Control method and control device for a lifting device

Abstract

The application relates to the technical field of lifting control, and discloses a control method and a control device of a lifting device, in order to realize accurate lifting height control. The control method comprises the following steps: obtaining a control instruction comprising a cycle number, a cycle time and an expected height; obtaining the actual height of a load in real time; setting the ratio of the motor rotating speed to the lifting speed of the load in the first cycle; when i is greater than 1, calculating the ratio in the i-th cycle according to the output rotating speed of the motor in the (i-1)-th cycle, the actual height at the starting moment of the (i-1)-th cycle, the actual height at the starting moment of the i-th cycle and the cycle time of the (i-1)-th cycle; in the i-th cycle, calculating the output rotating speed of the motor according to the expected height, the actual height at the starting moment of the i-th cycle, the cycle time of the i-th cycle and the ratio in the i-th cycle; and controlling the motor according to the calculated output rotating speed in the first to i-th cycles respectively.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of lifting control, in particular to a control method of a lifting device and a control device of a lifting device. BACKGROUND

[0002] The lifting device is one of the important equipment in industrial production and engineering construction. The common lifting device is composed of a motor, a transmission mechanism and a rope. After the motor is controlled to operate, the transmission mechanism drives the rope to lift the load.

[0003] However, since the rope has elasticity, the size of the load is not constant and the load may swing during lifting, the lifting height of the load does not completely depend on the length of the rope, so that the corresponding relationship between the rotation speed, running time or rotation number of the motor and the lifting height of the load cannot be accurately determined. Therefore, the current lifting device is difficult to realize accurate lifting height control by controlling the motor, so that the load is difficult to be positioned at the accurate height position. SUMMARY

[0004] The present application provides a control method and a control device of a lifting device, which can realize accurate lifting height control and position the load at the accurate height position.

[0005] The technical scheme adopted by the present application is as follows:

[0006] A control method of a lifting device, the lifting device comprising a motor, a transmission mechanism and a rope, the rope being used to fix a load, the control method comprising the following steps: obtaining a control instruction, wherein the control instruction comprises a cycle number, a cycle time and an expected height; obtaining the actual height of the load in real time; setting the ratio of the motor rotation speed to the load lifting speed in the first cycle; in the first cycle, calculating the output rotation speed of the motor according to the expected height, the actual height at the starting time of the first cycle, the cycle time of the first cycle and the ratio of the motor rotation speed to the load lifting speed in the first cycle; calculating the ratio of the motor rotation speed to the load lifting speed in the i-th cycle according to the output rotation speed of the motor in the i-1-th cycle, the actual height at the starting time of the i-1-th cycle, the actual height at the starting time of the i-th cycle and the cycle time of the i-1-th cycle, wherein i is an integer greater than 1; in the i-th cycle, calculating the output rotation speed of the motor according to the expected height, the actual height at the starting time of the i-th cycle, the cycle time of the i-th cycle and the ratio of the motor rotation speed to the load lifting speed in the i-th cycle; controlling the motor according to the corresponding output rotation speed calculated in the first cycle to the i-th cycle respectively, until the error between the actual height at the ending time of the i-th cycle and the expected height is less than a preset threshold value, or i reaches a cycle upper limit value, the motor is controlled to stop operating.

[0007] receiving the control instructions by communicating with a remote operation device.

[0008] the actual height of the load is obtained in real time by a height sensor.

[0009] the transmission mechanism comprises a transmission and a transmission wheel, wherein the ratio of the motor speed to the load lifting speed in the first period is set according to the transmission ratio of the transmission and the size data of the transmission wheel.

[0010] the ratio of the motor speed to the load lifting speed in the i-th period is calculated according to the following formula:

[0011] A i = v i-1 / ((Hc i -Hc i-1 ) / T i-1 )

[0012] wherein A i represents the ratio of the motor speed to the load lifting speed in the i-th period, v i-1 represents the output speed of the motor in the (i-1)-th period, Hc i and Hc i-1 represent the actual height at the start time of the i-th period and the (i-1)-th period respectively, T i-1 represents the period time of the (i-1)-th period;

[0013] the output speed of the motor in the first period is calculated according to the following formula:

[0014] v1 = ((H-Hc1) / T1)*A1

[0015] wherein v1 represents the output speed of the motor in the first period, H represents the expected height, Hc1 represents the actual height at the start time of the first period, T1 represents the period time of the first period, and A1 represents the ratio of the motor speed to the load lifting speed in the first period;

[0016] the output speed of the motor in the i-th period is calculated according to the following formula:

[0017] v i = ((H-Hc i ) / T i )*A i

[0018] wherein v i represents the output speed of the motor in the i-th period, Hc i represents the actual height at the start time of the i-th period, and T irepresenting a cycle time of the i-th cycle.

[0019] A control device of a lifting device, the lifting device comprising a motor, a transmission mechanism and a rope for fixing a load, the control device comprising: a first obtaining module for obtaining a control instruction, wherein the control instruction comprises a cycle number, a cycle time and an expected height; a second obtaining module for obtaining an actual height of the load in real time; a setting module for setting a ratio of a motor rotating speed to a load lifting speed in a first cycle; a calculating module for calculating an output rotating speed of the motor according to the expected height, the actual height at the beginning of the first cycle, the cycle time of the first cycle and the ratio of the motor rotating speed to the load lifting speed in the first cycle in the first cycle, calculating the ratio of the motor rotating speed to the load lifting speed in the i-th cycle according to the output rotating speed of the motor in the i-1-th cycle, the actual height at the beginning of the i-1-th cycle, the actual height at the beginning of the i-th cycle and the cycle time of the i-1-th cycle, and calculating the output rotating speed of the motor according to the expected height, the actual height at the beginning of the i-th cycle, the cycle time of the i-th cycle and the ratio of the motor rotating speed to the load lifting speed in the i-th cycle in the i-th cycle, wherein i is an integer greater than 1; and a control module for controlling the motor according to the corresponding output rotating speed calculated in the first to i-th cycles respectively until the error between the actual height at the end of the i-th cycle and the expected height is less than a preset threshold or i reaches a cycle upper limit value.

[0020] The first obtaining module receives the control instruction by communicating with a remote operation device.

[0021] The second obtaining module obtains the actual height of the load in real time by a height sensor.

[0022] The transmission mechanism comprises a transmission and a transmission wheel, and the setting module sets the ratio of the motor rotating speed to the load lifting speed in the first cycle according to the transmission ratio of the transmission and the size data of the transmission wheel.

[0023] The calculating module calculates the ratio of the motor rotating speed to the load lifting speed in the i-th cycle according to the following formula:

[0024] A i = v i-1 / ((Hc i -Hc i-1 ) / T i-1 )

[0025] wherein A irepresents the ratio of the motor speed to the load lifting speed in the i-th period, v i-1 represents the output speed of the motor in the i-1-th period, Hc i , Hc i-1 respectively represent the actual height at the start time of the i-th period and the i-1-th period, T i-1 represents the period time of the i-1-th period;

[0026] The calculation module calculates the output speed of the motor in the first period according to the following formula:

[0027] v1 = ((H-Hc1) / T1)*A1

[0028] Wherein, v1 represents the output speed of the motor in the first period, H represents the expected height, Hc1 represents the actual height at the start time of the first period, T1 represents the period time of the first period, and A1 represents the ratio of the motor speed to the load lifting speed in the first period.

[0029] The calculation module calculates the output speed of the motor in the i-th period according to the following formula:

[0030] v i = ((H-Hc i ) / T i )*A i

[0031] Wherein, v i represents the output speed of the motor in the i-th period, Hc i represents the actual height at the start time of the i-th period, T i represents the period time of the i-th period.

[0032] The beneficial effects of the present application are:

[0033] The present application can continuously update the motor speed in each period by real-time acquisition of the actual height of the load, combination of the actual height and the periodic instruction containing the expected height, and thus can accurately control the lifting speed and accurately control the lifting height to position the load at the accurate height position. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 The flow chart of the control method of the lifting device of the embodiment of the present application;

[0035] Figure 2 The block schematic diagram of the control device of the lifting device of the embodiment of the present application. DETAILED DESCRIPTION

[0036] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of the present application.

[0037] The lifting device in the embodiments of the present application comprises a motor, a transmission mechanism and a rope for fixing a load. The transmission mechanism can comprise a transmission gear and a transmission wheel, and the motor can be a servo motor. By controlling the operation of the servo motor, the transmission gear is driven to rotate after speed change, so as to drive the rope to move up and down and drive the load to lift.

[0038] As shown in the figure, the control method of the lifting device in the embodiments of the present application comprises the following steps: Figure 1

[0039] S1, obtaining a control instruction, wherein the control instruction comprises a cycle number, a cycle time and an expected height.

[0040] The control method of the lifting device in the embodiments of the present application can be executed by a control board of the lifting device. The control board can receive the control instruction by communicating with a remote operation device.

[0041] The remote operation device and the control board can communicate through wired or wireless mode. The remote operation device can be manually operated to send the control instruction, or automatically send the control instruction by an automatic control system when there is a lifting control demand of the load.

[0042] In one embodiment of the present application, the control instruction can be sent once, which contains the first to the Nth cycle arranged in time sequence, the cycle time of each cycle, and the expected height of the load to be lifted, wherein N is an integer greater than 1.

[0043] In another embodiment of the present application, the control instruction can be N, which is sent at the starting time of the first to the Nth cycle respectively. Each control instruction contains the cycle number and the cycle time of the corresponding cycle, and each control instruction contains a fixed and unchanged expected height.

[0044] The cycle time of each cycle can be the same or different.

[0045] S2, obtaining the actual height of the load in real time.

[0046] In one embodiment of the present application, the actual height of the load can be obtained in real time by a height sensor.

[0047] S3, setting the ratio of the motor speed to the lifting speed of the load in the first cycle. ​

[0048] In the embodiment of the present application, the output rotating speed of the motor in each cycle is controlled to realize the control of the load lifting speed, and then the control of the lifting height is realized, in the case that the cycle time of each cycle is determined.

[0049] It should be understood that the output rotating speed of the motor and the load lifting speed do not have a fixed linear relationship due to the stretching and contraction of the rope. In the embodiment of the present application, the ratio of the motor rotating speed to the load lifting speed in the first cycle is set according to the ideal case that the rope is inelastic and does not stretch and contract, and then the output rotating speed of the motor in the first cycle is calculated according to the load lifting speed in the first cycle.

[0050] Obviously, in the ideal case, the ratio of the motor rotating speed to the load lifting speed in the first cycle can be set according to the variable ratio of the transmission and the size data of the transmission wheel, such as the radius, diameter or circumference of the transmission wheel.

[0051] S4, in the first cycle, the output rotating speed of the motor is calculated according to the expected height, the actual height at the starting time of the first cycle, the cycle time of the first cycle, and the ratio of the motor rotating speed to the load lifting speed in the first cycle.

[0052] Specifically, the output rotating speed of the motor in the first cycle can be calculated according to the following formula:

[0053] v1 = ((H - Hc1) / T1) * A1

[0054] Wherein, v1 represents the output rotating speed of the motor in the first cycle, H represents the expected height, Hc1 represents the actual height at the starting time of the first cycle, T1 represents the cycle time of the first cycle, and A1 represents the ratio of the motor rotating speed to the load lifting speed in the first cycle.

[0055] S5, the ratio of the motor rotating speed to the load lifting speed in the i-th cycle is calculated according to the output rotating speed of the motor in the (i-1)-th cycle, the actual height at the starting time of the (i-1)-th cycle, the actual height at the starting time of the i-th cycle, and the cycle time of the (i-1)-th cycle, wherein i is an integer greater than 1.

[0056] Specifically, the ratio of the motor rotating speed to the load lifting speed in the i-th cycle can be calculated according to the following formula:

[0057] A i = v i-1 / ((Hc i - Hc i-1 ) / T i-1 )

[0058] Wherein, A i represents the ratio of the motor rotating speed to the load lifting speed in the i-th cycle, v i-1represents the output speed of the motor in the i-1th cycle, Hc i , Hc i-1 respectively represent the actual height at the start time of the i-1th cycle, T i-1 represents the cycle time of the i-1th cycle.

[0059] The actual height at the start time of the i-1th cycle is also the actual height at the end time of the i-1th cycle. That is, the ratio of the actual motor output speed to the load lifting speed in the i-1th cycle can be used as the ratio of the motor speed to the load lifting speed in the i-1th cycle for the calculation of the motor output speed in the i-1th cycle.

[0060] S6, in the i-1th cycle, the motor output speed is calculated according to the expected height, the actual height at the start time of the i-1th cycle, the cycle time of the i-1th cycle, and the ratio of the motor speed to the load lifting speed in the i-1th cycle.

[0061] Specifically, the motor output speed in the i-1th cycle can be calculated according to the following formula:

[0062] v i = ((H-Hc i ) / T i )*A i

[0063] wherein v i represents the motor output speed in the i-1th cycle, Hc i represents the actual height at the start time of the i-1th cycle, T i represents the cycle time of the i-1th cycle.

[0064] In each cycle, whether it is the first cycle or the i-1th cycle, the motor output speed in the cycle, the actual height at the start time, and the cycle time can be saved in the register after the end of the cycle, so as to be called in the next cycle for the calculation of the ratio.

[0065] S7, the motor is controlled according to the corresponding motor output speed calculated in the first to i-1th cycles respectively until the actual height at the end time of the i-1th cycle and the expected height have an error less than a preset threshold, or i reaches a cycle upper limit value, and the motor is stopped.

[0066] The positive and negative values of the motor output speed can represent the running direction of the motor, for example, the positive motor output speed represents the forward rotation of the motor, and the negative motor output speed represents the reverse rotation of the motor. The control mode of the motor can adopt voltage signal control, current signal control, pulse frequency signal control, PWM duty cycle signal control, etc.

[0067] When the error between the actual height and the expected height is less than the preset threshold, it indicates that the actual height basically reaches the expected height, at this time the motor can be controlled to stop running, so as to stop the load from lifting.

[0068] When i reaches the upper limit value N of the period, it indicates that the total control time reaches the preset upper limit of the control time, or the remote operation device stops sending the control instruction, at this time the motor can be controlled to stop running, so as to stop the load from lifting.

[0069] In addition, if the motor is controlled to stop running when the error between the actual height and the expected height is less than the preset threshold, and the control instruction is sent by the remote operation device at the start of the first to Nth period respectively, after the motor is controlled to stop running, the main control board can send a stop signal to the remote operation device, and the remote operation device stops sending the control instruction to the main control board when receiving the stop signal.

[0070] According to the control method of the lifting device, the actual height of the load is obtained in real time, the motor speed is continuously updated in each period by combining the actual height and the instruction with periodicity containing the expected height, thereby the lifting speed can be accurately controlled, so as to accurately control the lifting height and position the load at the accurate height position.

[0071] Corresponding to the control method of the lifting device, the application further provides a control device of the lifting device.

[0072] As Figure 2As shown, the control device of the lifting device in the embodiment of the present application comprises a first acquisition module 10, a second acquisition module 20, a setting module 30, a calculation module 40 and a control module 50. The first acquisition module 10 is configured to acquire a control instruction, wherein the control instruction comprises a cycle number, a cycle time and an expected height. The second acquisition module 20 is configured to acquire the actual height of the load in real time. The setting module 30 is configured to set the ratio of the motor speed to the load lifting speed in the first cycle. The calculation module 40 is configured to calculate the output speed of the motor according to the expected height, the actual height at the start time of the first cycle, the cycle time of the first cycle and the ratio of the motor speed to the load lifting speed in the first cycle in the first cycle, calculate the ratio of the motor speed to the load lifting speed in the i-th cycle according to the output speed of the motor in the (i-1)-th cycle, the actual height at the start time of the (i-1)-th cycle, the actual height at the start time of the i-th cycle and the cycle time of the (i-1)-th cycle, and calculate the output speed of the motor according to the expected height, the actual height at the start time of the i-th cycle, the cycle time of the i-th cycle and the ratio of the motor speed to the load lifting speed in the i-th cycle in the i-th cycle, wherein i is an integer greater than 1. The control module 50 is configured to control the motor according to the corresponding output speed calculated in the first cycle to the i-th cycle respectively until the error between the actual height at the end time of the i-th cycle and the expected height is less than a preset threshold value or i reaches a cycle upper limit value, and then control the motor to stop running.

[0073] The control device of the lifting device in the embodiment of the present application can be arranged in the control panel of the lifting device.

[0074] In one embodiment of the present application, the first acquisition module 10 can receive the control instruction by communicating with a remote operation device. The first acquisition module 10 can be a wired communication module or a wireless communication module, so as to communicate with the remote operation device in a wired or wireless manner. The remote operation device can be manually operated to issue the control instruction, or automatically operated by an automatic control system to issue the control instruction when there is a lifting control demand of the load.

[0075] In one embodiment of the present application, the control instruction can be issued once, which contains the first cycle to the N-th cycle arranged in time sequence, the cycle time of each cycle, and the expected height of the load to be lifted, wherein N is an integer greater than 1.

[0076] In another embodiment of the present application, the control instruction can be N, which is issued at the start time of the first cycle to the N-th cycle respectively. Each control instruction contains the cycle number and the cycle time of the corresponding cycle, and each control instruction contains a fixed and unchanged expected height.

[0077] The cycle time of each cycle can be the same or different.

[0078] In an embodiment of the present application, the second obtaining module 20 can obtain the actual height of the load in real time through a height sensor.

[0079] In an embodiment of the present application, the control module 50 controls the output rotating speed of the motor in each cycle to control the lifting speed of the load, and thus to control the lifting height, when the cycle time of each cycle is determined.

[0080] It should be understood that the output rotating speed of the motor and the lifting speed of the load do not have a fixed linear relationship due to the stretching and contraction of the rope. In an embodiment of the present application, the ratio of the motor rotating speed to the lifting speed of the load in the first cycle is set according to the ideal condition that the rope is inelastic and does not stretch and contract, and thus the output rotating speed of the motor in the first cycle can be calculated according to the lifting speed of the load in the first cycle.

[0081] Obviously, in the ideal condition, the setting module 30 can set the ratio of the motor rotating speed to the lifting speed of the load in the first cycle according to the variable ratio of the transmission and the size data of the transmission wheel, such as the radius, diameter or circumference of the transmission wheel.

[0082] In an embodiment of the present application, the calculation module 40 can calculate the output rotating speed of the motor in the first cycle according to the following formula:

[0083] v1 = ((H - Hc1) / T1) * A1

[0084] wherein v1 represents the output rotating speed of the motor in the first cycle, H represents the expected height, Hc1 represents the actual height at the starting moment of the first cycle, T1 represents the cycle time of the first cycle, and A1 represents the ratio of the motor rotating speed to the lifting speed of the load in the first cycle.

[0085] In an embodiment of the present application, the calculation module 40 can calculate the ratio of the motor rotating speed to the lifting speed of the load in the i-th cycle according to the following formula:

[0086] A i = v i-1 / ((Hc i -Hc i-1 ) / T i-1 )

[0087] wherein A i represents the ratio of the motor rotating speed to the lifting speed of the load in the i-th cycle, v i-1 represents the output rotating speed of the motor in the (i-1)-th cycle, Hc i and Hc i-1 represent the actual heights at the starting moments of the i-th cycle and the (i-1)-th cycle respectively, and T i-1 represents the cycle time of the (i-1)-th cycle.

[0088] The actual height at the start of the i th cycle is the actual height at the end of the (i-1) th cycle. That is, the ratio of the actual motor output speed to the load lifting speed in the (i-1) th cycle can be used as the ratio of the motor output speed to the load lifting speed in the i th cycle for the calculation of the motor output speed in the i th cycle.

[0089] In one embodiment of the present application, the calculation module 40 can calculate the motor output speed in the i th cycle according to the following formula:

[0090] v i = ((H-Hc i ) / T i )*A i

[0091] wherein v i represents the motor output speed in the i th cycle, Hc i represents the actual height at the start of the i th cycle, T i represents the cycle time of the i th cycle.

[0092] Regardless of the first cycle or the i th cycle, the motor output speed in the current cycle, the actual height at the start of the cycle, and the cycle time can be saved in the register after the end of each cycle for the next cycle to call the ratio.

[0093] The positive or negative value of the motor output speed can represent the running direction of the motor, for example, the positive motor output speed indicates that the motor is controlled to rotate forward, and the negative motor output speed indicates that the motor is controlled to rotate backward. The control mode of the control module 50 for the motor can adopt voltage signal control, current signal control, pulse frequency signal control, PWM duty cycle signal control, etc.

[0094] When the error between the actual height and the expected height is less than the preset threshold, it indicates that the actual height basically reaches the expected height, and at this time, the control module 50 can control the motor to stop running, so that the load stops lifting.

[0095] When i reaches the upper limit value N of the cycle, it indicates that the total control time reaches the preset upper limit of the control time, or the remote operation device stops sending the control instruction, and at this time, the control module 50 can control the motor to stop running, so that the load stops lifting.

[0096] In addition, if the motor is controlled to stop running when the error between the actual height and the expected height is less than the preset threshold, and the control instruction is sent by the remote operation device at the start of the first to the N th cycle, respectively, after the control module 50 controls the motor to stop running, the first acquisition module 10 can send a stop signal to the remote operation device, and the remote operation device stops sending the control instruction to the main control board when receiving the stop signal.

[0097] The control device of the lifting device according to the embodiment of the present application can continuously update the motor rotating speed in each period by acquiring the actual height of the load in real time and combining the actual height with the instruction with periodicity containing the expected height, thereby accurately controlling the lifting speed and precisely controlling the lifting height to position the load at the precise height position.

[0098] Although the embodiments of the present application have been shown and described above, it should be understood by those skilled in the art that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A method for controlling a lifting device, wherein the lifting device comprises a motor, a transmission mechanism, and a rope, wherein the rope is used to fix a load, wherein: The control method comprises the following steps: Obtaining a control instruction, wherein the control instruction includes a cycle number, a cycle time, and an expected height; obtaining the actual height of the load in real time; Set the ratio of motor speed to load acceleration and deceleration speed in the first cycle; In the first cycle, the output speed of the motor is calculated according to the expected altitude, the actual altitude at the start of the first cycle, the cycle time of the first cycle, and the ratio of the motor speed to the load lifting speed in the first cycle; Calculate the ratio of the motor speed to the load lifting speed in the i-th cycle according to the output speed of the motor in the i-1th cycle, the actual height at the start time of the i-1th cycle, the actual height at the start time of the i-th cycle, and the cycle time of the i-1th cycle, where i is an integer greater than 1; In the i-th cycle, the output speed of the motor is calculated according to the expected height, the actual height at the start time of the i-th cycle, the cycle time of the i-th cycle, and the ratio of the motor speed to the load lifting speed in the i-th cycle; The motor is controlled according to the corresponding output speeds obtained by calculation in the first to i-th cycles respectively, until the error between the actual height and the expected height at the end of the i-th cycle is less than a preset threshold, or when i reaches the cycle upper limit, the motor is controlled to stop running.

2. The control method of the lifting device according to claim 1, characterized in that: The control instruction is received by communicating with the remote operation device.

3. The control method of the lifting device according to claim 1, characterized in that: The actual height of the load is acquired in real time through a height sensor.

4. The control method of the lifting device according to claim 1, characterized in that: The transmission mechanism includes a transmission and a transmission wheel, wherein the ratio of the motor speed to the load lifting speed in the first period is set according to the transformation ratio of the transmission and the size data of the transmission wheel.

5. The control method for a lifting device according to any one of claims 1 to 4, characterized in that: The ratio of the motor speed to the load acceleration / deceleration speed in the i-th cycle is calculated according to the following formula: A i =v i-1 / ((Hc i -Hc i-1 ) / T i-1 ) Among them, A i It represents the ratio of the motor speed to the load speed in the i-th cycle, v i-1 Indicates the output speed of the motor in the i-1th cycle, Hc i 、Hc i-1 They represent the actual heights at the start of the i-th cycle and the i-1-th cycle, respectively. i-1 represents the cycle time of the i-1th cycle; The output speed of the motor in the first cycle is calculated according to the following formula: v1=((H-Hc1) / T1)*A1 Wherein, v1 represents the output speed of the motor in the first cycle, H represents the expected altitude, Hc1 represents the actual altitude at the start of the first cycle, T1 represents the cycle time of the first cycle, and A1 represents the ratio of the motor speed to the load lifting speed in the first cycle; The output speed of the motor in the i-th cycle is calculated according to the following formula: v i =((H-Hc i ) / T i )*A i Among them, v i represents the output speed of the motor in the i-th cycle, Hc i represents the actual height at the start of the i-th cycle, T i represents the cycle time of the i-th cycle.

6. A control device for a lifting device, the lifting device comprising a motor, a transmission mechanism and a rope, the rope being used to fix a load, characterized in that: The control device comprises: A first acquisition module, the first acquisition module is used to acquire a control instruction, wherein the control instruction includes a cycle number, a cycle time and an expected height; a second acquisition module, the second acquisition module being used to acquire the actual height of the load in real time; A setting module, the setting module is used to set the ratio of the motor speed to the load lifting speed in the first cycle; a calculation module, the calculation module being configured to calculate, in the first cycle, the output speed of the motor according to the expected altitude, the actual altitude at the start of the first cycle, the cycle time of the first cycle, and the ratio of the motor speed to the load lifting speed in the first cycle; calculate, according to the output speed of the motor in the (i-1) cycle, the actual altitude at the start of the (i) cycle, the actual altitude at the start of the (i) cycle, and the cycle time of the (i-1) cycle, the ratio of the motor speed to the load lifting speed in the (i) cycle; and calculate, in the (i) cycle, the output speed of the motor according to the expected altitude, the actual altitude at the start of the (i) cycle, the cycle time of the (i) cycle, and the ratio of the motor speed to the load lifting speed in the (i) cycle, wherein i is an integer greater than 1; A control module is configured to control the motor according to the corresponding calculated output speeds in the first to i-th cycles, respectively, until the error between the actual height and the expected height at the end of the i-th cycle is less than a preset threshold, or when i reaches the cycle upper limit, control the motor to stop running.

7. The control device for a lifting device according to claim 6, characterized in that: The first acquisition module receives the control instruction by communicating with the remote operation device.

8. The control device for a lifting device according to claim 6, characterized in that: The second acquisition module acquires the actual height of the load in real time through a height sensor.

9. The control device for a lifting device according to claim 6, characterized in that: The transmission mechanism includes a transmission and a transmission wheel, and the setting module sets the ratio of the motor speed to the load lifting speed in the first cycle according to the transformation ratio of the transmission and the size data of the transmission wheel.

10. The control device for a lifting device according to any one of claims 6 to 9, characterized in that: The calculation module calculates the ratio of the motor speed to the load lifting speed in the i-th cycle according to the following formula: A i =v i-1 / ((Hc i -Hc i-1 ) / T i-1 ) Among them, A i It represents the ratio of the motor speed to the load speed in the i-th cycle, v i-1 Indicates the output speed of the motor in the i-1th cycle, Hc i 、Hc i-1 They represent the actual heights at the start of the i-th cycle and the i-1-th cycle, respectively. i-1 represents the cycle time of the i-1th cycle; The calculation module calculates the output speed of the motor in the first cycle according to the following formula: v1=((H-Hc1) / T1)*A1 Wherein, v1 represents the output speed of the motor in the first cycle, H represents the expected altitude, Hc1 represents the actual altitude at the start of the first cycle, T1 represents the cycle time of the first cycle, and A1 represents the ratio of the motor speed to the load lifting speed in the first cycle; The calculation module calculates the output speed of the motor in the i-th cycle according to the following formula: v i =((H-Hc i ) / T i )*A i Among them, v i represents the output speed of the motor in the i-th cycle, Hc i represents the actual height at the start of the i-th cycle, T i represents the cycle time of the i-th cycle.

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