Multi-group hydraulic cylinder lifting speed control method and system

Abstract

The invention relates to the technical field of hydraulic cylinder control, in particular to a lifting speed control method and system for multiple sets of hydraulic cylinders. Comprising the following steps: according to equipment parameters of all hydraulic cylinders, generating association relationships among the hydraulic cylinders, and establishing an association relationship table; acquiring operation parameters of each hydraulic cylinder according to a preset feedback time node, and judging whether a deviation correction instruction is generated or not according to the operation parameters; and the displacement of each hydraulic cylinder is obtained according to the deviation correction instruction, and a correction plan is generated according to all the displacement. The operation states of all the hydraulic cylinders are periodically judged according to preset feedback time nodes, and the operation parameters of all the hydraulic cylinders are corrected in a dual-adjustment mode of built-in speed deviation and displacement deviation, so that the synchronism of all the hydraulic cylinders is ensured, the bending state of the rolled double-ruler during transportation is avoided, and the service life of the rolled double-ruler is prolonged. And the transportation instruction of multiple lengths after rolling is improved.

Description

Technical Field

[0001] The present application relates to the field of hydraulic cylinder control technology, and in particular to a method and system for controlling the lifting speed of multiple hydraulic cylinders. Background Art

[0002] As an important tool, hydraulic lifting equipment is widely used in various mechanical structures, bridge construction, aerospace, marine engineering and various scenarios in life.

[0003] The rolled steel is transported to the finished product after rolling. The original transfer equipment used a hydraulic system with multiple sets of hydraulic cylinders as the power to realize the rising and lowering functions of the overall transmission device, and then the equipment was transported by a trolley through a conveyor chain. In this process, it was difficult for the lifting speeds of the multiple sets of hydraulic cylinders to achieve consistency, resulting in bending of the rolled steel during transportation. Summary of the Invention

[0004] The purpose of this application is: to solve the above technical problems, this application provides a method and system for controlling the lifting speed of multiple groups of hydraulic cylinders, aiming to improve the synchronization of multiple groups of hydraulic cylinders during operation and improve the transportation quality of rolled steel.

[0005] In some embodiments of the present application, the operating status of all hydraulic cylinders is periodically judged according to preset feedback time nodes, and the operating parameters of all hydraulic cylinders are corrected through the dual adjustment method of built-in speed deviation and displacement deviation, thereby ensuring the synchronization of all hydraulic cylinders, avoiding the bending state of the rolled length during transportation, and improving the transportation instructions of the rolled length.

[0006] In some embodiments of the present application, a correlation relationship is established between the hydraulic cylinders based on their positional relationships, and the operating speed of the target hydraulic cylinder is adjusted based on the overall operating status of all the hydraulic cylinders and the operating parameters of the hydraulic cylinders surrounding the target hydraulic cylinder, so as to avoid excessive adjustment of a single hydraulic cylinder and ensure the stability of the overall operation of multiple groups of hydraulic cylinders.

[0007] In some embodiments of the present application, a method for controlling the lifting speed of multiple hydraulic cylinders is provided, comprising:

[0008] Generate the association relationship between each hydraulic cylinder according to the equipment parameters of all hydraulic cylinders, and establish an association relationship table;

[0009] Obtain the operating parameters of each hydraulic cylinder according to the preset feedback time node, and determine whether to generate a correction instruction based on the operating parameters;

[0010] The displacement of each hydraulic cylinder is obtained according to the correction instruction, and a correction plan is generated based on the total displacement.

[0011] In some embodiments of the present application, the establishment of the association relationship table includes:

[0012] A hydraulic cylinder sequence A is preset, where A = (a1, a2…an), where n is the number of hydraulic cylinders and ai is the i-th hydraulic cylinder;

[0013] Select the target hydraulic cylinders in sequence according to the hydraulic cylinder sequence A:

[0014] Generate a correlation evaluation value sequence B of the target hydraulic cylinder according to the preset correlation model, B = (b1, b2...bn), where bi is the correlation evaluation value between the target hydraulic cylinder and the i-th hydraulic cylinder;

[0015] Presetting a first correlation evaluation value interval (B1, B2);

[0016] If bi is in the preset first associated evaluation value interval, set ai as the first level associated hydraulic cylinder of the target hydraulic cylinder;

[0017] Establishing a correlation data packet of the target hydraulic cylinder according to all first-level correlated hydraulic cylinders of the target hydraulic cylinder;

[0018] Generate associated data packets for each hydraulic cylinder in sequence, and establish an associated relationship table based on all associated data packets.

[0019] In some embodiments of the present application, the step of determining whether to generate a correction instruction based on the operating parameters includes:

[0020] Establish the velocity sequence V at the current feedback time node, V = (v1, v2…vn), where vi is the real-time velocity of the i-th hydraulic cylinder;

[0021] Generate the operation evaluation value f of the current feedback time node according to the speed series V;

[0022]

[0023] Where v' is the standard operating speed of the hydraulic cylinder, Δv is the average value of all speeds in the speed series V; v max is the maximum value in the velocity series V; v min is the minimum value in the velocity series V; Q1 is the preset first fixed coefficient; Q2 is the preset second fixed coefficient; Q3 is the preset third fixed coefficient;

[0024] Preset a first operation evaluation value threshold F1 and a second operation evaluation value threshold F2;

[0025] If F1<f<F2, a first-level correction instruction is generated, and a displacement deviation evaluation value g is generated based on the first-level correction instruction. It is determined whether a second-level correction instruction is generated based on the displacement deviation evaluation value g.

[0026] If f>F2, a secondary correction instruction is generated.

[0027] In some embodiments of the present application, generating the deviation evaluation value g includes:

[0028] Establish the displacement sequence C at the current feedback time node, C = (c1, c2...cn), where ci is the displacement of the i-th hydraulic cylinder at the current feedback time node;

[0029] Generate a deviation evaluation value g based on the displacement sequence C and the velocity sequence V;

[0030]

[0031] Wherein, △T is the preset standard time interval, Q4 is the preset fourth fixed coefficient; △c is the average value of all displacements in the displacement sequence C;

[0032] Presetting a first deviation evaluation value threshold;

[0033] If the deviation evaluation value g of the current feedback time node is less than the preset first deviation evaluation value threshold, the time interval t between the current feedback time node and the next feedback time node is set according to the deviation evaluation value g;

[0034] If the deviation evaluation value g of the current feedback time node is greater than the preset first deviation evaluation value threshold, a secondary deviation correction instruction is generated.

[0035] In some embodiments of the present application, setting the time interval t between the current feedback time node and the next feedback time node includes:

[0036] Presetting a first deviation evaluation value interval (G1, G2), a second deviation evaluation value interval (G2, G3) and a third deviation evaluation value interval (G3, G4);

[0037] If the deviation evaluation value g is within the preset first deviation evaluation value interval, the time interval t is set to the preset first time interval T1, that is, t=T1;

[0038] If the deviation evaluation value g is within the preset second deviation evaluation value interval, the time interval t is set to the preset second time interval T2, that is, t=T2;

[0039] If the deviation evaluation value g is within the preset third deviation evaluation value interval, the time interval t is set to the preset third time interval T3, that is, t=T3; and T1>T2>T3.

[0040] In some embodiments of the present application, when generating a correction plan based on all displacements, the process includes:

[0041] Obtain the displacement sequence C of the current feedback time node according to the secondary correction instruction, where C = (c1, c2…cn);

[0042] Set the anchor hydraulic cylinder according to the displacement sequence C;

[0043] Generate the displacement deviation between each hydraulic cylinder and the anchor hydraulic cylinder in sequence, and establish the displacement deviation sequence H at the current time node, H = (h1, h2...hn), where hi is the displacement deviation between the i-th hydraulic cylinder and the anchor hydraulic cylinder;

[0044] Establish a speed regulation model;

[0045] Pi=(e1*hi+e2*di) / t';

[0046] Where Pi is the speed adjustment value of the i-th hydraulic cylinder, e1 is the preset first weight coefficient, e2 is the second weight coefficient, di is the difference between the displacement of the i-th hydraulic cylinder and the average displacement of all the corresponding first-level associated hydraulic cylinders; t' is the adjustment time;

[0047] Generates a correction plan based on all speed adjustments.

[0048] In some embodiments of the present application, a multi-group hydraulic cylinder lifting speed control system is provided, comprising:

[0049] The central control unit is used to generate the correlation between each hydraulic cylinder according to the equipment parameters of all hydraulic cylinders and establish a correlation table;

[0050] A monitoring unit, comprising a plurality of monitoring submodules, wherein the monitoring submodules are used to collect operating parameters of the hydraulic cylinder;

[0051] The central control unit further includes:

[0052] A first judgment module is used to obtain the operating parameters of each hydraulic cylinder according to a preset feedback time node, and determine whether to generate a correction instruction based on the operating parameters;

[0053] The first processing module is used to obtain the displacement of each hydraulic cylinder according to the correction instruction and generate a correction plan based on all the displacements;

[0054] The second processing module is used to establish an association relationship table;

[0055] The establishment of the association relationship table includes:

[0056] A hydraulic cylinder sequence A is preset, where A = (a1, a2…an), where n is the number of hydraulic cylinders and ai is the i-th hydraulic cylinder;

[0057] Select the target hydraulic cylinders in sequence according to the hydraulic cylinder sequence A:

[0058] Generate a correlation evaluation value sequence B of the target hydraulic cylinder according to the preset correlation model, B = (b1, b2...bn), where bi is the correlation evaluation value between the target hydraulic cylinder and the i-th hydraulic cylinder;

[0059] Presetting a first correlation evaluation value interval (B1, B2);

[0060] If bi is in the preset first associated evaluation value interval, set ai as the first level associated hydraulic cylinder of the target hydraulic cylinder;

[0061] Establishing a correlation data packet of the target hydraulic cylinder according to all first-level correlated hydraulic cylinders of the target hydraulic cylinder;

[0062] Generate associated data packets for each hydraulic cylinder in sequence, and establish an associated relationship table based on all associated data packets.

[0063] In some embodiments of the present application, the first determination module is further configured to:

[0064] Establish the velocity sequence V at the current feedback time node, V = (v1, v2…vn), where vi is the real-time velocity of the i-th hydraulic cylinder;

[0065] Generate the operation evaluation value f of the current feedback time node according to the speed series V;

[0066]

[0067] Where v' is the standard operating speed of the hydraulic cylinder, △v is the average value of all speeds in the speed series V; v max is the maximum value in the velocity series V; v min is the minimum value in the velocity series V; Q1 is the preset first fixed coefficient; Q2 is the preset second fixed coefficient; Q3 is the preset third fixed coefficient;

[0068] Preset a first operation evaluation value threshold F1 and a second operation evaluation value threshold F2;

[0069] If F1<f<F2, a first-level correction instruction is generated, and a displacement deviation evaluation value g is generated based on the first-level correction instruction. It is determined whether a second-level correction instruction is generated based on the displacement deviation evaluation value g.

[0070] If f>F2, a secondary correction instruction is generated.

[0071] In some embodiments of the present application, the first determination module is further configured to:

[0072] Establish the displacement sequence C at the current feedback time node, C = (c1, c2...cn), where ci is the displacement of the i-th hydraulic cylinder at the current feedback time node;

[0073] Generate a deviation evaluation value g based on the displacement sequence C and the velocity sequence V;

[0074]

[0075] Wherein, △T is the preset standard time interval, Q4 is the preset fourth fixed coefficient; △c is the average value of all displacements in the displacement sequence C;

[0076] Presetting a first deviation evaluation value threshold;

[0077] If the deviation evaluation value g of the current feedback time node is less than the preset first deviation evaluation value threshold, the time interval t between the current feedback time node and the next feedback time node is set according to the deviation evaluation value g;

[0078] If the deviation evaluation value g of the current feedback time node is greater than the preset first deviation evaluation value threshold, a secondary deviation correction instruction is generated.

[0079] In some embodiments of the present application, the first processing module is further configured to:

[0080] Obtain the displacement sequence C of the current feedback time node according to the secondary correction instruction, where C = (c1, c2…cn);

[0081] Set the anchor hydraulic cylinder according to the displacement sequence C;

[0082] Generate the displacement deviation between each hydraulic cylinder and the anchor hydraulic cylinder in sequence, and establish the displacement deviation sequence H at the current time node, H = (h1, h2...hn), where hi is the displacement deviation between the i-th hydraulic cylinder and the anchor hydraulic cylinder;

[0083] Establish a speed regulation model;

[0084] Pi=(e1*hi+e2*di) / t';

[0085] Where Pi is the speed adjustment value of the i-th hydraulic cylinder, e1 is the preset first weight coefficient, e2 is the second weight coefficient, di is the difference between the displacement of the i-th hydraulic cylinder and the average displacement of all the corresponding first-level associated hydraulic cylinders; t' is the adjustment time;

[0086] Generates a correction plan based on all speed adjustments.

[0087] Compared with the prior art, the method and system for controlling the lifting speed of multiple hydraulic cylinders in the embodiment of the present application have the following beneficial effects:

[0088] The operating status of all hydraulic cylinders is periodically judged according to the preset feedback time nodes, and the operating parameters of all hydraulic cylinders are corrected through the dual adjustment method of built-in speed deviation and displacement deviation, thereby ensuring the synchronization of all hydraulic cylinders, avoiding the bending state of the rolled length during transportation, and improving the transportation instructions of the rolled length.

[0089] According to the positional relationship of each hydraulic cylinder, a correlation relationship is established between them, and the operating speed of the target hydraulic cylinder is adjusted based on the overall operating status of all hydraulic cylinders and the operating parameters of the hydraulic cylinders around the target hydraulic cylinder, so as to avoid excessive adjustment of a single hydraulic cylinder and ensure the stability of the overall operation of multiple groups of hydraulic cylinders. BRIEF DESCRIPTION OF THE DRAWINGS

[0090] Figure 1 It is a flow chart of a method for controlling the lifting speed of multiple hydraulic cylinders in a preferred embodiment of the present application. DETAILED DESCRIPTION

[0091] The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0092] In the description of this application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0093] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. Throughout this application, unless otherwise specified, "plurality" means two or more.

[0094] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0095] like Figure 1 As shown, a method for controlling the lifting speed of multiple hydraulic cylinders in a preferred embodiment of the present application includes:

[0096] S101: Generate association relationships between hydraulic cylinders based on equipment parameters of all hydraulic cylinders and establish an association relationship table;

[0097] S102: Obtaining operating parameters of each hydraulic cylinder according to a preset feedback time node, and determining whether to generate a correction instruction based on the operating parameters;

[0098] S103: Obtain the displacement of each hydraulic cylinder according to the correction instruction, and generate a correction plan based on all the displacements.

[0099] Specifically, when establishing an association table, it includes:

[0100] A hydraulic cylinder sequence A is preset, where A = (a1, a2…an), where n is the number of hydraulic cylinders and ai is the i-th hydraulic cylinder;

[0101] Select the target hydraulic cylinders in sequence according to the hydraulic cylinder sequence A:

[0102] Generate a correlation evaluation value sequence B of the target hydraulic cylinder according to the preset correlation model, B = (b1, b2...bn), where bi is the correlation evaluation value between the target hydraulic cylinder and the i-th hydraulic cylinder;

[0103] Presetting a first correlation evaluation value interval (B1, B2);

[0104] If bi is in the preset first associated evaluation value interval, set ai as the first level associated hydraulic cylinder of the target hydraulic cylinder;

[0105] Establishing a correlation data packet of the target hydraulic cylinder according to all first-level correlated hydraulic cylinders of the target hydraulic cylinder;

[0106] Generate associated data packets for each hydraulic cylinder in sequence, and establish an associated relationship table based on all associated data packets.

[0107] Specifically, based on the positional relationship between the hydraulic cylinders, a correlation evaluation value is generated between them. When the correlation evaluation value is in the preset first correlation evaluation value interval, it means that if the operating speed difference between the two hydraulic cylinders is large, it is easy to cause the post-rolling length to bend. Therefore, during the operation process, it is necessary to ensure the synchronization between the two.

[0108] In a preferred embodiment of the present application, when determining whether to generate a correction instruction based on the operating parameters, the method includes:

[0109] Establish the velocity sequence V at the current feedback time node, V = (v1, v2…vn), where vi is the real-time velocity of the i-th hydraulic cylinder;

[0110] Generate the operation evaluation value f of the current feedback time node according to the speed series V;

[0111]

[0112] Where v' is the standard operating speed of the hydraulic cylinder, Δv is the average value of all speeds in the speed series V; v max is the maximum value in the velocity series V; v min is the minimum value in the velocity series V; Q1 is the preset first fixed coefficient; Q2 is the preset second fixed coefficient; Q3 is the preset third fixed coefficient;

[0113] Preset a first operation evaluation value threshold F1 and a second operation evaluation value threshold F2;

[0114] If F1<f<F2, a first-level correction instruction is generated, and a displacement deviation evaluation value g is generated based on the first-level correction instruction. It is determined whether a second-level correction instruction is generated based on the displacement deviation evaluation value g.

[0115] If f>F2, a secondary correction instruction is generated.

[0116] Specifically, by presetting the first fixed coefficient, the second fixed coefficient and the third fixed coefficient, each evaluation index is made to be within the same value range.

[0117] Specifically, its first-level correction instruction indicates that there are differences in the operating speeds of the current hydraulic cylinders, and their synchronization is poor. Each hydraulic cylinder will continuously accumulate displacement deviations, resulting in bending of the post-rolling length.

[0118] Specifically, the secondary correction instruction means that the operating speed deviation between the current hydraulic cylinders is large and needs to be corrected immediately.

[0119] Specifically, when generating the deviation evaluation value g, it includes:

[0120] Establish the displacement sequence C at the current feedback time node, C = (c1, c2...cn), where ci is the displacement of the i-th hydraulic cylinder at the current feedback time node;

[0121] Generate a deviation evaluation value g based on the displacement sequence C and the velocity sequence V;

[0122]

[0123] Wherein, △T is the preset standard time interval, Q4 is the preset fourth fixed coefficient; △c is the average value of all displacements in the displacement sequence C;

[0124] Presetting a first deviation evaluation value threshold;

[0125] If the deviation evaluation value g of the current feedback time node is less than the preset first deviation evaluation value threshold, the time interval t between the current feedback time node and the next feedback time node is set according to the deviation evaluation value g;

[0126] If the deviation evaluation value g of the current feedback time node is greater than the preset first deviation evaluation value threshold, a secondary deviation correction instruction is generated.

[0127] Specifically, after generating the first-level correction instruction, the cumulative displacement deviation between each hydraulic cylinder and the subsequent displacement deviation increase are judged, and a corresponding deviation evaluation value is generated. If the deviation evaluation value is greater than the preset threshold, it means that the current operating state will cause bending of the post-rolling length, and the operating speed of the hydraulic cylinder needs to be corrected in time.

[0128] Specifically, the standard time interval is the time interval between two feedback time nodes.

[0129] Specifically, when setting the time interval t between the current feedback time node and the next feedback time node, it includes:

[0130] Presetting a first deviation evaluation value interval (G1, G2), a second deviation evaluation value interval (G2, G3) and a third deviation evaluation value interval (G3, G4);

[0131] If the deviation evaluation value g is within the preset first deviation evaluation value interval, the time interval t is set to the preset first time interval T1, that is, t=T1;

[0132] If the deviation evaluation value g is within the preset second deviation evaluation value interval, the time interval t is set to the preset second time interval T2, that is, t=T2;

[0133] If the deviation evaluation value g is within the preset third deviation evaluation value interval, the time interval t is set to the preset third time interval T3, that is, t=T3; and T1>T2>T3.

[0134] Specifically, in the above embodiment, by dynamically adjusting the time interval between two feedback time nodes, the operating parameters of each hydraulic cylinder are monitored in real time, and early warning and correction processing are carried out in time, thereby ensuring the synchronization between all hydraulic cylinders.

[0135] In a preferred embodiment of the present application, when generating a correction plan based on all displacements, the method includes:

[0136] Obtain the displacement sequence C of the current feedback time node according to the secondary correction instruction, where C = (c1, c2…cn);

[0137] Set the anchor hydraulic cylinder according to the displacement sequence C;

[0138] Generate the displacement deviation between each hydraulic cylinder and the anchor hydraulic cylinder in sequence, and establish the displacement deviation sequence H at the current time node, H = (h1, h2...hn), where hi is the displacement deviation between the i-th hydraulic cylinder and the anchor hydraulic cylinder;

[0139] Establish a speed regulation model;

[0140] Pi=(e1*hi+e2*di) / t';

[0141] Where Pi is the speed adjustment value of the i-th hydraulic cylinder, e1 is the preset first weight coefficient, e2 is the second weight coefficient, di is the difference between the displacement of the i-th hydraulic cylinder and the average displacement of all the corresponding first-level associated hydraulic cylinders; t' is the adjustment time;

[0142] Generates a correction plan based on all speed adjustments.

[0143] It can be understood that in the above embodiment, a correlation relationship is established between the hydraulic cylinders based on their positional relationship, and the operating speed of the target hydraulic cylinder is adjusted based on the overall operating status of all the hydraulic cylinders and the operating parameters of the hydraulic cylinders surrounding the target hydraulic cylinder, so as to avoid excessive adjustment of a single hydraulic cylinder and ensure the stability of the overall operation of multiple groups of hydraulic cylinders.

[0144] Based on another preferred embodiment of a method for controlling the lifting speed of multiple hydraulic cylinders in any of the above preferred embodiments, this preferred embodiment provides a control system for the lifting speed of multiple hydraulic cylinders, including:

[0145] The central control unit is used to generate the correlation between each hydraulic cylinder according to the equipment parameters of all hydraulic cylinders and establish a correlation table;

[0146] A monitoring unit, comprising a plurality of monitoring submodules, wherein the monitoring submodules are used to collect operating parameters of the hydraulic cylinder;

[0147] The central control unit also includes:

[0148] A first judgment module is used to obtain the operating parameters of each hydraulic cylinder according to a preset feedback time node, and determine whether to generate a correction instruction based on the operating parameters;

[0149] The first processing module is used to obtain the displacement of each hydraulic cylinder according to the correction instruction and generate a correction plan based on all the displacements;

[0150] The second processing module is used to establish an association relationship table;

[0151] When establishing an association table, include:

[0152] A hydraulic cylinder sequence A is preset, where A = (a1, a2…an), where n is the number of hydraulic cylinders and ai is the i-th hydraulic cylinder;

[0153] Select the target hydraulic cylinders in sequence according to the hydraulic cylinder sequence A:

[0154] Generate a correlation evaluation value sequence B of the target hydraulic cylinder according to the preset correlation model, B = (b1, b2...bn), where bi is the correlation evaluation value between the target hydraulic cylinder and the i-th hydraulic cylinder;

[0155] Presetting a first correlation evaluation value interval (B1, B2);

[0156] If bi is in the preset first associated evaluation value interval, set ai as the first level associated hydraulic cylinder of the target hydraulic cylinder;

[0157] Establishing a correlation data packet of the target hydraulic cylinder according to all first-level correlated hydraulic cylinders of the target hydraulic cylinder;

[0158] Generate associated data packets for each hydraulic cylinder in sequence, and establish an associated relationship table based on all associated data packets.

[0159] Specifically, the monitoring submodule includes a speed sensor and a displacement sensor.

[0160] In a preferred embodiment of the present application, the first judgment module is further configured to:

[0161] Establish the velocity sequence V at the current feedback time node, V = (v1, v2…vn), where vi is the real-time velocity of the i-th hydraulic cylinder;

[0162] Generate the operation evaluation value f of the current feedback time node according to the speed series V;

[0163]

[0164] Where v' is the standard operating speed of the hydraulic cylinder, Δv is the average value of all speeds in the speed series V; v max is the maximum value in the velocity series V; v min is the minimum value in the velocity series V; Q1 is the preset first fixed coefficient; Q2 is the preset second fixed coefficient; Q3 is the preset third fixed coefficient;

[0165] Preset a first operation evaluation value threshold F1 and a second operation evaluation value threshold F2;

[0166] If F1<f<F2, a first-level correction instruction is generated, and a displacement deviation evaluation value g is generated based on the first-level correction instruction. It is determined whether a second-level correction instruction is generated based on the displacement deviation evaluation value g.

[0167] If f>F2, a secondary correction instruction is generated.

[0168] In a preferred embodiment of the present application, the first judgment module is further configured to:

[0169] Establish the displacement sequence C at the current feedback time node, C = (c1, c2...cn), where ci is the displacement of the i-th hydraulic cylinder at the current feedback time node;

[0170] Generate a deviation evaluation value g based on the displacement sequence C and the velocity sequence V;

[0171]

[0172] Wherein, △T is the preset standard time interval, Q4 is the preset fourth fixed coefficient; △c is the average value of all displacements in the displacement sequence C;

[0173] Presetting a first deviation evaluation value threshold;

[0174] If the deviation evaluation value g of the current feedback time node is less than the preset first deviation evaluation value threshold, the time interval t between the current feedback time node and the next feedback time node is set according to the deviation evaluation value g;

[0175] If the deviation evaluation value g of the current feedback time node is greater than the preset first deviation evaluation value threshold, a secondary deviation correction instruction is generated.

[0176] In a preferred embodiment of the present application, the first processing module is further configured to:

[0177] Obtain the displacement sequence C of the current feedback time node according to the secondary correction instruction, where C = (c1, c2…cn);

[0178] Set the anchor hydraulic cylinder according to the displacement sequence C;

[0179] Generate the displacement deviation between each hydraulic cylinder and the anchor hydraulic cylinder in sequence, and establish the displacement deviation sequence H at the current time node, H = (h1, h2...hn), where hi is the displacement deviation between the i-th hydraulic cylinder and the anchor hydraulic cylinder;

[0180] Establish a speed regulation model;

[0181] Pi=(e1*hi+e2*di) / t';

[0182] Where Pi is the speed adjustment value of the i-th hydraulic cylinder, e1 is the preset first weight coefficient, e2 is the second weight coefficient, di is the difference between the displacement of the i-th hydraulic cylinder and the average displacement of all the corresponding first-level associated hydraulic cylinders; t' is the adjustment time;

[0183] Generates a correction plan based on all speed adjustments.

[0184] According to the first concept of the present application, the operating status of all hydraulic cylinders is periodically judged according to the preset feedback time nodes, and the operating parameters of all hydraulic cylinders are corrected through the dual adjustment method of built-in speed deviation and displacement deviation, thereby ensuring the synchronization of all hydraulic cylinders, avoiding the bending state of the rolled length during transportation, and improving the transportation instructions of the rolled length.

[0185] According to the second concept of the present application, a correlation relationship is established between the hydraulic cylinders based on their positional relationships, and the operating speed of the target hydraulic cylinder is adjusted based on the overall operating status of all the hydraulic cylinders and the operating parameters of the hydraulic cylinders surrounding the target hydraulic cylinder, so as to avoid excessive adjustment of a single hydraulic cylinder and ensure the stability of the overall operation of multiple groups of hydraulic cylinders.

[0186] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and replacements can be made without departing from the technical principles of the present application. These improvements and replacements should also be regarded as the scope of protection of the present application.

Claims

1. A method for controlling the lifting speed of multiple hydraulic cylinders, characterized in that: include: Generate the association relationship between each hydraulic cylinder according to the equipment parameters of all hydraulic cylinders, and establish an association relationship table; Obtain the operating parameters of each hydraulic cylinder according to the preset feedback time node, and determine whether to generate a correction instruction based on the operating parameters; The displacement of each hydraulic cylinder is obtained according to the correction instruction, and a correction plan is generated based on all the displacements.

2. The method for controlling the lifting speed of multiple hydraulic cylinders according to claim 1, characterized in that: The establishment of the association relationship table includes: A hydraulic cylinder sequence A is preset, A = (a1, a2 ... an), where n is the number of hydraulic cylinders and ai is the i-th hydraulic cylinder; Select the target hydraulic cylinders in sequence according to the hydraulic cylinder sequence A: Generate a correlation evaluation value sequence B of the target hydraulic cylinder according to the preset correlation model, B = (b1, b2 ... bn), where bi is the correlation evaluation value between the target hydraulic cylinder and the i-th hydraulic cylinder; Preset a first correlation evaluation value interval (B1, B2); If bi is in the preset first associated evaluation value interval, ai is set as the first-level associated hydraulic cylinder of the target hydraulic cylinder; Establishing a correlation data packet of the target hydraulic cylinder according to all first-level correlation hydraulic cylinders of the target hydraulic cylinder; Generate the associated data packets of each hydraulic cylinder in turn, and establish an associated relationship table based on all the associated data packets.

3. The method for controlling the lifting speed of multiple hydraulic cylinders according to claim 2, characterized in that: The step of determining whether to generate a deviation correction instruction according to the operating parameters includes: Establish the velocity sequence V of the current feedback time node, V = (v1, v2...vn), where vi is the real-time velocity of the i-th hydraulic cylinder; Generate the operation evaluation value f of the current feedback time node according to the speed series V; Where v' is the standard operating speed of the hydraulic cylinder, Δv is the average value of all speeds in the speed series V; v max is the maximum value in the velocity series V; v min is the minimum value in the speed series V; Q1 is the preset first fixed coefficient; Q2 is the preset second fixed coefficient; Q3 is the preset third fixed coefficient; Preset a first operation evaluation value threshold F1 and a second operation evaluation value threshold F2; If F1<f<F2, a primary correction instruction is generated, and a displacement deviation evaluation value g is generated according to the primary correction instruction, and it is determined whether to generate a secondary correction instruction according to the displacement deviation evaluation value g; If f>F2, a secondary correction instruction is generated.

4. The method for controlling the lifting speed of multiple hydraulic cylinders according to claim 3, characterized in that: When generating the deviation evaluation value g, it includes: Establish a displacement sequence C at the current feedback time node, C = (c1, c2...cn), where ci is the displacement of the i-th hydraulic cylinder at the current feedback time node; Generate a deviation evaluation value g based on the displacement sequence C and the velocity sequence V; Wherein, △T is the preset standard time interval, Q4 is the preset fourth fixed coefficient; △c is the average value of all displacements in the displacement sequence C; Presetting a first deviation evaluation value threshold; If the deviation evaluation value g of the current feedback time node is less than the preset first deviation evaluation value threshold, the time interval t between the current feedback time node and the next feedback time node is set according to the deviation evaluation value g; If the deviation evaluation value g of the current feedback time node is greater than the preset first deviation evaluation value threshold, a secondary deviation correction instruction is generated.

5. The method for controlling the lifting speed of multiple hydraulic cylinders according to claim 4, characterized in that: When setting the time interval t between the current feedback time node and the next feedback time node, it includes: Presetting a first deviation evaluation value interval (G1, G2), a second deviation evaluation value interval (G2, G3) and a third deviation evaluation value interval (G3, G4); If the deviation evaluation value g is within the preset first deviation evaluation value interval, the time interval t is set to the preset first time interval T1, that is, t=T1; If the deviation evaluation value g is within the preset second deviation evaluation value interval, the time interval t is set to the preset second time interval T2, that is, t=T2; If the deviation evaluation value g is within the preset third deviation evaluation value interval, the time interval t is set to the preset third time interval T3, that is, t=T3; and T1>T2>T3.

6. The method for controlling the lifting speed of multiple hydraulic cylinders according to claim 4, characterized in that: When generating a correction plan based on all displacements, include: According to the secondary correction instruction, the displacement sequence C of the current feedback time node is obtained, where C = (c1, c2...cn); The anchor hydraulic cylinder is set according to the displacement series C; Generate the displacement deviation between each hydraulic cylinder and the anchor hydraulic cylinder in sequence, and establish the displacement deviation sequence H at the current time node, H = (h1, h2...hn), where hi is the displacement deviation between the i-th hydraulic cylinder and the anchor hydraulic cylinder; Establish speed regulation model; Pi=(e1*hi+e2*di) / t'; Wherein, Pi is the speed adjustment amount of the i-th hydraulic cylinder, e1 is the preset first weight coefficient, e2 is the second weight coefficient, di is the difference between the displacement of the i-th hydraulic cylinder and the average displacement of all the corresponding first-level associated hydraulic cylinders; t' is the adjustment time; Generates a correction plan based on all speed adjustments.

7. A multi-group hydraulic cylinder lifting speed control system, characterized in that: include: The central control unit is used to generate the correlation between the hydraulic cylinders according to the equipment parameters of all the hydraulic cylinders and establish a correlation table; A monitoring unit, comprising a plurality of monitoring submodules, wherein the monitoring submodules are used to collect operating parameters of the hydraulic cylinder; The central control unit also includes: A first judgment module is used to obtain the operating parameters of each hydraulic cylinder according to a preset feedback time node, and determine whether to generate a deviation correction instruction according to the operating parameters; The first processing module is used to obtain the displacement of each hydraulic cylinder according to the deviation correction instruction, and generate a correction plan according to all the displacements; The second processing module is used to establish an association relationship table; The establishment of the association relationship table includes: A hydraulic cylinder sequence A is preset, A = (a1, a2 ... an), where n is the number of hydraulic cylinders and ai is the i-th hydraulic cylinder; Select the target hydraulic cylinders in sequence according to the hydraulic cylinder sequence A: Generate a correlation evaluation value sequence B of the target hydraulic cylinder according to the preset correlation model, B = (b1, b2 ... bn), where bi is the correlation evaluation value between the target hydraulic cylinder and the i-th hydraulic cylinder; Preset a first correlation evaluation value interval (B1, B2); If bi is in the preset first associated evaluation value interval, ai is set as the first-level associated hydraulic cylinder of the target hydraulic cylinder; Establishing a correlation data packet of the target hydraulic cylinder according to all first-level correlation hydraulic cylinders of the target hydraulic cylinder; Generate the associated data packets of each hydraulic cylinder in turn, and establish an associated relationship table based on all the associated data packets.

8. The multi-group hydraulic cylinder lifting speed control system according to claim 7, characterized in that: The first determination module is also used for: Establish the velocity sequence V of the current feedback time node, V = (v1, v2...vn), where vi is the real-time velocity of the i-th hydraulic cylinder; Generate the operation evaluation value f of the current feedback time node according to the speed series V; Where v' is the standard operating speed of the hydraulic cylinder, Δv is the average value of all speeds in the speed series V; v max is the maximum value in the velocity series V; v min is the minimum value in the speed series V; Q1 is the preset first fixed coefficient; Q2 is the preset second fixed coefficient; Q3 is the preset third fixed coefficient; Preset a first operation evaluation value threshold F1 and a second operation evaluation value threshold F2; If F1<f<F2, a primary correction instruction is generated, and a displacement deviation evaluation value g is generated according to the primary correction instruction, and it is determined whether to generate a secondary correction instruction according to the displacement deviation evaluation value g; If f>F2, a secondary correction instruction is generated.

9. The multi-group hydraulic cylinder lifting speed control system according to claim 8, characterized in that: The first determination module is also used for: Establish a displacement sequence C at the current feedback time node, C = (c1, c2...cn), where ci is the displacement of the i-th hydraulic cylinder at the current feedback time node; Generate a deviation evaluation value g based on the displacement sequence C and the velocity sequence V; Wherein, △T is the preset standard time interval, Q4 is the preset fourth fixed coefficient; △c is the average value of all displacements in the displacement sequence C; Presetting a first deviation evaluation value threshold; If the deviation evaluation value g of the current feedback time node is less than the preset first deviation evaluation value threshold, the time interval t between the current feedback time node and the next feedback time node is set according to the deviation evaluation value g; If the deviation evaluation value g of the current feedback time node is greater than the preset first deviation evaluation value threshold, a secondary deviation correction instruction is generated.

10. The multi-group hydraulic cylinder lifting speed control system according to claim 9, characterized in that: The first processing module is also used for: According to the secondary correction instruction, the displacement sequence C of the current feedback time node is obtained, where C = (c1, c2...cn); The anchor hydraulic cylinder is set according to the displacement series C; Generate the displacement deviation between each hydraulic cylinder and the anchor hydraulic cylinder in sequence, and establish the displacement deviation sequence H at the current time node, H = (h1, h2...hn), where hi is the displacement deviation between the i-th hydraulic cylinder and the anchor hydraulic cylinder; Establish speed regulation model; Pi=(e1*hi+e2*di) / t'; Wherein, Pi is the speed adjustment amount of the i-th hydraulic cylinder, e1 is the preset first weight coefficient, e2 is the second weight coefficient, di is the difference between the displacement of the i-th hydraulic cylinder and the average displacement of all the corresponding first-level associated hydraulic cylinders; t' is the adjustment time; Generates a correction plan based on all speed adjustments.

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