Methods, equipment and storage media for motor-controlled intelligent hydraulic cylinders

Abstract

This invention discloses a motor-controlled intelligent hydraulic cylinder control method, device, and storage medium. The method includes: calling a historical load database, extracting historical load data that matches the currently collected cylinder body temperature and hydraulic pipeline pressure, combining the operating status of the seals and the current hydraulic pipeline flow rate to predict the current load condition, and, based on the predicted load condition, performing hierarchical control unit division, dividing the hydraulic cylinder control module into a basic load-bearing unit, a precision adjustment unit, and an emergency compensation unit, thereby improving the accuracy and efficiency of predicting the load condition, calculating the deviation between the target control parameters and the current core operating parameters, and, combined with the predicted load condition and the operating status of each control unit, performing differentiated adjustment control to synchronize mechanical adjustment with hydraulic cylinder adjustment, avoiding adjustment lag and hydraulic cylinder oscillation, and ensuring a smooth and rapid adjustment process.

Description

Technical Field

[0001] This invention relates to the field of intelligent hydraulic cylinder technology, specifically to a control method, device, and storage medium for motor-controlled intelligent hydraulic cylinders. Background Technology

[0002] Intelligent cylinders, also known as intelligent hydraulic cylinders, are the product of the deep integration of traditional hydraulic cylinders with modern sensing technology, control technology, communication technology and artificial intelligence algorithms. They are electromechanical-hydraulic composite terminal actuators that integrate perception, control, feedback, decision-making and execution.

[0003] Existing intelligent cylinder control methods rely on fixed logic and cannot adaptively identify different load conditions such as stable, dynamic fluctuations, and impacts. They have poor adaptability to different operating conditions and are prone to response lag and attitude jitter when facing complex operating conditions. Judging the adjustment capability solely based on mechanical limits either leads to conservative under-adjustment resulting in low adjustment efficiency or aggressive operation causing overload damage to the cylinder and hydraulic components. During the adjustment process, the mechanical adjustment and cylinder adjustment are not synchronized enough, which easily leads to adjustment lag and cylinder oscillation. The adjustment process is not smooth and fast enough, which can easily cause motor overload and cylinder damage. Summary of the Invention

[0004] The present invention proposes a motor-controlled intelligent hydraulic cylinder control method, device, and storage medium to solve the technical problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: The motor-controlled intelligent hydraulic cylinder control method of the present invention includes the following steps:

[0006] S1: Receive the target control command issued by the main control platform of the mechanical system, parse it to obtain the target control parameters, which include target displacement, target working pressure and target running speed; synchronously start the multi-dimensional parameter acquisition module to collect the core operating parameters of the hydraulic cylinder in real time, which include the actual displacement of the cylinder body, hydraulic pipeline pressure, hydraulic pipeline flow rate, cylinder body temperature and seal operating status.

[0007] S2: Call the historical load database, extract historical load data that matches the currently collected cylinder temperature and hydraulic line pressure, combine the operating status of the seal and the current hydraulic line flow, and predict the current load condition. The load condition is divided into three categories: stable load condition, dynamic fluctuation load condition, and impact load condition.

[0008] S3: Based on the predicted load conditions, perform hierarchical control unit division, dividing the hydraulic cylinder control module into a basic load-bearing unit, a precision adjustment unit, and an emergency compensation unit;

[0009] S4: Calculate the deviation between the target control parameters and the current core operating parameters, and combine the predicted load conditions and the operating status of each control unit to execute differentiated adjustment control;

[0010] S5: Evaluate the current maximum controllable adjustment limit of the hydraulic cylinder, and determine whether the target control parameters can be achieved by considering the operating status of the seals, the cylinder temperature, and the oil supply capacity of the hydraulic system.

[0011] Preferably, S3 includes:

[0012] S31: Under stable load conditions, the basic load-bearing unit bears most of the rated load and maintains constant voltage steady-state operation. The precision adjustment unit is in a low-power standby state, and the emergency compensation unit is turned off.

[0013] S32: Under dynamic fluctuating load conditions, the basic load-bearing unit bears most of the rated load, the precision adjustment unit starts the real-time adjustment mode, and the emergency compensation unit is in standby mode.

[0014] S33: Under impact load conditions, the basic bearing unit, the precision adjustment unit, and the emergency compensation unit start up in tandem. The basic bearing unit resists the impact peak, the precision adjustment unit buffers the fluctuations, and the emergency compensation unit fills the gap in real time.

[0015] Preferably, S4 includes:

[0016] S41: When the deviation value is within the preset allowable threshold, maintain the current hierarchical control mode, continuously collect core operating parameters, update the load condition prediction result once every preset period, and dynamically fine-tune the operating parameters of the basic bearing unit.

[0017] S42: When the deviation value exceeds the preset allowable threshold and the current load condition is a stable load condition, the precision adjustment unit is activated first to correct the deviation by finely adjusting the hydraulic pipeline flow and working pressure. If the adjustment margin of the precision adjustment unit is insufficient, the emergency compensation unit is activated to make up for the shortfall, without adjusting the operating status of the foundation bearing unit.

[0018] S43: When the deviation value exceeds the preset allowable threshold and the current load condition is a dynamic fluctuating load condition, the precise adjustment unit and the basic load unit are adjusted synchronously. The precise adjustment unit tracks the load fluctuation and corrects the deviation in real time. The basic load unit dynamically adjusts the load bearing ratio. The emergency compensation unit is activated according to the deviation fluctuation amplitude.

[0019] S44: When the deviation value exceeds the preset allowable threshold and the current load condition is an impact load condition, the three control units work together. The emergency compensation unit prioritizes offsetting the deviation peak caused by the impact, and the basic bearing unit maintains the cylinder body attitude stability.

[0020] The formula for calculating the deviation value is as follows:

[0021]

[0022] in, This is the deviation value. This is the displacement deviation weighting coefficient. The target displacement deviation. This is the pressure deviation weighting coefficient. The target working pressure deviation. This is the speed deviation weighting coefficient. The deviation from the target running speed.

[0023] Preferably, S5 includes:

[0024] S51: If the target control parameters can be achieved, continuously monitor the adjustment response parameters of each control unit, record the changes in core operating parameters during the adjustment process, and update them to the historical load database;

[0025] S52: If the target control parameters cannot be achieved, calculate the adjustment gap value, control each unit to operate to the safe limit state, and simultaneously feed back the adjustment gap value and the working condition prediction result to the main control platform of the mechanical system.

[0026] Preferably, the prediction of the current load condition includes:

[0027] Extract historical data from the historical load database that matches the current cylinder block temperature and hydraulic line pressure, and filter out the corresponding data groups.

[0028] Calculate the current hydraulic pipeline flow fluctuation frequency, compare it with the flow fluctuation frequency of the selected historical data group, and combine the influence of the seal operating status on load adaptability to obtain the working condition matching degree.

[0029] The load condition corresponding to the historical data group with the highest matching degree is selected as the prediction result of the current load condition; if there is no historical data group with a high matching degree, it is determined to be an unknown load condition, the emergency compensation unit is activated and ready to stand by, and the basic bearing unit and the precision adjustment unit operate according to the default dynamic fluctuation load condition.

[0030] Preferably, the evaluation of the current maximum controllable adjustment limit of the hydraulic cylinder includes:

[0031] Determine the mechanical limits of the cylinder block based on the cylinder block structural parameters;

[0032] Based on the current cylinder temperature, the hydraulic oil viscosity coefficient is adjusted, thereby adjusting the maximum allowable flow rate of the hydraulic pipeline and the maximum adjustment capability of the hydraulic control unit.

[0033] Based on the operating status of the seal, determine the impact of leakage on the adjustment accuracy. If the seal is severely worn, appropriately reduce the rated adjustment capacity and calculate the adjustment limit.

[0034] Considering the mechanical limits of the cylinder block, the adjustability of the hydraulic system, and the compatibility of the seals, calculate the maximum controllable adjustment limit of the current hydraulic cylinder.

[0035] The formula for calculating the maximum controllable adjustment limit is as follows:

[0036]

[0037] in, This represents the maximum controllable adjustment limit of the hydraulic cylinder. For the mechanical limits of the cylinder block, This is the maximum adjustment capability of the hydraulic control unit. This is a temperature correction factor. This is the pipeline loss coefficient. For the limits of seal adaptation.

[0038] Preferably, the adjustment logic of the precision adjustment unit is as follows:

[0039] Based on the magnitude of the deviation, determine the adjustment priority and correct the parameter with the largest deviation first;

[0040] The adjustment amount is calculated and converted into the opening degree of the electromagnetic reversing valve and the flow control parameters of the micro flow regulating valve, and the adjustment signal is output in real time.

[0041] The core operating parameters after adjustment are continuously collected, and the correction deviation is calculated. If the deviation value still does not drop to within the allowable threshold after multiple sampling cycles, it is determined that the adjustment margin of the precision adjustment unit is insufficient, and the emergency compensation unit is activated.

[0042] The formula for calculating the adjustment amount is as follows:

[0043]

[0044] in, for The output adjustment amount of the unit can be precisely adjusted at all times. This is the proportionality coefficient. for The deviation value of the comprehensive operating parameters of the hydraulic cylinder at any given time. The integral coefficient is... The differential coefficients are... For integration variables, for The rate of change of the time deviation value.

[0045] Preferably, the adjustment logic of the synchronous adjustment base bearing unit and the precision adjustment unit is as follows:

[0046] Real-time monitoring of load fluctuations; if the fluctuations are small, maintain the load-bearing ratio of the basic load-bearing unit unchanged, and correct deviations only by adjusting the precision unit.

[0047] If the fluctuation range is large, the load-bearing ratio of the basic load-bearing unit is dynamically adjusted. The greater the fluctuation range, the higher the load-bearing ratio. At the same time, the precision adjustment unit increases the adjustment range to track the fluctuation rhythm.

[0048] In another aspect, the present invention also discloses a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the steps of the method described above.

[0049] In another aspect, the present invention also discloses a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the method described above.

[0050] As can be seen from the above technical solution, the present invention provides a motor-controlled intelligent hydraulic cylinder control method. Compared with the prior art, the present invention has the following advantages:

[0051] 1. This invention improves the accuracy and efficiency of predicting load conditions by coupling and modeling multiple operating conditions such as temperature, pressure, flow fluctuations, and sealing leakage, and then using different control units for different control and adjustment under different operating conditions.

[0052] 2. This invention calculates the adjustment amount and converts it into the opening degree of the electromagnetic reversing valve and the flow control parameters of the micro flow regulating valve. It accumulates historical deviations and predicts the trend of deviation changes, thereby achieving precise adjustment without steady-state error, suppressing oscillations caused by dynamic fluctuations, and improving the adjustment response speed and accuracy.

[0053] 3. This invention calculates the deviation between the target control parameters and the current core operating parameters, and combines the predicted load conditions and the operating status of each control unit to perform differentiated adjustment control, so that mechanical adjustment and hydraulic cylinder adjustment are synchronized, avoiding adjustment lag and hydraulic cylinder oscillation, and the adjustment process is smooth and fast. Attached Figure Description

[0054] Figure 1 This is a flowchart illustrating the motor-controlled intelligent hydraulic cylinder control method of the present invention.

[0055] Figure 2 This is a schematic diagram of the process S3 in this invention;

[0056] Figure 3 This is a schematic diagram of the process S4 in this invention;

[0057] Figure 4 This is a schematic diagram of the process S5 in this invention. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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 some embodiments of the present invention, but not all embodiments.

[0059] like Figure 1 As shown, the motor-controlled intelligent hydraulic cylinder control method of this embodiment includes the following steps:

[0060] S1: Receives the target control command issued by the main control platform of the mechanical system, and parses it to obtain the target control parameters, including the target displacement, target working pressure and target running speed; Simultaneously starts the multi-dimensional parameter acquisition module to collect the core operating parameters of the hydraulic cylinder in real time, including the actual displacement of the cylinder body, hydraulic pipeline pressure, hydraulic pipeline flow, cylinder body temperature and seal operating status.

[0061] S2: Call the historical load database, extract historical load data that matches the currently collected cylinder temperature and hydraulic line pressure, combine the operating status of the seals and the current hydraulic line flow, and predict the current load condition. The load condition is divided into three categories: stable load condition, dynamic fluctuation load condition, and impact load condition.

[0062] S3: Based on the predicted load conditions, the hierarchical control unit is divided into basic load-bearing unit, precision adjustment unit, and emergency compensation unit.

[0063] S4: Calculate the deviation between the target control parameters and the current core operating parameters, and combine the predicted load conditions and the operating status of each control unit to execute differentiated adjustment control;

[0064] S5: Evaluate the current maximum controllable adjustment limit of the hydraulic cylinder, and determine whether the target control parameters can be achieved by considering the operating status of the seals, the cylinder temperature, and the oil supply capacity of the hydraulic system.

[0065] Specifically, in practical applications, taking the servo motor-driven intelligent feed cylinder of a CNC machine tool as an example, the following parameters are included:

[0066] Motor-cylinder linkage structure: servo motor (drives main hydraulic pump and solenoid directional valve), intelligent feed cylinder (including displacement sensor, pressure sensor, flow sensor, and seal leakage detector) and CNC machine tool main control platform;

[0067] After completing parameter acquisition, the historical load database is immediately accessed to extract historical cutting condition data that matches the currently acquired cylinder temperature and hydraulic pipeline actual pressure, including key information such as historical load size and flow fluctuation patterns. Then, the current hydraulic pipeline flow fluctuation frequency is calculated, and the impact of the seal operating status (seal wear degree, leakage) on load adaptability is combined to accurately determine the current load condition type.

[0068] If the matching degree is high, it directly corresponds to the historical no-load, light-load cutting or heavy-load cutting conditions; if there is no historical data set with a high matching degree, it is determined to be an unknown load condition, and the emergency compensation unit is immediately activated and on standby. The basic load-bearing unit and the precision adjustment unit operate according to the default dynamic fluctuation load condition to avoid control disorder caused by the failure of condition prediction.

[0069] like Figure 2 As shown, S3 includes:

[0070] S31: Under stable load conditions, the basic load-bearing unit bears most of the rated load and maintains constant voltage steady-state operation. The precision adjustment unit is in a low-power standby state, and the emergency compensation unit is turned off.

[0071] No-load condition (stable load condition): The basic load-bearing unit (composed of a main hydraulic pump driven by a servo motor and a high-power proportional relief valve) bears most of the rated load, maintains constant pressure steady-state operation, and ensures the basic posture of the hydraulic cylinder; the precision adjustment unit (composed of a high-precision electromagnetic directional valve controlled by a servo motor and a micro flow regulating valve) is in a low-power standby state and does not require frequent adjustment; the emergency compensation unit is completely shut down, and the servo motor maintains low-speed operation to minimize energy consumption.

[0072] S32: Under dynamic fluctuating load conditions, the basic load-bearing unit bears most of the rated load, the precision adjustment unit starts the real-time adjustment mode, and the emergency compensation unit is in standby mode.

[0073] Light-load cutting condition (dynamic fluctuating load condition): The basic load-bearing unit bears most of the rated load, the servo motor maintains a stable speed, and ensures a stable oil supply to the hydraulic system; the precision adjustment unit starts the real-time adjustment mode, and the servo motor fine-tunes the opening of the electromagnetic reversing valve according to the load fluctuation, so as to realize the real-time correction of parameter deviation; the emergency compensation unit is in standby mode, ready to deal with sudden small load fluctuations at any time.

[0074] S33: Under impact load conditions, the basic bearing unit, the precision adjustment unit, and the emergency compensation unit start up in tandem. The basic bearing unit resists the impact peak, the precision adjustment unit buffers the fluctuations, and the emergency compensation unit fills the gap in real time.

[0075] Heavy-duty cutting conditions (impact load conditions): Three control units start in concert, the servo motor increases its speed and the hydraulic pump output flow to provide sufficient hydraulic power to the cylinder; the basic load-bearing unit focuses on resisting the peak of cutting impact to avoid severe vibration of the cylinder posture; the precision adjustment unit quickly buffers load fluctuations and corrects parameter deviations; the emergency compensation unit provides real-time compensation to offset the adverse effects of impact loads and protects the servo motor from overload damage due to excessive load.

[0076] like Figure 3 As shown, S4 includes:

[0077] S41: When the deviation value is within the preset allowable threshold, maintain the current hierarchical control mode, continuously collect core operating parameters, update the load condition prediction result once every preset period, and dynamically fine-tune the operating parameters of the basic bearing unit.

[0078] Specifically, after completing the division of the hierarchical control units, the deviation values ​​between the target control parameters (target displacement, target pressure, target speed) and the current core operating parameters are first calculated to quantify the overall degree of deviation of the three, which serves as the core judgment basis for subsequent adjustment and control. At the same time, based on the comparison between the deviation value and the preset allowable threshold, combined with the predicted load conditions and the operating status of each control unit, differentiated adjustment and control are executed.

[0079] When the deviation value is within the preset allowable threshold, the current hierarchical control mode and servo motor operation status are maintained, core operating parameters are continuously collected, the load condition prediction result is updated once every preset period, and the operating parameters of the basic bearing unit and the servo motor speed are dynamically fine-tuned to ensure the stability of the cylinder operation and adapt to the machine tool feed requirements.

[0080] S42: When the deviation value exceeds the preset allowable threshold and the current load condition is a stable load condition, the precision adjustment unit is activated first to correct the deviation by finely adjusting the hydraulic pipeline flow and working pressure. If the adjustment margin of the precision adjustment unit is insufficient, the emergency compensation unit is activated to make up for the shortfall, without adjusting the operating status of the foundation bearing unit.

[0081] Specifically, when the overall deviation exceeds the preset allowable threshold and the current condition is no-load, the precision adjustment unit is activated first. By fine-tuning the servo motor speed and adjusting the opening of the electromagnetic reversing valve, the displacement or speed deviation is corrected without adjusting the operating status of the basic load-bearing unit. If the adjustment margin of the precision adjustment unit is insufficient, the emergency compensation unit is activated to make up the difference, ensuring that the deviation quickly returns to the threshold and avoiding unnecessary load increase on the servo motor.

[0082] S43: When the deviation value exceeds the preset allowable threshold and the current load condition is a dynamic fluctuating load condition, the precise adjustment unit and the basic load unit are adjusted synchronously. The precise adjustment unit tracks the load fluctuation and corrects the deviation in real time. The basic load unit dynamically adjusts the load bearing ratio. The emergency compensation unit is activated according to the deviation fluctuation amplitude.

[0083] Specifically, when the overall deviation exceeds the preset allowable threshold and the current cutting condition is light load, the precision adjustment unit and the basic load-bearing unit are adjusted synchronously, fully following the collaborative adjustment logic of this invention; the precision adjustment unit tracks load fluctuations and corrects deviations in real time, and the servo motor fine-tunes its speed to adapt to the adjustment requirements; the basic load-bearing unit dynamically adjusts the load-bearing ratio, and the larger the fluctuation amplitude, the higher the load-bearing ratio. At the same time, the precision adjustment unit increases the adjustment amplitude, tracks the fluctuation rhythm, and ensures that the motor drive and the hydraulic cylinder adjustment are synchronized, avoiding adjustment lag or oscillation.

[0084] S44: When the deviation value exceeds the preset allowable threshold and the current load condition is an impact load condition, the three control units work together. The emergency compensation unit prioritizes offsetting the deviation peak caused by the impact, and the basic bearing unit maintains the cylinder body attitude stability.

[0085] Specifically, when the overall deviation exceeds the preset allowable threshold and the current condition is heavy-duty cutting, the three control units operate in coordination. The emergency compensation unit prioritizes offsetting the peak deviation caused by the impact, the basic bearing unit maintains the cylinder's stable posture, and resists the damage to the cylinder caused by the impact load. After the impact is buffered, the precision adjustment unit gradually corrects the residual deviation, and the servo motor adjusts its speed in real time to adapt to the coordinated operation requirements of each unit, ensuring that the adjustment process is smooth and fast, and avoiding motor overload and cylinder damage.

[0086] The formula for calculating the deviation value is as follows:

[0087]

[0088] in, This is the deviation value. This is the displacement deviation weighting coefficient. The target displacement deviation. This is the pressure deviation weighting coefficient. The target working pressure deviation. This is the speed deviation weighting coefficient. The deviation from the target running speed.

[0089] like Figure 4 As shown, S5 includes:

[0090] S51: If the target control parameters can be achieved, continuously monitor the adjustment response parameters of each control unit, record the changes in core operating parameters during the adjustment process, and update them to the historical load database;

[0091] S52: If the target control parameters cannot be achieved, calculate the adjustment gap value, control each unit to operate to the safe limit state, and simultaneously feed back the adjustment gap value and the working condition prediction result to the main control platform of the mechanical system.

[0092] Furthermore, the prediction of the current load condition includes:

[0093] Extract historical data from the historical load database that matches the current cylinder block temperature and hydraulic line pressure, and filter out the corresponding data groups.

[0094] Calculate the current hydraulic pipeline flow fluctuation frequency, compare it with the flow fluctuation frequency of the selected historical data group, and combine the influence of the seal operating status on load adaptability to obtain the working condition matching degree.

[0095] The load condition corresponding to the historical data group with the highest matching degree is selected as the prediction result of the current load condition; if there is no historical data group with a high matching degree, it is determined to be an unknown load condition, the emergency compensation unit is activated and ready to stand by, and the basic bearing unit and the precision adjustment unit operate according to the default dynamic fluctuation load condition.

[0096] Further evaluation of the current maximum controllable adjustment limits of the hydraulic cylinder includes:

[0097] Determine the mechanical limits of the cylinder block based on the cylinder block structural parameters;

[0098] Based on the current cylinder temperature, the hydraulic oil viscosity coefficient is adjusted, thereby adjusting the maximum allowable flow rate of the hydraulic pipeline and the maximum adjustment capability of the hydraulic control unit.

[0099] Based on the operating status of the seal, determine the impact of leakage on the adjustment accuracy. If the seal is severely worn, appropriately reduce the rated adjustment capacity and calculate the adjustment limit.

[0100] Considering the mechanical limits of the cylinder block, the adjustability of the hydraulic system, and the compatibility of the seals, calculate the maximum controllable adjustment limit of the current hydraulic cylinder.

[0101] The formula for calculating the maximum controllable adjustment limit is as follows:

[0102]

[0103] in, This represents the maximum controllable adjustment limit of the hydraulic cylinder. For the mechanical limits of the cylinder block, This is the maximum adjustment capability of the hydraulic control unit. This is a temperature correction factor. This is the pipeline loss coefficient. For the limits of seal adaptation.

[0104] Furthermore, the adjustment logic of the precision adjustment unit is as follows:

[0105] Based on the magnitude of the deviation, determine the adjustment priority and correct the parameter with the largest deviation first;

[0106] The adjustment amount is calculated and converted into the opening degree of the electromagnetic reversing valve and the flow control parameters of the micro flow regulating valve, and the adjustment signal is output in real time.

[0107] The core operating parameters after adjustment are continuously collected, and the correction deviation is calculated. If the deviation value still does not drop to within the allowable threshold after multiple sampling cycles, it is determined that the adjustment margin of the precision adjustment unit is insufficient, and the emergency compensation unit is activated.

[0108] The formula for calculating the adjustment amount is as follows:

[0109]

[0110] in, for The output adjustment amount of the unit can be precisely adjusted at all times. This is the proportionality coefficient. for The deviation value of the comprehensive operating parameters of the hydraulic cylinder at any given time. The integral coefficient is... The differential coefficients are... For integration variables, for The rate of change of the time deviation value.

[0111] Furthermore, the adjustment logic for the synchronous adjustment of the basic support unit and the precise adjustment unit is as follows:

[0112] Real-time monitoring of load fluctuations; if the fluctuations are small, maintain the load-bearing ratio of the basic load-bearing unit unchanged, and correct deviations only by adjusting the precision unit.

[0113] If the fluctuation range is large, the load-bearing ratio of the basic load-bearing unit is dynamically adjusted. The greater the fluctuation range, the higher the load-bearing ratio. At the same time, the precision adjustment unit increases the adjustment range to track the fluctuation rhythm.

[0114] In another aspect, the present invention also discloses a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the steps of the method described above.

[0115] In another aspect, the present invention also discloses a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the method described above.

[0116] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., a solid-state disk (SSD)).

[0117] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0118] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0119] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A motor-controlled intelligent hydraulic cylinder control method, characterized in that, Includes the following steps: S1: Receive the target control command issued by the main control platform of the mechanical system, parse it to obtain the target control parameters, which include target displacement, target working pressure and target running speed; synchronously start the multi-dimensional parameter acquisition module to collect the core operating parameters of the hydraulic cylinder in real time, which include the actual displacement of the cylinder body, hydraulic pipeline pressure, hydraulic pipeline flow rate, cylinder body temperature and seal operating status. S2: Call the historical load database, extract historical load data that matches the currently collected cylinder temperature and hydraulic line pressure, combine the operating status of the seal and the current hydraulic line flow, and predict the current load condition. The load condition is divided into three categories: stable load condition, dynamic fluctuation load condition, and impact load condition. S3: Based on the predicted load conditions, perform hierarchical control unit division, dividing the hydraulic cylinder control module into a basic load-bearing unit, a precision adjustment unit, and an emergency compensation unit. The basic load-bearing unit consists of a main hydraulic pump driven by a servo motor and a high-power proportional relief valve. The precision adjustment unit consists of a high-precision electromagnetic directional valve and a micro flow regulating valve. S31: Under stable load conditions, the basic load-bearing unit bears most of the rated load and maintains constant voltage steady-state operation. The precision adjustment unit is in a low-power standby state, and the emergency compensation unit is turned off. S32: Under dynamic fluctuating load conditions, the basic load-bearing unit bears most of the rated load, the precision adjustment unit starts the real-time adjustment mode, and the emergency compensation unit is in standby mode. S33: Under impact load conditions, the basic bearing unit, the precision adjustment unit, and the emergency compensation unit start up in tandem. The basic bearing unit resists the impact peak, the precision adjustment unit buffers the fluctuations, and the emergency compensation unit fills the gap in real time. S4: Calculate the deviation between the target control parameters and the current core operating parameters, and combine the predicted load conditions and the operating status of each control unit to execute differentiated adjustment control; S41: When the deviation value is within the preset allowable threshold, maintain the current hierarchical control mode, continuously collect core operating parameters, update the load condition prediction result once every preset period, and dynamically fine-tune the operating parameters of the basic bearing unit. S42: When the deviation value exceeds the preset allowable threshold and the current load condition is a stable load condition, the precision adjustment unit is activated first to correct the deviation by finely adjusting the hydraulic pipeline flow and working pressure. If the adjustment margin of the precision adjustment unit is insufficient, the emergency compensation unit is activated to make up for the shortfall, without adjusting the operating status of the foundation bearing unit. S43: When the deviation value exceeds the preset allowable threshold and the current load condition is a dynamic fluctuating load condition, the precise adjustment unit and the basic load unit are adjusted synchronously. The precise adjustment unit tracks the load fluctuation and corrects the deviation in real time. The basic load unit dynamically adjusts the load bearing ratio. The emergency compensation unit is activated according to the deviation fluctuation amplitude. S44: When the deviation value exceeds the preset allowable threshold and the current load condition is an impact load condition, the three control units work together. The emergency compensation unit prioritizes offsetting the deviation peak caused by the impact, and the basic bearing unit maintains the cylinder body attitude stability. S5: Evaluate the current maximum controllable adjustment limit of the hydraulic cylinder, and determine whether the target control parameters can be achieved by considering the operating status of the seals, the cylinder temperature, and the oil supply capacity of the hydraulic system.

2. The motor-controlled intelligent hydraulic cylinder control method according to claim 1, characterized in that: The formula for calculating the deviation value is as follows: in, This is the deviation value. This is the displacement deviation weighting coefficient. The target displacement deviation. This is the pressure deviation weighting coefficient. The target working pressure deviation. This is the speed deviation weighting coefficient. The deviation of the target running speed.

3. The motor-controlled intelligent hydraulic cylinder control method according to claim 2, characterized in that: S5 includes: S51: If the target control parameters can be achieved, continuously monitor the adjustment response parameters of each control unit, record the changes in core operating parameters during the adjustment process, and update them to the historical load database; S52: If the target control parameters cannot be achieved, calculate the adjustment gap value, control each unit to operate to the safe limit state, and simultaneously feed back the adjustment gap value and the working condition prediction result to the main control platform of the mechanical system.

4. The motor-controlled intelligent hydraulic cylinder control method according to claim 3, characterized in that: The prediction of the current load condition includes: Extract historical data from the historical load database that matches the current cylinder block temperature and hydraulic line pressure, and filter out the corresponding data groups. Calculate the current hydraulic pipeline flow fluctuation frequency, compare it with the flow fluctuation frequency of the selected historical data group, and combine the influence of the seal operating status on load adaptability to obtain the working condition matching degree. The load condition corresponding to the historical data group with the highest matching degree is selected as the prediction result of the current load condition; if there is no historical data group with a high matching degree, it is determined to be an unknown load condition, the emergency compensation unit is activated and ready to stand by, and the basic bearing unit and the precision adjustment unit operate according to the default dynamic fluctuation load condition.

5. The motor-controlled intelligent hydraulic cylinder control method according to claim 4, characterized in that: The assessment of the current maximum controllable adjustment limit of the hydraulic cylinder includes: Determine the mechanical limits of the cylinder block based on the cylinder block structural parameters; Based on the current cylinder temperature, the hydraulic oil viscosity coefficient is adjusted, thereby adjusting the maximum allowable flow rate of the hydraulic pipeline and the maximum adjustment capability of the hydraulic control unit. Based on the operating status of the seal, determine the impact of leakage on the adjustment accuracy. If the seal is severely worn, appropriately reduce the rated adjustment capacity and calculate the adjustment limit. Considering the mechanical limits of the cylinder block, the adjustability of the hydraulic system, and the compatibility of the seals, calculate the maximum controllable adjustment limit of the current hydraulic cylinder. The formula for calculating the maximum controllable adjustment limit is as follows: in, This represents the maximum controllable adjustment limit of the hydraulic cylinder. For the mechanical limits of the cylinder block, This is the maximum adjustment capability of the hydraulic control unit. This is a temperature correction factor. This is the pipeline loss coefficient. For the limits of seal adaptation.

6. The motor-controlled intelligent hydraulic cylinder control method according to claim 5, characterized in that: The adjustment logic of the precision adjustment unit is as follows: Based on the magnitude of the deviation, determine the adjustment priority and correct the parameter with the largest deviation first; The adjustment amount is calculated and converted into the opening degree of the electromagnetic reversing valve and the flow control parameters of the micro flow regulating valve, and the adjustment signal is output in real time. The core operating parameters after adjustment are continuously collected, and the correction deviation is calculated. If the deviation value still does not drop to within the allowable threshold after multiple sampling cycles, it is determined that the adjustment margin of the precision adjustment unit is insufficient, and the emergency compensation unit is activated. The formula for calculating the adjustment amount is as follows: in, for The output adjustment amount of the unit can be precisely adjusted at all times. This is the proportionality coefficient. for The deviation value of the comprehensive operating parameters of the hydraulic cylinder at any given time. The integral coefficient is... These are the differential coefficients. For integration variables, for The rate of change of the time deviation value.

7. The motor-controlled intelligent hydraulic cylinder control method according to claim 6, characterized in that: The adjustment logic for the synchronous adjustment of the basic bearing unit and the precision adjustment unit is as follows: Real-time monitoring of load fluctuations; if the fluctuations are small, maintain the load-bearing ratio of the basic load-bearing unit unchanged, and correct deviations only by adjusting the precision unit. If the fluctuation range is large, the load-bearing ratio of the basic load-bearing unit is dynamically adjusted. The greater the fluctuation range, the higher the load-bearing ratio. At the same time, the precision adjustment unit increases the adjustment range to track the fluctuation rhythm.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it causes the processor to perform the steps of the method as described in any one of claims 1 to 7.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the computer program is executed by the processor, it causes the processor to perform the steps of the method as described in any one of claims 1 to 7.

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