Synchronous control method and system for multiple hydraulic drive devices of chain-type flexible transmission structure

Abstract

The present invention relates to a synchronous control method and system for multiple hydraulic drive devices of a chain-type flexible transmission structure. The chain-type flexible transmission structure includes a straight track, a curved track, and an anchor chain wheel retracting and releasing section, and hydraulic drive devices are respectively provided correspondingly; after starting up and initializing the control program, the oil data of each hydraulic drive device is acquired to determine the working mode; the subsystem is in operation, and the transmission object is transmitted in the chain-type flexible transmission structure, and each subsystem of the chain-type flexible transmission structure is synchronously controlled, communicated in real time, and abnormalities are captured and alarmed until the transmission object is in place. The present invention refines the control program of the handover and non-handover sections of the subsystem hydraulic drive device, effectively realizing the synchronous control of each section of the chain-type flexible transmission structure with multiple hydraulic drives, and realizing coherent, stable and synchronous operation; the redundant encoder communicates in real time between each module, captures abnormal conditions, and issues abnormal alarm prompts, realizing hydraulic equipment status monitoring and abnormal alarms; and realizing synchronous control of multiple hydraulic drive devices of the chain-type flexible transmission structure.

Description

Technical Field

[0001] The present invention relates to the technical field of large-scale electro-hydraulic equipment control, and in particular to a synchronous control method and system for multiple hydraulic drive devices of a chain-type flexible transmission structure. Background Art

[0002] Hydraulic drive is widely used in various engineering machinery, especially in complex heavy-duty equipment. The chain-type flexible transmission structure with multiple hydraulic drives is responsible for transmitting the distributed chain-connected towing equipment, that is, the transported object.

[0003] However, when it is necessary to achieve synchronous control of multiple hydraulic drive devices in a chain-type flexible transmission structure, when the hydraulic equipment control of each subsystem is not synchronized and coherent, the control connection is not in place when the subsystems are handed over, which will cause many problems such as jamming of the transmission equipment or even abnormal damage. Therefore, it is necessary to design a synchronous control method for multiple hydraulic drive devices of a chain-type flexible transmission structure to ensure that the transmission action can be completed synchronously, coherently and smoothly between each section in the chain-type flexible transmission structure; this is still relatively lacking in the prior art. Summary of the invention

[0004] The present invention solves the problems existing in the prior art and provides an optimized synchronous control method and system for multiple hydraulic drive devices of a chain-type flexible transmission structure, thereby realizing coherent, stable and synchronous operation among various sections of the chain-type flexible transmission structure driven by multiple hydraulic devices, hydraulic equipment status monitoring and abnormal alarm.

[0005] The technical solution adopted by the present invention is a synchronous control method of multiple hydraulic drive devices of a chain-type flexible transmission structure, wherein the chain-type flexible transmission structure includes a straight track, a curved track, and an anchor chain wheel retracting and releasing section, and hydraulic drive devices are respectively provided corresponding to the straight track, the curved track, and the anchor chain wheel retracting and releasing section;

[0006] The method comprises the following steps:

[0007] Step 1: Turn on the device and initialize the control program;

[0008] Step 2: Acquire the oil data of each hydraulic drive device of the chain-type flexible transmission structure;

[0009] Step 3: Determine the current working mode of the chain-type flexible transmission structure, initialize, position the state and set the working speed, determine the movement direction and speed of the subsystems corresponding to the straight track, curve, and anchor chain wheel retracting and releasing section, and the subsystems are running, and the transmission object is transmitted in the chain-type flexible transmission structure; loop, synchronously control each subsystem of the chain-type flexible transmission structure, communicate in real time, capture abnormalities and issue an alarm until the transmission object is in place.

[0010] Preferably, in step 2, the oil data includes the oil level, oil temperature, oil filter status, actual oil supply pressure, and actual oil supply flow status of the hydraulic system.

[0011] Preferably, in step 3, the working mode includes a normal working mode and an emergency working mode;

[0012] In normal working mode, first request oil supply and adjust pressure and flow, then determine whether the oil supply pressure and flow meet the requirements;

[0013] In the emergency working mode, it is directly determined whether the oil supply pressure and flow meet the requirements.

[0014] Preferably, in step 3, the synchronous control includes synchronous operation control of non-intersection sections, control of the intersection section between the straight road and the curve, and control of the intersection section between the curve and the anchor chain wheel retracting and releasing section.

[0015] Preferably, in the non-handover segment synchronous operation control:

[0016] The curve adopts the inner and outer synchronous control strategy. The target quantity is gradually output to the outer side through the ramp function, and then the difference between the inner speed and the outer speed is output to the inner side through the PID link, so that the hardware of the inner and outer sides can closely follow each other.

[0017] The straight track adopts a multi-motor synchronization strategy, setting up at least 3 groups of motors, and sequentially controlling the motors in terms of speed, force and freewheeling state based on the running direction.

[0018] Preferably, the control of the intersection of a straight road and a curved road comprises the following steps:

[0019] S1: Either side of the straight road or the curve reaches the handover area. The straight road handover area is the straight road waiting position-straight road handover completion position, and the curve handover area is the curve ready position-curve handover completion position. If and only if the curve-straight handover flag is closed, the curve-straight handover procedure is executed;

[0020] S2: Initialize the straight road to the waiting position, and initialize the curve to the ready position;

[0021] S3 moves straight to the ready position;

[0022] S4 moves to the handover completion position on the straight road and moves to the handover completion position on the curve;

[0023] After S5 completes the handover of the transported object from the straight track to the curved track, the curve-to-straight handover program exits.

[0024] Preferably, in the control of the intersection section between the curve and the anchor chain wheel retracting and releasing section, the curve slope intersection procedure is executed if and only if the curve slope intersection mark is closed;

[0025] When the flap is not jumped over, the bend stops at the handover waiting position first, the anchor chain wheel retracting section passes the manual flap, the anchor chain wheel enters the handover at the speed of v1, lifts the primitive at the speed of v2, and after it is lifted into place, exits the handover link at the speed of v1, and finally completes the primitive handover, exits the handover procedure, and returns to the non-handover state;

[0026] When the flap is skipped, the handover process is entered directly. The anchor chain wheel enters the handover at speed v1, lifts the primitive at speed v2, and exits the handover link at speed v1 after it is lifted into place. Finally, the primitive handover is completed, the handover procedure is exited, and the state of non-handover is returned.

[0027] v1>v2.

[0028] Preferably, a centralized hydraulic station is established for the hydraulic drive devices of all subsystems; the control end communicates with the centralized hydraulic station through a dual-network redundant control network, obtains the working status of the centralized hydraulic station in real time, uses it as an alarm criterion and sends it to the touch screen for display; the control end is connected to the centralized hydraulic station through a hardware interlocking line.

[0029] Preferably, for alarm, it is determined whether there is an abnormal state based on the input IO channel quantity and the basic state quantity, and a set of global variables is updated to describe the number of alarm events of several levels for reading and corresponding processing.

[0030] A hydraulic control system for a chain-type flexible plane transmission structure, wherein the system is associated with subsystems corresponding to straight tracks, curved tracks, and anchor chain wheel retracting and releasing sections, and all subsystems are controlled by the synchronous control method for multiple hydraulic drive devices of the chain-type flexible transmission structure.

[0031] The present invention relates to an optimized synchronous control method and system for multiple hydraulic drive devices of a chain-type flexible transmission structure, wherein the chain-type flexible transmission structure comprises a straight track, a curve, and an anchor chain wheel retracting and releasing section, and hydraulic drive devices are respectively arranged corresponding to the straight track, the curve, and the anchor chain wheel retracting and releasing section; after the equipment is turned on and the control program is initialized, the oil data of each hydraulic drive device of the chain-type flexible transmission structure is obtained; the current working mode of the chain-type flexible transmission structure is determined, initialized, the position state is set and the working speed is set, the movement direction and speed of the subsystem corresponding to the straight track, the curve, and the anchor chain wheel retracting and releasing section are determined, the subsystem is operated, and the transmission object is transmitted in the chain-type flexible transmission structure; the cycle is performed, the subsystems of the chain-type flexible transmission structure are synchronously controlled, real-time communication is performed, anomalies are captured and alarms are issued until the transmission object is in place.

[0032] In view of the problems existing in the prior art, the present invention designs control strategies such as the synchronous control strategy for the inside and outside of the retracting and releasing equipment of each subsystem, the synchronous control strategy for multiple subsystems under multi-motor equipment, the handover control strategy for straight and curved sections, and the handover control strategy for curved and anchor chain wheel retracting and releasing sections. By refining the design of the handover and non-handover section control programs of the hydraulic drive devices of the three subsystems of the straight, curved, and anchor chain wheel retracting and releasing sections in the chain-type flexible transmission structure, the synchronous control between the sections of the chain-type flexible transmission structure with multiple hydraulic drives is effectively realized, and coherent, stable and synchronous operation is achieved. In addition, real-time communication is carried out between the modules through redundant encoders, abnormal conditions in each module are captured, abnormal alarm prompts are given, and hydraulic equipment status monitoring and abnormal alarms are realized. Finally, the synchronous control of multiple hydraulic drive devices of the chain-type flexible transmission structure is realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is the overall flow chart of the method of the present invention;

[0034] Figure 2 is a planar transmission control flow chart of the present invention;

[0035] Figure 3 is a non-handover state control flow chart of the present invention;

[0036] Figure 4 It is the internal and external synchronous control flow chart of the present invention;

[0037] Figure 5 is a multi-motor synchronous control flow chart of the present invention;

[0038] Figure 6 It is a flow chart of the control of the intersection of straight road and curved road of the present invention.

[0039] Figure 7 It is a flow chart of the handover control of the curve and the anchor chain wheel retracting and releasing section of the present invention. DETAILED DESCRIPTION

[0040] The present invention is further described in detail below in conjunction with embodiments, but the protection scope of the present invention is not limited thereto.

[0041] The present invention relates to a synchronous control method for multiple hydraulic drive devices of a chain-type flexible transmission structure, wherein the chain-type flexible transmission structure comprises a straight track, a curve, and an anchor chain wheel retracting and releasing section, and hydraulic drive devices are respectively arranged corresponding to the straight track, the curve, and the anchor chain wheel retracting and releasing section; generally speaking, the three subsystems of the straight track, the curve, and the anchor chain wheel retracting and releasing section are arranged in sequence, and each subsystem is a symmetrical structure on both inner and outer sides. During synchronous control, it is necessary to consider the synchronization of the three subsystems, and at the same time, it is necessary to consider the synchronization of both inner and outer sides of each subsystem.

[0042] In the present invention, the control is implemented by a controller or a control end, and the implementation of the controller or the control end is set by the present method according to the understanding of those skilled in the art.

[0043] The method comprises the following steps:

[0044] Step 1: Turn on the device and initialize the control program;

[0045] In the present invention, step 1 specifically includes but is not limited to, performing a power-on check after power-on, the controller clearing the control variables according to the preset process to ensure that there are no uncertain process control variables, the process control variables include but are not limited to device speed, position, encoder, etc.; loading the position status record value of the device, that is, the encoder value of each moving device; initializing the Ethernet communication module; initializing the RS232 communication module; resetting all digital and analog control output channels to ensure that each actuator is in a safe position.

[0046] Step 2: Acquire the oil data of each hydraulic drive device of the chain-type flexible transmission structure;

[0047] In step 2, the oil data includes the oil level, oil temperature, oil filter status, actual oil supply pressure, and actual oil supply flow status of the hydraulic system.

[0048] In the present invention, generally speaking, the controller or control terminal remotely obtains the above information in real time through the network.

[0049] Step 3: Determine the current working mode of the chain-type flexible transmission structure, initialize, position the state and set the working speed, determine the movement direction and speed of the subsystems corresponding to the straight track, curve, and anchor chain wheel retracting and releasing section, and the subsystems are running, and the transmission object is transmitted in the chain-type flexible transmission structure; loop, synchronously control each subsystem of the chain-type flexible transmission structure, communicate in real time, capture abnormalities and issue an alarm until the transmission object is in place.

[0050] In the present invention, the chain-type flexible transmission structure is initialized, including restoring each hydraulic motor, proportional valve, relief valve, and oil cylinder to an initial state, setting a corresponding safety protection pressure and an initial movement speed (0m / s) through the relief valve, and the controller analyzes the working conditions, and determines the current position state of the chain-type flexible transmission structure and sets the working speed through the speed planning module of the controller, and determines the movement direction and speed of each subsystem. Each subsystem independently controls the actions of each actuator inside it according to the movement speed instruction issued by the controller. In the non-handover section of each subsystem, an inside-outside synchronous control strategy is adopted to ensure the consistency of the inside and outside speeds. In the straight section, a multi-motor synchronous control strategy is adopted to ensure the consistency of the speed when the multi-motor is running. The subsystem handover section is controlled according to the handover procedure between the straight and the curve, and the handover procedure between the curve and the anchor chain wheel.

[0051] In step 3, the working mode includes a normal working mode and an emergency working mode;

[0052] In normal working mode, first request oil supply and adjust pressure and flow, then determine whether the oil supply pressure and flow meet the requirements;

[0053] In the emergency working mode, it is directly determined whether the oil supply pressure and flow meet the requirements.

[0054] In step 3, the synchronous control includes synchronous operation control of non-intersection sections, control of the intersection section between the straight road and the curve, and control of the intersection section between the curve and the anchor chain wheel retracting and releasing section.

[0055] In the synchronous operation control of the non-handover segment:

[0056] The curve adopts the inner and outer synchronous control strategy. The target quantity is gradually output to the outer side through the ramp function, and then the difference between the inner speed and the outer speed is output to the inner side through the PID link, so that the hardware of the inner and outer sides can closely follow each other.

[0057] The straight track adopts a multi-motor synchronization strategy, setting up at least 3 groups of motors, and sequentially controlling the motors in terms of speed, force and freewheeling state based on the running direction.

[0058] In the present invention, in the synchronous operation control of the non-intersection section, although the hardware configuration of the inner and outer sides is the same, it is difficult to ensure that the actuator will have the same output and state under the same control quantity, especially at the curve position, so the following method is adopted: Figure 4 The inside and outside synchronous control strategy shown realizes the synchronous coordination of the target quantities on both sides. The target quantity is speed or position. In the synchronous mode, the target quantity is gradually output to the outside through the ramp function, and then the difference between the inside speed and the outside speed is output to the inside through the PID link to achieve close following of the inside and outside.

[0059] In the present invention, for the straight track, a multi-motor synchronous control strategy is adopted, taking three groups of motors as an example, namely motor group A, motor group B and motor group C. Figure 5 As shown, they correspond to motor 1 and motor 4, motor 2 and motor 5, motor 3 and motor 6 respectively;

[0060] When releasing the transmission, the speed of motor group C is controlled, the force of motor group B is controlled, and motor group A is placed in a freewheel state. When recovering the transmission, the speed of motor group A is controlled, the force of motor group B is controlled, and motor group C is placed in a freewheel state. Among them, speed control refers to adjusting the motor pressure reducing valve to the maximum and the proportional reversing valve to the minimum working state, and the motor speed is accurately controlled by controlling the opening size of the proportional reversing valve; force control refers to adjusting the motor proportional reversing valve to the maximum and the pressure of the pressure reducing valve to half of the total load of the plane transmission; freewheel state refers to the current motor group following the movement to achieve following;

[0061] Taking release transmission as an example, motor group C adopts speed control, and the force is maximized. The overall release speed depends on the speed of motor group C. The motor group of the free wheel does not provide force. The total load is equal to the sum of the loads of the force control group motor and the speed control group motor. F 总 =F 速度控制 +F 力控制 , V 总 =V 速度控制 ;

[0062] In summary, for force control, when the total load is fixed and the release speed is fixed, theoretically the force control motor group bears half of the load, and the speed control motor group bears the remaining half of the load. When the output force of the force control motor group is insufficient or higher than half of the load, the speed control motor group can make up for the load difference. At this time, only closed-loop control of the pressure reducing valve of the force control motor group is needed to achieve that the loads of the two groups of motors are close to being borne equally; for speed control, the overall release speed of transmission depends on the speed of the speed control motor group. When its output corresponds to the speed, the free wheel can follow the movement, and the control amount of the reversing valve of the force control motor group has been adjusted to the maximum to achieve following. Therefore, only closed-loop control of the speed of the speed control motor group is needed to achieve the stability of the planar transmission motion speed. Through this control strategy, it is possible to avoid adjusting the speed and force of multiple motors at the same time to achieve the control goals of load balance and speed stability.

[0063] The control of the intersection of straight road and curve road comprises the following steps:

[0064] S1: Either side of the straight road or the curve reaches the handover area. The straight road handover area is the straight road waiting position-straight road handover completion position, and the curve handover area is the curve ready position-curve handover completion position. If and only if the curve-straight handover flag is closed, the curve-straight handover procedure is executed;

[0065] S2: Initialize the straight road to the waiting position, and initialize the curve to the ready position;

[0066] S3 moves straight to the ready position;

[0067] S4 moves to the handover completion position on the straight road and moves to the handover completion position on the curve;

[0068] After S5 completes the handover of the transported object from the straight track to the curved track, the curve-to-straight handover program exits.

[0069] In the present invention, in the control of the intersection of straight road and curve, Figure 6 As shown, the straight and curved handover procedures are carried out; Figure 5As shown, when the inner and outer sides of the straight road and any side of the inner and outer sides of the curve reach the intersection area, the curve-straight intersection program will be triggered. The straight road intersection areas are the straight road a position, the straight road b position, and the straight road c position in sequence, and the curve intersection areas are the curve a position and the curve b position in sequence; the curve-straight intersection program can be executed when and only when the inner and outer sides of the straight road and the inner and outer sides of the curve reach the intersection area. After entering the curve-straight intersection program, the straight road is initialized to move to the straight road a position, and the curve is initialized to move to the curve a position; then the straight road moves to the straight road b position; the intersection is performed when the straight road moves to the straight road c position / the curve moves to the curve b position, and finally the transmitted object is transferred from the straight road to the curve; the curve-straight intersection program exits and returns to the non-intersection state.

[0070] In the control of the intersection section between the curve and the anchor chain wheel retracting and releasing section, the curve slope intersection procedure is executed if and only if the curve slope intersection mark is closed;

[0071] When the flap is not jumped over, the bend stops at the handover waiting position first, the anchor chain wheel retracting section passes the manual flap, the anchor chain wheel enters the handover at the speed of v1, lifts the primitive at the speed of v2, and after it is lifted into place, exits the handover link at the speed of v1, and finally completes the primitive handover, exits the handover procedure, and returns to the non-handover state;

[0072] When the flap is skipped, the handover process is entered directly. The anchor chain wheel enters the handover at speed v1, lifts the primitive at speed v2, and exits the handover link at speed v1 after it is lifted into place. Finally, the primitive handover is completed, the handover procedure is exited, and the state of non-handover is returned.

[0073] v1>v2.

[0074] In the present invention, in the application of this field, v1 is called medium speed and v2 is called slow speed, both of which are speed ranges. Those skilled in the art can set v1 and v2 based on actual needs to ensure safe and reliable operation.

[0075] In the present invention, in the control of the intersection section between the bend and the anchor chain wheel, Figure 7 As shown, the handover procedure of the bend and the anchor chain wheel is carried out; Figure 5 As shown, the curve first stops at the curve c position, then the anchor chain wheel enters the handover at medium speed, slowly lifts the object to be transported, and after the object to be transported is lifted into place, exits the handover link at medium speed, and finally completes the handover of the object to be transported, exits the handover procedure, and returns to the non-handover state.

[0076] A centralized hydraulic station is established for the hydraulic drive devices of all subsystems; the control end communicates with the centralized hydraulic station through a dual-network redundant control network, and obtains the working status of the centralized hydraulic station in real time, including but not limited to liquid level, oil temperature, oil filter status, actual oil supply pressure, actual oil supply flow status, which are used as alarm criteria and sent to the touch screen for display; the control end is connected to the centralized hydraulic station through a hardware interlocking line to ensure that the working status of the centralized hydraulic station can be reliably obtained and emergency stop operations can be performed.

[0077] For alarms, based on the input IO channel quantity and basic status quantity, including but not limited to the acquired hydraulic oil temperature status, oil pressure status, equipment speed status, equipment position deviation status, motor and cylinder pressure and other status quantities, determine whether there is an abnormal state, and update a set of global variables to describe the number of several, generally 4 levels of alarm events, for reading and making corresponding processing;

[0078] The alarm event capture module will also centrally manage the alarm indication devices of the control system, including but not limited to alarm indicator lights, buzzers, and touch screen alarm event lists.

[0079] The present invention also relates to a hydraulic control system for a chain-type flexible planar transmission structure, wherein the system is associated with subsystems corresponding to straight tracks, curved tracks, and anchor chain wheel retracting and releasing sections, and all subsystems are controlled by the synchronous control method for multiple hydraulic drive devices of the chain-type flexible transmission structure.

[0080] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0081] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0082] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0083] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0084] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0085] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A synchronous control method for multiple hydraulic drive devices of a chain-type flexible transmission structure, characterized in that: The chain-type flexible transmission structure includes a straight track, a curved track, and an anchor chain wheel retracting and releasing section, and hydraulic drive devices are respectively provided corresponding to the straight track, the curved track, and the anchor chain wheel retracting and releasing section; The method comprises the following steps: Step 1: Turn on the device and initialize the control program; Step 2: Acquire the oil data of each hydraulic drive device of the chain-type flexible transmission structure; Step 3: Determine the current working mode of the chain-type flexible transmission structure, initialize, position state and set the working speed, determine the movement direction and speed of the subsystems corresponding to the straight track, curve, and anchor chain wheel retracting and releasing section, and the subsystems are running, and the transmission object is transmitted in the chain-type flexible transmission structure; cycle, synchronously control each subsystem of the chain-type flexible transmission structure, communicate in real time, capture abnormalities and alarm until the transmission object is in place; Synchronous control includes synchronous operation control of non-intersection sections, control of intersection sections between straight and curved sections, and control of intersection sections between curved sections and anchor chain wheel retracting and releasing sections. In the synchronous operation control of the non-intersection section: the curve adopts the inner and outer synchronous control strategy, the target quantity is gradually output to the outer side through the ramp function, and then the difference between the inner speed and the outer speed is output to the inner side through the PID link, so that the hardware of the inner and outer sides can closely follow each other; the straight road adopts the multi-motor synchronization strategy, and at least 3 groups of motors are set, and the motors are speed-controlled, force-controlled, and placed in a free-wheel state in sequence based on the running direction; The control of the intersection of straight road and curved road comprises the following steps: S1: When the straight road and the curve reach the handover area on either side, the straight road handover area is the straight road waiting position-straight road handover completion position, and the curve handover area is the curve ready position-curve handover completion position. If and only if the curve-straight handover flag is closed, the curve-straight handover procedure is executed; S2: Initialize the straight road to the waiting position, and initialize the curve to the ready position; S3 moves straight to the ready position; S4 moves to the handover completion position on the straight road and moves to the handover completion position on the curve; After S5 completes the handover of the transported object from the straight track to the curved track, the curved-straight handover procedure exits; In the control of the intersection section between the curve and the anchor chain wheel retracting and releasing section, the curve slope intersection procedure is executed if and only if the curve slope intersection mark is closed; When the flap is not jumped over, the bend stops at the handover waiting position first, the anchor chain wheel retracting section passes the manual flap, the anchor chain wheel enters the handover at the speed of v1, lifts the primitive at the speed of v2, and after it is lifted into place, exits the handover link at the speed of v1, and finally completes the primitive handover, exits the handover procedure, and returns to the non-handover state; When the flap is skipped, the handover process is entered directly. The anchor chain wheel enters the handover at speed v1, lifts the primitive at speed v2, and exits the handover link at speed v1 after it is lifted into place. Finally, the primitive handover is completed, the handover procedure is exited, and the state of non-handover is returned. v1>v2, v1 is medium speed, v2 is slow speed, both are speed ranges.

2. The synchronous control method of multiple hydraulic drive devices of a chain-type flexible transmission structure according to claim 1 is characterized in that: In step 2, the oil data includes the oil level, oil temperature, oil filter status, actual oil supply pressure, and actual oil supply flow status of the hydraulic system.

3. The synchronous control method of multiple hydraulic drive devices of a chain-type flexible transmission structure according to claim 1 is characterized in that: In step 3, the working mode includes a normal working mode and an emergency working mode; In normal working mode, first request oil supply and adjust pressure and flow, then determine whether the oil supply pressure and flow meet the requirements; In the emergency working mode, it is directly determined whether the oil supply pressure and flow meet the requirements.

4. The synchronous control method of multiple hydraulic drive devices of a chain-type flexible transmission structure according to claim 1 is characterized in that: A centralized hydraulic station is established for the hydraulic drive devices of all subsystems; the control end communicates with the centralized hydraulic station through a dual-network redundant control network, obtains the working status of the centralized hydraulic station in real time, uses it as an alarm criterion and sends it to the touch screen for display; the control end is connected to the centralized hydraulic station through a hardware interlocking line.

5. The synchronous control method of multiple hydraulic drive devices of a chain-type flexible transmission structure according to claim 4 is characterized in that: For alarms, the system determines whether there is an abnormal state based on the input IO channel quantity and basic status quantity, and updates a set of global variables to describe the number of alarm events of several levels for reading and corresponding processing.

6. A chain-type flexible plane transmission structure hydraulic control system, characterized in that: The system associates subsystems corresponding to the straight track, the curve, and the anchor chain wheel retracting and releasing section, and controls all subsystems using the synchronous control method of multiple hydraulic drive devices of a chain-type flexible transmission structure as described in any one of claims 1 to 5.

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