invention mainly consists of a filling pump, a flow stabilization device, a check valve, a corresponding PLC controller, a touch screen, and various sensors. The filling pump PLC is responsible for controlling the filling pump valves, motor, analog amplifier, and other components, as well as processing feedback information such as proximity switches and main motor operation / fault. The filling pump control feedback signals include: 2# water tank proximity switches 1-6; 3# swing cylinder proximity switches 1-2; 4# local / remote; 5# emergency stop; 6# main motor operation; 7# main motor failure; 8# pumping pressure; 9# oil level; 10# oil temperature; 11# cylinder movement sensor 1-2; 12# touch screen; 13# overflow valve Y8-Y9; 14# main reversing valve Y1-Y2; 15# replenishing oil valve Y6; 16# main motor; 17# heater; 18# analog amplifier; 19# displacement setpoint; 20# swing cylinder reversing valve Y3-Y4; the flow stabilizing device PLC is responsible for controlling both the flow stabilizing device and the check valve. The control signals include: 22# Check valve malfunction; 23# Check valve operation; 24# Emergency stop; 25# Local / remote; 26# Motor malfunction; 27# Motor operation; 28# Check valve; 29# Heater; 30# Flow stabilizer main motor; 31# Main relief valve Y3 / Y5; 32# Directional control valve; 33# Check valve motor; 34# Check valve relief valve; 35# Check valve directional control valve; 36# Touch screen.

[0014] The filling pump can be individually controlled via the #12 touchscreen, such as starting the filling pump motor, performing normal pumping, adjusting the pumping displacement, and transmitting the on / off status of equipment such as #4 local / remote, #5 emergency stop, #6 main motor running, and #7 main motor fault, as well as analog signals such as #8 pumping pressure, #9 oil level, #10 oil temperature, and #11 cylinder displacement sensor 1-2 to the flow stabilization device.

[0015] The flow stabilizing device and check valve are controlled via the #36 touchscreen. The #33 check valve motor can be started and stopped. After the motor starts, the check valve is opened or closed by controlling the #34 check valve overflow valve and the #35 check valve directional valve. After starting the #30 flow stabilizing device main motor, the flow stabilizing device is started and stopped by controlling the #31 main overflow valves Y3 / Y5 and the #32 directional valve.

[0016] Before starting the filling pump, the system first performs a self-check. If a fault is detected, the touchscreen will display the specific fault alarm point, and the fault indicator light on the cabinet panel will illuminate. Once the fault is cleared and the display shows normal operation, the pump can be started normally. First, start the main filling pump motors sequentially on the touchscreen. Only after receiving feedback from the first motor can the second motor be started, and so on. After all motors have started, observe the oil temperature on the touchscreen to see if it reaches 20 degrees Celsius. Once the oil temperature is normal and stable, first set the filling pump's pumping displacement and buffer displacement, then click "Pump." The filling pump will then begin automatic pumping operation. When the cylinder displacement sensor detects that the main filling pump cylinder is 100mm away from the S-tube directional valve for the first time, the check valve pump motor will start automatically first, followed by the flow stabilizing device pump motor. Simultaneously, the check valve cylinder extends, and its directional valves Y1 and Y3 start synchronously; the main flow stabilizing device cylinder advances, and its directional valves Y1 and Y3, and overflow valves Y3 and Y5 start synchronously. When the main cylinder of the filling pump reaches the S-tube reversing valve, the main cylinder reverses direction and advances to pump. Simultaneously, its reversing valve Y1, swing cylinder reversing valve Y3, replenishing valve Y6, and overflow valves Y8 and Y9 are activated, and swing cylinder 1 actuates. After the pumping action ends, the main cylinder reverses direction and retracts. Simultaneously, its reversing valve Y2, swing cylinder reversing valve Y4, replenishing valve Y6, and overflow valves Y8 and Y9 are activated, and swing cylinder 2 actuates. During the retraction of the main cylinder, the check valve cylinder retracts synchronously, and its reversing valve Y2 and overflow valve Y3 are activated synchronously. The main cylinder of the flow stabilizing device retracts, and its reversing valve Y2 and overflow valves Y3 and Y5 are activated synchronously. When the main cylinder of the filling pump is 100mm away from the S-tube reversing valve again, the automatic cycle operation mode described above is performed. When the filling operation is finished, click "Stop Pumping" on the touch screen. The filling pump will stop pumping, and the check valve and flow stabilizing device will stop simultaneously. Finally, the main motor of the filling pump will stop, and the process will end.

[0017] The core algorithm involved in this invention is as follows: 1. Displacement-Commutation Cooperative Control Algorithm The displacement-reversing coordinated control algorithm aims to solve the lag problem of traditional fixed-interval reversing methods. By establishing a reversing distance-time mapping model, it dynamically adjusts the reversing trigger conditions and check valve action time based on data from the cylinder displacement sensor (11#), achieving more precise and efficient reversing control. This algorithm can dynamically adjust the reversing trigger conditions and check valve action time according to real-time pumping pressure and cylinder speed, making the reversing process more consistent with actual working conditions and improving the system's real-time performance and adaptability. Precise reversing control reduces reversing lag and over-reversing, improving pumping efficiency, while also reducing system vibration and wear, and enhancing system stability. Improved synchronization of check valve action allows for better control of material flow, reducing leakage and backflow, and improving the quality of material delivery. The following is a detailed analysis of the algorithm: Traditional commutation control often uses a fixed interval method. This method does not fully consider the dynamic changes of various factors during pumping, which can easily lead to commutation lag, affecting pumping efficiency and stability. The displacement-commutation coordinated control algorithm introduces dynamic compensation and speed correction mechanisms. Its commutation trigger condition formula (parameter symbols explained in Table 1) is as follows:

[0018] Table 1

[0019] When the commutation trigger condition is detected. At this time, it is necessary to control the extension or retraction of the check valve cylinder to ensure the correct flow direction of materials during the reversal process. The formula for calculating the check valve's operating time (see Table 2 for parameter symbol explanations) is as follows:

[0020] Table 2

[0021] 2. Adaptive pre-protection algorithm Traditional systems use a fixed 20℃ start-up threshold, which cannot adapt to changes in ambient temperature and load fluctuations. This algorithm introduces piecewise fuzzy control, based on the oil temperature (T) and ambient temperature (T). 环境 It dynamically adjusts heating / cooling power to ensure oil temperature remains stable within the safe range of 20℃ to 50℃. Compared to fixed threshold control, the oil temperature response time is reduced by 40% (from 5 minutes to 3 minutes), and the fluctuation range is narrowed from ±10℃ to ±5℃. It supports ambient temperature adaptation and can operate stably under conditions of -10℃ or 40℃.

[0022] Heating stage (T < 20℃) Control objective: Quickly raise the oil temperature to 20°C before startup to avoid pump damage caused by high hydraulic oil viscosity at low temperatures.

[0023] Heating power calculation formula: P 加热 = (20 - T) × K h × sgn(T - T 环境 ), K h = 50W / ℃ (heating coefficient, can be set via touchscreen #36); sgn is the sign function, when (T < T 环境When the temperature is low (such as in winter), increase the heating power (multiply by a coefficient of 1.2) to accelerate the temperature rise; the heating element (17# heater) adopts PWM pulse modulation to avoid oil temperature overshoot (fluctuation ≤ ±1℃).

[0024] Heat dissipation stage (T > 50℃) Control objective: Prevent hydraulic oil failure due to high temperature (viscosity drops sharply when the temperature exceeds 60°C).

[0025] Cooling fan speed formula: n = 1500 + 50 × (T - 50) (rpm, T ≤ 60℃), When T > 60℃, it is forced to run at full speed (3000rpm) and triggers a first-level alarm; it adopts "temperature-speed" linear compensation to avoid the energy waste of traditional fixed speed (energy saving of more than 30%).

[0026] Pressure over-limit protection mechanism (for pump pressure sensor #8, see Table 3) Traditional systems only set a single pressure threshold (e.g., 12 MPa) without considering the rate and duration of pressure change. This algorithm introduces a dynamic threshold and graded response logic to accurately distinguish between transient shocks and sustained overloads. The false alarm rate for pressure-related faults is reduced from 25% to 5%, effectively differentiating normal shocks (such as during reversing) from true overloads; the shutdown response time is shortened from 2 seconds in the traditional solution to 1 second, and the lifespan of key components (main motor, hydraulic cylinder) is extended by more than 20%.

[0027] Table 3

[0028] Pressure change rate compensation: A differential element is introduced to calculate the pressure change rate P = △P / △t (Δt is taken as 200ms): When P > 2MPa / s (sudden impact), the shutdown is delayed by 0.3s to avoid misjudgment; when P < 0.5MPa / s (slow rise), the displacement is triggered to decrease 2s in advance to reserve buffer time.

[0029] 3. Displacement adaptive adjustment algorithm (combined with #8 pressure + #11 displacement) Traditional displacement control relies on manual settings and cannot adapt to changes in material viscosity and pipeline resistance. This algorithm, based on a pressure-velocity coupling model, dynamically adjusts the base displacement Q0 to ensure a balance between pumping efficiency and stability. Improved material adaptability: The same set of parameters is compatible with filling slurries with a slump of 180mm~220mm, eliminating the need for frequent manual adjustments. Optimized energy consumption: Under high-pressure conditions, the displacement is automatically reduced, decreasing motor power consumption by 15%~20%.

[0030] Real-time displacement calculation formula (see Table 4 for parameter symbol explanation):

[0031] Table 4

[0032] This invention addresses the pain points of existing technologies by focusing on the construction of a high-precision steady flow control, automatic equipment coordination, and adaptive pre-protection strategy through multi-sensor data fusion (displacement, pressure, oil temperature, etc.) and intelligent algorithms (fuzzy control, dynamic model). This achieves stable pumping volume, precise synchronization of action timing, and reliable protection under complex working conditions, thereby improving the system's automation level and industrial applicability. Attached Figure Description

[0033] Figure 1 This is a control flowchart of the control method described in this invention; Figure 2 This is a control logic diagram of the control method described in this invention; Figure 3 This is a record of interface data from the actual application of the control method described in this invention. Figure 4 Interface data recording from another field where the control method described in this invention is actually applied; Figure 5 This is an interface data record from another field where the control method described in this invention is actually applied. Detailed Implementation

[0034] Example 1

[0035] See Figure 1 and Figure 2 The filling flow stabilization control method based on intelligent control algorithm is implemented in a control system including a filling pump, a flow stabilization device, and a check valve, and includes the following steps: (1) System startup self-test: Before the filling pump is started, the status of each component of the system is automatically detected. If a fault is detected, an alarm is triggered and the start is locked. If the system is normal, the equipment startup procedure is initiated. (2) Equipment start-up: Start the main motor of the filling pump in sequence and check the hydraulic oil temperature. If the oil temperature is lower than the preset threshold, it will be automatically heated to above the threshold. (3) Pumping operation: Set the displacement and start pumping. During the pumping process, execute the displacement-reversal coordinated control algorithm and the adaptive pre-protection algorithm. The displacement-reversal coordinated control algorithm realizes the coordinated control of cylinder displacement and check valve reversal. The adaptive pre-protection algorithm realizes the dynamic control of oil temperature and pumping pressure. The displacement-reversal coordinated control algorithm includes: ① calculating the reversal triggering condition through the reversal triggering algorithm; ② when the reversal triggering condition is detected, calculating the check valve action time according to the check valve action control algorithm and controlling the check valve action; The adaptive pre-protection algorithm includes: ① monitoring the oil temperature and dynamically adjusting the heating power or cooling fan speed according to the oil temperature and ambient temperature; ② monitoring the pumping pressure, automatically reducing the displacement and prompting when the pressure is in the warning range, and executing emergency shutdown when the pressure reaches the emergency shutdown threshold. (4) Pumping stop: After receiving the stop command, stop the pumping, check valve, flow stabilizing device and filling pump main motor in sequence.

[0036] The displacement-commutation cooperative control algorithm in step (3) includes: ① Reversal trigger condition: in, S 设定 Based on the reversing distance, K ω This is the working condition correction factor. P 实时 To ensure real-time pumping pressure, P 基准 The reference pumping pressure is given by f(v), and f(v) is the velocity correction function. S 老化 This is the compensation amount for cylinder aging. ② Check valve action control algorithm: in, L 油缸 Stop valve cylinder stroke δ p This is the pressure compensation coefficient. V 加权 For the weighted average velocity, t 延迟 This is the valve group response delay time.

[0037] The adaptive pre-protection algorithm described in step (3) includes: ① Heating power algorithm / Cooling fan speed algorithm: Heating power algorithm: P 加热 =(20 – T)× K h × sgn(T - T 环境 ), where P 加热 K represents the heating power. hsgn is the heating coefficient, sgn is the sign function, T is the oil temperature, and T 环境 The ambient temperature; Cooling fan speed algorithm: n = 1500 + 50 × (T - 50) (rpm, T ≤ 60℃), where n is the cooling fan speed and T is the oil temperature; ② When the pumping pressure P meets the condition of 8 MPa ≤ P < 12 MPa, it enters the early warning state and automatically reduces the pumping discharge by 5%~10%; when P ≥ 12 MPa, it enters the emergency stop state, stops the check valve and flow stabilizing device within 0.5 seconds, and cuts off the main motor of the filling pump within 1 second.

[0038] Step (3) also includes a step of dynamically adjusting the displacement based on the real-time displacement algorithm.

[0039] The real-time displacement algorithm is as follows: in, Q 实时 For real-time displacement, Q 0 represents the initial displacement. P 实时 For real-time pressure, P 额定 Where is the rated pressure, and f(v) is the speed compensation factor. K μ The viscosity coefficient of the material. L 修正 This is a correction item for pipe length.

[0040] The velocity correction function f(v) in the displacement-commutation cooperative control algorithm is a piecewise function: when v ≤ 0.3 m / s, f(v) = 1.1 - 0.033v; when 0.3 m / s < v ≤ 0.6 m / s, f(v) = 1.0 + 0.008v; when v > 0.6 m / s, f(v) = 1.05 + 0.005v.

[0041] The speed compensation factor f(v) in the real-time displacement algorithm is a piecewise function: when v ≤ 0.2 m / s, f(v) = 1.1; when 0.2 m / s < v ≤ 0.7 m / s, f(v) = 1.0; when v > 0.7 m / s, f(v) = 0.9.

[0042] The components detected in step (1) include the water tank proximity switch, the swing cylinder proximity switch, the motor running / fault signal, the oil level and the oil temperature; the fault information is displayed on the touch screen and the cabinet fault indicator light is triggered synchronously.

[0043] Example 2 See Figures 3 to 5 The data recordings from the Russian experimental project using the intelligent control algorithm-based filling flow stabilization control method described in Example 1 demonstrate how establishing a dynamic timing matching model for the actions of the filling pump, flow stabilization device, and check valve replaces the traditional manual setting and fixed-interval triggering mode, achieving precise synchronization of the actions of each device. The reversing lag time is reduced to less than 15% of the original system, decreasing the incidence of material backflow, lowering hydraulic shock peaks, slowing the wear rate of key moving parts, extending service life by 20%-30%, and significantly reducing equipment maintenance costs and downtime frequency. Example 3

[0044] A computer-readable storage medium storing a computer program that can implement the filling current stabilization control method based on intelligent control algorithm in Embodiment 1 or Embodiment 2 above, and includes the algorithm therein.

Claims

1. A filling flow stabilization control method based on an intelligent control algorithm, wherein the method is implemented in a control system comprising a filling pump, a flow stabilization device, and a check valve, characterized in that, The filling and stabilizing method includes the following steps: (1) System startup self-test: Before the filling pump is started, the status of each component of the system is automatically detected. If a fault is detected, an alarm is triggered and the start is locked. If the system is normal, the equipment startup procedure is initiated. (2) Equipment start-up: Start the main motor of the filling pump in sequence and check the hydraulic oil temperature. If the oil temperature is lower than the preset threshold, it will be automatically heated to above the threshold. (3) Pumping operation: Set the displacement and start pumping. During the pumping process, execute the displacement-reversal coordinated control algorithm and the adaptive pre-protection algorithm. The displacement-reversal coordinated control algorithm realizes the coordinated control of cylinder displacement and check valve reversal. The adaptive pre-protection algorithm realizes the dynamic control of oil temperature and pumping pressure. The displacement-reversal coordinated control algorithm includes: ① calculating the reversal triggering condition through the reversal triggering algorithm; ② when the reversal triggering condition is detected, calculating the check valve action time according to the check valve action control algorithm and controlling the check valve action; The adaptive pre-protection algorithm includes: ① monitoring the oil temperature and dynamically adjusting the heating power or cooling fan speed according to the oil temperature and ambient temperature; ② monitoring the pumping pressure, automatically reducing the displacement and prompting when the pressure is in the warning range, and executing emergency shutdown when the pressure reaches the emergency shutdown threshold. (4) Pumping stop: After receiving the stop command, stop the pumping, check valve, flow stabilizing device and filling pump main motor in sequence.

2. The filling steady-flow control method based on intelligent control algorithm as described in claim 1, characterized in that, The displacement-commutation cooperative control algorithm described in step (3) includes: ① Reversal trigger condition: in, S 设定 Based on the reversing distance, K ω This is the working condition correction factor. P 实时 To ensure real-time pumping pressure, P 基准 The reference pumping pressure is given by f(v), and f(v) is the velocity correction function. S 老化 This is the compensation amount for cylinder aging. ② Check valve action control algorithm: ,in, L 油缸 Stop valve cylinder stroke δ p This is the pressure compensation coefficient. V 加权 For the weighted average velocity, t 延迟 This is the valve group response delay time.

3. The filling steady-flow control method based on intelligent control algorithm as described in claim 2, characterized in that, The adaptive pre-protection algorithm described in step (3) includes: ① Heating power algorithm / Cooling fan speed algorithm: Heating power algorithm: P 加热 =(20 – T)× K h × sgn(T - T 环境 ), Among them, P 加热 K represents the heating power. h sgn is the heating coefficient, sgn is the sign function, T is the oil temperature, and T 环境 The ambient temperature; Cooling fan speed algorithm: n = 1500 + 50 × (T - 50) (rpm, T ≤ 60℃), Where n is the cooling fan speed and T is the oil temperature; ② When the pumping pressure P meets the condition of 8 MPa ≤ P < 12 MPa, it enters the early warning state and automatically reduces the pumping discharge by 5%~10%; when P ≥ 12 MPa, it enters the emergency stop state, stops the check valve and flow stabilizing device within 0.5 seconds, and cuts off the main motor of the filling pump within 1 second.

4. The filling steady-flow control method based on intelligent control algorithm as described in claim 1, characterized in that, Step (3) also includes a step of dynamically adjusting the displacement based on the real-time displacement algorithm.

5. The filling steady-flow control method based on intelligent control algorithm as described in claim 4, characterized in that, The real-time displacement algorithm is as follows: in, Q 实时 For real-time displacement, Q 0 represents the initial displacement. P 实时 For real-time pressure, P 额定 Where is the rated pressure, and f(v) is the speed compensation factor. K μ The viscosity coefficient of the material. L 修正 This is a correction item for pipe length.

6. The filling steady-flow control method based on intelligent control algorithm as described in claim 2, characterized in that, The velocity correction function f(v) in the displacement-reversal cooperative control algorithm is a piecewise function: when v ≤ 0.3 m / s, f(v) = 1.1 -0.033v; when 0.3 m / s < v ≤ 0.6 m / s, f(v) = 1.0 + 0.008v; when v > 0.6 m / s, f(v) = 1.05 + 0.005v.

7. The filling current stabilization control method based on intelligent control algorithm as described in claim 5, characterized in that, The speed compensation factor f(v) in the real-time displacement algorithm is a piecewise function: when v ≤ 0.2 m / s, f(v) = 1.1; when v ≤ 0.2 m / s, f(v) = 1.1; when v ≤ 0.2 m / s, f(v) = 1.

1. <v ≤ 0.7 m s时，f(v)="1.0；当v"> At 0.7 m / s, f(v) = 0.9.< / v> 8. The filling steady-flow control method based on intelligent control algorithm as described in claim 1, characterized in that, The components detected in step (1) include the water tank proximity switch, the swing cylinder proximity switch, the motor running / fault signal, the oil level and the oil temperature; the fault information is displayed on the touch screen and the cabinet fault indicator light is triggered synchronously.

9. A computer-readable storage medium storing a computer program thereon, characterized in that, The computer program can implement the filling flow control method based on intelligent control algorithm as described in any one of claims 1 to 8.

10. The computer-readable storage medium as claimed in claim 9, characterized in that, The computer program contains the algorithm that implements the filling steady flow control method based on intelligent control algorithm as described in any one of claims 1 to 8.

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