Hydraulic energy supply regulation method and system for a sliding loader assistive device

Abstract

The application discloses a kind of hydraulic energy supply regulation and control methods and systems of sliding loader auxiliary tool, belong to engineering machinery hydraulic control technical field.This method collects auxiliary oil supply pressure, oil supply flow, hydraulic source and valve state and available power of power source, forms synchronous hydraulic state sequence by multi-channel bias compensation and dynamic alignment, estimates demand pressure, demand flow, short-time demand power and load event;Through first time scale transient compensation, second time scale constraint rolling distribution and command arrangement based on element response delay, auxiliary tool end pressure is established and effective through flow enters synchronization window, and parameter is updated using cycle response, impact, energy consumption and consistency index feedback.This method can also form auxiliary tool hydraulic fingerprint by limited two-stage micro-excitation, for constraint correction, sampling switching and conservative fallback, so as to improve multi-auxiliary tool switching response, impact, energy consumption and consistency within power and element safety boundary.

Description

Technical Field

[0001] This invention relates to the field of hydraulic control technology for engineering machinery, and in particular to a method and system for regulating the hydraulic power supply of skid steer loader accessories. Background Technology

[0002] Skid steer loaders typically perform different tasks by changing accessories such as trenchers, buckets, and sweepers. Different accessories vary in actuator volume, leakage, valve characteristics, and load variation patterns. Furthermore, trenching, loading, and sweeping contact can cause short-term fluctuations in oil supply pressure and flow. Current hydraulic power control systems often adjust pump displacement, flow convergence, and proportional valve opening based on current pressure or valve commands. However, the time base deviation of the data acquisition channels, the response delay of the hydraulic source and valves, and the available power of the entire machine are not uniformly incorporated into the control chain, easily leading to misalignment between pressure build-up and effective flow.

[0003] Under multiple auxiliary device switching conditions, if fixed control parameters and uniform response cycles are used, the residual between the hydraulic power supply capacity and the instantaneous demand of the auxiliary devices is difficult to converge in a timely manner, which may lead to delayed execution actions, increased pressure peaks and slopes, intensified impact vibrations, and increased energy consumption per unit cycle. The volumetric elasticity, leakage, flow gain, valve dead zone, and channel delay of different auxiliary devices can also cause different responses to the same control command, resulting in discrete responses across auxiliary devices and across cycles. When the model is mismatched or the fingerprint reliability is insufficient, the lack of a clear safety backoff and recovery mechanism will also reduce control stability.

[0004] Therefore, there is a need for a hydraulic power supply control method and system for skid steer loader accessories that can overcome the shortcomings of the existing technology. Summary of the Invention

[0005] One objective of this invention is to propose a hydraulic power supply control method and system for skid steer loaders' auxiliary attachments. Addressing issues such as lag in power distribution, misalignment between pressure build-up and flow, increased impact energy consumption, and insufficient response consistency under conditions of multiple attachment switching and sudden load changes, the method aligns the attachment's supply and return oil pressure, supply flow rate, hydraulic source and valve status, and available power of the power source into a synchronous hydraulic state sequence. It calculates the hydraulic load and forms a set of demand prediction events with confidence. A first-time-scale controller compensates for transient pressure and flow demands, while a second-time-scale distributor determines pump displacement, confluence ratio, valve opening, and pressure limits within power and component safety boundaries. Command transmission times are then arranged based on the response delays of each execution channel, and control parameters are updated using feedback from response, impact, residual, energy consumption, and dispersion. The hydraulic fingerprint of the attachments formed through constrained two-stage micro-excitation can also be used for demand normalization, constraint correction, time-scale switching, command offsetting, and conservative backoff, enabling the control chain to adapt to the hydraulic characteristics of different attachments.

[0006] This invention provides a method for regulating the hydraulic power supply of skid steer loader accessories, comprising: S1, collecting the accessory supply port pressure, accessory return port pressure, accessory supply branch flow rate, hydraulic source status, valve status, and available power of the power source; performing offset compensation and dynamic alignment on the collected channel sequences to obtain a synchronous hydraulic state sequence; S2, calculating the accessory pressure difference, converted load impedance, actual hydraulic power, pressure change rate, flow change rate, and supply-demand residual based on the synchronous hydraulic state sequence; estimating the demand pressure, demand flow rate, and short-term demand power; and identifying load events and their confidence levels to obtain a demand prediction event set; S3, generating transient pressure flow by a first time-scale controller based on the demand prediction event set. The quantity compensation is calculated, and the second time-scale distributor determines the main hydraulic source displacement, auxiliary hydraulic source merging ratio, auxiliary device proportional valve opening degree, and adjustable pressure limit under the constraints of available power source and hydraulic component safety boundaries, thus obtaining the allocation decision; S4, the command sending time in the allocation decision is arranged according to the response delay of hydraulic source, merging valve, and auxiliary device proportional valve to obtain a timing control instruction set that makes the auxiliary end pressure establishment and effective flow enter the same synchronization window; S5, the timing control instruction set is executed, and the response time, pressure peak, pressure slope, supply and demand residual, unit cycle energy consumption, and cross-cycle dispersion are calculated according to the execution feedback, and the control parameters and allocation weights used for subsequent control cycles are updated accordingly.

[0007] Optionally, S1 includes: collecting pressure through pressure detection channels set at the auxiliary oil supply port and auxiliary oil return port, collecting flow through flow detection channels set at the auxiliary oil supply branch, and reading the working status of the main hydraulic source and the combinable auxiliary hydraulic source, the opening status of the combinating valve and the auxiliary proportional valve, the available power of the power source and the auxiliary speed. The fixed sampling bias of each channel is corrected based on the controller clock, and the dynamic time difference between channels is corrected based on the relevant positions of pressure change edge, flow change edge and valve state change edge. The corrected sampling values ​​are resampled to a common time point to form the synchronous hydraulic state sequence. Furthermore, it also includes: when the assistive device replacement lock is detected and the power source is in a safe state that allows micro-excitation, a two-stage micro-excitation is executed, which is limited by the upper limit of pressure, the upper limit of flow, the upper limit of duration and the upper limit of injected energy. In the first stage, the preset valve opening of the assistive device proportional valve is maintained and the main hydraulic source displacement command is changed. In the second stage, the assistive device oil supply pressure is maintained at the preset pressure platform and the assistive device proportional valve opening command is changed. Based on the pressure and flow responses in the pressure build-up, steady-state, and unloading phases, the volumetric elasticity conversion value, leakage coefficient, displacement conversion value or flow gain, valve dead zone, and response delays of the main hydraulic source, confluence valve, and auxiliary proportional valve are identified. The confidence intervals of each identification parameter are determined based on the identification residuals to form the auxiliary hydraulic fingerprint.

[0008] Optionally, S2 includes: using the difference between the auxiliary tool supply port pressure and the auxiliary tool return port pressure as the auxiliary tool pressure difference; using the product of the auxiliary tool pressure difference and the auxiliary tool supply branch flow rate as the actual hydraulic power; using the ratio of the auxiliary tool pressure difference to the denominator term to characterize the converted load impedance; when the absolute value of the auxiliary tool supply branch flow rate is not less than a preset non-zero flow rate lower limit, using the absolute value of the flow rate as the denominator term; otherwise, using the preset non-zero flow rate lower limit as the denominator term. The pressure change rate and flow change rate are calculated based on the current sampling window and adjacent sampling windows. The supplyable pressure and supplyable flow rate are determined based on the hydraulic source status, valve status, available power of the power source, and the pre-stored hydraulic source capacity boundary. The demand pressure and demand flow rate are estimated based on the auxiliary pressure difference, converted load impedance, pressure change rate, flow change rate, and load event categories confirmed in the previous control cycle within the current sampling window and historical sampling windows. When there is no load event category confirmed in the previous control cycle, the estimation is initialized with an unidentified event status. The short-term demand power is determined by the demand pressure and demand flow rate. The supply and demand residual is formed by the difference between the supplyable pressure and supplyable flow rate and the demand pressure and demand flow rate. The combination of the direction of change, duration, and magnitude exceeding the corresponding event determination threshold of the above-mentioned computational quantities is used to distinguish between load events, unload events, start events, stop events, and abnormal events in the current control cycle, and the confidence level is determined by the number of computational quantities that meet the event determination conditions and the number of continuous sampling points.

[0009] Optionally, S3 includes: the first time-scale controller determining the transient pressure-flow compensation amount based on the pressure change rate, flow rate change rate, supply-demand residual, and load event confidence level; The second time-scale distributor corrects the demand pressure, demand flow, and short-term demand power using the transient pressure and flow compensation amount. It initializes the predicted response time, predicted supply and demand residual, and predicted unit cycle energy consumption in the current rolling time domain based on the response time of completed similar work cycles, the integral value of supply and demand residual, and unit cycle energy consumption. It uses the weighted sum of the three predicted quantities as the rolling target and obtains the distribution decision under the constraints of the upper limit of available power of the power source, the upper limit of hydraulic source pressure, the upper limit of hydraulic source flow, the upper limit of pressure change rate, the upper limit of flow change rate, the stable pressure difference range of the auxiliary equipment, and the safety priority. The control cycle of the first time scale is shorter than the distribution cycle of the second time scale. When the predicted power source power, pressure, flow rate, pressure change rate or flow change rate exceeds the difference between the corresponding upper limit and the preset safety margin, the main hydraulic source displacement, auxiliary hydraulic source merging ratio or auxiliary device proportional valve opening is reduced according to the corresponding over-limit amount. When the predicted auxiliary device pressure difference does not reach the lower limit of the stable pressure difference range of the auxiliary device and each upper limit constraint has a remaining margin, the main hydraulic source displacement or auxiliary hydraulic source merging ratio is increased, and the adjustable pressure limit is limited to the allowable pressure range of the corresponding hydraulic component. Furthermore, it also includes: normalizing the differential pressure, flow rate change rate, and supply-demand residual of the assistive device based on the volumetric elasticity conversion value, leakage coefficient, and flow gain in the assistive device's hydraulic fingerprint; When the confidence interval width of the corresponding identification parameter is not greater than the preset confidence interval width threshold and the model residual is not greater than the preset residual threshold, the nominal boundaries of the pressure, flow rate and rate of change constraints are corrected according to the estimated value of the identification parameter. When the confidence interval width is greater than the preset confidence interval width threshold or the model residual is greater than the preset residual threshold, the safety margin of the corresponding constraint is increased and the upper limit of pressure, upper limit of flow rate or upper limit of rate of change is reduced until the nominal boundaries are restored after a preset number of consecutive control cycles meet the confidence interval width threshold and the residual threshold. When the confidence level of the load event is greater than a preset upper threshold, the second time scale allocator is switched to a first sampling period and a first rolling step. When the confidence level of the load event is less than a preset lower threshold and is maintained for a preset number of control periods, the second time scale allocator is switched to a second sampling period and a second rolling step. The first sampling period is shorter than the second sampling period, the first rolling step is smaller than the second rolling step, and the upper threshold is greater than the lower threshold.

[0010] Optionally, S4 includes: acquiring the main hydraulic source displacement adjustment delay, the auxiliary hydraulic source merging delay, the auxiliary proportional valve flow delay, and the pressure limit adjustment delay, respectively; Subtract the corresponding response delay from the expected start time of the assistive device synchronization window to obtain the sending time of each command; The pressure establishment moment is defined as the first sampling moment when the pressure at the auxiliary tool's oil supply port enters the preset pressure tolerance zone centered on the demand pressure and is continuously maintained at the preset number of sampling points. The effective flow moment is defined as the first sampling moment when the flow rate of the auxiliary tool's oil supply branch is greater than the preset minimum effective flow rate threshold according to the auxiliary tool type and is continuously maintained at the preset number of sampling points. When the absolute value of the difference between the pressure establishment moment and the effective flow moment is not greater than the width of the synchronization window, it is determined that the two enter the same synchronization window. When any transmission time is earlier than the transmission time of the current control cycle, the change range of the corresponding command is limited to the allowable change amount per unit control cycle, and the unexecuted change amount is deferred to the subsequent control cycle; Furthermore, it also includes: correcting the sending time of each command by the response delay of the main hydraulic source, confluence valve and auxiliary proportional valve in the auxiliary hydraulic fingerprint, and correcting the width of the synchronization window according to the volumetric elasticity conversion value and leakage coefficient; When the model residual of the current operation data relative to the assistive device hydraulic fingerprint exceeds the residual threshold, or the confidence interval width of any identification parameter exceeds the corresponding confidence interval width threshold, the correction of the allocation decision based on the assistive device hydraulic fingerprint is stopped, and conservative flow-pressure control is performed according to the preset pressure change rate upper limit, preset flow change rate upper limit and preset pressure limit, until the assistive device hydraulic fingerprint obtained by re-micro-excitation satisfies the residual threshold and confidence interval width threshold.

[0011] Optionally, S5 includes: recording the response time from the start of the load event to the arrival of the differential pressure and flow rate of the auxiliary device within a stable range, the peak pressure and maximum pressure slope of the cycle, the integral value of the supply and demand residual, and the integral value of the hydraulic power over time within each work cycle; Based on the auxiliary tool type, at least one work quantity is selected from the integral value of auxiliary tool rotation speed over time, the integral value of auxiliary tool actuator displacement over time, the total machine travel distance, and the change in the mass of the working medium. The selected work quantity is mapped to a uniform work equivalent using a pre-stored equivalent coefficient corresponding to the auxiliary tool type. The unit cycle energy consumption is obtained by dividing the integral value of hydraulic power over time by the uniform work equivalent. The cross-cycle dispersion is obtained by the dispersion of response time, pressure peak value, and unit cycle energy consumption of multiple consecutive similar work cycles. The compensation gain of the first timescale controller, the rolling target weight of the second timescale allocator, and the width of the synchronization window are updated based on the deviation of each record quantity relative to the corresponding target range.

[0012] On the other hand, the present invention also provides a hydraulic power supply control system for skid steer loader accessories, comprising: The system comprises the following modules: a status acquisition and alignment module, used to acquire pressure, flow rate, hydraulic source status, valve status, and available power of the power source, and generate a synchronous hydraulic state sequence; a demand estimation module, used to calculate the hydraulic load based on the synchronous hydraulic state sequence and generate a demand prediction event set; a multi-timescale allocation module, used to generate transient pressure and flow compensation amounts based on the demand prediction event set and determine allocation decisions; a timing orchestration module, used to orchestrate the allocation decisions into a timing control instruction set based on the response delays of the hydraulic source and valves; and a feedback update module, used to execute the timing control instruction set and update the control parameters and allocation weights based on the execution feedback.

[0013] The beneficial effects of this invention are: 1. By performing bias compensation and dynamic alignment on the pressure, flow, hydraulic source status and valve status sequence, and combining load calculation and demand forecast event set, pressure, flow and power demand are established on a unified time base, which helps to reduce load misjudgment and supply and demand deviation caused by sampling misalignment.

[0014] 2. By using transient compensation at the first time scale, rolling allocation constrained at the second time scale, and command arrangement based on the response delay of hydraulic sources and valves, the main hydraulic source, auxiliary hydraulic source, and auxiliary proportional valve are coordinated within the available power of the whole machine and the safety boundary of hydraulic components. This ensures that pressure establishment and effective flow arrive at the same time window, which helps to shorten the action response and suppress pressure shock and vibration.

[0015] 3. By identifying the hydraulic fingerprint of the assistive device through two-stage micro-excitation, and adjusting the constraints, sampling cycle and backoff strategy according to the fingerprint confidence interval and model residual, while updating the parameters and weights by using unit cycle energy consumption and cross-cycle dispersion, it is beneficial to reduce the response dispersion and ineffective energy consumption caused by the difference in parameters of different assistive devices. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of the hydraulic power supply control method for skid steer loader auxiliary equipment according to the present invention.

[0017] Figure 2 This is a flowchart of the timing arrangement and synchronization window determination process of the present invention, S4. Detailed Implementation

[0018] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0019] refer to Figure 1A method for regulating the hydraulic power supply of skid steer loader accessories includes: S1, collecting the accessory supply port pressure, accessory return port pressure, accessory supply branch flow rate, hydraulic source status, valve status, and available power of the power source; performing offset compensation and dynamic alignment on the collected channel sequences to obtain a synchronous hydraulic state sequence; S2, calculating the accessory pressure difference, converted load impedance, actual hydraulic power, pressure change rate, flow change rate, and supply-demand residual based on the synchronous hydraulic state sequence; estimating the demand pressure, demand flow rate, and short-term demand power; and identifying load events and their confidence levels to obtain a demand prediction event set; S3, generating transient pressure and flow compensation by a first time-scale controller based on the demand prediction event set. The second time-scale distributor, under the constraints of available power from the power source and safety boundaries of hydraulic components, determines the displacement of the main hydraulic source, the merging ratio of the auxiliary hydraulic source, the opening degree of the auxiliary proportional valve, and the adjustable pressure limit to obtain the allocation decision; S4, based on the response delays of the hydraulic source, merging valve, and auxiliary proportional valve, the command sending times in the allocation decision are arranged to obtain a set of timing control instructions that enable the establishment of auxiliary end pressure and effective flow to enter the same synchronization window; S5, the timing control instruction set is executed, and the response time, pressure peak, pressure slope, supply and demand residual, unit cycle energy consumption, and cross-cycle dispersion are calculated based on the execution feedback, and the control parameters and allocation weights for use in subsequent control cycles are updated accordingly.

[0020] In this specific embodiment, S1 includes: This specific implementation takes the continuous trenching cycle completed by a skid steer loader equipped with a trencher as the implementation scenario from S1 to S5. The whole machine controller reads the auxiliary type identifier, locking switch status and parameter package version number through the auxiliary replacement interface, and collects the auxiliary oil supply port pressure, auxiliary oil return port pressure, auxiliary oil supply branch flow, main hydraulic source swashplate position, merging auxiliary hydraulic source enable status, merging valve opening, auxiliary proportional valve opening, engine speed, auxiliary speed and available power of the power source with a unified time base of 1ms controller clock. Each sampling record is written into the original hydraulic frame with the control cycle number and controller timestamp as the joint key. The pressure detection channel range is set to 0MPa to 35MPa and the sampling frequency is set to 1kHz. The flow detection channel range is set to -20L / min to 180L / min and the sampling frequency is set to 500Hz. Valve status and hydraulic source status are read at 1kHz, and available power of the power source is read at 100Hz. The acquisition module writes an invalid flag for values ​​exceeding the range. For single points where the jump variable of three consecutive sampling points exceeds 8% of the full range of each channel, linear interpolation of adjacent valid points is used, and the original value and quality flag without interpolation are retained so that subsequent event identification can distinguish between real load changes and sensor abnormalities. During installation and calibration, the controller simultaneously applies hardware trigger edges to each channel and records a fixed sampling bias. During operation, it follows the formula... Correct timestamps, The symbol represents the first The first channel The calibration time for each sampling point is expressed in milliseconds (ms). The symbol indicates the reception time of that sampling point, in milliseconds (ms). The symbol represents the first Each channel has a fixed bias stored in the channel calibration table, in milliseconds, with a calibration range of -5ms to 5ms. Symbols represent pressure, flow rate, valve status, hydraulic source status, or power channel index. The symbol represents the sampling point index; For pressure change edges, flow rate change edges, and valve state change edges after fixed bias correction, the controller first temporarily maps them to a 1ms correlation calculation grid according to the correction timestamp. Pressure edges and valve state edges fall directly into the nearest grid point. The 500Hz flow rate edge is linearly interpolated between adjacent valid points. Grid points with a missing span exceeding 6ms are set as invalid and not extrapolated. A 200ms window is used to calculate the normalized cross-correlation only when there are at least 160 common valid points in both channels, and the calculation is performed according to the formula. Determine the dynamic time difference. The symbol represents the first The dynamic time difference of each measurement channel relative to the valve state reference channel, in milliseconds. The symbol represents the candidate integer time shift, in milliseconds (ms), and its value ranges from -20ms to 20ms. The symbol represents the total number of grid points in the relevant window, which is 200 in this specific implementation. The symbol represents the lower bound of effective overlap summation and takes... Dimensionless The symbol represents the upper limit of the summation of valid overlaps and takes the result. Dimensionless The symbol represents the first The measurement channel number The variation of each effective grid point after mean removal and standard deviation normalization is expressed as a dimensionless value of one. The symbol represents the normalized change of the common effective grid points after the valve state reference channel is translated, and its dimension is one. The symbol represents the measurement channel index. The symbol represents the valve status reference channel index. The symbol represents the grid point index for 1ms-related calculations; The corresponding channel time difference is updated only when the cross-correlation peak value is not less than 0.65 and the difference in dynamic time difference obtained from three consecutive windows does not exceed 2ms. Otherwise, the previous effective time difference is used and the window is marked as low alignment confidence. The controller resamples the pressure, flow and status quantities to a common time point of 1ms according to the sum of the correction time and the dynamic time difference. The analog quantity uses piecewise linear interpolation, the switch quantity and the mode quantity use previous value hold, and the power quantity uses linear interpolation between adjacent effective power frames. The resulting synchronous hydraulic status record includes a common timestamp, each channel value, quality flag, dynamic time difference and alignment confidence, and is written into a synchronous status circular buffer with a length of 2s. The auxiliary tool parameter package is generated after the same auxiliary tool has completed no-load, rated load and sudden load tests. The package uniformly stores the channel calibration table, hydraulic source capacity boundary table, event threshold table, safety boundary table, working equivalent table and target range table. Each table uses auxiliary tool type, engine speed range and oil temperature range as joint lookup keys and saves the unit, effective range, sample batch, calibration date and version number. The key value of a trencher parameter record is trencher, 1800r / min to 2000r / min and 40℃ to 60℃. Its stable pressure difference range is 16MPa to 21MPa, minimum effective flow rate is 55L / min and pressure change rate upper limit is 0.8MPa / ms. When the controller encounters an unmatched oil temperature range, it adopts the more conservative pressure and flow boundary in the adjacent range and writes the parameter degradation flag. The controller combines assistive device replacement lock, parking brake, travel speed, hydraulic oil temperature, and available power of the power source into a micro-excitation permission status word. The permission flag is set only when the assistive device replacement lock is detected and the power source is in a safe state that allows micro-excitation. The safe state requires that the lock signal be valid for 500ms, the parking brake be valid, the travel speed be 0km / h, the hydraulic oil temperature be between 30℃ and 70℃, and the available power of the power source be not less than 20kW. If any condition fails, the permission flag is cleared and the excitation command is blocked. After the permission flag is set, the controller performs a two-stage micro-excitation limited by the upper limit of pressure, upper limit of flow, upper limit of duration, and upper limit of injected energy. In the first stage, the auxiliary proportional valve is kept at the preset valve opening of 15% and the main hydraulic power source displacement command is increased by 8% from the reference value within 300ms. In the second stage, the auxiliary oil supply pressure is kept at the preset pressure platform of 8MPa and the auxiliary proportional valve opening command is increased from 15% to 22% within 300ms. If the pressure exceeds 12MPa, the flow exceeds 40L / min, the duration exceeds 400ms, or the permission flag fails in any stage, the displacement and valve opening are immediately restored to the reference value. During micro-incentives, according to the formula Accumulated energy input, The symbol represents the energy injected through a two-stage micro-excitation, expressed in J. The symbol represents the total number of valid sampling points for the micro-excitation. The symbol represents the first The differential pressure between the auxiliary equipment supply and return oil at each sampling point is expressed in MPa. The symbol represents the first The flow rate of the auxiliary equipment oil supply branch at each sampling point is expressed in L / min. The symbol represents the time interval between adjacent sampling points, in ms. The divisor 60 represents the unit conversion factor for converting the product of MPa, L / min and ms to J. Excitation stops when the cumulative injected energy reaches 160J. The identification module fits the formula to the synchronous pressure-flow rate samples of the pressure establishment, steady-state, and unloading sections. , The symbol represents the leakage coefficient, with units of L / (min·MPa). The symbol represents the volumetric elasticity reduction factor, with units of L·ms / (min·MPa). The symbol represents the pressure difference of the auxiliary device at the previous sampling point, in MPa. The symbol represents the gain of the main hydraulic source displacement command on the flow rate, in L / min. The symbol represents the normalized main hydraulic power source displacement command, with a dimensionless value ranging from 0 to 1. The symbol indicates the flow gain of the auxiliary proportional valve, in L / min. The symbol represents the normalized valve opening after deducting the valve dead zone. It has a dimensionless value and takes a value from 0 to 1. The other symbols follow the definition mentioned above in this step. The controller uses the least squares method with non-negative constraints to calculate the volumetric elasticity conversion factor, leakage factor, displacement conversion gain, and flow gain. The valve dead zone is determined based on the command value when the valve starts to generate continuous effective flow. Command timestamps, observed response quantities, and response thresholds are recorded for the main hydraulic source, confluence valve, auxiliary proportional valve, and pressure limit channel, respectively. The time from command issuance to the response reaching 10% of the final change is recorded as pure lag, and the time difference from 10% to 90% is recorded as rise time. The time from command issuance to the pressure entering the demand pressure tolerance band or the flow continuously exceeding the minimum effective flow threshold is recorded as the total delay from command issuance to effective response. S4 only uses the total delay to deduce the sending time. The rise time is saved separately as a dynamic characteristic. The 95% confidence interval of each parameter is obtained by resampling the residual 1000 times. Finally, the parameter estimates, upper and lower limits of the confidence interval, root mean square residual of the model, four types of pure lag, rise time and total delay, parameter package version number and timestamp are written into the auxiliary hydraulic fingerprint record. The synchronous hydraulic state sequence and auxiliary hydraulic fingerprint are jointly transmitted to S2 and S3.

[0021] In this specific embodiment, S2 includes: The demand estimation module reads the most recent 200ms of valid records from the synchronous state ring buffer of S1. For records with low-alignment confidence flags, the event decision voting weight is reduced but their pressure and flow values ​​are retained. Hydraulic load feature frames are organized with the current 20ms sampling window and the adjacent 20ms window. The feature frames save auxiliary type, timestamp, supply and return oil pressure, supply oil flow, hydraulic source status, valve status, available power of power source, auxiliary speed and data quality fields. The module is based on the formula Calculate the pressure difference of assistive devices. The symbol represents the first The differential pressure of the assistive devices at a common time point, in MPa. The symbol represents the first The auxiliary tool oil supply port pressure at a common time point, in MPa. The symbol represents the first The auxiliary tool return oil pressure at a common time point, in MPa. The symbol represents a common time point index; The module is based on the formula Calculate the actual hydraulic power. The symbol represents the first The actual hydraulic power at a common point in time, in kW. The symbol represents the first The auxiliary fuel supply branch flow rate at a common time point is expressed in L / min. The divisor 60 represents the unit conversion factor for converting the product of MPa and L / min to kW, and is calculated according to the formula. Calculate the equivalent load impedance. The symbol represents the first The equivalent load impedance at a common time point, in MPa·min / L. The symbol represents the preset non-zero flow lower limit stored in the event threshold table, with the unit being L / min. In this specific embodiment, it is set to 2L / min. When the absolute value of the flow rate of the auxiliary tool oil supply branch is not less than the preset non-zero flow lower limit, the absolute value of the flow rate is used as the denominator. Otherwise, the preset non-zero flow lower limit is used as the denominator. The other symbols follow the definition of the above steps. The module calculates the average of the current window and its adjacent windows respectively, and then applies the formula... and Calculate the rate of change of pressure and the rate of change of flow. The symbol represents the first The pressure change rate per window, in MPa / ms. The symbol represents the first The average differential pressure of the assistive devices in each window, in MPa. The symbol represents the average differential pressure of the auxiliary devices in the previous window, in MPa. The symbol represents the first The rate of change of flow rate for each window, expressed in L / (min·ms). The symbol represents the first The average flow rate of each window, in L / min. The symbol represents the average flow rate of the previous window, in L / min. The symbol represents the window time span, in milliseconds (ms), and in this specific implementation, it is 20 ms. The symbol represents the window index divided into 20 sampling points according to the common time point sequence. Instantaneous quantities within the window still use [the specified index]. As a common time point index; The module queries the hydraulic source capacity boundary table using engine speed range, main hydraulic source status, auxiliary hydraulic source status, and valve opening range as keys. It then determines the available pressure and flow rate based on the maximum stable pressure, maximum stable flow rate, hydraulic efficiency, and power limit fields in the boundary table, and follows the formula... Calculate power-limited flow rate. The symbol represents the first Each window represents the flow rate limited by the power source, expressed in L / min. The symbol represents the hydraulic efficiency read from the boundary table under the current operating conditions, with one dimension and an effective range of 0.70 to 0.90. The symbol represents the first The available power source for each window, in kW. The symbol represents the lower limit of positive differential pressure protection, with the unit being MPa and 0.5MPa in this specific embodiment. The coefficient 60 represents the unit conversion factor from kW and MPa to L / min. The supply flow rate is the minimum value between the power-limited flow rate and the maximum stable flow rate of the boundary table. When the differential pressure quality flag is invalid or reverse flow occurs, the lowest flow rate upper limit conservatively recorded under the same operating condition is used and written into the degradation flag. Demand forecaster in the first Within each window, the effective sample mean values ​​of auxiliary pressure difference, flow rate, and equivalent load impedance are calculated respectively. This represents the average load impedance calculated within this window, in MPa·min / L. The average values ​​of the three windows, the two types of window change rates, and the confirmed event categories from the previous control cycle are combined to form a unified window regression state, according to the formula... and Estimate demand pressure and demand flow. The symbol represents the first The estimated short-term demand pressure for each window, in MPa. The symbol represents the pressure current quantity coefficient, which has one dimension. The symbol represents the pressure trend coefficient, with a dimension of one. The symbol represents the impedance-pressure reconstruction coefficient, which has a dimension of one. The symbol represents the first Short-term demand flow estimates for each window, in L / min. The symbol represents the current flow rate coefficient, with a dimension of one. The symbol represents the flow trend coefficient, with a dimension of one. The symbol represents the impedance flow reconstruction coefficient, which has a dimension of one. The symbol represents the lower limit of impedance to prevent low impedance from being divided by zero, and the unit is MPa·min / L. In this specific embodiment, it is set to 0.02MPa·min / L. The other symbols follow the definition of the previous step. The six regression coefficients mentioned above are calibrated using recursive least squares with a forgetting factor based on the measured stable pressure and stable flow rate of the completed similar operation cycles. The coefficient values ​​are limited to 0 to 1.5 and are stored separately according to event category. When there are no confirmed events in the previous cycle, the coefficient group corresponding to the unidentified event state is used, and the trend coefficient is compressed to 50% of the calibration value. The demand pressure and demand flow rate are respectively trimmed to the current allowable pressure and flow rate range of the hydraulic components. The predictor then follows the formula... Calculate short-time power demand. The symbol represents the first The short-term power demand of each window is in kW, and the divisor 60 means the same as the actual hydraulic power formula in this step. Supply and demand residual records are recorded using formulas and generate, The symbol represents the first Pressure supply and demand residual for each window, in MPa. The symbol represents the supply pressure determined jointly by the capacity boundary and power constraints, and the unit is MPa. The symbol represents the first The flow supply and demand residual for each window, in L / min. The symbol represents the supply flow rate determined by the capacity boundary and power constraint, with the unit being L / min. The other symbols follow the definitions mentioned above in this step. A residual less than zero indicates insufficient supply, and a residual greater than zero indicates that there is still a supply margin. The event identifier reads the differential pressure increment, pressure change rate, flow change rate, impedance change rate, number of continuous sampling points, and abnormal upper limit for each type of auxiliary device from the event threshold table. It marks the combination of positive pressure change rate, non-negative flow change rate, negative pressure supply and demand residual for 15 consecutive sampling points as an overload candidate, the combination of negative pressure change rate and decreasing flow change rate for 15 consecutive sampling points as an unloading candidate, the combination of valve opening exceeding the minimum effective opening and actual hydraulic power increasing from less than 0.5kW to not less than 0.5kW as a start candidate, the opposite change as a stop candidate, and the pressure or flow rate exceeding the effective range of the sensor, the quality mark being continuously invalid, or the hydraulic power contradicting the available power of the power source as an abnormal candidate. Event confidence is calculated according to the formula calculate, The symbol represents the confidence level of the current event category, with a dimension of one and a value ranging from 0 to 1. The symbol represents the number of computational quantities that satisfy the amplitude and direction conditions of the event, and has a dimension of one. The symbol represents the number of sampling points that consecutively satisfy the condition, and its dimension is one. The symbol represents the total number of calculations specified by the event rule, with a dimension of one. The symbol represents the number of continuous sampling points specified in the event threshold table. It has the dimension of one. When the confidence level is not less than 0.75, the event is confirmed. When the confidence level is not less than 0.45 but less than 0.75, the event is retained as an event to be confirmed. When the confidence level is less than 0.45, the previously confirmed event is retained and incremental compensation is not triggered. The demand estimation module writes demand pressure, demand flow, short-term demand power, auxiliary pressure difference, equivalent load impedance, actual hydraulic power, two types of change rates, two types of supply and demand residuals, event category, confidence level, parameter package version, and data quality flag into demand forecast event records. These records are sorted by timestamp to form a demand forecast event set and stored in a rolling forecast queue. S3 reads the latest record from the head of the queue at each first time scale period, and abnormal event records are simultaneously sent to S4 for conservative control judgment.

[0022] In this specific embodiment, S3 includes: The multi-timescale allocation module reads the latest valid records in the S2 demand forecast event set and the S1 auxiliary hydraulic fingerprint. The first timescale controller has a control cycle of 5ms, and the second timescale allocator has a default allocation cycle of 50ms and uses a 500ms rolling time domain. The two share a control state cache composed of demand pressure, demand flow, supply and demand residual, hydraulic source status, valve status, available power of power source and fingerprint reliable status. The first timescale controller is at the The timestamp read in each fast control cycle is no later than the latest timestamp of that cycle. A demand window is defined, and the two types of residuals and two types of rates of change within that window are mapped as follows: The current fast cycle input of the subscript, according to the formula and Generate transient compensation quantity, The symbol represents the first Transient pressure compensation for each rapid control cycle, in MPa. The symbol represents the pressure supply and demand residual mapped to this rapid cycle, in MPa. The symbol represents the rate of pressure change mapped to that rapid cycle, in MPa / ms. The symbol represents the pressure residual compensation gain, which is dimensionless. The symbol represents the pressure change rate compensation gain, with dimensions of one. The symbol represents the first timescale control period, in milliseconds (ms), and in this specific implementation, it is 5 ms. The symbol represents the confidence compensation gain for stress events, and it has one dimension. The symbol represents the first The transient flow compensation for each rapid control cycle, in L / min. The symbol represents the flow supply and demand residual mapped to this fast cycle, in L / min. The symbol represents the rate of change of flow mapped to this fast cycle, in L / (min·ms). The symbol represents the flow residual compensation gain, which has one dimension. The symbol represents the gain for compensation of the rate of change of flow, and it has one dimension. The symbol represents the confidence compensation gain for traffic events, with a dimension of one. The symbol represents the fast control cycle index. The symbol represents the S2 window index. The definition of S2 is retained; The compensation gain is read from the gain record maintained by S5 according to the auxiliary device type and event category. The initial value is taken from the calibration results of the same type of operation cycle. The transient pressure compensation is limited to -2MPa to 3MPa, and the transient flow compensation is limited to -15L / min to 20L / min. When the event confidence is lower than 0.45, only the residual feedback item is retained. When the data quality flag is abnormal, the two compensation values ​​are frozen to the previous safe value and the second time scale allocator is notified to adopt the conservative boundary. The second-timescale distributor constructs a rolling initial state based on compensated demand pressure, demand flow, and short-term demand power. The distributor first establishes a pressure baseline according to the same fingerprint version. Flow benchmark Pressure change rate benchmark and flow rate of change benchmark , The symbol represents the positive normalized baseline for the predicted oil supply flow rate, in L / min. The symbol represents the positive normalized baseline for the predicted rate of change of pressure, in MPa / ms. , , , and The fingerprint normalization definition described later in this step is followed; Each prediction node is calculated according to the formula. Write the four-dimensional normalized state vector. The symbol represents the first The predicted pressure change rate at each prediction node, in MPa / ms. The symbol represents the first The predicted flow rate change rate for each prediction node, in L / (min·ms), with other symbols following the definitions used in this step; before constraint judgment, the formula is applied. To restore the four physical quantities, The symbol represents an operation that constructs a diagonal matrix using the four bases within the parentheses. The symbol represents the transpose operation notation for transposing the left-hand four-component row vector into a four-component column vector; then, according to the formula... Predict the hydraulic state in the time domain. The symbol represents the first A four-dimensional normalized state vector of prediction nodes arranged in the order of predicted auxiliary pressure difference, predicted oil supply flow rate, predicted pressure change rate, and predicted flow change rate. The symbol represents the first Each prediction node uses a four-dimensional normalized state vector with the same component order and the same version of the baseline. The symbol represents the first The four-dimensional control vector for each prediction node consists of the following components, in order: normalized displacement of the main hydraulic source, combined flow ratio of the auxiliary hydraulic source, normalized opening of the auxiliary proportional valve, and normalized pressure limit. The symbol represents the first The four-dimensional normalized disturbance vector of each forecast node consists of the following components: the ratio of demand pressure to the pressure benchmark, the ratio of demand flow rate to the rated flow rate benchmark, the ratio of short-term demand power to the rated power benchmark, and the load event confidence level. All four components originate from the same demand forecast event record in S2 and have the same dimension. The symbol represents a four-row, four-column state transition matrix calibrated according to the aforementioned fixed state scale and stored with the fingerprint version. The symbol represents a four-row, four-column control input matrix of the same scale. The symbol represents a four-row, four-column demand perturbation matrix of the same scale, with all three matrices having a dimension of one. The symbol represents the predicted node index; The controller uses the median of the response time, pressure residual integral, flow residual integral, and unit cycle energy consumption of the most recent 20 completed similar operation cycles as the initial prediction bias. Each candidate control sequence is calculated according to the formula... , and Update node by node. The symbol indicates up to the [number]. The integral of the predicted pressure residual at each node, in MPa·ms. The symbol indicates up to the [number]. The integral of the predicted pressure residual at each node, in MPa·ms. The symbol represents the first The predicted pressure supply and demand residuals for each node, in MPa. The symbol indicates up to the [number]. The integral of the predicted flow residual for each node, in L·ms / min. The symbol indicates up to the [number]. The integral of the predicted flow residual for each node, in L·ms / min. The symbol represents the first The predicted flow supply and demand residuals for each node, in L / min. The symbol represents the duration of the second timescale prediction node, in milliseconds (ms). The symbol indicates up to the [number]. The predicted unit cycle energy consumption of each node, expressed in kJ / work equivalent. The symbol indicates up to the [number]. The predicted unit cycle energy consumption of each node, expressed in kJ / work equivalent. The symbol represents the first The predicted differential pressure of each node, in MPa. The symbol represents the first The predicted flow rate of each node, in L / min. The symbol represents the median of the most recent cycle of uniform work equivalents, in work equivalents, with a divisor of 60000. The symbol represents the unit conversion factor for converting the product of MPa, L / min, and ms to kJ. The predicted response time is taken as the first node time when the predicted pressure difference enters the stable pressure difference range and the predicted flow rate enters the range of ±5% of the rated flow rate for two consecutive nodes. If no node meets the conditions, the sum of the rolling time domain of 500ms and the terminal pressure difference gap conversion penalty time is taken. The controller is then adjusted according to the formula. Form rolling targets, The symbol represents the dimensionless rolling target value to be minimized. The symbol represents the predicted response time of the candidate control sequence, in milliseconds (ms). The symbol represents the response time base, in milliseconds (ms). The symbol represents the pressure residual integral at the terminal node, in MPa·ms. The symbol represents the pressure residual integral reference, with units of MPa·ms. The symbol represents the residual integral of the terminal node traffic, in units of L·ms / min. The symbol represents the flow residual integral baseline, with units of L·ms / min. The symbol represents the predicted unit cycle energy consumption of the terminal node, in kJ / work equivalent. The symbol represents the unit cycle energy consumption benchmark, with units of kJ / work equivalent. The symbol represents the internal weight of the pressure residual. The symbol represents the internal weight of the flow residual; both are dimensionless and their sum is 1. , , and These represent response time, residual, energy consumption, and control change weights, respectively, all with dimensions of one and a sum of 1. The symbol represents the number of prediction nodes covering a fixed 500ms rolling time domain, and is arranged according to... Take the integer part, therefore When it is 25ms Take 20, When it is 50ms Taking 10, the 500ms penalty benchmark for predicting response time when no node satisfies remains unchanged in both modes; The distributor constrains the main hydraulic power source displacement, merging ratio, proportional valve opening, and adjustable pressure limit to be within the allowable range of the capacity boundary table. It also limits the predicted power of the power source to no more than the available power of the power source minus a 3kW safety margin, and limits pressure, flow rate, pressure change rate, and flow change rate to no more than their respective hard safety upper limits minus the corresponding safety margin. During startup or load increase, the following formula applies. Generate a stable differential pressure transition lower limit that tightens node by node. The symbol represents the first The lower limit of the transition pressure difference at each node, in MPa. The symbol represents the lower limit of the stable differential pressure of the parameter package, in MPa. Using the current window pressure difference mean definition of S2, non-negative relaxation is allowed to enter the performance lower limit and the normalized square of the relaxation is added to the rolling target. The hard safety upper limit does not allow relaxation. The terminal node must enter the stable range when the capability is available. Sequential quadratic programming with box constraints is used to obtain the control vector sequence within the 8ms solution time limit and only the first control vector is executed. When the power, pressure, flow rate, or rate of change of any predicted node exceeds the constraint margin, the distributor performs a safety priority projection on the control vector according to the over-limit amount, sequentially reducing the auxiliary hydraulic source confluence ratio, the main hydraulic source displacement, and the auxiliary proportional valve opening, and trimming the adjustable pressure limit to the allowable pressure range of the component. When the predicted auxiliary pressure difference is lower than the stable pressure difference lower limit and each upper limit still has a normalized margin of not less than 10%, the main hydraulic source displacement is increased first, and the auxiliary hydraulic source confluence ratio is increased after the displacement reaches the upper limit. If the solution times out or there is no feasible solution, the previous safe control vector is output and each control component is moved to the conservative preset value according to the allowable change per unit period. Fingerprint normalization is first performed according to the formula. , , and Establish a dimensional standard, and then follow the formula. , and Obtain normalized input, The symbol represents the leakage coefficient with lower limit protection, and the unit is L / (min·MPa). The symbol represents the lower limit of protection for the leakage coefficient in the fingerprint calibration table, with units of L / (min·MPa). The symbol represents the volumetric elasticity reduction factor with lower limit protection, and the unit is L·ms / (min·MPa). The symbols represent the lower limit of the volumetric flexibility conversion factor protection; all symbols have the same unit. The symbol represents the pressure reference formed by the flow gain and leakage coefficient, with units of MPa. The symbol represents the flow rate of change benchmark formed by flow gain, leakage coefficient, and volumetric elasticity reduction factor, with units of L / (min·ms). The symbol represents the first Normalized auxiliary pressure difference of each window The symbol represents the first Normalized rate of change of flow for each window, The symbol represents the first The normalized flow supply and demand residuals for each window, all three being dimensionless. , and Following the definition of S1, , , and Following the S2 definition, the three normalized quantities are written into the state, disturbance, and residual constraint fields, respectively; When the width of the 95% confidence interval of the corresponding parameter in the fingerprint does not exceed 20% of the parameter estimate and the root mean square residual of the model does not exceed 3L / min, the distributor uses the leakage coefficient ratio, volumetric elasticity reduction coefficient ratio and flow gain ratio as three-dimensional lookup keys to perform trilinear interpolation in the fingerprint boundary correction table to obtain four dimensionless correction factors: pressure upper limit, flow upper limit, pressure change rate upper limit and flow change rate upper limit. Each factor is limited to 0.85 to 1.00 and multiplied by the nominal boundary of the parameter package. When all three ratios of a reference fingerprint record are 1, all four factors are 1. When the leakage coefficient ratio enters the 1.20 range, the pressure and flow factors are 0.92 and 0.90, respectively. The interpolation result is then trimmed to the hard safety boundary of the component. When any confidence condition is not met, the correction table is not consulted, but the corresponding constraint safety margin is increased by 10% of the original nominal boundary. At the same time, the pressure upper limit, flow upper limit and change rate upper limit are reduced to 90% of the nominal value. The nominal boundary is restored only after 20 consecutive control cycles simultaneously satisfy the confidence interval and residual conditions. When the load event confidence is greater than 0.8, the second time scale allocator switches to a first sampling period of 25ms and a first rolling step of 25ms. When the load event confidence is less than 0.35 and has been maintained for 20 consecutive fast control cycles, it switches to a second sampling period of 50ms and a second rolling step of 50ms. Both modes maintain a 500ms rolling time domain and use 20 and 10 prediction nodes respectively. The upper and lower thresholds are stored in the event threshold table and the upper threshold is kept greater than the lower threshold. When switching, the current prediction state is used as the initial value of the new time domain to avoid control vector jumps. The control cycle of the first time scale is fixed at 5ms. The first sampling cycle of the second time scale is 25ms and the second sampling cycle is 50ms. Therefore, the control cycle of the first time scale is shorter than the distribution cycle of the second time scale. Before the end of each second time scale cycle, the distributor verifies the tailoring results of the four types of commands: main hydraulic source, auxiliary hydraulic source, auxiliary proportional valve and pressure limit. It also limits the adjustable pressure limit to the allowable pressure range of the corresponding hydraulic component. Any out-of-bounds component is replaced with the most recent allowable value in the safety boundary table and the reason for replacement is recorded. The distributor writes the final main hydraulic source displacement command, auxiliary hydraulic source confluence ratio, auxiliary proportional valve opening, adjustable pressure limit, allowable change per unit period for each component, solution status, safety margin used, fingerprint trust flag and parameter version into the allocation decision record. At the same time, it saves the unexecuted control vector margin. The allocation decision is transmitted to S4 for response delay arrangement according to the effective control cycle.

[0023] In this specific embodiment, S4 includes: The timing arrangement module reads the S3 allocation decision record and the S1 auxiliary hydraulic fingerprint, and obtains the total delay from command to effective response for four types of commands: main hydraulic source displacement, auxiliary hydraulic source confluence, auxiliary proportional valve flow, and pressure limit. The total delay includes the pure time delay from command to response start and the subsequent dynamic establishment time, and corresponds to the pressure establishment or effective flow criteria. When the fingerprint is reliable, the most recent identification value is used. When the fingerprint is unreliable or the total delay field is missing, the upper limit of the total delay of 95% of the same auxiliary type and the same oil temperature range in the parameter package is used. The module first constructs a candidate set of response delays, and removes records with mismatched key values ​​by filtering conditions such as accessory type, oil temperature range, pressure range, and command change direction. Then, it sorts the records by confidence interval width from smallest to largest and calibration time from newest to oldest, selects the first record as the current response delay, selects the conservative record with the largest response delay value when the records are sorted in the same order, and uses the 95% upper limit of the delay for the same accessory type as the parameter package and writes a delay backoff flag. The module uses the start time of the target effective period of the allocation decision as the expected start time of the synchronization window, according to the formula. Calculate the time of each command transmission. The symbol represents the first The time when the channel command is sent, in milliseconds. The symbol indicates the expected start time of the synchronization window for the assistive device, in milliseconds (ms). The symbol represents the first The total latency from command to effective response, in milliseconds. The symbol represents the first closed-loop learning. The channel transmission offset, in milliseconds (ms), with an initial value of 0ms. Negative values ​​indicate early transmission, and positive values ​​indicate delayed transmission. Symbols indicate main hydraulic source, auxiliary hydraulic source confluence valve, auxiliary proportional valve, or pressure limit channel index; The sending queue records the command type, target value, sending time, effective period, allowable change per unit period, source decision version, and checksum, and arranges them in ascending order of sending time. When sending times are the same, the pressure limit protection command is sent first, followed by the main hydraulic source displacement command, the confluence command, and the auxiliary proportional valve command. If any sending time is earlier than the available sending time for the current control cycle, the module follows the formula... Limit the amount of change to be executed in this period. The symbol represents the first The directional change in the execution of a command within this cycle has the same dimensions as the corresponding command. The symbol represents the first The target value of the command type has the same units as the corresponding command. The symbol represents the first The current actual value of the execution channel has the same dimensions as the corresponding command. The symbol represents the first The unit of measurement for this type of command controls the allowable variation in the control period, and the units are consistent with the corresponding commands. The sign represents the sign function, which returns 1, 0, and negative 1 when the target difference is greater than zero, equal to zero, and less than zero, respectively. Unexecuted changes are written to the deferred field of the next control cycle. For commands with a deferred field, the orchestration module recalculates the difference between the current actual value and the target value in the next 5ms control cycle. The deferred amount is only released when the pressure, flow rate, pressure change rate, and flow change rate have not reached the safety boundary. The deferred field is cleared after the target value is reached. When any safety boundary is triggered, the deferred amount is frozen and the pressure limit protection command overwrites the increase power supply command in the same cycle. The execution feedback module constructs a pressure tolerance band of ±0.5MPa centered on the demand pressure. The first point when the pressure of the auxiliary oil supply port first enters this tolerance band and is continuously maintained for 10 sampling points is recorded as the pressure establishment time. The minimum effective flow rate of 55L / min stored in the parameter package according to the auxiliary type is used as the threshold. The first point when the flow rate of the auxiliary oil supply branch first exceeds this threshold and is continuously maintained for 10 sampling points is recorded as the effective flow time. The counting is restarted when any continuous segment is interrupted by an invalid quality flag. Synchronization criterion uses a formula , The symbol indicates the pressure build-up time, in milliseconds (ms). The symbol indicates the effective current-carrying time, in milliseconds (ms). The symbol represents the final synchronization window width read from the double-buffered parameter area in the current job cycle, in milliseconds. For the first run or when the version to be activated does not exist, the fingerprint baseline window described later in this step is used. When the criterion is not met, the formula is applied. Update channel send offset, The symbol indicates the next valid job cycle. Channel transmission offset, in milliseconds. The symbol represents the current active job cycle number. Channel transmission offset, in milliseconds. The symbol represents the channel offset learning coefficient, which has a dimension of one and is 0.25 in this specific implementation. The symbol represents the channel direction coefficient. The main hydraulic source and pressure limit channel related to pressure establishment are negative 1, while the confluence valve and proportional valve channel related to effective flow are positive 1. The symbol represents the valid job cycle index, and the cumulative offset is limited to -20ms to 20ms and takes effect at the start of the next job cycle; The timing orchestration module first follows the formula Calculate the fingerprint baseline window, The symbol represents the synchronization window reference determined by the current assistive device hydraulic fingerprint, in milliseconds (ms). The symbol represents the nominal synchronization window width in the parameter package, in milliseconds (ms). The symbol represents the calibration conversion factor from the volumetric elasticity conversion factor to the window width, with units of MPa·min / L. The symbol represents the calibration conversion factor from leakage coefficient to window width, with units of ms·min·MPa / L. and Following the definition of S1, the unit of both products is ms. The two conversion coefficients are fitted by the synchronous response test of the same auxiliary tool at different oil temperatures. The constants 15 and 45 represent the lower limit of the window of 15ms and the upper limit of 45ms, respectively. This fingerprint reference window and its fingerprint version are passed to S5. S5 only adds the timing jitter margin on it and generates the unique final synchronization window for the next working cycle. S4 will not repeat the fingerprint correction on the final window returned by S5. When the root mean square residual of the flow rate of the current operating data relative to the hydraulic fingerprint model of the auxiliary tool exceeds 3L / min, or when the width of the 95% confidence interval of any identification parameter exceeds 20% of the estimated value, the timing arrangement module stops using fingerprint correction S3 to allocate decision and send time, sets the upper limit of pressure change rate to 0.5MPa / ms, the upper limit of flow rate change rate to 1.5L / (min·ms), and the pressure limit to 20MPa, and limits the allowable change of the main hydraulic source displacement and the proportional valve opening per unit period to 2% and 3% of the rated range, respectively, forming a conservative flow pressure control command; The conservative flow pressure controller uses auxiliary pressure differential, oil supply flow rate, pressure change rate, flow change rate, model residual, and fingerprint confidence status to form a status record. It uses the main hydraulic source displacement, auxiliary hydraulic source merging ratio, proportional valve opening, and pressure limit as control fields. The execution goal is to reduce the difference between the pressure establishment time and the effective flow time and limit the command changes in adjacent cycles. The status record is checked every 5ms and the control fields are trimmed according to the safety boundary table. When there is a constraint conflict, the merging is canceled, the displacement is reduced, the valve opening is reduced, and the pressure limit is reduced in sequence. During conservative flow pressure control, pressure establishment and effective flow determination are still performed, but the amplification command is not based on a single synchronization failure. A new auxiliary hydraulic fingerprint is generated only after the S1 micro-excitation safety condition is met again. The conservative flag is removed when the new fingerprint meets the model residual threshold and confidence interval width threshold simultaneously for 20 consecutive control cycles. For the first ten control cycles after removal, the S3 target command and the current conservative command are mixed at an incremental ratio of 10% until a smooth transition to the complete allocation decision is achieved. The module ultimately assembles the displacement, confluence, valve opening, and pressure limit commands, along with their sending times, into a timing control instruction set. This set is then written into a real-time command queue with an effective period and parameter version. The controller drives the corresponding execution channel according to the queue time and transmits the actual sending time, response time, feedback value, synchronization success flag, and delay amount to S5.

[0024] In this specific embodiment, S5 includes: The feedback update module divides the work cycle according to the effective period of the S4 timing control instruction set. The start point of the cycle is the load increase or start event confirmed by S2. The normal stable endpoint is when the differential pressure of the auxiliary device enters the stable differential pressure range of the parameter package and the flow rate enters the range of ±5% of the rated flow rate and remains continuously for 100ms. The parameter package also saves the maximum cycle time according to the auxiliary device type. The maximum cycle time of the trencher is set to 3000ms. The earliest of the stop event or abnormal event confirmed by S2 and the maximum cycle time reached from the cycle start point is used as the alternative endpoint. The cycle sealed by the alternative endpoint is written with the stop, abnormal or timeout status, as well as the response time, energy consumption and residual cumulative value up to the endpoint. It is marked as an invalid learning cycle and parameter updates are prohibited. Abnormal or timeout status is triggered simultaneously. S4 conservative flow pressure control maintains the current stable parameter version. The stop state is released after the stop command is completed. Abnormal states are released according to the corresponding sensor or safety fault clearing conditions. The timeout state is released only when the auxiliary stop command has been confirmed, the auxiliary pressure difference is less than 5MPa, the absolute value of the oil supply flow is less than 2L / min, and no new abnormality occurs for 200ms. After any alternative endpoint state is released, it is still necessary to wait for the next load increase or start event confirmed by S2 before a new cycle is re-established. Events that arrive before the release are only recorded and the learning cycle is not started. The cycle record includes event type, auxiliary identifier, parameter version, command sending and response time, synchronization status, pressure and flow sequence, auxiliary speed, actuator displacement, total machine travel distance, and change in the quality of the working medium. The module records the time from the start of the cycle to the stable end point as the response time, takes the maximum value from the cycle pressure sequence as the pressure peak, takes the maximum absolute value of the 1ms pressure difference after five-point median filtering as the maximum pressure slope, and applies trapezoidal integrals to the pressure supply and demand residuals and flow supply and demand residuals respectively. When the missing samples account for more than 2% of the total number of points in the cycle, the cycle is marked as invalid and prohibited from participating in parameter updates. The energy consumption of circulating hydraulic fluid is calculated according to the formula. calculate, The symbol represents the hydraulic energy consumption of a single work cycle, in kJ. The symbol indicates the number of valid sampling points in this job cycle. The symbol represents the first Each sampling interval is measured in seconds (s). and Following the definition of S2, the divisor 60 symbol represents the unit conversion factor for converting the product of MPa, L / min, and s to kJ; The controller selects the workload based on the auxiliary tool type from the auxiliary tool rotation speed-time integral, auxiliary tool actuator displacement-time integral, total machine travel distance, and change in the working medium mass. The trencher uses the actuator displacement integral corresponding to the total machine travel distance and trenching depth, according to the formula... Mapped to a uniform job equivalent. The symbol represents a uniform work equivalent, and the unit is work equivalent. The symbol represents the equivalent coefficient of travel distance, and the unit is work equivalent / m. The symbol indicates the total distance traveled by the machine in this cycle, in meters (m). The symbol represents the actuator displacement integral equivalent coefficient, with units of working equivalents / (mm·s). The symbol represents the integral of the absolute value of the displacement of the actuator of the cycle auxiliary tool with respect to time, in mm·s. The two equivalent coefficients are read from the work equivalent table according to the auxiliary tool type. The work equivalent table is formed by completing no less than 30 effective cycles of similar auxiliary tools under specified media and standard working conditions. The work equivalent is then fitted with least squares, with the completed unit standard work quantity as one work equivalent. Each trencher record stores the auxiliary tool type, media grade, travel distance equivalent coefficient of 0.8 work equivalent per meter, and actuator displacement integral equivalent coefficient of 0.0005 work equivalent per millimeter second. The equivalent coefficients in this record are only used for normalized mapping of work quantity and do not involve torque, force or mass conversion, effective temperature range and version number. When the search key is not matched, this cycle only saves the original work quantity and does not update the energy consumption weight. Unit cycle energy consumption according to the formula calculate, The symbol represents the unit cycle energy consumption, with the unit being kJ / work equivalent. The symbol represents the minimum effective work equivalent to prevent zeroing of no work quantity. The unit is work equivalent and is set to 0.1 work equivalent in this specific embodiment. The other symbols follow the definition of the previous step. When the unified work equivalent is lower than the minimum effective work equivalent, the cycle will be marked as an empty run and will not be used for energy consumption weight update. The module obtains response time, peak pressure, and energy consumption per unit cycle from the 20 most recent effective job cycles of the same type, according to the formula. Calculate the cross-cycle discreteness. The symbol represents the cross-cycle dispersion, with a dimensionless value. A larger value indicates poorer cycle consistency. The symbol represents the discrete weight of the response time. The symbol represents the discrete weight of the pressure peak. The symbol represents the discrete weights for energy consumption. All three weights have the same dimension and sum to 1. The symbol represents the sample standard deviation of the response time, in milliseconds (ms). The symbol represents the sample standard deviation of the peak pressure, in MPa. The symbol represents the sample standard deviation of unit cycle energy consumption, with units of kJ / work equivalent. The symbol represents the target response time benchmark, in milliseconds (ms). The symbol represents the target benchmark for peak pressure, in MPa. The symbol represents the target benchmark for unit cycle energy consumption, with the unit being kJ / work equivalent; The target range table stores the upper and lower limits of response time, pressure peak, maximum pressure slope, two types of residual integrals, unit cycle energy consumption, and cross-cycle dispersion according to auxiliary equipment type, medium grade, and oil temperature range. The feedback update module writes the normalized deviation of each recorded quantity in the current cycle to the nearest boundary of the corresponding target range into the update vector. Deviations within the target range are recorded as zero, and deviations outside the range are normalized according to the width of the target range and clipped to -1 to 1. The first timescale controller compensation gain is calculated according to the formula after the current effective job cycle ends. Calculate and write to the inactive parameter buffer. The symbol indicates the compensation gain used in the next effective work cycle or the next parameter version; the dimension is determined by the corresponding pressure or flow compensation channel. The symbol represents the compensation gain used in the current effective job cycle, and its dimensions are the same as the compensation gain for the next effective job cycle. The symbol represents the valid job cycle or its corresponding parameter version index, with a dimension of one. The symbol represents the gain learning rate, which has the dimension of one and is 0.02 in this specific implementation. The symbol represents the gain gradient, which is composed of the response time, pressure slope, and residual integral normalized deviation of the current work cycle along the control direction. Its dimensions are the same as the compensation gain. The symbol indicates the lower limit of the gain calibration, and its dimensions are the same as the compensation gain. The symbol represents the upper limit of the gain calibration, and the dimension is the same as the compensation gain. The two-level minimum and maximum value calculation ensures that the gain does not exceed the boundary determined by the offline stability test. The calculation result does not replace the gain currently in use within the current 5ms control cycle. The second timescale rolling target retains the control change weights of S3. , The value is read from the target range table and is fixed at 0.10 in this specific implementation; the sum of the absolute values ​​of the response time deviation, residual integral deviation, and unit cycle energy consumption deviation is not less than the preset positive lower limit. At that time, three candidate proportions are formed based on the proportion of each absolute value to the sum. After exponential smoothing with the current three weights using an update coefficient of 0.1, the response time weight is then... Residual weights and energy consumption weight Unification and normalization to a state of harmony ; The symbol represents the weight update protection against division by zero, and is dimensionless and set to zero. The sum of the absolute values ​​of the three deviations is less than The current complete four-weight vector remains unchanged; when the pressure peak or pressure slope exceeds the safety limit, the increase in energy consumption weight is paused and the residual weight is increased, and then the first three terms are normalized again. ,ensure The version awaiting activation saves the complete four-weighted vector; the synchronization window is calculated in a unique order: first the fingerprint baseline, then the jitter margin, according to the formula. Get the final window for the next valid job cycle. The symbol indicates the final synchronization window width used in the next valid job cycle, in milliseconds (ms). The symbols used are from the same fingerprint reference window as the S4 fingerprint version, and the unit is milliseconds. The symbol indicates up to the [number]. Synchronization error of a valid work cycle The sample standard deviation after removing the mean, in milliseconds. The notation follows the definition described above in this step, the coefficient 2.5 is dimensionless, and the constants 15 and 45 represent the lower limit of the window (15ms) and the upper limit (45ms), respectively; the effective synchronization error samples are less than 2 time units. And continue to use When the number of samples reaches 2 but is less than 20, all existing valid samples are calculated and written into the low sample flag. After the number of samples reaches 20, only the most recent 20 valid cycles of the same type are used. The mean of the synchronization error and its positive and negative directions are only used for the S4 update channel to send offset. The final window only represents the zero-mean timing jitter and measurement uncertainty. All parameter updates take effect only when the cycle is valid, not under conservative flow pressure control, and the pressure peak does not exceed the component's hard safety limit. The updated compensation gain, complete four-weight vector, final synchronization window width, and S4-generated channel transmission offsets are written to the double-buffered parameter area using the accessory type, parameter version, and effective job cycle as keys. After writing, the field integrity, upper and lower limits, and cycle check code are first verified. Only when the verification passes is the inactive buffer marked as the version to be effective. The controller atomically switches all fields at the start of the next job cycle, so the 5ms control cycle in the current job cycle always uses the same version. If the verification fails, the version to be effective is discarded and the current stable version is retained. When the cross-cycle dispersion of three consecutive cycles increases relative to their respective previous cycles and accumulates to more than 20%, the system rolls back to the previous stable version. The feedback update module ultimately saves the cyclic response index, impact index, supply and demand residual, hydraulic energy consumption, uniform working equivalent, unit cycle energy consumption, cross-cycle dispersion, parameter values ​​before and after update, and rollback flag. It also sends the compensation gain verified by the version back to the S3 first time scale controller, sends the complete four-weight vector back to the S3 second time scale distributor, and sends the final synchronization window width back to the S4 timing arrangement module, thereby completing the closed-loop update for use in subsequent control cycles.

[0025] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

[0026] This invention forms a closed loop by combining synchronous state estimation, load event prediction, dual-timescale power allocation, and execution channel timing orchestration: the demand prediction event set provides a unified input for transient compensation and rolling allocation, the allocation result is converted into timing control instructions by back-calculation of response delay, and the execution feedback is then used to update the compensation gain, target weight, and synchronization window, so that the power supply decision continuously adapts to the load changes at the assistive device end.

[0027] This invention uses a safety-constrained two-stage micro-excitation to separate the effects of pump command changes and valve command changes on pressure and flow response, forming an auxiliary hydraulic fingerprint with a confidence interval. This fingerprint is used to normalize the load, correct optimization constraints and command offsets, and trigger conservative flow-pressure control when the model residuals or confidence intervals do not meet the threshold conditions, so that the differences in hydraulic parameters of different auxiliary devices are explicitly handled.

Claims

1. A method for regulating the hydraulic power supply of skid steer loader accessories, characterized in that, include: S1. Collect the auxiliary tool's oil supply port pressure, auxiliary tool's oil return port pressure, auxiliary tool's oil supply branch flow rate, hydraulic source status, valve status, and available power of the power source. Perform offset compensation and dynamic alignment on the collected channel sequences to obtain a synchronous hydraulic state sequence. S2. Calculate the auxiliary tool's pressure difference, converted load impedance, actual hydraulic power, pressure change rate, flow change rate, and supply-demand residual based on the synchronous hydraulic state sequence. Estimate the demand pressure, demand flow rate, and short-term demand power, and identify load events and their confidence levels to obtain a demand prediction event set. S3. Based on the demand prediction event set, the first time-scale controller generates transient pressure and flow compensation amounts, and the second time-scale distributor, under the constraints of available power source power and hydraulic component safety boundaries, determines the main hydraulic source displacement, auxiliary hydraulic source merging ratio, auxiliary tool proportional valve opening, and adjustable pressure limit to obtain the allocation decision. S4. Arrange the command sending times in the allocation decision based on the response delays of the hydraulic source, merging valve, and auxiliary tool proportional valve to obtain a timing control command set that ensures the establishment of auxiliary end pressure and effective flow enter the same synchronization window. S5. Execute the timing control instruction set, calculate the response time, pressure peak, pressure slope, supply and demand residual, unit cycle energy consumption and cross-cycle dispersion based on the execution feedback, and update the control parameters and allocated weights for use in subsequent control cycles accordingly.

2. The hydraulic power supply regulation method for skid steer loader auxiliary equipment according to claim 1, characterized in that, S1 includes: Pressure is collected by pressure detection channels set at the auxiliary oil supply port and auxiliary oil return port, flow is collected by flow detection channels set at the auxiliary oil supply branch, and the working status of the main hydraulic source and the combinable auxiliary hydraulic source, the opening status of the combinating valve and the auxiliary proportional valve, the available power of the power source and the auxiliary speed are read. The fixed sampling bias of each channel is corrected based on the controller clock, and the dynamic time difference between channels is corrected based on the relevant positions of pressure change edge, flow change edge and valve state change edge. The corrected sampling values ​​are then resampled to a common time point to form the synchronous hydraulic state sequence.

3. The hydraulic power supply regulation method for skid steer loader accessories according to claim 2, characterized in that, S2 includes: The difference between the pressure at the auxiliary oil supply port and the pressure at the auxiliary oil return port is used as the auxiliary pressure differential. The product of the auxiliary pressure differential and the flow rate of the auxiliary oil supply branch is used as the actual hydraulic power. The ratio of the auxiliary pressure differential to the denominator term represents the converted load impedance. When the absolute value of the flow rate of the auxiliary oil supply branch is not less than the preset non-zero flow rate lower limit, the absolute value of the flow rate is used as the denominator term; otherwise, the preset non-zero flow rate lower limit is used as the denominator term. The pressure change rate and flow rate change rate are calculated based on the current sampling window and adjacent sampling windows. The supplyable pressure and supplyable flow rate are determined based on the hydraulic source status, valve status, available power of the power source, and the pre-stored hydraulic source capacity boundary. The demand pressure and demand flow rate are estimated based on the auxiliary pressure difference, equivalent load impedance, pressure change rate, flow rate change rate, and load event categories confirmed in the previous control cycle within the current and historical sampling windows. When there is no load event category confirmed in the previous control cycle, the estimation is initialized with an unidentified event state. The short-term demand power is determined by the demand pressure and demand flow rate. The supply and demand residual is formed by the difference between the supplyable pressure and supply flow rate and the demand pressure and demand flow rate. The change direction, duration, and amplitude exceeding the corresponding event judgment threshold of the above calculated quantities are combined to distinguish the load increase event, unload event, start event, stop event, and abnormal event of the current control cycle. The confidence level is determined by the number of calculated quantities that meet the event judgment conditions and the number of continuous sampling points.

4. The hydraulic power supply regulation method for skid steer loader accessories according to claim 3, characterized in that, S3 includes: the first time-scale controller determines the transient pressure-flow compensation amount based on the pressure change rate, flow rate change rate, supply-demand residual, and load event confidence level; the second time-scale distributor corrects the demand pressure, demand flow rate, and short-term demand power using the transient pressure-flow compensation amount, initializes the predicted response time, predicted supply-demand residual, and predicted unit cycle energy consumption in the current rolling time domain based on the response time of completed similar work cycles, the integral value of the supply-demand residual, and the unit cycle energy consumption, and uses the weighted sum of the three predicted quantities as the rolling target, within the upper limits of available power from the power source, pressure from the hydraulic source, flow rate from the hydraulic source, pressure change rate, and flow rate change rate. The allocation decision is obtained under the constraints of upper limit, auxiliary device stable differential pressure range, and safety priority. The control cycle of the first time scale is shorter than the allocation cycle of the second time scale. When the predicted power source power, pressure, flow rate, pressure change rate, or flow change rate exceeds the difference between the corresponding upper limit and the preset safety margin, the main hydraulic source displacement, auxiliary hydraulic source merging ratio, or auxiliary device proportional valve opening is reduced according to the corresponding over-limit amount. When the predicted auxiliary device differential pressure does not reach the lower limit of the auxiliary device stable differential pressure range and each upper limit constraint has a remaining margin, the main hydraulic source displacement or auxiliary hydraulic source merging ratio is increased, and the adjustable pressure limit is limited to the allowable pressure range of the corresponding hydraulic component.

5. The hydraulic power supply regulation method for skid steer loader accessories according to claim 4, characterized in that, S4 includes: The main hydraulic source displacement adjustment delay, auxiliary hydraulic source merging delay, auxiliary proportional valve flow delay, and pressure limit adjustment delay are obtained respectively. The sending time of each command is obtained by subtracting the corresponding response delay from the expected start time of the auxiliary device synchronization window. The first sampling time when the pressure at the auxiliary device's oil supply port enters the preset pressure tolerance band centered on the demand pressure and continuously maintains the preset number of sampling points is determined as the pressure establishment time. The first sampling time when the flow rate of the auxiliary device's oil supply branch is greater than the preset minimum effective flow rate threshold according to the auxiliary device type and continuously maintains the preset number of sampling points is determined as the effective flow time. When the absolute value of the difference between the pressure establishment time and the effective flow time is not greater than the width of the synchronization window, it is determined that the two enter the same synchronization window. When any sending time is earlier than the sendable time of the current control cycle, the change range of the corresponding command is limited to the allowable change amount per unit control cycle, and the unexecuted change amount is deferred to the subsequent control cycle.

6. The hydraulic power supply regulation method for skid steer loader auxiliary equipment according to claim 5, characterized in that, S5 includes: Within each work cycle, record the response time from the start of the load event to the point where the differential pressure and flow rate of the auxiliary device enter a stable range, the peak pressure and maximum pressure slope of the cycle, the integral value of the supply-demand residual, and the integral value of hydraulic power over time. Based on the auxiliary device type, select at least one work quantity from the integral value of auxiliary device rotation speed over time, the integral value of auxiliary device actuator displacement over time, the total machine travel distance, and the change in the mass of the working medium. Map the selected work quantity to a uniform work equivalent using a pre-stored equivalent coefficient corresponding to the auxiliary device type. Divide the integral value of hydraulic power over time by the uniform work equivalent to obtain the unit cycle energy consumption. Obtain the cross-cycle dispersion by the dispersion of response time, peak pressure, and unit cycle energy consumption across multiple consecutive similar work cycles. Update the compensation gain of the first time-scale controller, the rolling target weight of the second time-scale distributor, and the width of the synchronization window based on the deviation of each recorded quantity relative to the corresponding target range.

7. The hydraulic power supply regulation method for skid steer loader auxiliary equipment according to claim 2, characterized in that, Step S1 further includes: when the auxiliary device replacement lock is detected and the power source is in a safe state that allows micro-excitation, a two-stage micro-excitation limited by the upper limit of pressure, the upper limit of flow, the upper limit of duration, and the upper limit of injected energy is executed. In the first stage, the preset valve opening of the auxiliary device proportional valve is maintained and the displacement command of the main hydraulic source is changed. In the second stage, the auxiliary device oil supply pressure is maintained at the preset pressure platform and the opening command of the auxiliary device proportional valve is changed. Based on the pressure and flow response of the pressure establishment segment, the steady state segment, and the unloading segment, the volumetric elasticity conversion value, the leakage coefficient, the displacement conversion value or the flow gain, the valve dead zone, and the response delay of the main hydraulic source, the confluence valve, and the auxiliary device proportional valve are identified. The confidence interval of each identification parameter is determined based on the identification residual to form the auxiliary device hydraulic fingerprint.

8. The hydraulic power supply regulation method for skid steer loader accessories according to claim 7, characterized in that, Step S3 further includes: normalizing the differential pressure, flow rate change rate, and supply-demand residual of the assistive device based on the volumetric elasticity conversion value, leakage coefficient, and flow gain in the assistive device hydraulic fingerprint; when the confidence interval width of the corresponding identification parameter is not greater than the preset confidence interval width threshold and the model residual is not greater than the preset residual threshold, correcting the nominal boundaries of the pressure, flow rate, and rate of change constraints based on the estimated values ​​of the identification parameters; when the confidence interval width is greater than the preset confidence interval width threshold or the model residual is greater than the preset residual threshold, increasing the safety margin of the corresponding constraints and decreasing the upper limit of pressure, upper limit of flow rate, or upper limit of rate of change. The nominal boundary is restored after a preset number of consecutive control cycles satisfy the confidence interval width threshold and the residual threshold. When the load event confidence is greater than the preset upper threshold, the second time scale allocator is switched to the first sampling period and the first rolling step. When the load event confidence is less than the preset lower threshold and a preset number of consecutive control cycles are maintained, the second time scale allocator is switched to the second sampling period and the second rolling step. The first sampling period is shorter than the second sampling period, the first rolling step is smaller than the second rolling step, and the upper threshold is greater than the lower threshold.

9. The hydraulic power supply regulation method for skid steer loader auxiliary equipment according to claim 8, characterized in that, Step S4 further includes: correcting the sending time of each command by adjusting the response delay of the main hydraulic source, confluence valve and auxiliary proportional valve in the auxiliary hydraulic fingerprint, and correcting the width of the synchronization window according to the volumetric elasticity conversion value and leakage coefficient; when the model residual of the current operation data relative to the auxiliary hydraulic fingerprint exceeds the residual threshold, or the confidence interval width of any identification parameter exceeds the corresponding confidence interval width threshold, stopping the correction of the allocation decision based on the auxiliary hydraulic fingerprint, and switching to conservative flow pressure control according to the preset pressure change rate upper limit, preset flow change rate upper limit and preset pressure limit, until the auxiliary hydraulic fingerprint obtained by re-micro-excitation meets the residual threshold and confidence interval width threshold.

10. A hydraulic power supply control system for skid steer loader accessories, used to execute the hydraulic power supply control method for skid steer loader accessories according to any one of claims 1 to 9, characterized in that, include: The status acquisition and alignment module is used to acquire pressure, flow rate, hydraulic source status, valve status, and available power of the power source and generate a synchronous hydraulic status sequence. The demand estimation module is used to calculate the hydraulic load based on the synchronous hydraulic state sequence and generate a demand prediction event set; the multi-time scale allocation module is used to generate transient pressure and flow compensation based on the demand prediction event set and determine the allocation decision. Time series The orchestration module is used to orchestrate the allocation decision into a set of timing control instructions based on the response delay of the hydraulic source and valve; The feedback update module is used to execute the timing control instruction set and update the control parameters and assigned weights based on the execution feedback.

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