CN-121993458-A - Motor control type intelligent oil cylinder control method, equipment and storage medium

CN121993458ACN 121993458 ACN121993458 ACN 121993458ACN-121993458-A

Abstract

The invention discloses a motor control type intelligent oil cylinder control method, equipment and a storage medium, wherein the method comprises the following steps: the historical load database is called, historical load data matched with the temperature of the cylinder body and the pressure of the hydraulic pipeline which are collected currently are extracted, the current load working condition is pre-judged by combining the running state of the sealing element and the flow of the hydraulic pipeline currently, the hierarchical control unit division is executed according to the pre-judged load working condition, the hydraulic control module of the oil cylinder is divided into a basic bearing unit, an accurate adjusting unit and an emergency compensation unit, the precision and the efficiency of the pre-judging load working condition are improved, the deviation value of a target control parameter and the running parameter of the current core are calculated, and the differential adjusting control is executed by combining the pre-judging load working condition and the running state of each control unit, so that the mechanical adjustment and the oil cylinder adjustment are synchronous, the adjustment lag and the oil cylinder oscillation are avoided, and the adjusting process is stable and rapid.

Inventors

XU RONG
WANG QIANGQIANG
WANG XIN
ZHAO ZIYAN
LI ANG
CHEN PENG
LI YUNZHI
LIU CHUQIANG
Ren Haoxin
CHEN LUJUN
YANG XIAOCHUN
CHANG GUANGDE
REN XUEXI
XIE FANGWEI
YUN YIFAN

Assignees

华电煤业集团数智技术有限公司

Dates

Publication Date: 20260508
Application Date: 20260211

Claims (10)

1. The motor control type intelligent oil cylinder control method is characterized by comprising the following steps of: the method comprises the steps of S1, receiving a target control instruction issued by a main control platform of a mechanical system, analyzing to obtain target control parameters, wherein the target control parameters comprise target displacement, target working pressure and target running speed; S2, calling a historical load database, extracting historical load data matched with the temperature of the cylinder body and the pressure of the hydraulic pipeline which are collected currently, and pre-judging current load working conditions by combining the running state of the sealing element and the flow of the current hydraulic pipeline, wherein the load working conditions are divided into three types of stable load working conditions, dynamic fluctuation load working conditions and impact load working conditions; s3, according to the pre-judged load working condition, performing layering control unit division, and dividing an oil cylinder hydraulic control module into a basic bearing unit, a precise adjusting unit and an emergency compensation unit; s4, calculating a deviation value of the target control parameter and the current core operation parameter, and executing differential regulation control by combining the pre-judged load working condition and the operation state of each control unit; and S5, evaluating the maximum controllable regulation limit of the current oil cylinder, and judging whether the target control parameter can be realized by combining the running state of the sealing element, the temperature of the cylinder body and the oil supply capacity of the hydraulic system.
2. The method for controlling a motor-controlled intelligent cylinder according to claim 1, wherein S3 comprises: S31, under the working condition of stable load, the basic bearing unit bears most rated load, maintains constant-voltage steady operation, and the accurate regulating unit is in a low-power consumption standby state, and the emergency compensation unit is closed; s32, under the dynamic fluctuation load working condition, the basic bearing unit bears most rated load, the accurate adjusting unit starts a real-time adjusting mode, and the emergency compensation unit is in a standby state; and S33, under the impact load working condition, the basic bearing unit, the accurate adjusting unit and the emergency compensation unit are started in a cooperative mode, the basic bearing unit resists impact peak values, the accurate adjusting unit buffers fluctuation, and the emergency compensation unit supplements the position in real time.
3. The method for controlling a motor-controlled intelligent cylinder according to claim 2, wherein S4 comprises: s41, when the deviation value is within a preset allowable threshold, maintaining a current hierarchical control mode, continuously collecting core operation parameters, updating a load working condition prejudging result once every preset period, and dynamically fine-adjusting the operation parameters of the basic bearing unit; S42, when the deviation value exceeds a preset allowable threshold value and the current load working condition is a stable load working condition, the accurate regulating unit is started preferentially, deviation correction is realized by fine-adjusting the flow and working pressure of the hydraulic pipeline, and if the regulating allowance of the accurate regulating unit is insufficient, the emergency compensating unit is started again to compensate the position, and the running state of the basic bearing unit is not regulated; S43, when the deviation value exceeds a preset allowable threshold value and the current load working condition is a dynamic fluctuation load working condition, the accurate adjusting unit and the basic bearing unit are synchronously adjusted, the accurate adjusting unit tracks load fluctuation to correct the deviation in real time, the basic bearing unit dynamically adjusts the load bearing proportion, and the emergency compensation unit selects a machine to start according to the fluctuation amplitude of the deviation; S44, when the deviation value exceeds a preset allowable threshold value and the current load working condition is an impact load working condition, controlling the three units to cooperatively operate, and enabling the emergency compensation unit to preferentially counteract deviation peak values caused by impact, wherein the basic bearing unit maintains stable cylinder body posture; the calculation formula of the deviation value is as follows: Wherein, the As a result of the value of the deviation, For the displacement deviation weight coefficient, As the amount of displacement deviation of the target, As the weight coefficient of the pressure deviation, As the amount of the target working pressure deviation, As the weight coefficient of the velocity deviation, Is the target amount of operating speed deviation.
4. The method for controlling a motor-controlled intelligent cylinder according to claim 3, wherein S5 comprises: s51, if the target control parameters can be realized, continuously monitoring the adjustment response parameters of each control unit, recording the core operation parameter change in the adjustment process, and updating to a historical load database; and S52, if the target control parameters cannot be realized, calculating an adjustment notch value, controlling each unit to operate to a safe limit state, and synchronously feeding back the adjustment notch value and the working condition prejudgement result to the main control platform of the mechanical system.
5. The method for controlling a motor-controlled intelligent cylinder according to claim 4, wherein the predicting the current load condition comprises: Extracting historical data matched with the current cylinder temperature and the hydraulic pipeline pressure from a historical load database, and screening out a corresponding data set; Calculating the current flow fluctuation frequency of the hydraulic pipeline, comparing the current flow fluctuation frequency with the flow fluctuation frequency of the screened historical data set, and combining the influence of the running state of the sealing element on the load suitability to obtain the working condition matching degree; and if no history data set with higher matching degree exists, judging the load condition as an unknown load condition, starting the emergency compensation unit for standby, and enabling the basic bearing unit and the accurate regulating unit to operate according to the dynamic fluctuation load condition by default.
6. The method for controlling a motor-controlled intelligent cylinder according to claim 5, wherein said evaluating a maximum controllable adjustment limit of a current cylinder comprises: determining a cylinder mechanical limit based on the cylinder structural parameter; the viscosity coefficient of hydraulic oil is corrected by combining the current cylinder temperature, so that the maximum allowable flow of a hydraulic pipeline and the maximum regulating capacity of a hydraulic control unit are corrected; Judging the influence of the leakage quantity on the adjustment precision according to the running state of the sealing element, and if the sealing element is seriously worn, properly reducing the rated adjustment capacity to calculate the adjustment limit; the method comprises the steps of integrating the mechanical limit of a cylinder body, the adjustment capability of a hydraulic system and the suitability of a sealing element, and calculating the maximum controllable adjustment limit of a current oil cylinder; The calculation formula of the maximum controllable adjustment limit is as follows: Wherein, the Is the maximum controllable adjustment limit of the oil cylinder, Is the mechanical limit of the cylinder body, For the maximum adjustment capacity of the hydraulic control unit, For the temperature correction coefficient(s), Is the coefficient of loss of the pipeline, Fitting limits for the seal.
7. The method for controlling a motor-controlled intelligent cylinder according to claim 6, wherein the adjustment logic of the precise adjustment unit is as follows: Determining an adjusting priority according to the magnitude of the deviation value, and preferentially correcting the parameter with the maximum deviation value; Converting the calculated adjustment quantity into the opening degree of the electromagnetic reversing valve and the flow control parameter of the miniature flow regulating valve, and outputting an adjustment signal in real time; Continuously collecting the adjusted core operation parameters, calculating correction deviation, judging that the adjustment allowance of the accurate adjustment unit is insufficient if the deviation value is not reduced to the allowable threshold value after a plurality of sampling periods, and starting the emergency compensation unit; the calculation formula of the adjustment quantity is as follows: Wherein, the Is that The output adjustment amount of the time precise adjustment unit, Is a coefficient of proportionality and is used for the control of the power supply, Is that The oil cylinder comprehensive operation parameter deviation value at the moment, As an integral coefficient of the power supply, As a result of the differential coefficient, As a function of the integral variable, Is that Rate of change of the time offset value.
8. The method for controlling a motor-controlled intelligent cylinder according to claim 7, wherein the adjusting logic of the synchronous adjusting basic bearing unit and the accurate adjusting unit is as follows: monitoring the fluctuation amplitude of the load in real time, if the fluctuation amplitude is smaller, maintaining the load bearing proportion of the basic bearing unit unchanged, and correcting the deviation only through the accurate adjusting unit; If the fluctuation amplitude is large, dynamically adjusting the load bearing proportion of the basic bearing unit, wherein the larger the fluctuation amplitude is, the higher the bearing proportion is, and meanwhile, the accurate adjusting unit increases the adjusting amplitude and tracks the fluctuation rhythm.
9. A computer readable storage medium storing a computer program, which when executed by a processor causes the processor to perform the steps of the method according to any one of claims 1 to 8.
10. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the computer program, when executed by the processor, causes the processor to perform the steps of the method according to any of claims 1 to 8.

Description

Motor control type intelligent oil cylinder control method, equipment and storage medium Technical Field The invention relates to the technical field of intelligent oil cylinders, in particular to a motor control type intelligent oil cylinder control method, motor control type intelligent oil cylinder control equipment and a storage medium. Background The intelligent oil cylinder, also called intelligent hydraulic cylinder, is the product of deep fusion of traditional hydraulic oil cylinder and modern sensing technology, control technology, communication technology and artificial intelligent algorithm, and is an electromechanical liquid composite terminal executing element integrating sensing, control, feedback, decision and executing. The existing intelligent oil cylinder control method depends on fixed logic, cannot adaptively identify different load working conditions such as stability, dynamic fluctuation, impact and the like, is poor in working condition suitability, is prone to response lag and gesture shake in the face of complex working conditions, is only used for judging adjustment capacity by mechanical limits, is low in adjustment efficiency due to conservative undershoot or causes overload damage of a cylinder body and a hydraulic component due to aggressive operation, is prone to adjustment lag and oil cylinder vibration due to insufficient synchronization of mechanical adjustment and oil cylinder adjustment in the adjustment process, and is prone to motor overload and oil cylinder damage due to insufficient stability and rapidness in the adjustment process. Disclosure of Invention The invention provides a motor control type intelligent oil cylinder control method, equipment and a storage medium, which are used for solving the technical problems in the background technology. In order to achieve the purpose, the motor control type intelligent oil cylinder control method adopts the following technical scheme that the motor control type intelligent oil cylinder control method comprises the following steps: the method comprises the steps of S1, receiving a target control instruction issued by a main control platform of a mechanical system, analyzing to obtain target control parameters, wherein the target control parameters comprise target displacement, target working pressure and target running speed; S2, calling a historical load database, extracting historical load data matched with the temperature of the cylinder body and the pressure of the hydraulic pipeline which are collected currently, and pre-judging current load working conditions by combining the running state of the sealing element and the flow of the current hydraulic pipeline, wherein the load working conditions are divided into three types of stable load working conditions, dynamic fluctuation load working conditions and impact load working conditions; s3, according to the pre-judged load working condition, performing layering control unit division, and dividing an oil cylinder hydraulic control module into a basic bearing unit, a precise adjusting unit and an emergency compensation unit; s4, calculating a deviation value of the target control parameter and the current core operation parameter, and executing differential regulation control by combining the pre-judged load working condition and the operation state of each control unit; and S5, evaluating the maximum controllable regulation limit of the current oil cylinder, and judging whether the target control parameter can be realized by combining the running state of the sealing element, the temperature of the cylinder body and the oil supply capacity of the hydraulic system. Preferably, the S3 includes: S31, under the working condition of stable load, the basic bearing unit bears most rated load, maintains constant-voltage steady operation, and the accurate regulating unit is in a low-power consumption standby state, and the emergency compensation unit is closed; s32, under the dynamic fluctuation load working condition, the basic bearing unit bears most rated load, the accurate adjusting unit starts a real-time adjusting mode, and the emergency compensation unit is in a standby state; and S33, under the impact load working condition, the basic bearing unit, the accurate adjusting unit and the emergency compensation unit are started in a cooperative mode, the basic bearing unit resists impact peak values, the accurate adjusting unit buffers fluctuation, and the emergency compensation unit supplements the position in real time. Preferably, the S4 includes: s41, when the deviation value is within a preset allowable threshold, maintaining a current hierarchical control mode, continuously collecting core operation parameters, updating a load working condition prejudging result once every preset period, and dynamically fine-adjusting the operation parameters of the basic bearing unit; S42, when the deviation value exceeds a preset allowable threshold value and the current load workin