CN116292466A - Digital liquid flow matching system and control method - Google Patents
Digital liquid flow matching system and control method Download PDFInfo
- Publication number
- CN116292466A CN116292466A CN202211686374.4A CN202211686374A CN116292466A CN 116292466 A CN116292466 A CN 116292466A CN 202211686374 A CN202211686374 A CN 202211686374A CN 116292466 A CN116292466 A CN 116292466A
- Authority
- CN
- China
- Prior art keywords
- flow
- digital
- control
- digital hydraulic
- hydraulic actuator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 239000007788 liquid Substances 0.000 title claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 6
- 230000001105 regulatory effect Effects 0.000 claims description 8
- 230000001133 acceleration Effects 0.000 claims description 7
- 238000013178 mathematical model Methods 0.000 claims description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
Images
Classifications
-
- 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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
-
- 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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
- F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
- F15B11/0423—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in" by controlling pump output or bypass, other than to maintain constant speed
-
- 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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
-
- 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
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
Abstract
The invention discloses a digital liquid flow matching system and a control method, wherein the digital liquid flow matching system comprises an electric control pump, at least one digital hydraulic actuator, a speed detection sensor or a pressure sensor and a controller; the digital hydraulic actuator comprises a digital hydraulic cylinder and a digital hydraulic motor; the electric control pump is connected with the digital hydraulic actuators, and the digital hydraulic actuators are connected in parallel; a digital liquid flow matching control method comprises the following steps: s1, setting the speed of each digital hydraulic actuator; s2, calculating theoretical flow required by the digital hydraulic actuator by the controller; s3, calculating the output flow of the electric control pump; s4, converting the output flow into a corresponding control adjustment quantity, and outputting the corresponding control adjustment quantity to the pump for flow control; s5, calculating the compensation flow of the digital hydraulic actuator; s6, repeating the steps S2-S5. The digital liquid flow matching system and the control method provided by the invention have the advantages that the hydraulic system is greatly simplified, the precision, the working efficiency and the reliability are improved, and the comprehensive cost is reduced.
Description
Technical Field
The invention relates to the technical field of digital hydraulic control, in particular to a digital liquid flow matching system and a control method.
Background
In an Electro-hydraulic flow matching EFM (Electro-hydraulic Flow Matching) system, because the speed of a hydraulic actuator is not determined due to the influence of various physical characteristic changes, the required flow cannot be accurately predicted, the feed-forward control can only be performed on the pump by means of estimating the flow, and once the flow is excessively matched, overflow and pressure impact can be caused, so that the energy consumption is increased and the failure rate of devices and systems is increased. And the feedforward proportion is reduced, and flow matching is realized through feedback, which means that the speed of power establishment is slow, and the working efficiency of a host is influenced. In order to improve the feedforward duty ratio and the accuracy of the estimated flow, the soft calculation accuracy of the hydraulic pump flow can be improved by adopting the detection and comprehensive compensation of multiple physical quantities such as pressure, temperature, valve opening and the like, the cost is increased, and the reliability of the system is reduced.
The digital hydraulic actuator is controlled by a control system in real time, and the speed of the digital hydraulic actuator is known, accurate and controllable, so that the corresponding flow output can be established efficiently and accurately through a feedforward control pump, and the time-varying error is compensated by combining a feedback flow control mode, namely: by means of flow matching control with feedforward as a main component and feedback as an auxiliary component, the speed of flow (power) output of the hydraulic system is improved, the operation efficiency is improved, flow matching is more accurate, energy consumption is reduced, the hydraulic system is simplified, and comprehensive advantages are presented.
Disclosure of Invention
The invention aims to provide a digital liquid flow matching system and a control method, which greatly simplify a hydraulic system, improve the precision, the working efficiency and the reliability and reduce the comprehensive cost.
In order to achieve the above purpose, the invention provides a digital liquid flow matching system, which comprises an electric control pump, at least one digital hydraulic actuator, a speed detection sensor or a pressure sensor and a controller; the digital hydraulic actuator comprises a digital hydraulic cylinder and a digital hydraulic motor; the electric control pump is connected with the digital hydraulic actuators which are mutually connected in parallel.
A digital liquid flow matching control method comprises the following steps:
s1, setting the speed of each digital hydraulic actuator;
s2, calculating theoretical flow required by the digital hydraulic actuator by the controller;
s3, calculating the output flow of the electric control pump;
s4, converting the output flow of the electric control pump into a corresponding control adjustment quantity, and outputting the corresponding control adjustment quantity to the electric control pump for flow control;
s5, calculating the compensation flow of the digital hydraulic actuator;
s6, repeating the steps S2-S5.
Preferably, in step S1, the speed is set using a handle, a button, or an electronic control system, and various acceleration controls such as linear acceleration or S-curve acceleration are used.
Preferably, in step S2, the controller calculates a desired theoretical flow rate according to the set speed of each digital hydraulic actuator, where the theoretical flow rate is a theoretical flow corresponding to the set speed of each digital hydraulic actuator in the systemThe sum of the amounts, namely:
Q f is the theoretical flow; the theoretical flow of each digital hydraulic actuator is calculated by a mathematical model according to the flow relation corresponding to the speed.
Preferably, when the required theoretical flow exceeds the maximum output flow of the electric control pump, the set speed of all digital hydraulic actuators is reduced by equal ratio control, so that the required theoretical flow is not greater than the maximum output flow of the electric control pump, namely: when the theoretical flow rate is greater than the maximum output flow rate of the pump, namely Q f ＞Q max Coefficient of anti-saturation
Otherwise: λ=1; anti-saturation theoretical flow rate Q λf ＝λ×Q f 。
Preferably, in step S3, a feed-forward and feedback manner is adopted, that is: q (Q) o ＝Q f +Q b When in anti-saturation control, Q o ＝Q λf +Q b ，Q o For output flow.
Preferably, in step S5, the compensation flow is the sum of the compensation flows required by each digital hydraulic actuator in the system, namely:
Q b to compensate for flow;
the compensation flow can be calculated in two ways:
speed compensation control: calculating the regulating output of the pump according to the difference between the actual speed and the set speed of the digital hydraulic actuator through a control theory;
pressure compensation control: and according to the pressure drop of the load port of the digital hydraulic actuator, calculating the regulating output of the pump through a control theory.
Therefore, the digital liquid flow matching system and the control method have the beneficial effects that:
(1) The feedforward control is established by using a flow (speed) model, so that the power output speed is high, and the working efficiency is improved;
(2) The flow output of the pump is controlled by utilizing flow (speed) error feedback, so that the flow matching is more accurate, and the power loss is reduced;
(3) Through real-time parameter control, the system can be selected in a stepless manner between high efficiency and energy conservation, and software control flexibility meets the requirements of different scenes.
(4) And an additional compensation control loop is not needed, so that the power loss is further reduced.
(5) The hydraulic system is greatly simplified, the precision and the reliability are improved, and the comprehensive cost is reduced.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a hydraulic schematic diagram of a digital flow matching system and control method of the present invention;
FIG. 2 is a digital flow matching control block diagram of a digital flow matching system and control method of the present invention;
FIG. 3 is a flow chart of a digital flow matching control of a digital flow matching system and control method of the present invention.
Reference numerals
1. An electric control pump; 2. a pressure sensor; 3. a digital hydraulic cylinder; 4. a digital hydraulic motor.
Detailed Description
The technical scheme of the invention is further described below through the attached drawings and the embodiments.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art. Such other embodiments are also within the scope of the present invention.
It should also be understood that the above-mentioned embodiments are only for explaining the present invention, the protection scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the protection scope of the present invention by equally replacing or changing the technical scheme and the inventive concept thereof within the scope of the present invention.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be considered part of the specification where appropriate.
The disclosures of the prior art documents cited in the present specification are incorporated by reference in their entirety into the present invention and are therefore part of the present disclosure.
As shown in fig. 1, the digital fluid flow matching system of the present invention is composed of an electric control pump 1, a single or a plurality of digital hydraulic actuators (including a digital hydraulic cylinder 3 and a digital hydraulic motor 5), a speed detection sensor (such as an encoder) or a pressure sensor 2, and a controller. The electric control pump 1 is a power source and is connected with the digital hydraulic actuators, the digital hydraulic actuators are connected in parallel, the speed detection sensor is used for detecting the actual running speed of each connected digital hydraulic actuator, the pressure sensor 2 is used for detecting the pressure difference of a load port of each connected digital hydraulic actuator, and the controller is responsible for data acquisition, processing and output.
As shown in fig. 2, the control principle of the digital-to-liquid flow matching system and the control method of the invention is as follows:
the digital-liquid flow matching control method adopts a feedforward and feedback mode, namely: q (Q) o ＝Q f +Q b Wherein Q is o For the output flow rate of the electric control pump 1, Q f For theoretical (feed forward) flow, Q b To compensate (feed back) the flow, the flow output of the electric control pump 1 is controlled and regulated in real time, so as to achieve the accurate matching of the system flow. Wherein:
(1) theoretical flow rate: and calculating the sum of corresponding theoretical flow according to the theoretical speed (set speed) of each digital hydraulic actuator in the system, and performing feedforward control on the flow of the electric control pump 1. Wherein: theoretical flow rate
(2) Compensating flow: because feedforward cannot meet the requirement of time-varying flow precise matching for a long time, stable relation between pump output flow and flow required by load control is required to be precisely matched further through a closed loop feedback mode. Wherein: compensating for flow
The compensation flow rate of the actuator can be calculated in two ways:
speed compensation control: according to the difference between the actual speed and the set speed of the digital hydraulic actuator, the regulating output of the electric control pump 1 is calculated by a control theory (such as PID), so that the speed difference is kept in a reasonable interval.
Pressure compensation control: according to the pressure drop of the load port of the digital hydraulic actuator, the regulating output of the electric control pump 1 is calculated through a control theory (such as PID), so that the pressure drop delta P of the load port of the hydraulic actuator in the system is always stabilized within a specified range.
When the theoretical flow of the demand exceeds the maximum output flow of the electric control pump 1, only the equal ratio control is needed to reduce the total digital hydraulic actuatorsThe speed (flow) is fixed, and the required theoretical flow is smaller than or equal to the maximum output flow of the electric control pump 1. The anti-saturation digital liquid flow matching control mode is as follows: when the theoretical flow is larger than the maximum output flow of the electric control pump 1, namely Q f ＞Q max Coefficient of anti-saturation
Otherwise: λ=1; anti-saturation theoretical flow rate Q λf ＝λ×Q f At this time Q o ＝Q λf +Q b 。
The specific flow of the digital-to-liquid flow matching control is shown in fig. 3, and comprises the following steps:
s1, controlling the actions of the digital hydraulic actuators, namely setting the speed, through a handle, a button, an electronic control system or the like, and controlling the actions through various accelerations such as linear acceleration, an S curve and the like.
S2, the controller calculates theoretical flow (feedforward) of the pump according to the set speed of each digital hydraulic actuator, and the theoretical flow
When the required theoretical flow exceeds the maximum output flow of the electric control pump 1, the set speed (flow) of all digital hydraulic actuators is reduced only by equal ratio control, and the required theoretical flow is smaller than or equal to the maximum output flow of the electric control pump 1. Namely: when the theoretical flow is larger than the maximum output flow of the electric control pump 1, namely Q f ＞Q max Anti-saturation coefficient->
Otherwise: λ=1; anti-saturation theoretical flow rate Q λf ＝λ×Q f 。
S3, calculating output flow of the pump, and calculating output flow Q of the pump o ＝Q f +Q b When in the anti-saturation control, the control unit,
Q o ＝Q λf +Q b 。
s4, converting the output flow of the pump into corresponding control adjustment quantity, and outputting the corresponding control adjustment quantity to the electric control pump 1 for flow control.
And S5, when speed compensation control is used, the controller collects the actual speed of each actuator, compares the actual speed with the corresponding set speed, and calculates the compensation flow of each actuator through a control theory (such as PID). When the pressure compensation control is used, the controller collects pressure drop of the load port of each actuator, and the regulating output of the electric control pump 1 is calculated through a control theory (such as PID), so that the pressure drop delta P of the load port of each corresponding actuator is always stabilized within a specified range. Compensating flow (feedback)
S6, repeating the steps S2 to S5 until the difference between the actual speed and the set speed of each digital hydraulic actuator is kept in a reasonable interval, the pressure drop of the load port is stabilized in a specified range, and the flow is stably matched.
Therefore, the digital liquid flow matching system and the control method greatly simplify the hydraulic system, improve the precision, the working efficiency and the reliability and reduce the comprehensive cost.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting it, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that: the technical scheme of the invention can be modified or replaced by the same, and the modified technical scheme cannot deviate from the spirit and scope of the technical scheme of the invention.
Claims (7)
1. A digital flow matching system, characterized by: comprises an electric control pump, at least one digital hydraulic actuator, a speed detection sensor or a pressure sensor and a controller; the digital hydraulic actuator comprises a digital hydraulic cylinder and a digital hydraulic motor; the electric control pump is connected with the digital hydraulic actuators which are mutually connected in parallel.
2. A digital liquid flow matching control method is characterized in that: the method comprises the following steps:
s1, setting the speed of each digital hydraulic actuator;
s2, calculating theoretical flow required by the digital hydraulic actuator by the controller;
s3, calculating the output flow of the electric control pump;
s4, converting the output flow of the electric control pump into a corresponding control adjustment quantity, and outputting the corresponding control adjustment quantity to the electric control pump for flow control;
s5, calculating the compensation flow of the digital hydraulic actuator;
s6, repeating the steps S2-S5.
3. The digital stream matching control method according to claim 2, characterized in that: in step S1, the speed is set using a handle, button or electronic control system, controlled by linear acceleration or S-curve acceleration.
4. The digital stream matching control method according to claim 2, characterized in that: in step S2, the controller calculates a required theoretical flow according to the set speed of each digital hydraulic actuator, where the theoretical flow is a sum of theoretical flows corresponding to the set speeds of each digital hydraulic actuator in the system, that is:
Q f is the theoretical flow; the theoretical flow of each digital hydraulic actuator is calculated by a mathematical model according to the flow relation corresponding to the speed.
5. The digital stream matching control method according to claim 4, characterized in that: when the required theoretical flow exceeds the maximum output flow of the electric control pump, the set speed of all digital hydraulic actuators is reduced by the equal ratio control, so that the required theoretical flow is not greater than the maximum output flow of the electric control pump, namely: when the theoretical flow rate is greater than the maximum output flow rate of the pump, namely Q f ＞Q max Coefficient of anti-saturation
Otherwise: λ=1; anti-saturation theoretical flow rate Q λf ＝λ×Q f 。
6. The digital stream matching control method according to claim 2, characterized in that: in step S3, a feed-forward and feedback manner is adopted, namely: q (Q) o ＝Q f +Q b When in anti-saturation control, Q o ＝Q λf +Q b ，Q o For output flow.
7. The digital stream matching control method according to claim 2, characterized in that: in step S5, the compensation flow is the sum of the compensation flows required by each digital hydraulic actuator in the system, namely:
Q b to compensate for flow;
the compensation flow can be calculated in two ways:
speed compensation control: calculating the regulating output of the pump according to the difference between the actual speed and the set speed of the digital hydraulic actuator through a control theory;
pressure compensation control: and according to the pressure drop of the load port of the digital hydraulic actuator, calculating the regulating output of the pump through a control theory.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211686374.4A CN116292466A (en) | 2022-12-26 | 2022-12-26 | Digital liquid flow matching system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211686374.4A CN116292466A (en) | 2022-12-26 | 2022-12-26 | Digital liquid flow matching system and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116292466A true CN116292466A (en) | 2023-06-23 |
Family
ID=86784041
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211686374.4A Pending CN116292466A (en) | 2022-12-26 | 2022-12-26 | Digital liquid flow matching system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116292466A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6308516B1 (en) * | 1998-05-22 | 2001-10-30 | Komatsu Ltd. | Control device for hydraulically-operated equipment |
| CN102057166A (en) * | 2008-04-11 | 2011-05-11 | 伊顿公司 | Hydraulic system including fixed displacement pump for driving multiple variable loads and method of operation |
| CN102900121A (en) * | 2012-09-29 | 2013-01-30 | 张国军 | Hydraulic pump control system and hydraulic pump control method used for engineering machinery |
| CN113227586A (en) * | 2019-02-15 | 2021-08-06 | 日立建机株式会社 | Construction machine |
-
2022
- 2022-12-26 CN CN202211686374.4A patent/CN116292466A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6308516B1 (en) * | 1998-05-22 | 2001-10-30 | Komatsu Ltd. | Control device for hydraulically-operated equipment |
| CN102057166A (en) * | 2008-04-11 | 2011-05-11 | 伊顿公司 | Hydraulic system including fixed displacement pump for driving multiple variable loads and method of operation |
| CN102900121A (en) * | 2012-09-29 | 2013-01-30 | 张国军 | Hydraulic pump control system and hydraulic pump control method used for engineering machinery |
| CN113227586A (en) * | 2019-02-15 | 2021-08-06 | 日立建机株式会社 | Construction machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR970000242B1 (en) | Hydraulically driving system | |
| JPH07208343A (en) | Liquid-operated power controller | |
| CN100422451C (en) | Mechanical digger full power control system and method | |
| CN108287466B (en) | Improved active disturbance rejection control method for high-order system | |
| CN106640809B (en) | Variable displacement and variable power adjusts load matched electro-hydraulic position tracking and controlling method | |
| CN103744443A (en) | Large-scale open channel water level automatic control method based on storage capacity dynamic regulation | |
| CN110071676A (en) | A kind of vibration suppressing method and device of flexible robot's joint servo system | |
| CN105388764A (en) | Electro-hydraulic servo PID control method and system based on dynamic matrix feed-forward prediction | |
| CN107037729A (en) | A kind of design method based on RBF neural automatic disturbance rejection controller | |
| CN112925208A (en) | Disturbance compensation method for data-driven electro-hydraulic servo system of well drilling machine | |
| CN111648758B (en) | Model-free self-adaptive control method and system for well drilling machine propulsion device | |
| JP2010019223A (en) | Pump flow rate control method and pump flow rate control system | |
| CN113007055A (en) | Method for operating a variable speed variable displacement pump | |
| JPH06166078A (en) | Controlling method for injection molding machine | |
| CN112020460B (en) | Method for controlling a valve and corresponding device | |
| CN116292466A (en) | Digital liquid flow matching system and control method | |
| EP1419421B1 (en) | Control method | |
| CN110725817B (en) | High-energy-efficiency control method of servo system for independently adjusting electrohydraulic position at inlet and outlet based on proportional overflow valve | |
| CN104155876B (en) | The separation of a kind of PID controller realizes method | |
| CN108873953B (en) | High-precision pressure control method and system based on electromagnetic proportional valve | |
| CN106338911A (en) | Expert PID control method applied to rotary electromechanical actuator servo system | |
| CN114660924A (en) | Servo motor energy-saving control system and method | |
| CN115434986A (en) | Hydraulic system control method and readable storage medium | |
| TW202229734A (en) | Method for operating a hydraulic drive | |
| CN110703592B (en) | PID (proportion integration differentiation) adjusting method and PID adjuster |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |