An automatic retractable dynamic self-balancing intelligent control system and method

Abstract

The application provides an automatic telescopic dynamic self-balancing intelligent control system and method, and belongs to the technical field of intelligent control. In view of the problems of poor coordination, response lag and weak working condition adaptation ability of the existing automatic telescopic operation equipment, the system comprises a sensing module, a control module, an execution module, a communication module and an alarm module. The control module adopts a multi-loop program controller, constructs a multivariable collaborative control loop and is internally provided with an adaptive adjustment algorithm. The corresponding method realizes the synchronous control of equipment telescoping and balancing through parameter initialization, real-time parameter acquisition, collaborative instruction generation, dynamic adaptive adjustment, abnormal monitoring and reset process. The application improves the equipment control precision, response speed and running stability, and adapts to the application requirements of various telescopic operation equipment.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology, specifically to an automatically expanding and contracting dynamic self-balancing intelligent control system and method. Background Technology

[0002] Existing automatic telescopic work equipment requires precise control of both the telescopic movement and real-time dynamic balance adjustment during operation. The coordination of these two actions directly determines the stability, safety, and operational accuracy of the equipment. Currently, most similar equipment uses independent control loops for telescopic control and balance adjustment, lacking a multi-variable collaborative control mechanism. This leads to issues such as posture deviation and balance imbalance during telescopic movement, and the balance adjustment response exhibits significant lag, failing to adapt to dynamic changes under complex working conditions. Furthermore, existing control methods often employ fixed parameter control without adaptive adjustments based on the equipment's real-time operating status. When the equipment experiences load changes, telescopic speed fluctuations, or external environmental interference, the accuracy of balance control drops drastically, easily causing equipment shaking, jamming, and even safety hazards. In addition, existing control systems suffer from poor multi-loop coordination, preventing synchronized execution of telescopic drive and balance adjustment actions, further reducing operational reliability and control accuracy, and failing to meet the demands for high precision and high stability in operations.

[0003] To address this, a dynamic self-balancing intelligent control system and method for automatic expansion and contraction is proposed. Summary of the Invention

[0004] The present invention aims to solve the problems mentioned in the background art by providing an automatic scaling dynamic self-balancing intelligent control system and method.

[0005] The specific technical solution is as follows: An automatic scaling and retracting dynamic self-balancing intelligent control system includes a sensing module, a control module, an execution module, a communication module, and an alarm module. The signal output terminal of the sensing module is connected to the signal input terminal of the control module through the communication module, and the command output terminal of the control module is connected to the control terminals of the execution module and the alarm module through the communication module respectively. The sensing module is used to collect real-time operating parameters of the controlled device. The real-time operating parameters include telescopic position parameters, attitude balance parameters, load weight parameters, telescopic speed parameters, and environmental interference parameters. After preprocessing the collected real-time operating parameters, the sensing module transmits them to the control module through the communication module. The control module adopts a multi-loop programmable controller, which has pre-stored control algorithms and control parameter thresholds. The control module is used to receive pre-processed real-time operating parameters, synchronously analyze the extension and balance states of the controlled equipment, and synchronously generate extension control commands and balance adjustment commands. The control module has a built-in adaptive adjustment algorithm, which dynamically adjusts the control parameters according to real-time load changes, extension speed changes, and environmental disturbances to achieve coordinated control of extension and balance adjustment. The execution module includes a telescopic drive unit and a balance adjustment unit. The telescopic drive unit and the balance adjustment unit respectively receive telescopic control commands and balance adjustment commands issued by the control module. The telescopic drive unit is used to drive the controlled equipment to complete automatic telescopic actions and execute the control requirements of telescopic position and telescopic speed. The balance adjustment unit is used to adjust the support posture and counterweight distribution of the controlled equipment, and to counteract the unbalanced torque generated during the telescopic process in real time, so as to realize the dynamic self-balancing of the controlled equipment. The telescopic drive unit and the balance adjustment unit execute the corresponding commands synchronously to ensure the synchronicity of telescopic action and balance adjustment. The communication module is used to realize full-duplex signal transmission between the control module and the sensing module, execution module and alarm module, and also supports remote communication with the host computer to realize remote monitoring, parameter setting and operation data uploading. The alarm module is used to receive abnormal trigger commands issued by the control module. When the control module detects that the operating parameters of the controlled equipment exceed the preset threshold, the module malfunctions, or the imbalance exceeds the safe range, it triggers an alarm signal. At the same time, the control module issues a shutdown command to the execution module to stop the extension and retraction of the controlled equipment.

[0006] The aforementioned automatic telescopic dynamic self-balancing intelligent control system includes a sensing module comprising a position sensor, an attitude sensor, a weight sensor, and an environmental sensor. The position sensor collects telescopic position parameters of the controlled equipment; the attitude sensor collects attitude balance parameters corresponding to the tilt angle and sway amplitude of the controlled equipment; the weight sensor collects load weight parameters of the controlled equipment; and the environmental sensor collects environmental interference parameters affecting equipment operation. The sensing module performs filtering and noise reduction preprocessing on the collected real-time operating parameters, removes interference signals, and outputs valid operating parameters to the control module.

[0007] The aforementioned automatic telescopic dynamic self-balancing intelligent control system includes a built-in multivariable collaborative control algorithm in the control module. This algorithm uses telescopic position parameters, telescopic speed parameters, attitude balance parameters, load weight parameters, and environmental disturbance parameters as input variables to establish a multi-input multi-output collaborative control model. It synchronously outputs telescopic control commands and balance adjustment commands, thereby achieving coupling and linkage between the telescopic control loop and the balance adjustment loop and eliminating the time delay difference between the two loops.

[0008] The aforementioned automatic telescopic dynamic self-balancing intelligent control system includes a telescopic drive unit comprising a servo drive component and a telescopic actuator. The telescopic actuator adopts a dual-sided synchronous telescopic structure. The servo drive component receives telescopic control commands and drives the dual-sided telescopic actuator to complete synchronous telescopic actions, ensuring consistent displacement on both sides of the controlled equipment during telescopic processes. The balance adjustment unit includes an electric push rod component and a counterweight adjustment mechanism. The electric push rod component receives balance adjustment commands and drives the counterweight adjustment mechanism to adjust the spatial position of the counterweight, changing the torque distribution of the controlled equipment and compensating for unbalanced torques generated during telescopic processes in real time.

[0009] The aforementioned automatic scaling and dynamic self-balancing intelligent control system includes a communication module that employs a dual-redundant communication architecture combining wired and wireless communication. The wired communication uses RS485 bus communication, while the wireless communication uses WiFi, 4G, or 5G wireless communication. This dual-redundant communication architecture ensures the real-time performance and reliability of control and feedback signal transmission. The alarm module uses an audible and visual alarm unit, which simultaneously sends abnormal data and fault location information to the host computer when an alarm is triggered.

[0010] This invention also provides an automatically expanding and contracting dynamic self-balancing intelligent control method, based on the above-mentioned automatically expanding and contracting dynamic self-balancing intelligent control system, comprising the following steps: Step 1: Parameter initialization. After the control system starts up, the control module performs a power-on self-test on the sensing module, execution module, communication module, and alarm module. After confirming that each module is working properly, it loads the preset control parameter thresholds, extension path parameters, and balance reference parameters to complete the system initialization. Step 2: Real-time parameter acquisition. The sensing module continuously collects real-time operating parameters of the controlled equipment, including its extension and retraction position, attitude balance, load weight, extension and retraction speed, and environmental interference. After preprocessing the collected real-time operating parameters, they are transmitted to the control module through the communication module. Step 3: State analysis and collaborative instruction generation. The control module receives the pre-processed real-time operating parameters and performs synchronous coupling analysis on the extension and balance states of the controlled equipment through a multi-variable collaborative control algorithm. It synchronously determines whether the extension position and extension speed meet the preset requirements and whether the equipment posture is within the balance reference range. Based on the analysis results, it synchronously generates extension control instructions and balance adjustment instructions. Step four: Synchronous execution and dynamic adaptive adjustment. The execution module receives the telescopic control command and the balance adjustment command. The telescopic drive unit and the balance adjustment unit execute the corresponding commands synchronously to complete the coordinated operation of telescopic action and balance adjustment. The control module receives the operating parameters fed back by the sensing module in real time and compares them with preset thresholds. When load changes, telescopic speed fluctuations, or environmental interference are detected that cause balance deviation, the telescopic control parameters and balance adjustment parameters are dynamically adjusted through the adaptive adjustment algorithm to automatically compensate for the unbalanced torque, correct the telescopic path, and ensure that the controlled equipment is always in a dynamic balance state during the telescopic process. Step 5, Anomaly Monitoring and Safety Protection: The control module continuously monitors the working status of each module and the operating parameters of the controlled equipment. When it detects that the parameters exceed the preset threshold, the module malfunctions, or the imbalance exceeds the safe range, it immediately issues a stop command to the execution module to stop the extension and retraction of the controlled equipment, and at the same time triggers the alarm module to issue an alarm signal. Step Six: Operation Completed and System Reset. After the controlled equipment completes the extension and retraction operation, the control module issues a reset command, the control execution module drives the controlled equipment to return to its initial position, the balance adjustment unit returns to its initial balance state, the sensing module stops parameter acquisition, and the system enters standby mode.

[0011] The above-mentioned automatic telescopic dynamic self-balancing intelligent control method, in step three, the multivariable collaborative control algorithm establishes a coupled linkage model of telescopic control and balance adjustment. The telescopic position, telescopic speed, attitude balance, load weight, and environmental disturbance are used as input variables, and the telescopic drive control quantity and balance adjustment control quantity are used as output variables. By combining feedforward compensation and feedback correction, the disturbance of the telescopic action to the balance state is eliminated, and the synchronization of the actions of the two control loops is ensured.

[0012] The above-mentioned automatic telescopic dynamic self-balancing intelligent control method, in step four, the adaptive adjustment algorithm dynamically tunes the control parameters based on real-time collected operating parameters through fuzzy PID control. When the load change exceeds the preset threshold, the telescopic speed and the response rate of the counterweight adjustment are automatically adjusted. When environmental interference exceeds the preset safety threshold, the telescopic action is automatically paused, and the operation is resumed after the interference parameters fall back to the safe range.

[0013] In the above-mentioned automatic scaling dynamic self-balancing intelligent control method, in step two, the sensing module continuously collects real-time operating parameters at a fixed sampling frequency, performs moving average filtering and outlier removal preprocessing on the collected parameters to remove invalid data caused by environmental interference and sampling noise, and uploads the preprocessed valid parameters to the control module in real time.

[0014] In the aforementioned automatic expansion and contraction dynamic self-balancing intelligent control method, in step five, the control module presets multiple abnormal thresholds. When a parameter exceeds the first-level warning threshold, the alarm module is triggered to issue a warning signal, and the operating parameters are corrected through an adaptive adjustment algorithm. When a parameter exceeds the second-level safety threshold, a stop command is immediately issued to stop the expansion and contraction action, and the fault type and real-time operating data are uploaded to the host computer. The system can only be restarted after the fault is cleared and the parameters are reset. The present invention has the following beneficial effects: This system and method, through overall architecture design and control logic optimization, offers several advantages over existing technologies. Firstly, this solution constructs a collaborative control system using a multi-loop programmable controller, integrating the automatic extension / retraction control and dynamic self-balancing adjustment of the equipment into a unified multi-variable collaborative control system. This solves the problems of independent control and poor coordination between extension / retraction and balancing in existing technologies, ensuring that extension / retraction and balancing adjustments are decided and executed synchronously. This eliminates the time delay between the two control actions, preventing attitude deviation and imbalance during equipment extension / retraction, and significantly improving the stability of equipment operation. Secondly, this solution, through multi-sensor full-dimensional parameter acquisition, combined with precise position control logic and a synchronous balancing adjustment mechanism, achieves precise control of extension / retraction position and speed, while simultaneously adjusting the equipment's balance state in real time. This effectively avoids swaying and deviation during equipment extension / retraction, significantly improving the equipment's operational accuracy and adapting to the needs of high-precision operations. The third solution incorporates an adaptive adjustment algorithm that dynamically adjusts control parameters based on real-time equipment operating parameters. It automatically adapts control strategies to load changes, expansion / contraction speed fluctuations, and environmental disturbances, adapting to different working conditions without manual intervention. This avoids the decrease in control accuracy that occurs with fixed parameter control under changing conditions, improving the system's anti-interference capabilities and maintaining stable control even in complex operating environments. The fourth solution establishes a full-process anomaly monitoring and safety protection mechanism. It monitors the equipment's operating status and the working conditions of each module in real time, promptly identifying faults and safety hazards. In case of anomalies, it immediately stops dangerous equipment actions and triggers alarms to alert personnel, preventing accidents and significantly improving system safety. The system also supports remote monitoring and parameter setting, facilitating remote equipment management and enhancing operational convenience. The fifth solution's collaborative control architecture avoids structural jamming and abnormal wear caused by asynchronous expansion / contraction or posture imbalance, reducing the probability of equipment failure, extending equipment lifespan, and lowering daily maintenance costs. The overall architecture of the sixth system and method has strong versatility and can be widely adapted to various automatic telescopic operation equipment. It can achieve coordinated intelligent control of telescopic and balance without making major changes to the main structure of the equipment. It has a wide range of applications and has high promotion and application value. Attached Figure Description

[0015] Figure 1 A schematic diagram illustrating the composition of the automatically expanding and contracting dynamic self-balancing intelligent control system provided in an embodiment of the present invention; Figure 2 A schematic diagram of the electrical connection relationship of the automatically retractable dynamic self-balancing intelligent control system provided in an embodiment of the present invention; Figure 3 A schematic diagram of the structure of the scalable work platform provided as an example of the present invention; Figure 4 A comparison chart of telescopic position control accuracy; Figure 5 This is a comparison chart of the accuracy of balance control. Detailed Implementation

[0016] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0017] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual images. They should not be construed as limiting the scope of this application. To better illustrate the embodiments of the present invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0018] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present application. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0019] In the description of this invention, unless otherwise explicitly specified and limited, the term "connection" or similar designation indicating a connection between components should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0020] Example 1 The automatically expanding and contracting dynamic self-balancing intelligent control system provided in this embodiment, such as... Figures 1-2 As shown, it includes a sensing module, a control module, an execution module, a communication module, and an alarm module. The signal output terminal of the sensing module is connected to the signal input terminal of the control module through the communication module. The command output terminal of the control module is connected to the control terminals of the execution module and the alarm module through the communication module, respectively. The sensing module is used to collect real-time operating parameters of the controlled equipment. These real-time operating parameters include telescopic position parameters, attitude balance parameters, load weight parameters, telescopic speed parameters, and environmental interference parameters. After preprocessing the collected real-time operating parameters, the sensing module transmits them to the control module through the communication module. The control module adopts a multi-loop programmable controller, which has pre-stored control algorithms and control parameter thresholds. The control module is used to receive pre-processed real-time operating parameters, synchronously analyze the extension and balance states of the controlled equipment, and synchronously generate extension control commands and balance adjustment commands. The control module has a built-in adaptive adjustment algorithm, which dynamically adjusts the control parameters according to real-time load changes, extension speed changes, and environmental disturbances to achieve coordinated control of extension and balance adjustment. The execution module includes a telescopic drive unit and a balance adjustment unit. The telescopic drive unit and the balance adjustment unit receive telescopic control commands and balance adjustment commands issued by the control module, respectively. The telescopic drive unit is used to drive the controlled equipment to complete automatic telescopic actions and execute the control requirements of telescopic position and telescopic speed. The balance adjustment unit is used to adjust the support posture and counterweight distribution of the controlled equipment, and to counteract the unbalanced torque generated during the telescopic process in real time, so as to realize the dynamic self-balancing of the controlled equipment. The telescopic drive unit and the balance adjustment unit execute the corresponding commands synchronously to ensure the synchronicity of telescopic action and balance adjustment. The communication module is used to realize full-duplex signal transmission between the control module and the sensing module, execution module, and alarm module. It also supports remote communication with the host computer to realize remote monitoring, parameter setting, and uploading of operating data. The alarm module is used to receive abnormal trigger commands issued by the control module. When the control module detects that the operating parameters of the controlled equipment exceed the preset threshold, the module malfunctions, or the imbalance exceeds the safe range, it triggers an alarm signal. At the same time, the control module issues a shutdown command to the execution module to stop the extension and retraction of the controlled equipment.

[0021] This solution constructs a complete closed-loop control system architecture, forming a stable signal linkage system between the sensing module, control module, execution module, communication module, and alarm module through the communication module. This ensures that the workflow of each module is coherent and avoids control interruptions caused by signal transmission gaps. The control module employs a multi-loop programmable controller to simultaneously analyze the equipment's extension and balance states, generating both extension control and balance adjustment commands. This replaces the traditional independent control mode for extension and balance, eliminating the time lag between the two control loops from a control logic perspective and preventing attitude deviations caused by asynchronous actions of the two loops during extension. The control module's built-in adaptive adjustment algorithm can dynamically adjust control parameters according to load changes, extension speed fluctuations, and environmental disturbances. It adapts to different operating conditions without manual intervention, avoiding a decrease in control accuracy due to operating condition fluctuations, and ensuring stable control performance of the equipment under various operating conditions. The telescopic drive unit and balance adjustment unit of the execution module execute corresponding commands synchronously. This allows for real-time counteracting of unbalanced torques generated during the telescopic movement, preventing lag issues such as telescopic movement followed by leveling or vice versa. This reduces the risk of swaying and imbalance during telescopic movement from the action execution perspective. The communication module enables full-duplex signal transmission and supports remote communication with a host computer. This ensures real-time signal transmission between modules on-site and allows staff to remotely monitor equipment status and set parameters, improving the convenience of operation management. The alarm module is linked with the shutdown control system. In abnormal conditions, it can simultaneously trigger alarm alerts and halt telescopic movements, preventing the escalation of abnormal conditions and potential safety accidents, thus comprehensively improving equipment operational safety.

[0022] Specifically, in this embodiment, the sensing module includes a position sensor, an attitude sensor, a weight sensor, and an environmental sensor. The position sensor is used to collect the extension and retraction position parameters of the controlled device, the attitude sensor is used to collect the attitude balance parameters corresponding to the tilt angle and sway amplitude of the controlled device, the weight sensor is used to collect the load weight parameters of the controlled device, and the environmental sensor is used to collect environmental interference parameters that affect the operation of the device. The sensing module performs filtering and noise reduction preprocessing on the collected real-time operating parameters, removes interference signals, and outputs valid operating parameters to the control module.

[0023] This solution clearly defines a multi-sensor configuration for the sensing module. Through position sensors, attitude sensors, weight sensors, and environmental sensors, corresponding operational parameters are collected, comprehensively covering all key factors affecting the equipment's extension, retraction, and balance. No parameter omissions occur, providing complete foundational data support for the control module's decision-making. The various sensors have clearly defined roles, accurately capturing state changes in their respective dimensions and precisely identifying subtle fluctuations in extension displacement, equipment attitude, load, and environmental conditions. This ensures the accuracy of parameter acquisition, allowing the system to anticipate changes in equipment operating status and make timely adjustments. The sensing module performs filtering and noise reduction preprocessing on the collected parameters, removing invalid signals from environmental interference and equipment vibration during sampling. This ensures that the parameters transmitted to the control module accurately reflect the actual operating status of the equipment, avoiding erroneous control decisions caused by invalid data and further improving the accuracy of control commands.

[0024] Specifically, in this embodiment, the control module incorporates a multivariable collaborative control algorithm. This algorithm uses the telescopic position parameter, telescopic speed parameter, attitude balance parameter, load weight parameter, and environmental disturbance parameter as input variables to establish a multi-input multi-output collaborative control model. It synchronously outputs telescopic control commands and balance adjustment commands, thereby achieving coupling and linkage between the telescopic control loop and the balance adjustment loop and eliminating the time delay difference between the two loops.

[0025] This solution clearly defines the multi-variable collaborative control algorithm built into the control module. By establishing a multi-input, multi-output collaborative control model, it integrates the originally independent expansion control and balance adjustment loops into a coupled and linked whole, breaking down the information barriers between traditional independent control loops and allowing the control actions of the two loops to match and adapt to each other. The coupled and linked control mode can completely eliminate the action delay difference between the two control loops, avoiding secondary imbalance problems caused by expansion action being completed before balance adjustment is initiated, or balance adjustment being completed in advance while expansion action is still in progress. It ensures that expansion action and balance adjustment are perfectly matched in time and action amplitude, eliminating the risk of imbalance during expansion and contraction from the control logic perspective. The multi-variable input algorithm architecture can comprehensively consider all factors affecting the operating state of the equipment, and will not adjust only a single parameter, avoiding fluctuations in other parameters caused by the adjustment of a single parameter, making the overall operating state of the equipment more stable.

[0026] Furthermore, the specific scheme of this multivariable collaborative control algorithm is as follows: I. Overall Algorithm Control Architecture This algorithm adopts a four-layer closed-loop collaborative control architecture. All components are implemented in a multi-loop programmable controller through structured programming. The control cycle can be set from 10ms to 50ms according to the equipment response requirements. The four layers are sequentially connected to form a complete control closed loop. 1. Input variable standardization processing layer: Receives real-time operating parameters collected by the sensing module, completes dimensional normalization and outlier filtering, and outputs standardized state variables; 2. Dynamic Imbalance Feedforward Solution Layer: Based on standardized state variables, it calculates the instantaneous disturbance of the equipment balance state caused by the expansion and contraction actions in real time, generates feedforward compensation control quantity, and realizes the advance prediction and synchronous cancellation of disturbances. 3. Multivariable decoupling control layer: Establish a state-space model of the scaling-balanced coupled system, and use the diagonal matrix decoupling method to transform the strongly coupled multivariable system into two independent, synchronously controllable single-variable subsystems, thereby eliminating the mutual interference between the two control loops; 4. Closed-loop feedback correction layer: Based on the deviation between the actual operating state of the equipment and the preset benchmark, the incremental PID control logic generates a feedback correction quantity, which is superimposed with the feedforward compensation quantity to form the final control command, and is synchronously sent to the telescopic drive unit and the balance adjustment unit, while completing the online adaptive optimization of the control parameters.

[0027] II. Definition and Standardization of Input and Output Variables (a) Definition of input variables Input variables are divided into two categories: real-time process variables and preset benchmark variables. Real-time process variables are collected and preprocessed by the sensing module in each control cycle and then input into the algorithm. Preset benchmark variables are loaded during the system initialization phase.

[0028] 1. Real-time process variables Real-time displacement of the dual-sided telescopic mechanism: The unit is mm. The real-time extension and retraction lengths of the telescopic mechanisms on both sides of the equipment are collected by position sensors, and the synchronization error on both sides is calculated. and the rate of change of synchronization error Unit: mm / s; Real-time operating speed of the telescopic mechanism: The unit is m / s, which is fed back in real time by the servo drive unit or obtained by differential calculation of the extension displacement; Real-time tilt angle of the equipment: The unit is °, which is collected by the attitude sensor and represents the tilt of the device relative to the horizontal reference. Real-time load weight of equipment: The unit is kg, and the load change is calculated from the data collected by the weight sensor. ; Real-time ambient wind speed: The value is measured in m / s and is collected by environmental sensors to characterize the intensity of disturbances caused by the external environment to the equipment's equilibrium state.

[0029] Preset base variables Maximum permissible synchronization error: The unit is mm, which represents the allowable limit displacement deviation of the double-sided telescopic mechanism of the equipment structure. Rated maximum extension speed: , in m / s, represents the maximum safe extension / retraction speed designed for the equipment; Maximum permissible rate of change of error: The unit is mm / s, which represents the maximum allowable rate of change of the synchronization error of the equipment. Baseline load quality: The unit is kg, which represents the calibration reference mass of the equipment under no-load conditions. Balance reference tilt angle: Maximum allowable tilt angle: The unit is °, which represents the maximum tilt range that allows the equipment to operate safely. Wind speed safety threshold: , in m / s, represents the highest ambient wind speed at which the equipment can normally carry out telescopic operations.

[0030] (ii) Definition of output control variables The algorithm outputs two types of synchronous control variables, corresponding to the control requirements of the telescopic drive unit and the balance adjustment unit, respectively. All output variables are dimensionless standardized quantities with a value range of [-1, 1], which can be directly converted into control signals for the actuators. 1. Telescopic drive control parameters: Positive values ​​correspond to the extension action of the telescopic mechanism, negative values ​​correspond to the retraction action, and the absolute values ​​correspond to the control range of the extension speed and displacement. 2. Balance adjustment control quantity: Positive values ​​correspond to positive counterweight compensation actions, negative values ​​correspond to reverse counterweight compensation actions, and the absolute values ​​correspond to the action amplitude and response rate of the balance adjustment mechanism.

[0031] (III) Standardization of Input Variables To eliminate the dimensional differences between different physical quantities and ensure the consistency of algorithm operations, all real-time process variables are converted into dimensionless standardized variables with a value range of [-1, 1] using the following formula: 1. Synchronization error standardization:

[0032] 2. Standardization of telescopic speed:

[0033] 3. Standardization of the rate of change of synchronization error:

[0034] 4. Standardization of tilt angle:

[0035] 5. Load variation standardization:

[0036] 6. Standardization of ambient wind speed:

[0037] in, This is a saturation limiting function. When the input value exceeds the range of [-1, 1], it is directly limited to the boundary value to avoid overflow of the algorithm due to abnormal data.

[0038] III. Core Multivariable Decoupling Control Model This algorithm addresses the strong coupling between the telescopic action and the equilibrium state by establishing a state-space equation for the equipment operation. It then eliminates the coupling relationship through a diagonal matrix decoupling method, achieving independent controllability and synchronous linkage of the two control loops.

[0039] (I) State-space equations of coupled systems Based on the structural mechanics characteristics and operating laws of the equipment, a discrete state-space equation for the stretch-balance coupled system is established to adapt to the periodic operation mode of a multi-loop programmable controller.

[0040] in: This is the current control cycle number. For the next control cycle; , which is the standardized state variable matrix for the current period; , is the output control matrix for the current cycle; , which are the controlled variable matrices output by the system, corresponding to the telescopic synchronization deviation and the equipment tilt angle, respectively; The system state matrix, To control the input matrix, The output matrices are obtained through equipment structural mechanics simulation and offline calibration, representing the coupling relationship between the telescopic action and the equilibrium state.

[0041] (ii) Diagonal matrix decoupling design In the above state-space equations, the scaling control quantity It will not only affect the telescopic synchronization deviation At the same time, it will affect the tilt angle of the equipment. Generates coupling disturbance; balances and adjusts control quantity It will not only affect the tilt angle This can also indirectly interfere with the scaling synchronization state. To eliminate this coupling, a decoupling compensation matrix is ​​introduced. This transforms the closed-loop transfer function matrix of the system into a diagonal matrix, achieving complete decoupling of the two controlled variables.

[0042] The expression for the decoupled control quantity is:

[0043] in, These are the independent control quantities after decoupling, corresponding to the independent outputs of the scaling control subsystem and the balancing regulation subsystem, respectively; the decoupling compensation matrix. Based on the inverse matrix design of the system transfer function matrix, ensure that the decoupled system satisfies:

[0044] in, , These are the transfer functions of two independent subsystems, with no cross-coupling terms, enabling independent operation and synchronous output of scaling control and balance adjustment, and completely eliminating mutual interference between the two loops.

[0045] IV. Dynamic Imbalance Feedforward Compensation Stage This step is the core innovation of the algorithm. By calculating the dynamic imbalance coefficient in real time, it can predict the disturbance of the equipment balance state caused by the expansion and contraction actions in advance, and generate a feedforward compensation amount to be superimposed on the balance adjustment control amount. This achieves synchronous or even advanced response between balance adjustment and expansion and contraction actions, eliminating the lag problem of traditional ex-post adjustment from the root.

[0046] (I) Equation for solving dynamic imbalance coefficient Dynamic imbalance coefficient This is used to quantify the combined disturbance intensity of expansion and contraction actions, load changes, and environmental disturbances on the equipment's balance state within the current control cycle. It is dimensionless and ranges from [-1, 1]. Positive values ​​indicate an intensification of the imbalance trend, while negative values ​​indicate a correction of the imbalance trend. The complete solution equation is:

[0047] in: The input state variables after standardization; The preset dimensionless weighting coefficients correspond to the weighting percentages of synchronization error, expansion speed, error change rate, load change, and ambient wind speed in the imbalance disturbance, respectively. The sum of the five weighting coefficients is 1, which is determined through offline equipment calibration and simulation optimization. Weighting coefficient calibration rules: For equipment with a high center of gravity and sensitive to extension / retraction speed, increase the weighting coefficient. Percentage; for equipment requiring high dual-side synchronization accuracy, increase Percentage; for equipment with frequent load changes, increase Percentage; for outdoor high-altitude work equipment, increase Percentage.

[0048] (II) Generation and application of feedforward compensation 1. Based on the dynamic imbalance coefficient, generate the balance adjustment feedforward compensation amount: ,in The feedforward conversion gain, obtained through equipment calibration, characterizes the relationship between the imbalance coefficient and the amplitude of the balancing adjustment mechanism. 2. The feedforward compensation amount is directly superimposed on the decoupled balance adjustment control amount, so that the balance adjustment mechanism can complete the disturbance compensation simultaneously while performing the extension and retraction action, without waiting for the attitude sensor to report the tilt deviation before making adjustment. 3. The dynamic imbalance coefficient also participates in the safety speed limit logic of the telescopic control: when When the telescopic drive control quantity is automatically limited, the telescopic speed is reduced to prevent the imbalance trend from continuing to expand; when If this happens, immediately stop the extension and retraction operation and resume operation only after the imbalance coefficient has returned to a safe range.

[0049] V. Closed-loop feedback correction process This step generates feedback correction quantities based on the feedback deviation of the actual operating status of the equipment, to compensate for the model error of the feedforward compensation and external random disturbances, thereby achieving closed-loop optimization of control accuracy. Incremental PID control logic is adopted to adapt to the discrete operation mode of the multi-loop programmable controller, and fuzzy rules are introduced to realize online adaptive tuning of PID parameters.

[0050] (a) Incremental PID control logic 1. Calculation of deviation in telescopic control loop: ,in The preset expansion / contraction target displacement for the current control cycle. To control the deviation of the telescopic position; 2. Calculation of deviation in the balance control loop: ,in The horizontal reference angle is used as the reference angle. To control deviations in order to maintain equilibrium; 3. Discrete incremental PID control formula, taking the expansion control loop as an example, the first... The output increment for each control cycle is: in, These are the proportional, integral, and derivative coefficients of the telescopic control loop, respectively. These are the control deviations for the first two control cycles; 4. The same incremental PID formula is used in the balance control loop to obtain the balance adjustment output increment. ; 5. The independent control output for each control cycle is: , ,in It serves as the feedforward compensation for the current cycle, enabling composite control of feedforward and feedback.

[0051] (ii) Fuzzy adaptive tuning of PID parameters Based on two variables—real-time load variation and ambient wind speed—a fuzzy tuning rule is established to adjust the PID parameters of the two control loops online, adapting to changes in different operating conditions. 1. Input fuzzification: This process fuzzifies the input load variation. Ambient wind speed It is divided into 5 fuzzy levels, namely {negative large, negative small, zero, positive small, positive large}; 2. Fuzzy rule design: When the load changes or the ambient wind speed increases, appropriately increase the proportional coefficient Kp to improve the response speed and decrease the integral coefficient. To avoid integral saturation, increase the differential coefficient. Suppress fluctuations caused by disturbances; when the operating conditions are stable, appropriately reduce the proportional coefficient. Reduce overshoot and increase integral coefficient Improve steady-state control accuracy; 3. Defuzzification: The fuzzy output is converted into precise PID parameter values ​​using the centroid method, and updated in real time to the incremental PID control formula to achieve adaptive optimization of control parameters.

[0052] VI. The algorithm execution flow is as follows: The algorithm is executed cyclically in a multi-loop programmable controller with a fixed control cycle. Within each cycle, the calculation is completed strictly according to the following steps, which perfectly match the overall control flow of the system: 1. Data reception and preprocessing: Receive real-time operating parameters uploaded by the sensing module, complete outlier removal, moving average filtering and standardization processing to obtain the standardized state variables for the current period; 2. Dynamic imbalance coefficient calculation: Substitute the standardized state variables into the dynamic imbalance coefficient equation to calculate the imbalance coefficient of the current period and complete the calculation of the feedforward compensation amount; 3. Control Deviation Calculation: Compare the real-time operating status of the equipment with the preset benchmark value, and calculate the control deviation of the telescopic position and the control deviation of the balance state respectively; 4. Feedback correction calculation: Based on the current and historical control deviations, the feedback correction of the two control loops is calculated using the incremental PID formula after adaptive tuning. 5. Decoupling operation and instruction synthesis: After superimposing the feedforward compensation and feedback correction, the decoupling operation is completed through the decoupling compensation matrix to generate the final telescopic drive control and balance adjustment control. 6. Synchronous command issuance: Two types of control commands are issued synchronously to the telescopic drive unit and the balance adjustment unit, controlling the two actuators to complete the corresponding actions synchronously; 7. Closed-loop optimization: Receive action feedback from the actuator and real-time data from the sensors, update historical deviations and state variables, and enter the cyclic calculation of the next control cycle.

[0053] VII. Algorithm Engineering Implementation and Parameter Calibration 1. Programming Implementation: This algorithm is written as an independent function block using Structured Text (ST) language, which can be directly ported to a conventional PLC multi-loop programmable controller without the need for dedicated computing hardware. The function block is set with independent input pins, output pins and parameter configuration pins. The input pins are connected to the real-time data collected by the sensor, the output pins are connected to the drive interface of the actuator, and the parameter configuration pins are used to load preset benchmark variables and weighting coefficients. 2. Offline parameter calibration: Before the equipment leaves the factory, the weighting coefficients, PID initial parameters, feedforward conversion gain, and decoupling matrix are calibrated through three stages: no-load static calibration, rated load dynamic testing, and environmental simulation test, to ensure that the algorithm is adapted to the physical characteristics of the equipment. 3. Online self-tuning: When the system is powered on for the first time, the parameter self-tuning process can be started. Through small step tests, the dynamic characteristics of the system are automatically identified, and the PID parameters and decoupling matrix are optimized without manual debugging, reducing the operational difficulty of field applications.

[0054] Specifically, in this embodiment, the telescopic drive unit includes a servo drive component and a telescopic actuator. The telescopic actuator adopts a double-sided synchronous telescopic structure. The servo drive component receives telescopic control commands and drives the double-sided telescopic actuator to complete synchronous telescopic actions, ensuring the consistency of displacement on both sides during the telescopic process of the controlled equipment. The balance adjustment unit includes an electric push rod component and a counterweight adjustment mechanism. The electric push rod component receives balance adjustment commands and drives the counterweight adjustment mechanism to adjust the spatial position of the counterweight, change the torque distribution of the controlled equipment, and compensate for the unbalanced torque generated during the telescopic process in real time.

[0055] This solution clarifies the specific structural design of the execution module. The telescopic drive unit adopts a dual-sided synchronous telescopic structure, ensuring complete synchronization of telescopic movements on both sides of the equipment. This avoids overall equipment misalignment caused by excessively fast or slow telescopic movements on one side, resulting in smoother telescopic execution. It also reduces structural stress caused by asynchrony between the two sides during telescopic movement, extending the equipment's lifespan. The servo drive component, working in conjunction with the telescopic actuator, precisely executes the telescopic position and speed commands issued by the control module, ensuring control precision and allowing the equipment to accurately reach the preset telescopic position, meeting the demands of high-precision operations. The balance adjustment unit drives the counterweight adjustment mechanism via an electric push rod component to adjust the counterweight position, directly altering the equipment's torque distribution and precisely offsetting the unbalanced torque generated during telescopic movement. This adjustment method is direct, effective, and has a fast response speed, completing torque compensation simultaneously with the telescopic movement to prevent tilting and swaying. The structural designs of the telescopic drive unit and the balance adjustment unit are mutually compatible, each capable of executing telescopic and balance control commands respectively. The actions of the two units do not interfere with each other but work together to ensure that telescopic and adjustment movements are completed synchronously without structural conflicts.

[0056] Specifically, in this embodiment, the communication module adopts a dual-redundant communication architecture that combines wired and wireless communication. The wired communication uses RS485 bus communication, and the wireless communication uses WiFi, 4G or 5G wireless communication. The dual-redundant communication architecture ensures the real-time performance and reliability of the transmission of control signals and feedback signals. The alarm module adopts an audible and visual alarm unit, which simultaneously sends abnormal data and fault location information to the host computer when the alarm is triggered.

[0057] This solution clarifies the specific implementation schemes of the communication and alarm modules. The communication module adopts a dual-redundant communication architecture combining wired and wireless communication. When one communication method fails, the other can continue to carry out signal transmission, ensuring the continuity and reliability of control and feedback signal transmission and preventing equipment malfunction due to communication interruption. Wired communication ensures the stability and real-time performance of signal transmission between field modules, while wireless communication enables remote interaction with the host computer. The two communication methods work together to meet both the real-time requirements of field control and the needs of remote management, allowing the equipment to perform independent field operations or connect to a remote management system. The alarm module uses audible and visual alarms to simultaneously alert operators to abnormal situations, preventing them from missing alarm information due to environmental noise or obstructed vision. When an alarm is triggered, abnormal data and fault location information are simultaneously sent to the host computer, allowing ground management personnel to understand the equipment's abnormal situation in real time, respond quickly, shorten troubleshooting and handling time, and improve operational safety and fault handling efficiency.

[0058] Example 2 This embodiment provides an automatically expanding and contracting dynamic self-balancing intelligent control method, based on the automatically expanding and contracting dynamic self-balancing intelligent control system in Embodiment 1, and includes the following steps: Step 1: Parameter initialization. After the control system starts up, the control module performs a power-on self-test on the sensing module, execution module, communication module, and alarm module. After confirming that each module is working properly, it loads the preset control parameter thresholds, extension path parameters, and balance reference parameters to complete the system initialization. Step 2: Real-time parameter acquisition. The sensing module continuously collects real-time operating parameters of the controlled equipment, including its extension and retraction position, attitude balance, load weight, extension and retraction speed, and environmental interference. After preprocessing the collected real-time operating parameters, they are transmitted to the control module through the communication module. Step 3: State analysis and collaborative instruction generation. The control module receives the pre-processed real-time operating parameters and performs synchronous coupling analysis on the extension and balance states of the controlled equipment through a multi-variable collaborative control algorithm. It synchronously determines whether the extension position and extension speed meet the preset requirements and whether the equipment posture is within the balance reference range. Based on the analysis results, it synchronously generates extension control instructions and balance adjustment instructions. Step four: Synchronous execution and dynamic adaptive adjustment. The execution module receives the telescopic control command and the balance adjustment command. The telescopic drive unit and the balance adjustment unit execute the corresponding commands synchronously to complete the coordinated operation of telescopic action and balance adjustment. The control module receives the operating parameters fed back by the sensing module in real time and compares them with preset thresholds. When load changes, telescopic speed fluctuations, or environmental interference are detected that cause balance deviation, the telescopic control parameters and balance adjustment parameters are dynamically adjusted through the adaptive adjustment algorithm to automatically compensate for the unbalanced torque, correct the telescopic path, and ensure that the controlled equipment is always in a dynamic balance state during the telescopic process. Step 5, Anomaly Monitoring and Safety Protection: The control module continuously monitors the working status of each module and the operating parameters of the controlled equipment. When it detects that the parameters exceed the preset threshold, the module malfunctions, or the imbalance exceeds the safe range, it immediately issues a stop command to the execution module to stop the extension and retraction of the controlled equipment, and at the same time triggers the alarm module to issue an alarm signal. Step Six: Operation Completed and System Reset. After the controlled equipment completes the extension and retraction operation, the control module issues a reset command, the control execution module drives the controlled equipment to return to its initial position, the balance adjustment unit returns to its initial balance state, the sensing module stops parameter acquisition, and the system enters standby mode.

[0059] This solution constructs a complete intelligent control methodology. The parameter initialization step after system power-on involves self-checking all modules before loading preset parameters. This allows for troubleshooting of module faults before system startup, avoiding safety issues caused by starting with faults. Simultaneously, loading unified preset parameters ensures consistent control baselines for each system startup, preventing control deviations caused by parameter inconsistencies. The real-time parameter acquisition step continuously collects and preprocesses comprehensive operating parameters, providing the control module with real-time and effective equipment operation data. This allows the control module to monitor changes in equipment operating status throughout the process, providing continuous and reliable data support for subsequent control decisions. The state analysis and collaborative command generation step uses a multi-variable collaborative control algorithm to simultaneously analyze the expansion and balancing states, generating two control commands concurrently. This ensures that expansion control and balancing adjustment decisions are completed at the same time, guaranteeing consistent decision baselines for both control actions and preventing asynchronous decisions between the two loops. This ensures the synergy of the two actions from the control source. The system features synchronized execution and dynamic adaptive adjustment. Two units execute commands synchronously and dynamically adjust control parameters based on real-time feedback. This allows the equipment to continuously adjust its control strategy according to changing operating conditions throughout the entire extension / retraction process, compensating for imbalance torques and correcting the extension / retraction path in real time. Control failures due to fluctuations in operating conditions prevent the equipment from maintaining a stable balance throughout the entire process. Anomaly monitoring and safety protection continuously monitor module status and operating parameters. In case of anomalies, the system simultaneously shuts down and issues alarms, ensuring full-process monitoring of equipment safety. Dangerous actions are stopped immediately upon an anomaly, and personnel are alerted to prevent further escalation and potential accidents, providing comprehensive safety assurance for equipment operation. After the operation is completed, the system returns to its initial state and enters standby mode. This automatic reset prevents structural deformation caused by prolonged extension and allows the system to enter a low-power standby state, extending the equipment's lifespan and preparing it for the next operation.

[0060] Specifically, in this embodiment, the multivariable collaborative control algorithm in step three establishes a coupled linkage model of telescopic control and balance adjustment. The telescopic position, telescopic speed, attitude balance, load weight, and environmental disturbance are used as input variables, and the telescopic drive control quantity and balance adjustment control quantity are used as output variables. By combining feedforward compensation and feedback correction, the disturbance of the telescopic action to the balance state is eliminated, and the synchronization of the actions of the two control loops is ensured.

[0061] This scheme clarifies the specific implementation logic of the multivariable collaborative control algorithm. By establishing a coupled linkage model between telescopic control and balance adjustment, the two control actions are deeply bound together, allowing balance adjustment to perfectly match changes in telescopic movement. Every change in telescopic movement can generate a corresponding matching balance adjustment action, eliminating adjustment lag. The algorithm employs a control method combining feedforward compensation and feedback correction. Feedforward compensation can predict balance disturbances caused by telescopic movement in advance and make balance adjustment actions ahead of time, reducing attitude changes caused by telescopic movement at the source. Feedback correction can correct the adjustment action based on the actual attitude changes of the equipment, compensating for the deviation of feedforward compensation. The combination of these two methods can both prevent imbalance in advance and accurately correct existing attitude deviations, ensuring that the equipment's balance state remains stable. The multi-input multi-output model can comprehensively consider all parameters affecting the equipment's state, allowing control decisions to take into account changes in all operating conditions, avoiding any omissions and improving the comprehensiveness and reliability of the control logic.

[0062] Specifically, in this embodiment, the adaptive adjustment algorithm in step four dynamically tunes the control parameters based on the real-time collected operating parameters using fuzzy PID control. When the load change exceeds the preset threshold, it automatically adjusts the extension speed and the response rate of the counterweight adjustment. When environmental interference exceeds the preset safety threshold, it automatically pauses the extension action and resumes operation after the interference parameters fall back to the safe range.

[0063] This solution clarifies the specific implementation of the adaptive adjustment algorithm, employing fuzzy PID control to dynamically tune control parameters. It automatically adjusts the control parameters based on the real-time operating status of the equipment, eliminating the need for manual pre-setting of fixed parameters. This adapts to control requirements under different operating conditions, avoiding the problems of decreased control accuracy and response lag that occur when fixed parameters are used in response to changes in operating conditions, thus improving the system's adaptability and anti-interference capabilities. When the load change exceeds a preset threshold, the algorithm automatically adjusts the extension speed and counterweight adjustment response rate. This reduces the impact on the equipment's balance when the load changes significantly, while simultaneously accelerating the response speed of balance adjustment to quickly offset the unbalanced torque caused by load changes, preventing significant tilting of the equipment due to sudden load changes. When environmental interference exceeds a preset safety threshold, the system automatically pauses the extension action. This allows for the cessation of dangerous operations under harsh environmental conditions, preventing environmental interference from exceeding the system's adjustment capacity and causing equipment imbalance. Operations resume only after environmental conditions improve, ensuring operational safety and allowing for rapid resumption of operations when environmental conditions permit, thus balancing operational safety and efficiency.

[0064] Specifically, in this embodiment, in step two, the sensing module continuously collects real-time operating parameters at a fixed sampling frequency, performs moving average filtering and outlier removal preprocessing on the collected parameters to remove invalid data caused by environmental interference and sampling noise, and uploads the preprocessed valid parameters to the control module in real time.

[0065] This scheme clarifies the specific implementation of the real-time parameter acquisition steps. Continuously acquiring operating parameters at a fixed sampling frequency ensures uniform time intervals for parameter acquisition, preventing data loss or duplication caused by fluctuating sampling intervals. This allows the control module to obtain continuous and uniform equipment status change data, accurately capturing trends in equipment status changes. Performing moving average filtering and outlier removal preprocessing on the acquired parameters effectively filters out sampling noise and anomalous data jumps caused by equipment vibration and environmental electromagnetic interference. This ensures that the parameters transmitted to the control module accurately reflect the actual operating status of the equipment, preventing erroneous adjustments by the control module due to abnormal data and improving the accuracy of control decisions. The continuous sampling and preprocessing process provides the control module with uninterrupted and effective data, ensuring that the control module can monitor equipment status changes in real time. This allows subsequent adjustments to keep pace with changes in equipment status, preventing adjustment lag.

[0066] Specifically, in this embodiment, in step five, the control module presets multiple abnormal thresholds. When a parameter is detected to exceed the first-level warning threshold, the alarm module is triggered to issue a warning signal, and the operating parameters are corrected through an adaptive adjustment algorithm. When a parameter is detected to exceed the second-level safety threshold, a stop command is immediately issued to stop the telescopic action, and the fault type and real-time operating data are uploaded to the host computer. The system can only be restarted after the fault is cleared and the parameters are reset.

[0067] This solution clarifies a tiered handling mechanism for anomaly monitoring and safety protection. By setting multi-level anomaly thresholds, it can classify and handle abnormal equipment states, distinguishing between minor and severe anomalies. This prevents all anomalies from triggering immediate shutdowns, minimizing unnecessary downtime and improving operational continuity while ensuring safety. When parameters exceed the first-level warning threshold, the system triggers an early warning signal and simultaneously corrects operating parameters using an adaptive algorithm. This proactively alerts operators to minor anomalies and automatically corrects the operating status, eliminating anomalies in their early stages and preventing them from escalating into serious malfunctions, ensuring continuous operation. When parameters exceed the second-level safety threshold, the system immediately issues a shutdown command and uploads fault information. This allows for immediate cessation of all dangerous actions in the event of a severe anomaly, preventing accidents. Simultaneously, it uploads the fault type and operating data to the host computer, enabling managers to quickly understand the fault situation, accurately pinpoint the cause, shorten troubleshooting and handling time, and improve efficiency. The system requires that the fault be cleared and the parameters be reset before restarting. This avoids secondary faults or safety accidents caused by forcibly starting the equipment before the fault is completely cleared, and ensures the safety of equipment restart from a procedural perspective.

[0068] Working Principle: This system connects the sensing module, control module, execution module, and alarm module into a complete closed-loop linkage system through the communication module, forming a full-process control logic of acquisition, decision-making, execution, feedback, and correction. During system operation, the sensing module continuously collects all-dimensional parameters of the equipment during operation, covering key factors affecting the equipment's operating status such as extension / retraction position, attitude balance, load weight, extension / retraction speed, and environmental interference. After preprocessing the collected parameters, they are transmitted to the control module in real time. The control module adopts a multi-loop programmable controller and uses a multi-variable collaborative control algorithm to synchronously analyze the equipment's extension / retraction and balance states, synchronously generating extension / retraction control commands and balance adjustment commands. This integrates the two originally independent control loops into a coupled and linked whole, ensuring that the decision-making criteria and execution time of the two control actions are perfectly matched. After receiving the control commands, the execution module synchronously executes the corresponding actions of the extension / retraction drive unit and the balance adjustment unit. The extension / retraction drive unit drives the equipment to complete the preset extension / retraction action, while the balance adjustment unit synchronously adjusts the equipment's support posture and counterweight distribution, counteracting the unbalanced torque generated by the extension / retraction action in real time and preventing attitude fluctuations during the extension / retraction process. Throughout the entire operation of the equipment, the control module continuously receives real-time parameters from the sensing module. Through a built-in adaptive adjustment algorithm, it dynamically adjusts control parameters based on load changes, expansion speed fluctuations, and environmental interference, automatically compensating for balance deviations caused by changes in operating conditions. This allows it to adapt to different working conditions without manual intervention. Simultaneously, the control module monitors the equipment's operating parameters and the working status of each module. If it detects parameters exceeding preset ranges, module malfunctions, or imbalances exceeding safety limits, it immediately issues a stop command to halt the equipment's expansion and contraction, and triggers an alarm module to issue a warning, forming a complete safety protection mechanism.

[0069] Usage Instructions: When using this system for operations, first complete the system startup and initialization. After starting the control system, the control module will perform a comprehensive power-on self-check on the sensing module, execution module, communication module, and alarm module. After confirming that all modules are fault-free and can work normally, it will load the pre-set control parameter thresholds, extension path parameters, and balance reference parameters, completing the preparation work before system startup. After the system initialization is complete, the operation process can be started. The sensing module continuously collects the real-time operating parameters of the equipment at a fixed sampling frequency, covering multiple dimensions such as extension position, attitude balance, load weight, extension speed, and environmental interference. At the same time, it filters and reduces noise from the collected parameters, eliminating interference signals and invalid data, and transmits the effective parameters that truly reflect the operating status of the equipment to the control module in real time through the communication module. After receiving the pre-processed effective parameters, the control module uses a multi-variable collaborative control algorithm to simultaneously analyze the extension and balance status of the equipment, determine whether the extension position and extension speed meet the preset operation requirements, and determine whether the attitude of the equipment is within the set balance reference range. Based on the analysis results, it synchronously generates extension control commands and balance adjustment commands and sends them to the execution module. Upon receiving the control command, the execution module synchronously activates the telescopic drive unit and the balance adjustment unit. The telescopic drive unit drives the equipment to complete the telescopic movement according to the command, precisely controlling the position and speed of the telescopic movement. Simultaneously, the balance adjustment unit adjusts the equipment's support posture and weight distribution according to the command, counteracting the unbalanced torque generated by the telescopic movement in real time, ensuring the equipment maintains a stable balance throughout the telescopic process. Throughout the operation, the control module continuously receives real-time operating parameters from the sensing module and compares them with preset parameter thresholds. When load changes, telescopic speed fluctuations, or environmental interference cause balance deviations, the control module dynamically adjusts the telescopic control parameters and balance adjustment parameters through an adaptive adjustment algorithm, automatically compensating for unbalanced torques, correcting the telescopic path, and adapting to real-time changes in operating conditions. During operation, the control module continuously monitors the working status of all modules and the equipment's operating parameters. When parameters exceed preset safety thresholds, a module malfunctions, or the equipment's balance exceeds the safe range, the control module immediately issues a stop command to the execution module, halting all telescopic movements and triggering an alarm signal. The system can only be restarted after personnel have completed troubleshooting and parameter reset. Once the telescopic operation is completed, the control module will issue a reset command, which will control the execution module to drive the telescopic mechanism of the equipment to return to its initial position, and the balance adjustment unit to its initial balanced state. Subsequently, the control sensing module will stop high-frequency parameter acquisition, and the system will enter standby mode, waiting for the next operation to start.

[0070] In addition, this application provides the following examples, in conjunction with Figure 3-5 ,in, Figure 4The system compares the maximum deviation (0.18mm vs 2.6mm) and the overall control error (0.3mm vs 3.2mm) of this system with the traditional system. The differences between the two indicators are displayed by overlaying bar charts. Figure 5 The system employs a dual Y-axis design, with a bar chart on the left showing the tilt angle (1.2° vs 4.7°) and a line chart on the right showing the response time (0.08 seconds vs 0.6 seconds), intuitively demonstrating the advantages of dynamic balance performance.

[0071] Example: Application of an automatically retractable, dynamic, self-balancing intelligent control system in a scalable work platform I. Technical Solution The system in this example includes a sensing module, a control module, an execution module, a communication module, and an alarm module. It is installed on a telescopic work platform. The main body of the work platform is a rectangular steel structure suspended basket. Two sets of lifting devices are symmetrically arranged at the top of the basket, and two sets of telescopic devices are symmetrically arranged at both ends of the bottom of the basket. The movable end of the telescopic device is connected to a vertically arranged balance protection plate.

[0072] The sensing module includes a laser displacement sensor, a three-axis gyroscope and accelerometer combination module, a cantilever beam pressure sensor, and a wind speed sensor. The laser displacement sensor is installed between the fixed and movable ends of the telescopic device to collect real-time telescopic length data. The three-axis gyroscope and accelerometer combination module is installed at the center of the bottom of the suspended platform to collect the platform's tilt angle and sway amplitude. The cantilever beam pressure sensor is installed below the load-bearing base plate of the suspended platform to collect the platform's real-time load weight. The wind speed sensor is installed at the top edge of the suspended platform to collect real-time wind speed data of the working environment. The sensing module performs moving average filtering on all collected operating parameters to remove interference signals before outputting valid data.

[0073] The control module employs a multi-loop PLC programmable controller, installed in the electrical control box in the middle of the suspended platform. The controller pre-stores control algorithms and parameter thresholds, and incorporates multi-variable collaborative control and adaptive adjustment algorithms. The controller's signal inputs are connected to various sensors in the sensing module via a communication module, while its command outputs are connected to the execution and alarm modules.

[0074] The execution module includes a telescopic drive unit and a balance adjustment unit. The telescopic drive unit consists of two symmetrically arranged telescopic devices. Each device uses a servo motor and a ball screw transmission mechanism. The fixed end of the telescopic device is welded to the bottom plate of the basket, and the movable end is welded to the inner side of the balance guard plate. The servo motor receives telescopic control commands from the control module and drives the two telescopic devices to synchronously complete the telescopic movement, causing the balance guard plate to extend and retract horizontally. The balance adjustment unit consists of two symmetrically arranged lifting devices. These lifting devices use variable frequency lifting machines, fixed on the left and right sides of the top of the basket. Each lifting machine corresponds to a suspension steel cable. The lifting machines receive balance adjustment commands from the control module and, by adjusting the speed and length of the ropes of the two lifting machines, change the horizontal posture of the basket, counteracting the unbalanced torque generated during telescopic movement.

[0075] The communication module adopts an architecture that combines RS485 wired communication and 4G wireless communication. The wired communication enables signal transmission between the PLC controller and field sensors and actuators, while the wireless communication enables remote data interaction between the PLC controller and the ground host computer, supporting remote parameter setting and operation status monitoring.

[0076] The alarm module uses an audible and visual alarm, which is installed on the top of the suspended basket and connected to the output of the PLC controller. In case of abnormality, it can simultaneously send alarm information to the host computer on the ground.

[0077] The system operation flow in this example is as follows: 1. Parameter initialization: After the system is powered on, the PLC controller performs a self-test on all sensors, telescopic devices, lifting devices, communication modules, and audible and visual alarms. After confirming that the equipment is fault-free, it loads preset parameters, including the maximum telescopic length of the telescopic device (1.2 meters), telescopic speed (0.2 meters per second), basket balance reference tilt angle (no more than 2 degrees), rated load (800 kg), and wind speed safety threshold (8 meters per second), thus completing the system initialization.

[0078] 2. Real-time parameter acquisition: During system operation, the laser displacement sensor acquires the real-time extension length of the telescopic device at a sampling frequency of 50 Hz, the three-axis gyroscope and accelerometer acquire the tilt angle and sway amplitude of the basket at a sampling frequency of 100 Hz, the pressure sensor acquires the real-time load weight of the basket at a sampling frequency of 50 Hz, and the wind speed sensor acquires the real-time ambient wind speed at a sampling frequency of 10 Hz. All acquired parameters are filtered and then transmitted to the PLC controller in real time via RS485 bus.

[0079] 3. Status Analysis and Cooperative Instruction Generation: The PLC controller receives the pre-processed operating parameters and, through a multi-variable cooperative control algorithm, synchronously analyzes whether the telescopic length and speed of the telescopic device conform to the preset path, and simultaneously analyzes whether the tilt angle of the basket is within the balance reference range. When the telescopic device needs to adjust its telescopic length, it generates the corresponding telescopic control instruction and sends it to the servo motors of the two sets of telescopic devices; when the tilt angle of the basket is detected to exceed 1.5 degrees, it generates a balance adjustment instruction and sends it to the frequency converter controllers of the two sets of lifting devices.

[0080] 4. Synchronous Execution and Dynamic Adaptive Adjustment: The servo motors of the two telescopic devices receive telescopic control commands and synchronously drive the ball screw mechanism to extend or retract the balance guard plate, ensuring that the telescopic length deviation of the two sides does not exceed 0.2 mm. The two lifting devices receive balance adjustment commands and correct the tilt of the basket by adjusting their respective rope release and take-up speeds, thus counteracting the torque changes caused by the telescopic movement. During operation, the PLC controller receives parameters from the sensors in real time. When it detects a change in the load distribution within the basket causing tilting, it automatically adjusts the balance adjustment parameters of the lifting device through an adaptive adjustment algorithm, while simultaneously adjusting the operating speed of the telescopic device. When the ambient wind speed exceeds 8 meters per second, it immediately controls the telescopic device to stop operating, and resumes telescopic operation only after the wind speed drops to a safe threshold.

[0081] 5. Anomaly Monitoring and Safety Protection: The PLC controller continuously monitors the system's operating status. When it detects that the basket tilt angle exceeds 2 degrees, the load exceeds 800 kg, the telescopic device's telescopic length exceeds the preset range, a sensor malfunctions, or communication is interrupted, it immediately issues a stop command to control the telescopic device and lifting device to stop all actions. At the same time, it triggers the light and sound alarm to issue an alarm signal and simultaneously uploads the fault information to the ground host computer.

[0082] 6. Operation Completion and System Reset: After the telescopic operation is completed, the PLC controller issues a reset command, controls the telescopic device to drive the balance guard plate back to the initial position, the two sets of lifting devices adjust the basket to the initial horizontal posture, all sensors stop high-frequency sampling, and the system enters standby mode.

[0083] II. Working Principle: This example utilizes a multi-loop PLC controller to construct a collaborative control system, integrating telescopic motion control and attitude balance adjustment into a unified multivariable control loop, replacing the traditional independent control mode. During operation, the sensing module collects all dimensions of equipment operation parameters in real time and transmits them to the PLC controller. The controller then uses a multivariable collaborative control algorithm to synchronously calculate the control quantities for both the telescopic motion and the balance adjustment, ensuring that the telescopic device's movement and the lifting device's attitude adjustment are executed synchronously, eliminating disturbances to the basket's balance caused by the telescopic motion. When operating conditions such as load distribution and ambient wind speed change, the adaptive adjustment algorithm adjusts the control parameters in real time, automatically compensating for balance deviations caused by changes in operating conditions, ensuring the basket maintains a stable horizontal attitude throughout the entire telescopic operation. Simultaneously, the system incorporates a multi-level anomaly monitoring mechanism to identify faults and safety hazards during operation in real time, ensuring operational safety through shutdown and alarm actions.

[0084] III. Experimental Data This experiment was conducted in a high-altitude construction work scenario. The experimental platform was the retractable work platform described in this example, with an experimental height of 60 meters. Comparative tests were performed with a traditional independently controlled retractable work platform under the same conditions, under three working conditions: no load, 50% of rated load, and 100% of rated load. The test data are as follows: 1. Telescopic position control accuracy: In this example, the telescopic device has a maximum deviation of 0.18 mm in telescopic length on both sides during the full stroke of telescopic extension, and the position control error is no more than 0.3 mm. The maximum deviation of 2.6 mm in telescopic length on both sides of the traditional independently controlled suspended platform has a maximum position control error of 3.2 mm.

[0085] 2. Balance control accuracy: In this example, the maximum tilt angle of the basket during the entire telescopic operation is 1.2 degrees, which does not exceed the preset 1.5-degree warning threshold, and the attitude adjustment response time is 0.08 seconds; in the traditional independently controlled basket, the maximum tilt angle of the basket during the telescopic operation is 4.7 degrees, and the attitude adjustment response time is 0.6 seconds.

[0086] 3. Anti-interference performance: Under an ambient wind speed of 5-6 meters per second, the maximum sway amplitude of the basket in this example is 0.8 degrees, and the telescopic operation can be carried out normally; under the same wind speed, the maximum sway amplitude of the traditional independently controlled basket is 3.5 degrees, and the telescopic operation needs to be suspended.

[0087] 4. Load adaptability: During operation, the load inside the basket increases from 200 kg to 800 kg. In this example, the maximum change in the basket's tilt angle is 0.9 degrees, and the balance correction can be completed automatically without manual intervention. Under the same load change, the maximum change in the tilt angle of a traditional independently controlled basket is 5.2 degrees, which requires manual shutdown and adjustment before operation can continue.

[0088] 5. Continuous operation stability: This example completed 1000 full-stroke extension and retraction cycles without any jamming, attitude imbalance or malfunction shutdown, and the operation was stable throughout; the traditional independently controlled suspended platform experienced 3 attitude imbalance alarms and 8 jamming situations caused by asynchronous extension and retraction on both sides after 300 cycles.

[0089] IV. Technical Effects 1. This example eliminates the time delay between telescopic control and balance control by synchronously controlling the telescopic movement of the telescopic device and the balance adjustment movement of the lifting device. This significantly improves the position control accuracy and balance control accuracy of the equipment, avoids the problem of basket tilting and swaying during the telescopic process, and ensures the stability of high-altitude operations.

[0090] 2. The system's built-in adaptive adjustment algorithm can adjust control parameters in real time according to load changes and environmental interference, and can complete the adaptation to working conditions without manual intervention, thereby improving the equipment's adaptability in complex working environments and reducing the impact of environmental factors on the work progress.

[0091] 3. The collaborative control method in this example solves the problem of asynchronous extension and retraction on both sides under the traditional independent control mode, reduces the probability of jamming and wear of the extension mechanism, improves the stability and service life of the equipment during continuous operation, and reduces equipment maintenance costs.

[0092] 4. The system has a comprehensive anomaly monitoring and safety protection mechanism, which can identify faults and safety hazards in real time during operation. It can respond quickly through shutdown and alarm actions, avoiding safety accidents during high-altitude operations and improving the safety of equipment operation.

[0093] 5. The system architecture in this example can be directly adapted to various scalable operating equipment without significant modifications to the main structure of the equipment, and has strong versatility and scalability.

[0094] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should recognize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatically retractable, dynamic, self-balancing intelligent control system, comprising a sensing module, a control module, an execution module, a communication module, and an alarm module, characterized in that, The signal output terminal of the sensing module is connected to the signal input terminal of the control module through the communication module, and the command output terminal of the control module is connected to the control terminals of the execution module and the alarm module respectively through the communication module. The sensing module is used to collect real-time operating parameters of the controlled device. The real-time operating parameters include telescopic position parameters, attitude balance parameters, load weight parameters, telescopic speed parameters, and environmental interference parameters. After preprocessing the collected real-time operating parameters, the sensing module transmits them to the control module through the communication module. The control module adopts a multi-loop programmable controller, which has pre-stored control algorithms and control parameter thresholds. The control module is used to receive pre-processed real-time operating parameters, synchronously analyze the extension and balance states of the controlled equipment, and synchronously generate extension control commands and balance adjustment commands. The control module has a built-in adaptive adjustment algorithm, which dynamically adjusts the control parameters according to real-time load changes, extension speed changes, and environmental disturbances to achieve coordinated control of extension and balance adjustment. The execution module includes a telescopic drive unit and a balance adjustment unit. The telescopic drive unit and the balance adjustment unit respectively receive telescopic control commands and balance adjustment commands issued by the control module. The telescopic drive unit is used to drive the controlled equipment to complete automatic telescopic actions and execute the control requirements of telescopic position and telescopic speed. The balance adjustment unit is used to adjust the support posture and counterweight distribution of the controlled equipment, and to counteract the unbalanced torque generated during the telescopic process in real time, so as to realize the dynamic self-balancing of the controlled equipment. The telescopic drive unit and the balance adjustment unit execute the corresponding commands synchronously to ensure the synchronicity of telescopic action and balance adjustment. The communication module is used to realize full-duplex signal transmission between the control module and the sensing module, execution module and alarm module, and also supports remote communication with the host computer to realize remote monitoring, parameter setting and operation data uploading. The alarm module is used to receive abnormal trigger commands issued by the control module. When the control module detects that the operating parameters of the controlled equipment exceed the preset threshold, the module malfunctions, or the imbalance exceeds the safe range, it triggers an alarm signal. At the same time, the control module issues a shutdown command to the execution module to stop the extension and retraction of the controlled equipment.

2. The automatically retractable dynamic self-balancing intelligent control system according to claim 1, characterized in that, The sensing module includes a position sensor, an attitude sensor, a weight sensor, and an environmental sensor. The position sensor is used to collect the extension and retraction position parameters of the controlled device. The attitude sensor is used to collect the attitude balance parameters corresponding to the tilt angle and sway amplitude of the controlled device. The weight sensor is used to collect the load weight parameters of the controlled device. The environmental sensor is used to collect environmental interference parameters that affect the operation of the device. The sensing module performs filtering and noise reduction preprocessing on the collected real-time operating parameters, removes interference signals, and outputs valid operating parameters to the control module.

3. The automatically retractable dynamic self-balancing intelligent control system according to claim 1, characterized in that, The control module incorporates a multivariable collaborative control algorithm. This algorithm uses extension position parameters, extension speed parameters, attitude balance parameters, load weight parameters, and environmental disturbance parameters as input variables to establish a multi-input multi-output collaborative control model. It synchronously outputs extension control commands and balance adjustment commands, thereby achieving coupling and linkage between the extension control loop and the balance adjustment loop and eliminating the time delay difference between the two loops.

4. The automatically retractable dynamic self-balancing intelligent control system according to claim 1, characterized in that, The telescopic drive unit includes a servo drive component and a telescopic actuator. The telescopic actuator adopts a dual-sided synchronous telescopic structure. The servo drive component receives telescopic control commands and drives the dual-sided telescopic actuator to complete synchronous telescopic actions, ensuring the consistency of displacement on both sides of the controlled equipment during the telescopic process. The balance adjustment unit includes an electric push rod component and a counterweight adjustment mechanism. The electric push rod component receives balance adjustment commands and drives the counterweight adjustment mechanism to adjust the spatial position of the counterweight, change the torque distribution of the controlled equipment, and compensate for the unbalanced torque generated during the telescopic process in real time.

5. The automatically extending and retracting dynamic self-balancing intelligent control system according to claim 1, characterized in that, The communication module adopts a dual-redundant communication architecture combining wired and wireless communication. The wired communication uses RS485 bus communication, and the wireless communication uses WiFi, 4G, or 5G wireless communication. The dual-redundant communication architecture ensures the real-time performance and reliability of control signal and feedback signal transmission. The alarm module uses an audible and visual alarm unit, which simultaneously sends abnormal data and fault location information to the host computer when the alarm is triggered.

6. An automatically retractable dynamic self-balancing intelligent control method, implemented based on the automatically retractable dynamic self-balancing intelligent control system according to any one of claims 1 to 5, characterized in that, Includes the following steps: Step 1: Parameter initialization. After the control system starts up, the control module performs a power-on self-test on the sensing module, execution module, communication module, and alarm module. After confirming that each module is working properly, it loads the preset control parameter thresholds, extension path parameters, and balance reference parameters to complete the system initialization. Step 2: Real-time parameter acquisition. The sensing module continuously collects real-time operating parameters of the controlled equipment, including its extension and retraction position, attitude balance, load weight, extension and retraction speed, and environmental interference. After preprocessing the collected real-time operating parameters, they are transmitted to the control module through the communication module. Step 3: State analysis and collaborative instruction generation. The control module receives the pre-processed real-time operating parameters and performs synchronous coupling analysis on the extension and balance states of the controlled equipment through a multi-variable collaborative control algorithm. It synchronously determines whether the extension position and extension speed meet the preset requirements and whether the equipment posture is within the balance reference range. Based on the analysis results, it synchronously generates extension control instructions and balance adjustment instructions. Step four: Synchronous execution and dynamic adaptive adjustment. The execution module receives the telescopic control command and the balance adjustment command. The telescopic drive unit and the balance adjustment unit execute the corresponding commands synchronously to complete the coordinated operation of telescopic action and balance adjustment. The control module receives the operating parameters fed back by the sensing module in real time and compares them with preset thresholds. When load changes, telescopic speed fluctuations, or environmental interference are detected that cause balance deviation, the telescopic control parameters and balance adjustment parameters are dynamically adjusted through the adaptive adjustment algorithm to automatically compensate for the unbalanced torque, correct the telescopic path, and ensure that the controlled equipment is always in a dynamic balance state during the telescopic process. Step 5, Anomaly Monitoring and Safety Protection: The control module continuously monitors the working status of each module and the operating parameters of the controlled equipment. When it detects that the parameters exceed the preset threshold, the module malfunctions, or the imbalance exceeds the safe range, it immediately issues a stop command to the execution module to stop the extension and retraction of the controlled equipment, and at the same time triggers the alarm module to issue an alarm signal. Step Six: Operation Completed and System Reset. After the controlled equipment completes the extension and retraction operation, the control module issues a reset command, the control execution module drives the controlled equipment to return to its initial position, the balance adjustment unit returns to its initial balance state, the sensing module stops parameter acquisition, and the system enters standby mode.

7. The automatically expanding and contracting dynamic self-balancing intelligent control method according to claim 6, characterized in that, The multivariable collaborative control algorithm in step three establishes a coupled linkage model of telescopic control and balance adjustment. The input variables are telescopic position, telescopic speed, attitude balance, load weight, and environmental disturbances, and the output variables are telescopic drive control and balance adjustment control. By combining feedforward compensation and feedback correction, the disturbance of the telescopic action to the balance state is eliminated, and the synchronization of the two control loops is ensured.

8. The automatically expanding and contracting dynamic self-balancing intelligent control method according to claim 6, characterized in that, The adaptive adjustment algorithm in step four dynamically tunes the control parameters based on real-time collected operating parameters using fuzzy PID control. When the load change exceeds the preset threshold, it automatically adjusts the extension speed and counterweight adjustment response rate. When environmental interference exceeds the preset safety threshold, it automatically pauses the extension action and resumes operation after the interference parameters fall back to the safe range.

9. The automatically expanding and contracting dynamic self-balancing intelligent control method according to claim 6, characterized in that, In step two, the sensing module continuously collects real-time operating parameters at a fixed sampling frequency, performs moving average filtering and outlier removal preprocessing on the collected parameters to remove invalid data caused by environmental interference and sampling noise, and uploads the preprocessed valid parameters to the control module in real time.

10. The automatically expanding and contracting dynamic self-balancing intelligent control method according to claim 6, characterized in that, In step five, the control module has multiple levels of abnormal thresholds. When a parameter is detected to exceed the first-level warning threshold, the alarm module is triggered to issue a warning signal, and the operating parameters are corrected through an adaptive adjustment algorithm. When a parameter is detected to exceed the second-level safety threshold, a stop command is immediately issued to stop the telescopic movement, and the fault type and real-time operating data are uploaded to the host computer. The system can only be restarted after the fault is cleared and the parameters are reset.

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