52results about How to "Start and stop smoothly" patented technology

The invention provides a shuttle vehicle positioning system and a control method. A radio frequency code reader and a groove type photoelectric switch are installed at the bottom of a shuttle vehicle. Code carriers and a location identification chip are installed close to a rail. The code carriers are arranged in the positions, 3-4 m away from a loading table and an unloading table, of the rail correspondingly. The code carriers and the location identification chip are arranged in the positions of the loading table and the unloading table. The location identification chip corresponds to the groove type photoelectric switch in position. The code carriers are arranged on the rail at an interval of 3-4m. Different numbers are set for the code carriers. The shuttle vehicle is installed on the operation rail. A programmable controller communicates with an industrial control computer on the ground through a wireless communication device. The industrial control computer communicates with the programmable controller installed on the shuttle vehicle through the wireless communication device. The programmable controller is connected with the radio frequency code reader and the groove type photoelectric switch through a port of the programmable controller. According to the shuttle vehicle positioning system and the control method, accurate positioning is achieved through combination of the radio frequency code reader and the groove type photoelectric switch, and the positioning system is stable, reliable, high in precision, low in cost and wide in application range.

The invention relates to an automatic temperature control device of a large cooling tower group which comprises a plurality of blowers. The high temperature cooling water of a high temperature working machine is cooled by running through the blower and imported into a cold water pool to save, and the water is pumped to the high temperature working machine from the cold water pool to achieve the recycling of the cooling water, one of the plurality of the blowers is selected as a main blower, the others are the assistant blowers, the main contactors of the blower motor are connected in parallel and connected with a soft starter which is connected with and controlled by a programmable controller, a temperature sensor is arranged into the cold water pool, the signal of the temperature sensor is output to a PID digital regulator which inputs the signal to the programmable controller and a converter which is connected with the main blower, the assistant blowers are connected with the soft starter and a working frequency power supply, and the programmable controller accomplishes the conversion and the control. The device has the advantages of convenient control, gentle start and stop, economical and practical properties, and environmental protection and the device can also save power by more than 30 percent.

The invention discloses a brushless motor stepless speed change controller based on FPGA digitization control, which solves the technical problem of providing a brushless motor stepless speed change controller based on FPGA digitization control to realize the functions of vibration-free start-stop, reversing, and continuous and stable stepless speed change of the brushless DC motor without the control of a position sensor. Therefore, the invention adopts the technical scheme: the brushless motor stepless speed change controller comprises an EPGA, a motor power driving circuit, a counter electromotive force detecting circuit and two external potentiometers. Compared with the prior art, the invention has the obvious advantage and effect of firstly realizing that a digital chip is used as the controller, and solving the problem of realizing vibration-free start-stop, stable speed control, and the like of the brushless motor in the condition without the position sensor.

The invention relates to a converter tilting frequency conversion timing control system which comprises four inverters, a tilting motor and a converter PLC (Programmable Logic Controller)control system which are respectively controlled by the inverters, wherein a ring structure network is formed by an optic cable serial communication link among four inverters, and in the ring structure network, a host and three slave machines are determined for the four inverters in the ring structure network by the converter PLC control system; communications of a speed reference, a torque reference, a control word and a status word between each inverter and the converter PLC control system are realized by a Profibus-DP(Decentralized Periphery) network; and the system consists of a speed control loop and a torque control loop. Compared with the prior art, the system has the following beneficial effects: the operation speeds and torque values of motors which are respectively controlled by the four inverters are ensured to be basically consistent, so that loads can be evenly distributed among four drive motors, and the converter is smooth and stable to operate, start and stop and is energy-saving.

The invention relates to a three-level interlocking brake system of a pneumatic tyre roller. The three-level interlocking brake system is characterized by including hydraulic center self-locking brake, wheel-side brake and rear axle brake and consisting of a travel pump (1), an emergency brake solenoid valve (2), a drive axle brake (4), a drive motor (5), a first wheel-side brake (6), a second wheel-side brake (7), a foot brake pressure transmitter (8), a foot brake valve (9), a drive motor revolution sensor (10), a controller (11) and a handle (12). As interlocking linkage protection and power cut-off protection to hand brake, foot brake and emergency brake are realized by means of the electronic control technology and the sensor technology, reliability, stability and operational comfort of the brake performance of the whole unit are improved, and road surface operation quality is improved.

The invention discloses a distributing shuttle vehicle located by a magnetic grid ruler for an automatic stereoscopic warehouse, comprising a rack, wherein the rack is connected with a ground rail via a travelling wheel, and a chain-type conveyer and an electrical control cabinet are arranged on the rack. The shuttle vehicle is characterized in that a magnetic grid sensor is arranged on the bottom of the rack, and a magnetic grid ruler is arranged right ahead the magnetic grid sensor. The shuttle vehicle disclosed by the invention has the characteristics of being cost-saving, convenient to use, simple in structure, high in location accuracy, economic and practical, wide in application range, and the like.

The invention provides a damping mechanism, a chassis structure and a mobile robot, and belongs to the field of mobile equipment. The damping mechanism is arranged on a driving wheel bracket and comprises two damping spring groups, a damper, a buffer plate, wherein the two damping spring groups are respectively arranged on both sides of the driving wheel bracket and are respectively connected withthe driving wheel bracket; the damper is arranged between the two damping spring groups and is connected with the driving wheel bracket; and the buffer plate is arranged above the driving wheel bracket and is used for fixing the damping spring groups and the damper. The chassis structure comprises a driving wheel mechanism, a mounting mechanism and the damping mechanism. The mobile robot comprises a body and the chassis structure. According to the damping mechanism, the chassis structure and the mobile robot, the acting force of the ground on a wheel can be buffered when the body drives through the deformation compression of the damping spring groups and the damper, so that the stable operation of the body is kept, the problem of damping of a chassis on different road surfaces can be effectively solved, and the adaptability is good.

The invention provides an elevating fire vehicle boom control method and system and an elevating fire vehicle. By means of the elevating fire vehicle boom control method and system and the elevating fire vehicle, vibration caused when a boom starts and / or stops can be eliminated, and stability and safety of the boom in the operation process can be improved. The method includes operation executed when the boom is controlled to start and / or the boom is controlled to stop. When the boom is controlled to start, the expected movement speed signal v0 of the boom is confirmed, and the corresponding drive oil cylinder flow L0 is calculated when the boom stably moves according to the expected movement speed signal v0; the flow L1 required for making a drive oil cylinder drive the boom to start in a constant-speed manner is obtained; the maintenance time t1 of the flow L1 is obtained; and the flow of the drive oil cylinder is controlled to meet the flow L1, and under the condition that the maintenance time of the flow reaches the maintenance time t1, the flow of the drive oil cylinder is controlled to meet the flow L0.

The invention relates to a roasting rotary furnace belonging to the technical field of non-ferrous metal metallurgy, in particular to a structural improvement on the roasting rotary furnace. The invention provides a small roasting rotary furnace. The roasting rotary furnace has the characteristics of spiral back-and-forth rapid uniform feeding, hydraulic tipping discharge mode, controllable reduction time, high thermal efficiency, wide scope of application and low cost. The roasting rotary furnace comprises a furnace body, wherein a supporting and positioning mechanism and a transmission mechanism are arranged on a base of the furnace body; and the roasting rotary furnace has the key structural points that a hydraulic tipping mechanism is arranged below the base, the discharge end of the furnace body is provided with a solid discharge port and a melt discharge port, the feed end of the furnace body is provided with a furnace head cover body with a burner, and a feed mechanism is arranged on the side part of the furnace head cover body.

The invention discloses a cooling bed lifting hydraulic synchronous control device. The device comprises a plurality of proportional direction valves arranged on hydraulic valve stand beside a cooling bed in parallel, an electromagnetic reversing valve and a hydraulic control check valve are arranged on a communication pipeline of the proportional direction valves and hydraulic oil, an oil outlet pipeline of each proportional direction valve is further connected with a servo hydraulic cylinder, displacement sensors serving as external displacement sensors are arranged on the servo hydraulic cylinders, the displacement sensors are also connected with the proportional direction valves, and the proportional direction valves and the displacement sensors form position closed loops. Closed-loop control precision of cooling bed lifting hydraulic synchronous control can reach + / -1 mm; compared with existing cooling bed lifting control schemes, synchronous control precision is very high, and synchronous control precision can also be guaranteed especially when unbalance loading of the cooling bed is large; by setting a curve of proportional direction valve control signals, stable start and shutdown are easy to achieve, and quick lifting operation is achieved.

The invention discloses a movable radioactive waste sorting device and a using method thereof. The device comprises a mounting platform mounted at the top of a low shielding wall; railways are arranged on the mounting platform in the length direction; a trolley which can slide along the railways is arranged on the railways; two manipulators are mounted on the trolley side by side; clamp forceps ofthe manipulators are located in a radioactive waste storage area located inside the low shielding wall; and a dosage measurement instrument and a video system are further mounted on an inside wall surface of the low shielding wall. According to the sorting device disclosed by the invention, the mounting platform is connected to supporting vertical posts by bolts; when other radioactive waste storage areas need sorting, the platform can be detached quickly; the overall sorting device is moved to the low shielding wall of the radioactive waste storage area for performing sorting work; and a detachable structure is high in flexibility, wide in applicability, and convenient to mount and detach, and facilitates transportation and adjustment.

The invention discloses a pneumatic centrifugal clutch and a manufacturing method thereof and is aimed to provide a simple, durable and energy-saving clutch and a manufacturing method thereof. The clutch comprises a main shaft, a driving part, a driven part, a centrifugal body, and a centrifugal body drawing mechanism. A gas guide port is formed on the main shaft. One end of the gas guide port on the main shaft is open and extends into the main shaft along the axial direction of the main shaft. The gas guide port is communicated to the side wall of the main shaft along the radial direction of the main shaft and is communicated with a gas chamber formed between a cylinder and a piston sleeved on the main shaft. When a driving gas introduced into the gas guide port reaches the driving pressure, the piston drives the centrifugal body drawing mechanism so that the centrifugal body is separated from the driven part. When the driving gas introduced into the gas guide port is lower than the driving pressure, the drawing mechanism is reset, so that the centrifugal body contacts the driven part when the driving part rotates. The method comprises forming the gas guide port on the main shaft and arranging the centrifugal body and the drawing mechanism in the clutch to form the clutch. The method is used for manufacturing a fan clutch.

The invention relates to an automatic-control constant-pressure oil pump, which transmits the lubricant of oil box via the oil pump to the lubricant outlet tube, into the diesel engine. One oil pump is driven by one frequency-variable motor, and other oil pumps are driven by general motors. The frequency-variable motor is connected to one frequency changer. The general motors are connected to the soft starter. The lubricant outlet tube contains a pressure sensor connected with one digit adjuster. The digit adjuster is communicated with the frequency changer. The frequency changer, soft starter and the digit adjuster are connected into one port of programmable controller. The frequency changer, soft starter, digit adjuster and the programmable controller are parallel connected with the power source. The invention can realize automatic controlled constant-pressure oil feeding, with low cost.

The invention discloses an automatic temperature control device for a cooling fan on a cooling tower. The device comprises a water temperature sensing thermocouple and a feedback temperature controller, wherein the water temperature sensing thermocouple is arranged at a water outlet in a water tank of the cooling tower and on a mounting device on the wall of the cooling tower; the temperature controller is arranged at a power line inlet; the device is characterized in that: after the water temperature sensing thermocouple arranged in the cooling tower senses water temperature and the feedback temperature controller acquires a water temperature signal, the temperature controller controls a motor to start a relay to control the starting and the stopping of the motor; the water temperature sensing thermocouple is made of a PT100 platinum resistive material; the temperature controller is an XMTE200 temperature controller; and a shielding thermocouple line is used for line connection between the thermocouple and the temperature controller. Thus, the fan can be started stably relatively, and the starting and the stopping of the fan are not needed to be controlled according to temperature of cooling water, so the labor intensity is reduced, the control accuracy is improved, and the fan can be prevented from being frequently started or stopped.

The invention relates to a power flow transfer control method for a series-wound side transformer and a bypass switch of a UPFC (unified power flow controller). In a two-phase static coordinate system based control system, a control mode is switched into a valve side current singe inner loop control mode; and by setting a proper current reference value, the transfer of the line power flow between the series-wound side transformer and the bypass switch is realized. The control method provided by the invention can be applied to the starting and stopping processes of the UPFC with the two-phase static coordinate system based control system; through the smooth transfer control on the line power flow between the series-wound side transformer and the bypass switch, the in-service / out-of-service of the series-wound side transformer and the overcurrent of the bypass circuit in the on-off process can be effectively restrained, and the steady starting and stopping of the UPFC can be realized.

The invention discloses a double-arm automobile frame turnover device and relates to the field of automobile manufacturing. The double-arm automobile frame turnover device comprises two turnover arms,a hydraulic control system and angle limiting blocks, wherein each turnover arm comprises two bearing pedestals and an oil cylinder support seat; bearings and L-shaped turnover support plates comprising long arms and short arms are mounted on the bearing pedestals; the L-shaped turnover support plates are articulated with the bearing pedestals; the bottom ends of the oil cylinder support seats are articulated with cylinder seats of oil cylinders; piston rods of the oil cylinders are articulated with the long arms; the piston rods extend and contract to drive the L-shaped turnover support plates to turn over along rotating shafts; the long arms are positioned by the top surfaces of the oil cylinder support seats in a turnover process; and the short arms are positioned by the angle limitingblocks. The double-arm automobile frame turnover device can solve the problems that swing of an automobile frame exists in a turnover process when the automobile frame is required to be turned over in an automobile frame production process, the automobile frame cannot be stopped stably in a required angular position, the operation is complicated, many persons are required, potential safety hazards exist, and a production rhythm cannot be met due to low efficiency caused by operation of hook replacement, frequent ascending and descending of a crane and the like.

The invention discloses a frequency converting control system of a tower crane. The frequency converting control system comprises a PLC (programmable logic controller) control system and a tower crane lifting frequency converting control system, wherein the PLC control system is respectively connected with the tower crane lifting frequency converting control system, a tower crane rotation frequency converting control system, a tower crane amplitude and frequency converting control system, a tower crane command control system, a tower crane braking system, a tower crane safe control system and a tower crane loading and torque detecting system; a lifting driving system is connected with the tower crane lifting frequency converting control system, a rotation driving system is connected with the tower crane rotation frequency converting control system, and an amplitude changing driving system is connected with the tower crane amplitude and frequency converting control system; an electromechanical magnetism braking power supply, the tower crane lifting frequency converting control system, the tower crane rotation frequency converting control system and the tower crane amplitude and frequency converting control system are respectively connected with a main power supply; the electromechanical magnetism braking power supply is used for providing an electromagnetic braking input power supply for the tower crane braking system, and the tower crane braking system is respectively used for providing a tower crane braking executing power supply for the lifting driving system, the rotation driving system and the amplitude changing driving system.

The invention discloses a glass spotlight cup light source mounting hole forming device. The device comprises a circular base plate and a pneumatic punching machine installed on the base plate; a rotating conveyor which is used for placing glass spotlight cup holders is arranged on the pneumatic punching machine, a softening combustion heater and a combustion heater are provided below the rotating conveyor, and the rotating conveyor is provided with a rotating conveyor index plate and also comprises a punching machine guide mechanism and a glass lamp cup holding mechanism. The mounting hole forming device provided in the invention has the advantages of consistency of formation of glass spotlight cup light source mounting holes, good stability, a fast forming speed and high production efficiency.

The invention discloses a remote monitoring system for an air conditioner in a substation machine room, and relates to a monitoring system. The system comprises a temperature sensor, a digital thermometer, an infrared emission sensor and related software, wherein the temperature sensor has warning temperatures of a resolution setting and a user setting, stored in an EEPROM (Electrically Erasable Programmable Read-Only Memory); the digital thermometer is used for reflecting the temperature value of a device in a nine-digit quantity mode and sending / receiving information via a single-wire interface and is connected with a central microprocessor; the infrared emission sensor and an infrared receiving sensor are used in a matching way to form an infrared remote control system, an infrared remote control signal is a series of binary pulse codes and is firstly modulated on a specified carrier frequency, and the on / off of the air conditioner can be controlled by the software when the infrared remote control signal is matched with the current air conditioner. The remote monitoring system is suitable for an unmanned substation, monitoring of the operation of an air conditioner device without a special channel, detection on the temperature and the humidity of an environment and remote switching of the air conditioner device.

The invention discloses an eccentric block provided with a movable counterweight block. The eccentric block provided with the movable counterweight block comprises an eccentric block chassis, a movable counterweight block and a spring, wherein a similar involute rail for limiting the moving range of the movable counterweight block and supplying supporting force is arranged on the eccentric block chassis; the movable counterweight block is arranged in the similar involute rail and can reciprocate at a position close to the center of a main shaft and a position far away for the center of the main shaft along a route of a similar volute; a spring fixing seat is arranged on the eccentric block chassis; one end of the spring is connected to the movable counterweight block, and the other end ofthe spring is connected to the spring fixing seat. The eccentric block provided with the movable counterweight block is applicable to a vibrator and a vibration screen, and is small in rigidity and compression strength of the supplied spring; the structure is compact; the resonant vibration range of the vibrating screen is reduced while the vibrating screen moves through a resonance area during being started and stopped, and the dynamic load over the ground is reduced; surrounding components cannot be impacted due to wide vibration range, and a screening machine body is prevented from adverseinfluence.

The invention belongs to the technical field of water-saving valves, in particular to a water-saving valve, comprising a valve body, a first flange and a second flange, wherein the inner wall of the valve body is provided with a first limit block and a second flange correspondingly up and down. Two limit blocks, the inside of the transfer ball is provided with a diversion hole. Since the opposite surfaces of the second limit block and the first limit block are both set as arc surfaces, the water flow enters the valve body and forms at the front end of the gap. In the slow flow area, avoid excessive spray water pressure and ensure water safety. When high-pressure water flow is required, the transfer ball rotates, and the guide hole is rotated to be parallel to the discharge hole, so that the two sides of the second limit block are connected. Realizing the direct flow of water can improve the water pressure of the jet, better adjust the water flow speed, and meet the needs of life. The pressure gauge is displayed to determine the size of the water pressure and whether it can meet the needs of production and life. The water pressure can be adjusted to facilitate the control of water pressure and water flow, and to achieve the demand for energy-saving water.

The invention discloses a raw material transfer device for self-heating food processing. The device comprises a baseplate, wherein a feeding mechanism, a guide mechanism, a first discharge mechanism,a second discharge mechanism and a third discharge mechanism are disposed on the baseplate respectively; the feeding mechanism, the guide mechanism, the first discharge mechanism, the second dischargemechanism and the third discharge mechanism are distributed in a "crossed" shape on a follow; the guide mechanism is located at the "crossed" center; the guide mechanism comprises two second fixationframes which are symmetrically installed on the baseplate; multiple guide rollers are installed between the two second fixation frames in an uniform rotation manner; and a transfer mechanism is disposed between every two adjacent guide rollers. The device disclosed by the invention has the beneficial effects that a raw material can be transferred between the feeding mechanism and the multiple discharge mechanism smoothly through coordination of the guide mechanism and the transfer mechanisms; operations are simple; and applicability is high.

The invention relates to an FPSO (Floating Production Storage and Offloading) type automatic vacuum sweeping control method. The method comprises the steps of acquiring detection information of level of liquid in a separating tank through a liquid sensor; acquiring the detection information of vacuum degree through a vacuum degree sensor; feeding the acquired vacuum degree detection information and the separating tank liquid level detection information into a PLC as feedback quantity of the vacuum degree and the feedback quantity of the liquid level of the separating tank; performing data processing and logic analysis for the detection information used as the vacuum degree feedback quantity and separating tank liquid level feedback quantity through the PLC by the closed-loop control algorithm; acquiring accurate vacuum degree feedback quantity and separating tank liquid level feedback quantity for controlling vacuum sweeping according to the function relation between the vacuum degree and the liquid level of the separating tank; controlling a vacuum pump, a vacuum valve and a flow valve through the vacuum degree feedback quantity and the separating tank liquid level feedback quantity for vacuum sweeping through the PLC, so as to realize automatic control of vacuum sweeping.

The invention relates to the field of transmission equipment, and discloses X-ray ground-track trolley transmission equipment. The X-ray ground-track trolley transmission equipment comprises a machineframe, a sliding block assembly which is arranged on a trolley and used for driving the trolley to slide in the length direction of the machine frame, magnets fixed to the sliding block assembly, anelectromagnetic attracting board which is arranged on the machine frame and used for attracting or repelling the magnets, a motor base arranged on the machine frame, a motor arranged on the motor base, an electromagnetic clutch arranged on a main shaft of the motor in a sleeving mode, a driving wheel fixed to a driving disc of the electromagnetic clutch, a synchronous belt connected with the driving wheel, a driven wheel connected with the synchronous belt, a supporting frame which is arranged on the machine frame and used for driven wheel placement, a main control unit, and a first limiting switch and a second limiting switch which are arranged at the two ends of the machine frame in an opposite mode and used for sensing the trolley. Compared with the prior art, the X-ray ground-track trolley transmission equipment has the advantages that the equipment can not only automatically run, but also be operated and run manually, starting and stopping are more smooth and steady, and braking force is high.

The invention discloses a hydraulic system, and solves the technical problems of complicated control, low stability and low reliability of the hydraulic system of a multi-degree-of-freedom segment erector. The hydraulic system comprises a connected pump source and an execution unit. The execution unit comprises a first hydraulic motor or / and a second hydraulic motor or / and a first hydraulic cylinder or / and a second hydraulic cylinder or / and a third hydraulic cylinder or / and a fourth hydraulic cylinder. Balance valves are arranged between the first hydraulic motor and the pump source, between the second hydraulic motor and the pump source, between the first hydraulic cylinder and the pump source, between the third hydraulic cylinder and the pump source, and between the fourth hydraulic cylinder and the pump source. A hydraulic control one-way valve is arranged between the second hydraulic cylinder and the pump source. The hydraulic system can conveniently realize the control of six degrees of freedom, make the operation of each degree of freedom more stable, realize the smooth start and stop of the first hydraulic motor, avoid sudden stop and suction, and realize the interlocking function between the action of grasping the hydraulic cylinder and other executive parts.

The invention belongs to automobile parts, and particularly relates to an electric liquid pump for an automobile starting and stopping system. A controller (2) is fixed to a controller bracket (4) through screws, a motor stator (10) is fixed in the upper end of a shell (11), a motor rotor (7) is fixed to the upper end of a hollow shaft (8), an insulating sleeve (5) is fixed to the shell (11) through screws, the hollow shaft (8) penetrates into a first sliding bearing (3) and a second sliding bearing (12), magnetic steel (18) is fixedly installed at the upper end of the hollow shaft (8), a side plate (13), an oil pump stator (15) and a pressure plate (16) are fixed to an oil pump cover (17) in a limiting and penetrating mode through locating pins and are arranged inside a cavity of the shell (11), and an oil pump rotor (14) is connected to the lower end of the hollow shaft (8) through splines. The electric liquid pump for the automobile starting and stopping system is compact in structure, low in energy consumption and low in noise.

The invention relates to a power flow transfer control method for a series-wound side transformer and a bypass switch of a UPFC (unified power flow controller). In a two-phase static coordinate system based control system, a control mode is switched into a valve side current singe inner loop control mode; and by setting a proper current reference value, the transfer of the line power flow between the series-wound side transformer and the bypass switch is realized. The control method provided by the invention can be applied to the starting and stopping processes of the UPFC with the two-phase static coordinate system based control system; through the smooth transfer control on the line power flow between the series-wound side transformer and the bypass switch, the in-service / out-of-service of the series-wound side transformer and the overcurrent of the bypass circuit in the on-off process can be effectively restrained, and the steady starting and stopping of the UPFC can be realized.

The invention relates to the field of hoisting equipment, and provides an anti-slip control method for a construction hoist, which comprises the following steps of receiving a braking instruction or a starting instruction, and acquiring a rotating speed signal of a motor; when the braking instruction is received, controlling the motor to output braking torque matched with the current car load of the construction hoist; and when the starting instruction is received, on the basis that the car load of the construction hoist and the braking torque output by the motor reach dynamic balance, controlling the motor to output the starting compensation torque, and controlling the car displacement generated in the starting stage to be within an error range, and driving the motor to execute an action corresponding to the starting instruction. According to the scheme, the motor is used for outputting the braking torque and the driving torque, so that the motor has the braking and driving functions at the same time, seamless butt joint of the braking process and the driving process is guaranteed, the starting and stopping process of the hoist is stable, and sliding is prevented.

The invention provides an elevating fire vehicle boom control method and system and an elevating fire vehicle. By means of the elevating fire vehicle boom control method and system and the elevating fire vehicle, vibration caused when a boom starts and / or stops can be eliminated, and stability and safety of the boom in the operation process can be improved. The method includes operation executed when the boom is controlled to start and / or the boom is controlled to stop. When the boom is controlled to start, the expected movement speed signal v0 of the boom is confirmed, and the corresponding drive oil cylinder flow L0 is calculated when the boom stably moves according to the expected movement speed signal v0; the flow L1 required for making a drive oil cylinder drive the boom to start in a constant-speed manner is obtained; the maintenance time t1 of the flow L1 is obtained; and the flow of the drive oil cylinder is controlled to meet the flow L1, and under the condition that the maintenance time of the flow reaches the maintenance time t1, the flow of the drive oil cylinder is controlled to meet the flow L0.