CN118616549B - A modular hydraulic control system for cold pipe bending machine - Google Patents
A modular hydraulic control system for cold pipe bending machine Download PDFInfo
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- 238000005452 bending Methods 0.000 title claims abstract description 27
- 230000002159 abnormal effect Effects 0.000 claims abstract description 13
- 230000004044 response Effects 0.000 claims abstract description 8
- 238000006073 displacement reaction Methods 0.000 claims description 20
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D7/00—Bending rods, profiles, or tubes
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Abstract
本发明属于智能控制技术领域，具体涉及一种冷弯管机模组式液压控制系统，该系统包括：第一模块、第二模块、第三模块和第四模块，根据目标时刻的状态数据点与目标时刻在各历史时间段内相应的时刻的第一参考数据点的相似性，计算目标时刻受机械冲击的干扰程度，响应于目标时刻受机械冲击的干扰程度大于预设的干扰程度阈值，通过参考时刻受机械冲击的干扰程度对参考时刻的工作参数数据点进行加权，获得目标时刻的修正后的工作参数数据点，计算第一时间段内各时刻的修正后的工作参数数据点的异常得分，以便于根据异常得分的大小确认是否对液压缸进行手动调整。本发明给出了液压系统的自动调试策略，减少了手动调整的需求。
The present invention belongs to the field of intelligent control technology, and specifically relates to a modular hydraulic control system for a cold pipe bending machine, the system comprising: a first module, a second module, a third module and a fourth module, according to the similarity between the state data point at the target moment and the first reference data point at the corresponding moment of the target moment in each historical time period, the interference degree of the target moment by the mechanical impact is calculated, in response to the interference degree of the target moment by the mechanical impact being greater than the preset interference degree threshold, the working parameter data point at the reference moment is weighted by the interference degree of the mechanical impact at the reference moment, the corrected working parameter data point at the target moment is obtained, and the abnormal score of the corrected working parameter data point at each moment in the first time period is calculated, so as to confirm whether to manually adjust the hydraulic cylinder according to the size of the abnormal score. The present invention provides an automatic debugging strategy for the hydraulic system, reducing the need for manual adjustment.
Description
Technical Field
The invention relates to the technical field of intelligent control. More particularly, the invention relates to a modular hydraulic control system of a cold bending machine.
Background
The cold pipe bender system completes key steps of transporting small materials, rotating, bending pipe fittings and the like through linkage of a plurality of systems such as a mechanical system, a hydraulic system, a control system and the like, and realizes a space processing mode of the pipe bender; the motion controller is the core of the control system, and comprises an automatic machining mode and a manual adjustment mode, wherein the automatic machining mode is a main working mode, and before the automatic mode starts, a user accurately controls each shaft through the manual adjustment mode to finish operations such as debugging and maintenance.
Although manual adjustment mode is necessary during the commissioning and maintenance phase, requiring manual adjustment before each automatic mode starts severely affects production efficiency and production costs; therefore, a suitable tuning strategy is needed to maximize production efficiency and equipment stability.
Disclosure of Invention
In order to solve the technical problem of a proper debugging strategy to maximize production efficiency and equipment stability, the present invention provides solutions in the following aspects.
The invention provides a modular hydraulic control system of a cold bending machine, which comprises the following modules: the first module is used for collecting various state data and various working parameter data of each hydraulic cylinder in the hydraulic system at each moment in a first time period when the hydraulic system executes the automatic processing instruction given by the motion controller, and respectively forming a state data point and a working parameter data point of each moment by the various state data and the various working parameter data of each moment; respectively taking a state data point and a working parameter data point in each historical time period corresponding to the instruction as a first reference data point and a second reference data point; the second module is used for calculating the interference degree of the mechanical impact on the target moment according to the similarity between the state data point of the target moment and the first reference data point of the corresponding moment of the target moment in each historical time period; the degree of interference of the target moment by mechanical impact is inversely proportional to the similarity; a third module, configured to, in response to the interference degree of the mechanical impact received by the target time being greater than a preset interference degree threshold, set a plurality of times, of adjacent times of the target time, having interference degrees of the mechanical impact received by the target time less than the interference degree of the mechanical impact received by the target time, as reference times of the target time; taking the interference degree of mechanical impact at the reference moment as a weight, carrying out weighted summation on the working parameter data points at the reference moment, and taking the weighted summation result as the corrected working parameter data points at the target moment; and the fourth module is used for calculating the abnormal score of the corrected working parameter data point at each moment in the first time period according to the corrected working parameter data point at each moment in the first time period and the distribution condition of the second reference data point at each moment in each historical time period so as to confirm whether the hydraulic cylinder is manually adjusted according to the magnitude of the abnormal score.
Preferably, the method further comprises: the state data comprises vibration data and sound wave data; the working parameter data comprise pressure data, flow data and displacement data; the hydraulic cylinder comprises a material clamping cylinder, a core rod cylinder, a main clamping cylinder, a guide clamping cylinder, a bending main cylinder and a tilting shaft return-to-zero cylinder; the motion controller includes an automatic machining mode and a manual adjustment mode.
Preferably, the similarity between the state data point of the target time and the first reference data point of the corresponding time of the target time in each historical time period satisfies the expression: ; in the formula, i represents the target time, A similarity of the state data point representing the target time with the first reference data point of the corresponding time of the target time within the a-th historical period, k representing the corresponding time of the target time within the a-th historical period,A vector corresponding to the state data point representing the target time,A state data point representing a target time instant,、Vibration data and acoustic wave data respectively representing the target time,A vector corresponding to the first reference data point representing the corresponding time of the target time within the a-th historical period,A first reference data point representing a corresponding time of the target time during the a-th historical period,、Respectively representing vibration data and sound wave data of the target time at corresponding times in the a-th history period,Representing a cosine function of the sign of the signal,Representing a first parameter, N1 representing the length of a first time period,The length of the a-th history period is represented, and min (), max () represent a minimum function and a maximum function, respectively.
Preferably, the target time satisfies the expression at a corresponding time within each history period: ; where k represents the corresponding time of the target time within the a-th history time period, i represents the target time, N1 represents the length of the first time period, Representing the length of the a-th history period.
Preferably, the method for acquiring the first reference data point of the target moment in each historical time period at the corresponding moment comprises the following steps: the first reference data point of the corresponding time of the target time in the a-th historical time period is composed of vibration data and sound data of the corresponding time of the target time in the a-th historical time period, and the vibration data and the sound data meet the expression:； ; where k represents the corresponding time of the target time in the a-th history period, 、Respectively representing vibration data and sound wave data of the target time at corresponding times in the a-th history period,、Respectively represent the time in the a-th historical time periodAnd time of dayIs provided with a vibration data of (a),、Respectively represent the corresponding time in the a-th historical time periodAnd time of dayIs provided with a plurality of acoustic wave data,、Respectively a downward rounding and an upward rounding.
Preferably, the degree of interference of the mechanical impact at the target time satisfies the expression: ; in the formula, i represents the target time, Indicating the degree of disturbance of the target moment by mechanical shock,A similarity of the state data point representing the target time with a first reference data point of the target time at a corresponding time within a b-th historical time period, N1 representing the length of the first time period,A second parameter is indicated which is preset in order to indicate,Represents an exponential function with a base of a natural constant,Representing a rounding down.
Preferably, the time adjacent to the target time is a time with a time difference less than a time threshold from the current time.
Preferably, the method for acquiring the corrected working parameter data point of the target moment includes: the corrected working parameter data point of the target moment isWherein, the method comprises the steps of, wherein,、、The corrected pressure data, corrected flow data, and corrected displacement data at the target time are expressed, respectively, satisfying the expression:；； ; in the formula, i represents the target time, Indicating the degree of disturbance of the target moment by mechanical shock,、、Pressure data, flow data, and displacement data respectively representing the target time,Indicating the degree of interference of the jth reference instant of the target instant by the mechanical shock,、、Pressure data, flow data, and displacement data representing the jth reference time of the target time,Indicating the degree of interference of the h reference instant of the target instant by the mechanical shock,Indicating the number of reference instants of the target instants.
Preferably, the determining whether to manually adjust the hydraulic cylinder according to the magnitude of the anomaly score includes: in response to the presence of a corrected operating parameter data point having an anomaly score greater than a preset first anomaly score threshold value in the corrected operating parameter data points at each time within the first time period, or the number of consecutive operating parameter data points having an anomaly score greater than a preset second anomaly score threshold value, which is less than the first anomaly score threshold value, in the corrected operating parameter data points at each time within the first time period being greater than a preset target number; at this time, the manual adjustment instruction sent by the motion controller is convenient for manually adjusting the hydraulic cylinder.
The invention has the beneficial effects that:
According to the method, the degree of interference of mechanical impact on the target moment is calculated according to the similarity between the state data point of the target moment and the first reference data point of the corresponding moment of the target moment in each historical time period, the reference moment of the target moment is determined according to the degree of interference of the mechanical impact on the target moment, and the working parameter data point of the target moment is corrected according to the degree of interference of the mechanical impact on the reference moment and the working parameter data point of the reference moment, so that the interference of the mechanical impact on the working parameter data point is eliminated, the accuracy of detecting abnormal operation of the hydraulic cylinder is improved, and the stability and the processing quality of a pipe bending machine system are improved.
Further, whether the hydraulic cylinder is manually adjusted is confirmed according to the abnormal scores of the corrected working parameter data points at each moment in the first time period, an automatic debugging strategy of the hydraulic system is provided, the requirement of manual adjustment is reduced, and the production efficiency and the equipment stability of the cold bending pipe machine system are improved.
Drawings
The above, as well as additional purposes, features, and advantages of exemplary embodiments of the present invention will become readily apparent from the following detailed description when read in conjunction with the accompanying drawings. In the drawings, embodiments of the invention are illustrated by way of example and not by way of limitation, and like reference numerals refer to similar or corresponding parts and in which:
fig. 1 schematically shows a system block diagram of a modular hydraulic control system for a cold bending machine according to the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.
The invention provides a modular hydraulic control system of a cold bending machine. As shown in fig. 1, a modular hydraulic control system for a cold bending machine includes a first module 101 to a fourth module 104, which will be described in detail below.
A first module 101 is configured to obtain a state data point and an operating parameter data point and a first reference data point and a second reference data point at each moment.
The whole cold pipe bender system is composed of a mechanical system, a hydraulic system, a control system and the like, and when the pipe bender works, the key steps of transporting small materials, rotating, bending pipe fittings and the like are completed through the linkage of a plurality of systems, so that the space processing mode of the pipe bender is realized; the motion controller is the core of the control system, and comprises an automatic machining mode and a manual adjustment mode, wherein the automatic machining mode is a main working mode, and before the automatic mode starts, a user accurately controls each shaft through the manual adjustment mode to finish operations such as debugging and maintenance.
It should be further noted that, although the manual adjustment mode has its necessity in the debugging and maintenance stages, the manual adjustment required before the start of each automatic mode seriously affects the production efficiency and the production cost; therefore, a proper debugging strategy is needed to improve the production efficiency and the equipment stability to the greatest extent, so that when the hydraulic system executes the received automatic processing instruction, the invention determines whether to manually adjust the hydraulic cylinders by collecting various state data and various working parameter data of each hydraulic cylinder and analyzing the state data and the working parameter data.
Specifically, the motion controller sends an automatic machining instruction to the hydraulic system, wherein the automatic machining instruction comprises machining parameters, the hydraulic system executes the machining parameters in the received automatic machining instruction, and the machining of the bent pipe is completed by controlling a plurality of hydraulic cylinders; the hydraulic system mainly comprises 6 hydraulic cylinders of a material clamping cylinder, a core rod cylinder, a main clamping cylinder, a guide clamping cylinder, a bending main cylinder and a tilting shaft return-to-zero cylinder, and the functions of the 6 hydraulic cylinders are as follows: clamping pipe materials, driving the core rod into the hollow pipe materials, fixing a pipe bending die, assisting pipe clamping, realizing pipe bending and enabling the tilting shaft to return to zero position.
Further, in a first time period when the hydraulic system executes an automatic machining instruction given by the motion controller and finishes machining of the bent pipe by controlling the hydraulic cylinders, various state data and various working parameter data of the hydraulic cylinders at various moments in the hydraulic system are collected, and the various state data and the various working parameter data at various moments are respectively formed into state data points and working parameter data points at various moments.
Wherein the status data includes vibration data and acoustic data; the working parameter data comprise pressure data, flow data and displacement data, and vibration data and sound data of the hydraulic cylinder are respectively acquired by a vibration sensor and a sound emission sensor; the pressure data, the flow data and the displacement data of the hydraulic cylinder are respectively acquired by a pressure sensor, a flow sensor and a displacement sensor.
Further, determining a plurality of historical time periods corresponding to the same historical instruction in the historical data as each historical time period corresponding to the instruction; and respectively taking the state data point and the working parameter data point of each moment in each historical time period corresponding to the instruction as a first reference data point and a second reference data point.
It should be noted that, the historical data refers to the collected state data points and working parameter data points of the cold bending machine system as historical data under relatively stable and normal working conditions, and can be used as a reference of the cold bending machine system when no obvious impact interference exists.
The second module 102 is configured to calculate, according to similarity between the state data point of the target time and the first reference data point of the corresponding time in each historical time period, the interference degree of the mechanical impact on the target time.
It should be noted that, because the working environment of the pipe bending machine is generally bad, such as common vibration and impact interference, a certain degree of influence can be generated on the collected working parameter data at each moment, in order to determine the abnormal working operation condition at each moment through the working parameter data at each moment, the vibration and impact interference needs to be removed first, so that the degree of mechanical impact interference suffered at each moment is estimated through the similarity between the state data point at each moment and the first reference data point at the corresponding moment in each historical time period at each moment.
Specifically, the similarity between the state data point of the target time and the first reference data point of the corresponding time of the target time in each historical time period satisfies the expression:
；
in the formula, i represents the target time, A similarity of the state data point representing the target time with the first reference data point of the corresponding time of the target time within the a-th historical period, k representing the corresponding time of the target time within the a-th historical period,A vector corresponding to the state data point representing the target time,A state data point representing a target time instant,、Vibration data and acoustic wave data respectively representing the target time,A vector corresponding to the first reference data point representing the corresponding time of the target time within the a-th historical period,A first reference data point representing a corresponding time of the target time during the a-th historical period,、Respectively representing vibration data and sound wave data of the target time at corresponding times in the a-th history period,Representing a cosine function of the sign of the signal,Representing a first parameter, N1 representing the length of a first time period,The length of the a-th history period is represented, and min (), max () represent a minimum function and a maximum function, respectively.
The first parameter can be set according to the actual application scene and the requirement, and the value range of the first parameter is required to be (0,0.1), so that the first parameter is set to be 0.01.
It should be noted that the number of the substrates,A vector corresponding to a first reference data point representing a corresponding time of the target time within the a-th historical periodVector corresponding to state data point at target timeThe greater the value, the greater the similarity between the state data point at the target time and the first reference data point at the corresponding time in each historical time period at the target time; since the first time period and the a-th history time period are the time period for which the hydraulic system performs the processing of the bent pipe when receiving the same automatic processing instruction, both should be the same,Representing the consistency of the length of the first time period and the length of the a-th historical time period, the greater the value, the greater the similarity of the state data point at the target time and the first reference data point at the corresponding time of the target time within each historical time period.
Wherein, the length of the time period refers to the number of all moments contained in the time period; vector corresponding to first reference data point at corresponding time in a historical time period of a target timeIn the direction of data point (0, 0) pointing to the state data pointIs equal to the data point (0, 0) and the state data pointIs the euclidean distance of (2); vector corresponding to state data point at target timeIn the direction of data point (0, 0) pointing to the state data pointIs equal to the data point (0, 0) and the state data pointIs a euclidean distance of (c).
Wherein the target time satisfies the expression at the corresponding time in each history period:
；
Where k represents the corresponding time of the target time within the a-th history time period, i represents the target time, N1 represents the length of the first time period, Representing the length of the a-th history period.
The first reference data point of the corresponding time of the target time in the a-th historical time period is composed of vibration data and sound data of the corresponding time of the target time in the a-th historical time period, and the vibration data and the sound data meet the expression:
；
；
where k represents the corresponding time of the target time in the a-th history period, 、Respectively representing vibration data and sound wave data of the target time at corresponding times in the a-th history period,、Respectively represent the time in the a-th historical time periodAnd time of dayIs provided with a vibration data of (a),、Respectively represent the corresponding time in the a-th historical time periodAnd time of dayIs provided with a plurality of acoustic wave data,、Respectively a downward rounding and an upward rounding.
Further, the degree of interference of the mechanical impact on the target time is inversely proportional to the similarity, and the degree of interference of the mechanical impact on the target time satisfies the expression:
；
in the formula, i represents the target time, Indicating the degree of disturbance of the target moment by mechanical shock,A similarity of the state data point representing the target time with a first reference data point of the target time at a corresponding time within a b-th historical time period, N1 representing the length of the first time period,A second parameter is indicated which is preset in order to indicate,Represents an exponential function with a base of a natural constant,Representing a rounding down.
The second parameter can be set according to the actual application scene and the requirement, and the value range of the second parameter is required to be [0.7,0.9], so that the second parameter is set to be 0.8.
It should be noted that, the result of the similarity calculation may reflect the degree of difference between the state data point at the target moment and the normal working condition, a larger difference may indicate that the target moment is interfered by a stronger mechanical impact, and a smaller difference indicates that the working state at the target moment is relatively stable; through the process, the interference degree of the hydraulic cylinder under mechanical impact at the target moment can be quantitatively evaluated, and the judgment accuracy of equipment operation abnormality of the hydraulic cylinder is improved.
And a third module 103, configured to obtain a corrected working parameter data point at the target time according to the interference degree of the mechanical impact at the target time.
It should be noted that, if the interference degree of the mechanical impact at the target time is greater than the preset interference degree threshold, the adjacent time of the target time is required to be used as the reference time, and the working parameter data point of the target time is required to be corrected, so as to reduce the influence of the mechanical impact interference.
Specifically, in response to the interference degree of mechanical impact at the target moment not being greater than a preset interference degree threshold, directly taking the working parameter data point at the target moment as the corrected working parameter data point at the target moment; responding to the condition that the interference degree of the mechanical impact on the target moment is larger than a preset interference degree threshold value, and taking a plurality of moments, of which the adjacent moments of the target moment are less than the interference degree of the mechanical impact on the target moment, as reference moments of the target moment; and taking the interference degree of the mechanical impact at the reference moment as a weight, carrying out weighted summation on the working parameter data points at the reference moment, and taking the weighted summation result as the corrected working parameter data points at the target moment.
The interference degree threshold can be set according to actual application scenes and requirements, and the value range of the interference degree threshold is [0.2,0.5], so that the interference degree threshold is set to be 0.25.
Wherein, the adjacent time of the target time is the time with the time difference smaller than the time threshold value from the current time.
The corrected working parameter data point of the target moment isWherein, the method comprises the steps of, wherein,、、The corrected pressure data, corrected flow data, and corrected displacement data at the target time are expressed, respectively, satisfying the expression:
；
；
；
in the formula, i represents the target time, Indicating the degree of disturbance of the target moment by mechanical shock,、、Pressure data, flow data, and displacement data respectively representing the target time,Indicating the degree of interference of the jth reference instant of the target instant by the mechanical shock,、、Pressure data, flow data, and displacement data representing the jth reference time of the target time,Indicating the degree of interference of the h reference instant of the target instant by the mechanical shock,Indicating the number of reference instants of the target instants.
It should be noted thatThe weight of the pressure data, the flow data and the displacement data at the j-th reference moment of the target moment is used as the reference pressure data, the reference flow data and the reference displacement data of the target moment according to the weighting results of the pressure data, the flow data and the displacement data at all the reference moments of the target moment; when calculating corrected pressure data, flow data and displacement data at a target time, the method willAs weights of pressure data, flow data, and displacement data at a target time, the weight will beReference pressure data, reference flow data and weight of reference displacement data as target time; the working parameter data point at the target moment is corrected according to the interference degree of the mechanical impact at the target moment, the corrected working parameter data point at the target moment is obtained, the interference of the mechanical impact on the working parameter data point is eliminated, the accuracy of detecting the abnormal operation of the hydraulic cylinder is improved, and the stability and the processing quality of the pipe bending machine system are improved.
A fourth module 104, configured to determine whether to manually adjust the hydraulic cylinder according to the magnitude of the abnormal score of the corrected working parameter data point at each moment in the first period.
Specifically, through an isolated forest anomaly detection algorithm, according to the distribution situation of the corrected working parameter data points at all times in the first time period and the second reference data points at all times in the historical time period, the anomaly score of the corrected working parameter data points at all times in the first time period is calculated.
The method is characterized in that an isolated forest anomaly detection algorithm is used for calculating anomaly scores of all data points, and the larger the anomaly score is, the more anomaly of the data points is indicated; the isolated forest anomaly detection algorithm is a well-known technique and will not be described in detail here.
Further, in response to the presence of a corrected operating parameter data point having an anomaly score greater than a preset first anomaly score threshold value in the corrected operating parameter data points at each time within the first time period, or the number of consecutive operating parameter data points having an anomaly score greater than a preset second anomaly score threshold value in the corrected operating parameter data points at each time within the first time period being greater than a preset target number, indicating that an anomaly is present in the hydraulic cylinder, and the second anomaly score threshold value being less than the first anomaly score threshold value; at this time, the manual adjustment instruction sent by the motion controller is convenient for manually adjusting the hydraulic cylinder.
The first abnormality score threshold and the second abnormality score threshold can be set according to actual application scenes and requirements, the second abnormality score threshold is required to be smaller than the first abnormality score threshold, and the value range of the first abnormality score threshold is [0.65,1 ], so that the first abnormality score threshold is set to be 0.7, and the second abnormality score threshold is set to be 0.55.
The target number can be set according to the actual application scene and the requirement, the value range of the target number is [0.1×n1,0.25×n1], and N1 represents the length of the first time period, so that the target number is set to 0.15×n1.
According to the method, the degree of interference of mechanical impact on the target moment is calculated according to the similarity between the state data point of the target moment and the first reference data point of the corresponding moment of the target moment in each historical time period, the reference moment of the target moment is determined according to the degree of interference of the mechanical impact on the target moment, and the working parameter data point of the target moment is corrected according to the degree of interference of the mechanical impact on the reference moment and the working parameter data point of the reference moment, so that the interference of the mechanical impact on the working parameter data point is eliminated, the accuracy of detecting abnormal operation of the hydraulic cylinder is improved, and the stability and the processing quality of a pipe bending machine system are improved.
Further, whether the hydraulic cylinder is manually adjusted is confirmed according to the abnormal scores of the corrected working parameter data points at each moment in the first time period, an automatic debugging strategy of the hydraulic system is provided, the requirement of manual adjustment is reduced, and the production efficiency and the equipment stability of the cold bending pipe machine system are improved.
In the description of the present specification, the meaning of "a plurality", "a number" or "a plurality" is at least two, for example, two, three or more, etc., unless explicitly defined otherwise.
While various embodiments of the present invention have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. Many modifications, changes, and substitutions will now occur to those skilled in the art without departing from the spirit and scope of the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in practicing the invention.
Claims (5)
1. A modular hydraulic control system for a cold bending machine, comprising:
The first module is used for collecting various state data and various working parameter data of each hydraulic cylinder in the hydraulic system at each moment in a first time period when the hydraulic system executes the automatic processing instruction given by the motion controller, and respectively forming a state data point and a working parameter data point of each moment by the various state data and the various working parameter data of each moment; respectively taking a state data point and a working parameter data point in each historical time period corresponding to the instruction as a first reference data point and a second reference data point; the state data comprises vibration data and sound wave data; the working parameter data comprise pressure data, flow data and displacement data; the hydraulic cylinder comprises a material clamping cylinder, a core rod cylinder, a main clamping cylinder, a guide clamping cylinder, a bending main cylinder and a tilting shaft return-to-zero cylinder; the motion controller comprises an automatic processing mode and a manual adjustment mode;
The second module is used for calculating the interference degree of the mechanical impact on the target moment according to the similarity between the state data point of the target moment and the first reference data point of the corresponding moment of the target moment in each historical time period; the degree of interference of the target moment by mechanical impact is inversely proportional to the similarity; the similarity between the state data point of the target moment and the first reference data point of the corresponding moment of the target moment in each historical time period satisfies the expression: ; in the formula, i represents the target time, A similarity of the state data point representing the target time with the first reference data point of the corresponding time of the target time within the a-th historical period, k representing the corresponding time of the target time within the a-th historical period,A vector corresponding to the state data point representing the target time,A state data point representing a target time instant,、Vibration data and acoustic wave data respectively representing the target time,A vector corresponding to the first reference data point representing the corresponding time of the target time within the a-th historical period,A first reference data point representing a corresponding time of the target time during the a-th historical period,、Respectively representing vibration data and sound wave data of the target time at corresponding times in the a-th history period,Representing a cosine function of the sign of the signal,The first parameter is represented, the value range of the first parameter is (0,0.1), N1 represents the length of the first time period,The length of the a-th historical time period is represented, and min (), max () represent a minimum value taking function and a maximum value taking function respectively; the degree of interference of the mechanical impact at the target moment satisfies the expression: ; in the method, in the process of the invention, Indicating the degree of disturbance of the target moment by mechanical shock,A similarity of the state data point representing the target time instant to the first reference data point of the corresponding time instant of the target time instant within the b-th historical time period,Representing a preset second parameter, wherein the value range of the second parameter is [0.7,0.9],Represents an exponential function with a base of a natural constant,Representing a downward rounding;
A third module, configured to, in response to the interference degree of the mechanical impact received by the target time being greater than a preset interference degree threshold, set a plurality of times, of adjacent times of the target time, having interference degrees of the mechanical impact received by the target time less than the interference degree of the mechanical impact received by the target time, as reference times of the target time; taking the interference degree of mechanical impact at the reference moment as a weight, carrying out weighted summation on the working parameter data points at the reference moment, and taking the weighted summation result as the corrected working parameter data points at the target moment; in response to the interference degree of the mechanical impact at the target moment being not greater than a preset interference degree threshold, directly taking the working parameter data point at the target moment as the corrected working parameter data point at the target moment; the corrected working parameter data point of the target moment is Wherein, the method comprises the steps of, wherein,、、The corrected pressure data, corrected flow data, and corrected displacement data at the target time are expressed, respectively, satisfying the expression:；； ; in the method, in the process of the invention, 、、Pressure data, flow data, and displacement data respectively representing the target time,Indicating the degree of interference of the jth reference instant of the target instant by the mechanical shock,、、Pressure data, flow data, and displacement data representing the jth reference time of the target time,Indicating the degree of interference of the h reference instant of the target instant by the mechanical shock,A number of reference moments representing the target moment;
And the fourth module is used for calculating the abnormal score of the corrected working parameter data point at each moment in the first time period according to the corrected working parameter data point at each moment in the first time period and the distribution condition of the second reference data point at each moment in each historical time period so as to confirm whether the hydraulic cylinder is manually adjusted according to the magnitude of the abnormal score.
2. The modular hydraulic control system of a cold-bending machine according to claim 1, wherein the target time instant satisfies the expression at the corresponding time instant in each historical time period:
；
Where k represents the corresponding time of the target time within the a-th history time period, i represents the target time, N1 represents the length of the first time period, Representing the length of the a-th history period.
3. The modular hydraulic control system of claim 1, wherein the method for acquiring the first reference data point at the corresponding time of the target time in each historical time period comprises:
The first reference data point of the corresponding time of the target time in the a-th historical time period is composed of vibration data and sound data of the corresponding time of the target time in the a-th historical time period, and the vibration data and the sound data meet the expression:
；
；
where k represents the corresponding time of the target time in the a-th history period, 、Respectively representing vibration data and sound wave data of the target time at corresponding times in the a-th history period,、Respectively represent the time in the a-th historical time periodAnd time of dayIs provided with a vibration data of (a),、Respectively represent the corresponding time in the a-th historical time periodAnd time of dayIs provided with a plurality of acoustic wave data,、Respectively a downward rounding and an upward rounding.
4. The modular hydraulic control system of a cold-bending machine according to claim 1, wherein the time adjacent to the target time is a time having a time difference from the current time less than a time threshold.
5. The modular hydraulic control system of a cold-bending machine according to claim 1, wherein the determining whether to manually adjust the hydraulic cylinder according to the magnitude of the anomaly score comprises:
In response to the presence of a corrected operating parameter data point having an anomaly score greater than a preset first anomaly score threshold value in the corrected operating parameter data points at each time within the first time period, or the number of consecutive operating parameter data points having an anomaly score greater than a preset second anomaly score threshold value, which is less than the first anomaly score threshold value, in the corrected operating parameter data points at each time within the first time period being greater than a preset target number; at this time, the manual adjustment instruction sent by the motion controller is convenient for manually adjusting the hydraulic cylinder.
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