The invention relates to a self-adaptive control method of a multi-stage hydraulic cylinder heavy load erecting mechanism, which comprises the following steps of: determining a stage changing point of a multi-stage hydraulic cylinder according to the rotation angular speed of an erecting frame, the acceleration value of the erecting frame and the pressure value of a hydraulic system; detecting the erection time of each stage of the multi-stage hydraulic cylinder and the acceleration value of the erection frame when the multi-stage hydraulic cylinder reaches the stage change point of the stage, and calculating a multi-stage erection effect weighted calculation result in combination with a preset erection time index value of each stage and a corresponding acceleration index value; based on a weighted calculation result, a preset erection time adjustment step length and an acceleration adjustment step length, performing multiple times of adjustment to obtain an optimal PID control parameter; and on the basis of the optimal PID control parameters, planning the process that the erecting angle of the erecting frame changes along with time, and completing control over the erecting mechanism. The problems that in the prior art, a multi-stage hydraulic cylinder heavy-load erecting mechanism is large in impact and poor in stage changing stability during stage changing are solved.

    本发明涉及一种多级液压缸重载起竖机构的自适应控制方法,该方法包括以下步骤:根据起竖架的旋转角速度、起竖架的加速度值和液压系统的压力值,确定多级液压缸的换级点;检测多级液压缸每一级的起竖时间和到达该级换级点时起竖架的加速度值,并结合预先设置的每一级的起竖时间指标值和相应的加速度指标值计算多级起竖效果加权计算结果;基于加权计算结果以及预设的起竖时间调整步长、加速度调整步长多次调整获得最优PID控制参数;基于最优PID控制参数,对起竖架的起竖角度随时间变化的过程进行规划,完成对起竖机构的控制。解决了现有技术中多级液压缸重载起竖机构换级时冲击大、换级平稳性的问题。


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    Title :

    Self-adaptive control method and equipment for heavy-load erecting mechanism of multi-stage hydraulic cylinder


    Additional title:

    一种多级液压缸重载起竖机构的自适应控制方法及设备


    Contributors:
    LIU BENYONG (author) / PU PENGCHENG (author) / LIANG MINXUE (author) / KE YIN (author) / YANG XIANGDONG (author) / SU XIAOYAN (author)

    Publication date :

    2024-03-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    F15B SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL , Druckmittelbetriebene Systeme allgemein / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last



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