CN109210036B - Hydraulic system coordination control method, system, equipment and storage medium - Google Patents
Hydraulic system coordination control method, system, equipment and storage medium Download PDFInfo
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- CN109210036B CN109210036B CN201811204877.7A CN201811204877A CN109210036B CN 109210036 B CN109210036 B CN 109210036B CN 201811204877 A CN201811204877 A CN 201811204877A CN 109210036 B CN109210036 B CN 109210036B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
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Abstract
The invention relates to a hydraulic system coordination control method, a system, equipment and a storage medium, wherein the method comprises the steps of determining the average oil consumption speed of each action oil cylinder according to the parameter of each action oil cylinder corresponding to the current control signal in a hydraulic system, and determining the hydraulic system according to the average oil consumption speed of each action oil cylinder; and when the total average oil consumption speed of the hydraulic system is smaller than a preset average oil consumption speed threshold value, sending a current control signal of the hydraulic system to an electromagnetic valve of the corresponding action oil cylinder to control the corresponding action oil cylinder to act, and otherwise, carrying out time delay preset time processing on the current control signal. According to the coordinated control method of the hydraulic system, when the average total oil consumption speed of the hydraulic system exceeds the preset average oil consumption speed threshold, time delay processing is carried out, so that the current of an oil pump of the hydraulic system can be reduced, the temperature rise of the whole hydraulic system is reduced, the impact of the change of hydraulic pressure on the whole hydraulic system is reduced, and the service life of each element of the hydraulic system is prolonged.
Description
Technical Field
The invention relates to the technical field of hydraulic control, in particular to a hydraulic system coordination control method, system, equipment and storage medium.
Background
Compared with garbage treatment technologies such as sanitary landfill and compost, the incineration treatment technology has the advantages of obvious volume reduction and weight reduction effects, thorough harmlessness, small occupied area, capability of supplying heat or generating power by waste heat, less and controllable secondary pollution and the like, and gradually becomes the mainstream technology for treating urban domestic garbage in China.
The incinerator is the key of garbage disposal, and all the actions of the garbage incinerator are completed by hydraulic drive. The common oil cylinders in the hydraulic system generally comprise three types, namely a feeding oil cylinder, a combustion grate oil cylinder and a slag remover oil cylinder, and the action instructions of the oil cylinders are automatically sent according to the combustion system without considering the influence on the hydraulic system. The hydraulic system of the garbage incinerator is generally a complete system, the operating pressure of the system is about 10MPa, and the oil pressure fluctuation of the system is large due to the fact that oil cylinders in the system do not act uniformly. The oil pressure fluctuation causes excessive energy waste to cause the temperature of an oil tank of the hydraulic station to rise, and impact can be caused to a hydraulic system, so that the service life of elements in the system is influenced.
Disclosure of Invention
The present invention provides a method, a system, a device and a storage medium for coordination control of a hydraulic system, which are directed to overcome the above-mentioned shortcomings in the prior art.
The technical scheme for solving the technical problems is as follows: a hydraulic system coordination control method comprises the following steps:
step 1: determining the average oil consumption speed of each action oil cylinder according to the parameter of each action oil cylinder corresponding to the current control signal in the hydraulic system, and determining the hydraulic system according to the average oil consumption speed of each action oil cylinder;
step 2: when the average total oil consumption speed of the hydraulic system is smaller than a preset average oil consumption speed threshold value, entering a step 3, otherwise, entering a step 4;
and step 3: sending a current control signal of the hydraulic system to an electromagnetic valve of a corresponding action oil cylinder, controlling the action of the corresponding action oil cylinder, returning to the step 1 after the action of the action oil cylinder is finished, and entering the next control signal cycle;
and 4, step 4: and (3) delaying the current control signal for preset time, and returning to the step 1.
The invention has the beneficial effects that: according to the coordinated control method of the hydraulic system, when the average total oil consumption speed of the hydraulic system exceeds the preset average oil consumption speed threshold, time delay processing is carried out, so that the current of an oil pump of the hydraulic system can be reduced, the temperature rise of the whole hydraulic system is reduced, the impact of the change of hydraulic pressure on the whole hydraulic system is reduced, and the service life of each element of the hydraulic system is prolonged.
On the basis of the technical scheme, the invention can be further improved as follows:
further: the step 1 specifically comprises:
step 11, calculating the average oil consumption speed of each oil cylinder according to the volume of each oil cylinder in the hydraulic system and the one-way time of the oil cylinder;
step 12, calculating the sum of the average oil consumption speeds of all the actuating oil cylinders corresponding to each actuating signal according to the average oil consumption speed of the actuating oil cylinder corresponding to each control signal;
step 13: calculating the average total oil consumption speed S of the hydraulic system according to the sum of the average oil consumption speeds corresponding to each control signal at the same hydraulic pressure moment, wherein the calculation formula is as follows:
wherein, XiThe set { n } is the set of control signals at the same moment, and is the sum of the average oil consumption speeds of all the action oil cylinders corresponding to the action signal i.
The beneficial effects of the further scheme are as follows: the average oil consumption speed of each oil cylinder can be accurately calculated through the volume of each oil cylinder in the hydraulic system and the one-way time of each oil cylinder, so that the sum of the average oil consumption speeds of all the action oil cylinders corresponding to each control signal can be calculated, the average total oil consumption speed of the whole hydraulic system at the same moment can be accurately calculated, and the control signals of the hydraulic system can be conveniently and pertinently controlled at the follow-up stage according to the total oil consumption speed of the hydraulic system, so that the technical aims of reducing the current of an oil pump of the hydraulic system, saving energy consumption, reducing the temperature rise of the whole hydraulic system, reducing the impact of the change of hydraulic pressure on the whole hydraulic system and prolonging the service life of each element of the hydraulic system are fulfilled.
Further: in step 4, delaying the current control signal sent to the hydraulic system for the preset time further includes:
and adjusting the preset average oil consumption speed threshold according to the average total oil consumption speed of the hydraulic system, and entering the next round of circulation according to the adjusted preset average oil consumption speed threshold.
The beneficial effects of the further scheme are as follows: the whole hydraulic system can run more stably by adjusting the preset average oil consumption speed threshold value.
Further: the specific implementation of adjusting the preset average oil consumption speed threshold according to the average total oil consumption speed of the hydraulic system is as follows:
according to the average number of the control signals which are in a waiting state in the preset time of the hydraulic system and a preset control signal number threshold value, executing one of the following steps:
when the average number of the control signals in the waiting state in the preset time of the hydraulic system is larger than the upper limit of the threshold value of the number of the preset control signals, increasing the threshold value of the preset average oil consumption speed;
when the average number of the control signals in the waiting state in the preset time of the hydraulic system is between the upper limit of the threshold value of the number of the preset control signals and the lower limit of the threshold value, keeping the threshold value of the preset average oil consumption speed unchanged;
and when the average number of the control signals in the waiting state in the preset time of the hydraulic system is smaller than the lower limit of the preset control signal number threshold, reducing the preset average oil consumption speed threshold.
The beneficial effects of the further scheme are as follows: through the adjustment mode, the situation that the hydraulic system has action signals to be lost due to more control signals in the waiting state, the running stability of the whole system is influenced, meanwhile, the output stability of the whole system can be controlled, the overflow, vibration and impact of the system are reduced, and the whole hydraulic system is in a relatively stable and fully utilized running state.
The invention also provides a hydraulic system coordination control system, which comprises a detection module and a control module; the detection module is used for determining the average oil consumption speed of each action oil cylinder according to the parameter of each action oil cylinder corresponding to the current control signal in the hydraulic system and determining the average total oil consumption speed of the hydraulic system according to the average oil consumption speed of each action oil cylinder;
the control module is used for sending a current control signal of the hydraulic system to the electromagnetic valve of the corresponding action oil cylinder to control the action of the corresponding action oil cylinder and entering the next control signal cycle after the action of the action oil cylinder is finished; otherwise, the current control signal is processed by delaying preset time, and the detection module detects the next round of the current control signal.
According to the coordinated control system of the hydraulic system, when the average total oil consumption speed of the hydraulic system exceeds the preset average oil consumption speed threshold, time delay processing is carried out, so that the current of an oil pump of the hydraulic system can be reduced, the temperature rise of the whole hydraulic system is reduced, the impact of the change of hydraulic pressure on the whole hydraulic system is reduced, and the service life of each element of the hydraulic system is prolonged.
On the basis of the technical scheme, the invention can be further improved as follows:
further: the detection module is specifically configured to:
calculating the average oil consumption speed of each oil cylinder according to the volume of each oil cylinder in the hydraulic system and the one-way time of each oil cylinder;
calculating the sum of the average oil consumption speeds of all the action oil cylinders corresponding to each action signal according to the average oil consumption speed of the action oil cylinder corresponding to each control signal;
calculating the average total oil consumption speed S of the hydraulic system according to the sum of the average oil consumption speeds corresponding to each control signal at the same hydraulic pressure moment, wherein the calculation formula is as follows:
wherein, XiThe set { n } is the set of control signals at the same moment, and is the sum of the average oil consumption speeds of all the action oil cylinders corresponding to the action signal i.
The beneficial effects of the further scheme are as follows: the average oil consumption speed of each oil cylinder can be accurately calculated through the volume of each oil cylinder in the hydraulic system and the one-way time of each oil cylinder, so that the sum of the average oil consumption speeds of all the action oil cylinders corresponding to each control signal can be calculated, the average total oil consumption speed of the whole hydraulic system at the same moment can be accurately calculated, and the control signals of the hydraulic system can be conveniently and pertinently controlled at the follow-up stage according to the total oil consumption speed of the hydraulic system, so that the technical aims of reducing the current of an oil pump of the hydraulic system, saving energy consumption, reducing the temperature rise of the whole hydraulic system, reducing the impact of the change of hydraulic pressure on the whole hydraulic system and prolonging the service life of each element of the hydraulic system are fulfilled.
Further: the hydraulic system coordination control system further comprises an optimization module, and the optimization module is used for adjusting the preset average oil consumption speed threshold according to the average total oil consumption speed of the hydraulic system.
The beneficial effects of the further scheme are as follows: the whole hydraulic system can run more stably by adjusting the preset average oil consumption speed threshold value.
Further: the optimization module is specifically configured to: according to the average number of the control signals which are in the waiting state in the preset time of the hydraulic system and a preset control signal number threshold, executing one of the following actions:
when the average number of the control signals in the waiting state in the preset time of the hydraulic system is larger than the upper limit of the threshold value of the number of the preset control signals, increasing the threshold value of the preset average oil consumption speed;
when the average number of the control signals in the waiting state in the preset time of the hydraulic system is between the upper limit of the threshold value of the number of the preset control signals and the lower limit of the threshold value, keeping the threshold value of the preset average oil consumption speed unchanged;
and when the average number of the control signals in the waiting state in the preset time of the hydraulic system is smaller than the lower limit of the preset control signal number threshold, reducing the preset average oil consumption speed threshold.
The beneficial effects of the further scheme are as follows: through the adjustment mode, the situation that the hydraulic system has action signals to be lost due to more control signals in the waiting state, the running stability of the whole system is influenced, meanwhile, the output stability of the whole system can be controlled, the overflow, vibration and impact of the system are reduced, and the whole hydraulic system is in a relatively stable and fully utilized running state.
The invention also provides a hydraulic system coordination control device, which comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor realizes the steps of the hydraulic system coordination control method when executing the computer program.
The invention also provides a computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the hydraulic system coordination control method.
Drawings
FIG. 1 is a flow chart of a hydraulic system coordination control method of the present invention;
fig. 2 is a schematic structural diagram of a hydraulic system coordination control system of the invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, a method for coordinating and controlling a hydraulic system includes the following steps:
step 1: determining the average oil consumption speed of each action oil cylinder according to the parameter of each action oil cylinder corresponding to the current control signal in the hydraulic system, and determining the average total oil consumption speed of the hydraulic system according to the average oil consumption speed of each action oil cylinder;
step 2: when the average total oil consumption speed of the hydraulic system is smaller than a preset average oil consumption speed threshold value, entering a step 3, otherwise, entering a step 4;
and step 3: sending a current control signal of the hydraulic system to an electromagnetic valve of a corresponding action oil cylinder, controlling the action of the corresponding action oil cylinder, returning to the step 1 after the action of the action oil cylinder is finished, and entering the next control signal cycle;
and 4, step 4: and (3) delaying the current control signal for preset time, and returning to the step 1.
According to the coordinated control method of the hydraulic system, when the average total oil consumption speed of the hydraulic system exceeds the preset average oil consumption speed threshold, time delay processing is carried out, so that the current of an oil pump of the hydraulic system can be reduced, the temperature rise of the whole hydraulic system is reduced, the impact of the change of hydraulic pressure on the whole hydraulic system is reduced, and the service life of each element of the hydraulic system is prolonged.
In an embodiment provided by the present invention, the step 1 specifically includes:
step 11, calculating the average oil consumption speed of each oil cylinder according to the volume of each oil cylinder in the hydraulic system and the one-way time of the oil cylinder;
step 12, calculating the sum of the average oil consumption speeds of all the actuating oil cylinders corresponding to each actuating signal according to the average oil consumption speed of the actuating oil cylinder corresponding to each control signal;
step 13: calculating the average total oil consumption speed S of the hydraulic system according to the sum of the average oil consumption speeds corresponding to each control signal at the same hydraulic pressure moment, wherein the calculation formula is as follows:
wherein, XiThe set { n } is the set of control signals at the same moment, and is the sum of the average oil consumption speeds of all the action oil cylinders corresponding to the action signal i.
And i is set as a certain control signal, such as the feeding grate advances, the feeding grate retreats, the slag remover advances, the slag remover retreats, the combustion grate advances, the combustion grate retreats and the like. XiThe sum of the average oil consumption speeds of all the corresponding oil cylinders when the control signal acts. For a fixed hydraulic system XiThe value is a fixed value and can be calculated directly through the volume in front of the oil cylinder and the advancing and retreating movement time. In the embodiment provided by the invention, the average fuel consumption table of different control signals can be referred to as the following table 1:
TABLE 1
| Action signal | Cylinder advance | Cylinder stop | Oil cylinder retreats |
| Feeding grate | X1 | 0 | X2 |
| Left-side slag remover | X3 | 0 | X4 |
| Right slag remover | X5 | 0 | X6 |
| … | … | … | … |
The average oil consumption speed of each oil cylinder can be accurately calculated through the volume of each oil cylinder in the hydraulic system and the one-way time of each oil cylinder, so that the sum of the average oil consumption speeds of all the action oil cylinders corresponding to each control signal can be calculated, the average total oil consumption speed of the whole hydraulic system at the same moment can be accurately calculated, and the control signals of the hydraulic system can be conveniently and pertinently controlled at the follow-up stage according to the total oil consumption speed of the hydraulic system, so that the technical aims of reducing the current of an oil pump of the hydraulic system, saving energy consumption, reducing the temperature rise of the whole hydraulic system, reducing the impact of the change of hydraulic pressure on the whole hydraulic system and prolonging the service life of each element of the hydraulic system are fulfilled.
In the step 4, the current control signal is subjected to time delay preset time processing, and the oil temperature and the energy consumption of the whole hydraulic system can be reduced by the mailbox. In this regard, experiments were performed with experimental data as shown in table 2 below:
TABLE 2
Wherein, the temperature difference is the difference between the oil tank temperature and the ambient temperature, and the ambient temperature is taken from the oil temperature of the oil depot. The pump 1 and the pump 2 are two plunger pumps which are in operation at a hydraulic station, the temperature unit is temperature, and the current unit is A. It can be seen that the longer the cylinder delay, the lower the temperature rise of the whole hydraulic station and the smaller the sum of the average currents of the two pumps. The results are summarized in Table 3 below:
TABLE 3
| Action delay of two slag removers | Temperature difference between oil tank and ambient temperature | Sum of average currents | Power consumption for 24h |
| 100s | 15℃ | 75A | 1184kw |
| 50s | 19℃ | 83A | 1311kw |
| 10s | 24℃ | 90A | 1422kw |
Therefore, the effect of the oil temperature and energy conservation is obvious when the oil cylinder of the slag remover is delayed.
Preferably, in the embodiment provided by the present invention, in step 4, delaying the current control signal sent to the hydraulic system for the preset time further includes:
and adjusting the preset average oil consumption speed threshold according to the average total oil consumption speed of the hydraulic system, and entering the next round of circulation according to the adjusted preset average oil consumption speed threshold.
The whole hydraulic system can run more stably by adjusting the preset average oil consumption speed threshold value.
More preferably, in the embodiment provided by the present invention, the specific implementation of adjusting the preset average oil consumption speed threshold according to the average total oil consumption speed of the hydraulic system is as follows:
according to the average number of the control signals which are in a waiting state in the preset time of the hydraulic system and a preset control signal number threshold value, executing one of the following steps:
when the average number of the control signals in the waiting state in the preset time of the hydraulic system is larger than the upper limit of the threshold value of the number of the preset control signals, the control signals are more, the time interval is smaller, more control signals are in the waiting state at the same moment, action signals in the hydraulic system can be lost or the whole system is abnormal, and the preset average oil consumption speed threshold value can be increased to reduce the delay time of an oil cylinder, so that the number of the control signals in the waiting state is reduced, and the hydraulic system is ensured to run more stably;
when the average number of the control signals in the waiting state in the preset time of the hydraulic system is between the upper limit of the threshold value of the number of the preset control signals and the lower limit of the threshold value, the number of the control signals is moderate at the moment, the delay time is moderate, the hydraulic system is in a relatively stable running state, and the preset average oil consumption speed threshold value can be kept unchanged at the moment;
when the average number of the control signals in the waiting state in the preset time of the hydraulic system is smaller than the lower limit of the number threshold of the preset control signals, the time interval of the control signals is larger at the moment, the hydraulic system is in an underutilized state, and the preset average oil consumption speed threshold can be reduced at the moment; the delay time of the cylinder is increased, and therefore the oil consumption speed of the whole hydraulic system is reduced.
Through the adjustment mode, the situation that the hydraulic system has action signals to be lost due to more control signals in the waiting state, the running stability of the whole system is influenced, meanwhile, the output stability of the whole system can be controlled, the overflow, vibration and impact of the system are reduced, and the whole hydraulic system is in a relatively stable and fully utilized running state.
In practice, the preset average oil consumption speed threshold value is gradually adjusted according to the oil cylinder action condition of the on-site hydraulic system until the preset average oil consumption speed threshold value can meet the action condition of the on-site oil cylinder and can ensure continuous and stable operation of the hydraulic system.
As shown in fig. 2, the present invention further provides a hydraulic system coordination control system, which includes a detection module and a control module; the detection module is used for determining the average oil consumption speed of each action oil cylinder according to the parameter of each action oil cylinder corresponding to the current control signal in the hydraulic system and determining the average total oil consumption speed of the hydraulic system according to the average oil consumption speed of each action oil cylinder;
the control module is used for sending a current control signal of the hydraulic system to the electromagnetic valve of the corresponding action oil cylinder when the average total oil consumption speed of the hydraulic system is smaller than a preset average oil consumption speed threshold value, controlling the action of the corresponding action oil cylinder, and entering the next control signal cycle after the action of the action oil cylinder is finished; otherwise, the current control signal is processed by delaying preset time, and the detection module detects the next round of the current control signal.
According to the coordinated control system of the hydraulic system, when the average total oil consumption speed of the hydraulic system exceeds the preset average oil consumption speed threshold, time delay processing is carried out, so that the current of an oil pump of the hydraulic system can be reduced, the temperature rise of the whole hydraulic system is reduced, the impact of the change of hydraulic pressure on the whole hydraulic system is reduced, and the service life of each element of the hydraulic system is prolonged.
In an embodiment provided by the present invention, the detection module is specifically configured to:
calculating the average oil consumption speed of each oil cylinder according to the volume of each oil cylinder in the hydraulic system and the one-way time of each oil cylinder;
calculating the sum of the average oil consumption speeds of all the action oil cylinders corresponding to each action signal according to the average oil consumption speed of the action oil cylinder corresponding to each control signal;
calculating the average total oil consumption speed S of the hydraulic system according to the sum of the average oil consumption speeds corresponding to each control signal at the same hydraulic pressure moment, wherein the calculation formula is as follows:
wherein, XiThe set { n } is the set of control signals at the same moment, and is the sum of the average oil consumption speeds of all the action oil cylinders corresponding to the action signal i.
The average oil consumption speed of each oil cylinder can be accurately calculated through the volume of each oil cylinder in the hydraulic system and the one-way time of each oil cylinder, so that the sum of the average oil consumption speeds of all the action oil cylinders corresponding to each control signal can be calculated, the average total oil consumption speed of the whole hydraulic system at the same moment can be accurately calculated, and the control signals of the hydraulic system can be conveniently and pertinently controlled at the follow-up stage according to the total oil consumption speed of the hydraulic system, so that the technical aims of reducing the current of an oil pump of the hydraulic system, saving energy consumption, reducing the temperature rise of the whole hydraulic system, reducing the impact of the change of hydraulic pressure on the whole hydraulic system and prolonging the service life of each element of the hydraulic system are fulfilled.
Preferably, in the embodiment provided by the present invention, the hydraulic system coordination control system further includes an optimization module, and the optimization module is configured to adjust the preset average oil consumption speed threshold according to an average total oil consumption speed of the hydraulic system.
The whole hydraulic system can run more stably by adjusting the preset average oil consumption speed threshold value.
More preferably, in an embodiment provided by the present invention, the optimization module is specifically configured to:
according to the average number of the control signals which are in the waiting state in the preset time of the hydraulic system and a preset control signal number threshold, executing one of the following actions:
when the average number of the control signals in the waiting state in the preset time of the hydraulic system is larger than the upper limit of the threshold value of the number of the preset control signals, the control signals are more, the time interval is smaller, more control signals are in the waiting state at the same moment, action signals in the hydraulic system can be lost or the whole system is abnormal, and the preset average oil consumption speed threshold value can be increased to reduce the delay time of an oil cylinder, so that the number of the control signals in the waiting state is reduced, and the hydraulic system is ensured to run more stably;
when the average number of the control signals in the waiting state in the preset time of the hydraulic system is between the upper limit of the threshold value of the number of the preset control signals and the lower limit of the threshold value, the number of the control signals is moderate at the moment, the delay time is moderate, the hydraulic system is in a relatively stable running state, and the preset average oil consumption speed threshold value can be kept unchanged at the moment;
when the average number of the control signals in the waiting state in the preset time of the hydraulic system is smaller than the lower limit of the number threshold of the preset control signals, the time interval of the control signals is larger at the moment, the hydraulic system is in an underutilized state, and the preset average oil consumption speed threshold can be reduced at the moment; the delay time of the cylinder is increased, and therefore the oil consumption speed of the whole hydraulic system is reduced.
Through the adjustment mode, the situation that the hydraulic system has action signals to be lost due to more control signals in the waiting state, the running stability of the whole system is influenced, meanwhile, the output stability of the whole system can be controlled, the overflow, vibration and impact of the system are reduced, and the whole hydraulic system is in a relatively stable and fully utilized running state.
The invention also provides a hydraulic system coordination control device, which comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor realizes the steps of the hydraulic system coordination control method when executing the computer program.
The invention also provides a computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the hydraulic system coordination control method.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. A hydraulic system coordination control method is characterized by comprising the following steps:
step 1: determining the average oil consumption speed of each action oil cylinder according to the parameter of each action oil cylinder corresponding to the current control signal in the hydraulic system, and determining the average total oil consumption speed of the hydraulic system according to the average oil consumption speed of each action oil cylinder;
step 2: when the average total oil consumption speed of the hydraulic system is smaller than a preset average oil consumption speed threshold value, entering a step 3, otherwise, entering a step 4;
and step 3: sending a current control signal of the hydraulic system to an electromagnetic valve of a corresponding action oil cylinder, controlling the action of the corresponding action oil cylinder, returning to the step 1 after the action of the action oil cylinder is finished, and entering the next control signal cycle;
and 4, step 4: carrying out time delay preset time processing on the current control signal, adjusting a preset average oil consumption speed threshold value according to the average total oil consumption speed of a hydraulic system, returning to the step 1, and entering the next control signal cycle;
the specific implementation of adjusting the preset average oil consumption speed threshold according to the average total oil consumption speed of the hydraulic system is as follows:
according to the average number of the control signals which are in a waiting state in the preset time of the hydraulic system and a preset control signal number threshold value, executing one of the following steps:
when the average number of the control signals in the waiting state in the preset time of the hydraulic system is larger than the upper limit of the threshold value of the number of the preset control signals, increasing the threshold value of the preset average oil consumption speed;
when the average number of the control signals in a waiting state in the preset time of the hydraulic system is between the upper limit and the lower limit of the threshold of the number of the preset control signals, keeping the threshold of the preset average oil consumption speed unchanged;
and when the average number of the control signals in the waiting state in the preset time of the hydraulic system is smaller than the lower limit of the preset control signal number threshold, reducing the preset average oil consumption speed threshold.
2. The hydraulic system coordination control method according to claim 1, characterized in that the step 1 specifically comprises:
step 11, calculating the average oil consumption speed of each oil cylinder according to the volume of each oil cylinder in the hydraulic system and the one-way time of the oil cylinder;
step 12, calculating the sum of the average oil consumption speeds of all the actuating oil cylinders corresponding to each actuating signal according to the average oil consumption speed of the actuating oil cylinder corresponding to each control signal;
step 13: calculating the average total oil consumption speed of the hydraulic system according to the sum of the average oil consumption speeds corresponding to each control signal at the same hydraulic moment
The calculation formula is as follows:
wherein the content of the first and second substances,
is an action signal
The sum of the average oil consumption speeds of all corresponding action oil cylinders is integrated
Is a set of control signals at the same time.
3. A hydraulic system coordinated control system is characterized in that: comprises a detection module and a control module;
the detection module is used for determining the average oil consumption speed of each action oil cylinder according to the parameter of each action oil cylinder corresponding to the current control signal in the hydraulic system and determining the average total oil consumption speed of the hydraulic system according to the average oil consumption speed of each action oil cylinder;
the control module is used for sending a current control signal of the hydraulic system to the electromagnetic valve of the corresponding action oil cylinder when the average total oil consumption speed of the hydraulic system is smaller than a preset average oil consumption speed threshold value, controlling the action of the corresponding action oil cylinder, and entering the next control signal cycle after the action of the action oil cylinder is finished; otherwise, the current control signal is subjected to time delay preset time processing, and the detection module detects the next round of the current control signal;
the hydraulic system coordination control system further comprises an optimization module, and the optimization module is specifically used for:
according to the average number of the control signals which are in the waiting state in the preset time of the hydraulic system and a preset control signal number threshold, executing one of the following actions:
when the average number of the control signals in the waiting state in the preset time of the hydraulic system is larger than the upper limit of the threshold value of the number of the preset control signals, increasing the threshold value of the preset average oil consumption speed;
when the average number of the control signals in a waiting state in the preset time of the hydraulic system is between the upper limit and the lower limit of the threshold of the number of the preset control signals, keeping the threshold of the preset average oil consumption speed unchanged;
and when the average number of the control signals in the waiting state in the preset time of the hydraulic system is smaller than the lower limit of the preset control signal number threshold, reducing the preset average oil consumption speed threshold.
4. The hydraulic system coordination control system according to claim 3, characterized in that said detection module is specifically configured to:
calculating the average oil consumption speed of each oil cylinder according to the volume of each oil cylinder in the hydraulic system and the one-way time of the oil cylinder;
calculating the sum of the average oil consumption speeds of all the action oil cylinders corresponding to each action signal according to the average oil consumption speed of the action oil cylinder corresponding to each control signal;
calculating the average total oil consumption speed of the hydraulic system according to the sum of the average oil consumption speeds corresponding to each control signal at the same hydraulic moment
The calculation formula is as follows:
wherein the content of the first and second substances,
is an action signal
The sum of the average oil consumption speeds of all corresponding action oil cylinders is integrated
Is a set of control signals at the same time.
5. A hydraulic system coordination control apparatus, characterized by comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the hydraulic system coordination control method according to any one of claims 1 to 2 when executing the computer program.
6. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of coordinated control of a hydraulic system according to any one of claims 1-2.
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