Control method and device for lifting mechanism, processor and readable storage medium

Abstract

Embodiments of the present application provide a control method and device for a lifting mechanism, a processor and a readable storage medium, belonging to the technical field of engineering equipment. The method comprises: acquiring a system pressure value of a hydraulic system and a first inclination angle value of a scissor linkage, wherein the system pressure value comprises an inlet pressure value of a telescopic cylinder and a front end pressure value of an electromagnetic proportional valve; determining a target pressure value based on the first inclination angle value and a preset lifting speed; determining a cylinder flow value of the telescopic cylinder based on the target pressure value and the system pressure value; determining a target rotating speed of a driving motor based on the cylinder flow value; and controlling the driving motor to operate at the target rotating speed until the system operates stably. The cylinder flow value calculated based on the system pressure value and the first inclination angle value acquired in real time is compared to further determine the target rotating speed of the driving motor, realize real-time control of the lifting speed of a working platform, and improve the operation stability and use safety of the working platform.

Description

Technical Field

[0001] This invention relates to the field of engineering equipment technology, and more specifically to a control method, device, processor, and readable storage medium for a lifting mechanism. Background Technology

[0002] Scissor lifts are one of the most common types of aerial work platforms, typically consisting of three parts: a lifting mechanism, a chassis, and a work platform. The lifting mechanism comprises scissor arms, telescopic cylinders, and scissor linkages. Due to length and width limitations, most scissor lifts on the market today employ multi-layer scissor arms. To ensure synchronized lifting of the scissor arms, two or more telescopic cylinders are usually used to drive the different layers of scissor arms, thus achieving the lifting and lowering movement of the work platform. During the lifting or lowering process, the flow rate of the hydraulic pump is generally controlled by controlling the engine or motor speed, which in turn controls the extension and retraction speed of the telescopic cylinders, thereby controlling the speed of the work platform's ascent and descent. In existing work platforms, the engine or motor driving the hydraulic pump operates at a constant speed, resulting in a constant flow rate into / out of the telescopic cylinder and a constant telescopic cylinder extension speed. This method is relatively simple to control. However, because the vertical velocity component of the telescopic cylinder's extension speed varies with the lifting height, the work platform's rising / falling speed constantly changes. The work platform is always accelerating or decelerating and cannot maintain a constant speed, resulting in a poor user experience. Summary of the Invention

[0003] To address the aforementioned shortcomings in the prior art, the purpose of this invention is to provide a control method, device, processor, and readable storage medium for a lifting mechanism.

[0004] To achieve the above objectives, a first aspect of the present invention provides a control method for a lifting mechanism. The lifting mechanism is applied to an aerial work platform, which includes a lifting mechanism, a chassis, and a work platform. The lifting mechanism includes a hydraulic system, a scissor arm, and a scissor link. The hydraulic system is connected to the scissor arm, and the scissor link is located between the scissor arm and the chassis. Multiple scissor arms form a scissor assembly, and both ends of the scissor assembly are hinged to the chassis and the work platform, respectively. The hydraulic system includes a telescopic cylinder, a drive motor, and an electromagnetic proportional valve. The control method includes:

[0005] Obtain the system pressure value of the hydraulic system and the first tilt angle value of the scissor link, wherein the system pressure value includes the telescopic cylinder pressure value and the front end pressure value of the electromagnetic proportional valve;

[0006] The target pressure value is determined based on the first tilt angle value and the preset lifting speed;

[0007] The cylinder flow rate of the telescopic cylinder is determined based on the target pressure value and the system pressure value.

[0008] The target speed of the drive motor is determined based on the cylinder flow rate.

[0009] Control the drive motor to operate at the target speed.

[0010] In this embodiment of the invention, the control method further includes:

[0011] The working platform is determined based on the real-time speed of the lifting mechanism during its operation;

[0012] Determine whether the target rotational speed needs to be corrected based on real-time speed and preset acceleration / deceleration speed;

[0013] If the target speed needs to be corrected, then the target speed should be corrected.

[0014] In this embodiment of the invention, determining whether the target rotational speed needs to be corrected based on the real-time speed and the preset acceleration / deceleration speed includes:

[0015] Determine the speed difference between the real-time speed and the preset lifting / lowering speed;

[0016] If the speed difference exceeds a preset difference threshold, it is determined that the target rotational speed needs to be corrected.

[0017] In this embodiment of the invention, the correction of the target rotational speed includes:

[0018] The rotational speed correction value is determined based on the speed difference.

[0019] The target speed is corrected based on the speed correction value.

[0020] In this embodiment of the invention, the control method further includes:

[0021] With the work platform stationary, obtain the second tilt angle value of the scissor lift linkage;

[0022] Determine whether the working platform experiences shaking displacement based on the second tilt angle value;

[0023] Under the condition that the working platform has vibration displacement, obtain the scissor structure parameters of the lifting mechanism;

[0024] The jitter displacement is offset by the compensation value corresponding to the jitter displacement, the jitter displacement, and the scissor structure parameters.

[0025] In this embodiment of the invention, the jitter displacement is canceled based on the compensation value corresponding to the jitter displacement, the jitter displacement, and the scissor structure parameters, including:

[0026] If the compensation value is greater than the preset compensation value, the jitter displacement is offset based on the jitter displacement and scissor structure parameters.

[0027] In this embodiment of the invention, the jitter displacement is canceled based on the compensation value corresponding to the jitter displacement and the scissor structure parameters, including:

[0028] Determine the motion state matrix based on jitter displacement;

[0029] The feedback coefficients are determined based on the preset calibration response spectrum and scissor structure parameters;

[0030] The target output pressure of the hydraulic system is determined based on the motion state matrix and feedback coefficients.

[0031] The speed adjustment value of the drive motor is determined based on the target output pressure;

[0032] The drive motor is controlled to operate at the speed adjustment value to counteract the jitter displacement.

[0033] A second aspect of the present invention provides a control device for a lifting mechanism applied to an aerial work platform. The aerial work platform includes a lifting mechanism, a chassis, and a work platform. The lifting mechanism includes a hydraulic system, a scissor arm, and a scissor link. The hydraulic system is connected to the scissor arm, and the scissor link is located between the scissor arm and the chassis. Multiple scissor arms form a scissor assembly, and both ends of the scissor assembly are hinged to the chassis and the work platform, respectively. The hydraulic system includes a telescopic cylinder, a drive motor, and an electromagnetic proportional valve. The control device includes:

[0034] The information acquisition module is used to acquire the system pressure value of the hydraulic system and the first tilt angle value of the scissor link. The system pressure value includes the telescopic cylinder pressure value and the front end pressure value of the electromagnetic proportional valve.

[0035] The pressure determination module is used to determine the target pressure value based on the first tilt angle value and the preset lifting speed.

[0036] The flow calculation module is used to determine the cylinder flow rate of the telescopic cylinder based on the target pressure value and the system pressure value.

[0037] The parameter determination module is used to determine the target speed of the drive motor based on the cylinder flow rate value.

[0038] Adjust the control module to control the drive motor to operate at the target speed.

[0039] A third aspect of the present invention provides a processor configured to execute a control method for a lifting mechanism as described in the above embodiments.

[0040] A fourth aspect of the present invention provides a machine-readable storage medium storing instructions for causing a machine to perform a control method for a lifting mechanism as described in the above embodiments.

[0041] The above technical solution obtains the system pressure value of the hydraulic system and the first tilt angle value of the scissor lift linkage. The system pressure value includes the pressure value of the telescopic cylinder and the front-end pressure value of the electromagnetic proportional valve. A target pressure value is determined based on the first tilt angle value and a preset lifting speed. The cylinder flow rate of the telescopic cylinder is determined based on the target pressure value and the system pressure value. The target speed of the drive motor is determined based on the cylinder flow rate value. The drive motor is then controlled to operate at the target speed. By determining the cylinder flow rate value using the real-time acquired system pressure value and first tilt angle value, the target speed of the drive motor can be further determined, achieving real-time control of the lifting speed of the work platform and improving the working stability and safety of the work platform.

[0042] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0043] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0044] Figure 1 This is a flowchart illustrating a control method for a lifting mechanism according to an embodiment of the present invention.

[0045] Figure 2 This is a calculation reference diagram according to an embodiment of the present invention. Detailed Implementation

[0046] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0047] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0048] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0049] Figure 1 This is a flowchart illustrating a control method for a lifting mechanism according to an embodiment of the present invention. Figure 1 As shown, in this embodiment of the invention, a control method for a lifting mechanism is provided. The lifting mechanism is applied to an aerial work platform, which includes a lifting mechanism, a chassis, and a work platform. The lifting mechanism includes a hydraulic system, a scissor arm, and a scissor link. The hydraulic system is connected to the scissor arm, and the scissor link is located between the scissor arm and the chassis. Multiple scissor arms form a scissor assembly, and both ends of the scissor assembly are hinged to the chassis and the work platform, respectively. The hydraulic system includes a telescopic cylinder, a drive motor, and an electromagnetic proportional valve. Taking the application of this method to a processor as an example, the control method may include the following steps:

[0050] Step S100: Obtain the system pressure value of the hydraulic system and the first tilt angle value of the scissor link, wherein the system pressure value includes the telescopic cylinder pressure value of the telescopic cylinder and the front end pressure value of the electromagnetic proportional valve.

[0051] In this embodiment, it should be noted that the aerial work platform includes a chassis, a work platform, and a lifting mechanism. The lifting mechanism is hinged to both the chassis and the work platform, and is used to drive the work platform to rise or fall. The lifting mechanism includes a hydraulic system, scissor arms, and scissor linkages. The hydraulic system provides driving force for the lifting of the scissor assembly. The hydraulic system includes telescopic cylinders, a drive motor, and an electromagnetic proportional valve. The scissor assembly includes multiple scissor arms. To drive the movement of the scissor assembly, two or more telescopic cylinders are used between different scissor arms to achieve the lifting and lowering movement of the work platform. The pressure of different telescopic cylinders is controlled by controlling the opening of the cylinder inlet using the electromagnetic proportional valve. During the rising or falling of the work platform, the flow rate of the hydraulic pump in the hydraulic system is controlled by controlling the speed of the drive motor, thereby controlling the telescopic cylinder extension speed and thus controlling the rising and falling speed of the work platform.

[0052] During the ascent or descent of the work platform, if the speed of the drive motor is kept constant, the flow rate pumped into the telescopic cylinder in the hydraulic system remains constant, thus keeping the telescopic cylinder's extension and retraction speed constant. According to spatial structure and multibody dynamics analysis, the angle between the telescopic cylinder and the plane of the work platform varies at different heights. Since the telescopic cylinder extends and retracts at a constant speed, the vertical velocity component of the platform is not constant at different heights. This results in the work platform's ascent / descent speed being inconsistent with height, leading to instability and a perceived "jerkiness" by the user. In this embodiment, the processor controls the ascent or descent speed of the work platform by determining the speed of the drive motor to ensure its stability.

[0053] It should be noted that the system pressure value refers to the cylinder pressure value of the telescopic cylinder and the front-end pressure value of the electromagnetic proportional valve. When multiple telescopic cylinders exist, the telescopic cylinder pressure value includes the pressure values ​​corresponding to all telescopic cylinders. In this embodiment, two telescopic cylinders are used as examples, including an upper telescopic cylinder and a lower telescopic cylinder. The telescopic cylinder pressure value includes the pressure values ​​of both the upper and lower telescopic cylinders. The electromagnetic proportional valve is located at the oil inlet of the rodless chamber of the upper telescopic cylinder. The scissor lift lever tilt angle value refers to the angle between the scissor lift lever and the horizontal plane of the chassis. The first tilt angle value refers to the scissor lift lever tilt angle value corresponding to the upward or downward movement of the working platform. The processor can obtain the system pressure value and the first tilt angle value through the measurement values ​​of the sensors. Specifically, the system pressure value can be obtained by the telescopic cylinder pressure sensor and the front pressure value of the electromagnetic proportional valve through the pressure sensor at the front end of the electromagnetic proportional valve. The first tilt angle value is obtained by the connecting rod tilt angle sensor. After the processor obtains the system pressure value and the first tilt angle value measured by the sensors, it converts them into electrical signals through analog-to-digital conversion and then processes them.

[0054] Step S200: Determine the target pressure value based on the first tilt angle value and the preset lifting speed;

[0055] Step S300: Determine the cylinder flow rate of the telescopic cylinder based on the target pressure value and the system pressure value;

[0056] In this embodiment, it should be noted that the preset lifting speed represents the desired speed of the work platform during the rising or falling process, as set according to requirements. This preset lifting speed can be changed in real time according to actual needs. The first tilt angle value can determine the current height of the work platform, and determine the system pressure value required to reach the preset lifting speed at this height, i.e., the target pressure value. After obtaining the current system pressure value, the cylinder flow rate corresponding to the telescopic cylinder when the preset lifting speed is reached can be calculated based on the difference between the obtained system pressure value and the target pressure value, combined with the initial valve opening of the electromagnetic proportional valve. Specifically, the processor determines the target pressure value based on the first tilt angle value and the preset lifting speed, and then determines the cylinder flow rate of the telescopic cylinder based on the target pressure value and the system pressure value.

[0057] refer to Figure 2 Taking the hinge point between the lowest scissor arm and the upper surface of the chassis as the origin, the x-axis is the direction o1 of the line connecting the lower hinge points of the two lowest scissor arms on the horizontal plane, and the y-axis is the direction upward towards the work platform. The length of the lowest scissor arm is L, the angle between the scissor arm and the x-axis is β, and the angle between the scissor link and the x-axis is α. According to the Lagrange equation, we can obtain:

[0058]

[0059] Where L0 is the length of the scissor lift link; e is the distance from the upper hinge point of the scissor lift link to the lower hinge point o1 of the lowest scissor lift arm; h represents the vertical distance from the lower hinge point o of the scissor lift link to the x-axis; and f represents the vertical distance from the upper hinge point of the scissor lift link to the corresponding scissor lift arm.

[0060] Work platform growth rate:

[0061] V platform =5L*cosβ*β′=(α,α′)

[0062] Among them, V platform This indicates the rate at which the work platform ascends.

[0063] Therefore, it can be seen that the speed of the working platform is related to the tilt angle of the scissor lift linkage, the angular velocity, and the structural parameters of the lifting mechanism. These variables can be controlled by determining the cylinder flow rate of the telescopic cylinder.

[0064] Step S400: Determine the target speed of the drive motor based on the cylinder flow rate value;

[0065] In this embodiment, it should be noted that the speed of the drive motor and the valve opening of the electromagnetic proportional valve can control the cylinder flow rate. A preset initial value is given to the valve opening of the electromagnetic proportional valve. When the cylinder flow rate is determined, the processor can determine the target speed of the drive motor that makes the telescopic cylinder maintain the cylinder flow rate value based on the cylinder flow rate value.

[0066] Step S500: Control the drive motor to operate at the target speed.

[0067] After determining the speed of the drive motor, the processor will control the drive motor to operate at the target speed, thereby making the cylinder flow rate the aforementioned cylinder flow rate value.

[0068] The aforementioned control method for the lifting mechanism acquires the system pressure value of the hydraulic system and the first tilt angle value of the scissor lift linkage. The system pressure value includes the cylinder pressure value of the telescopic cylinder and the front-end pressure value of the electromagnetic proportional valve. A target pressure value is determined based on the first tilt angle value and a preset lifting speed. The cylinder flow rate of the telescopic cylinder is determined based on the target pressure value and the system pressure value. The target speed of the drive motor is determined based on the cylinder flow rate value. The drive motor is then controlled to operate at the target speed. By determining the cylinder flow rate value using the real-time acquired system pressure value and first tilt angle value, the target speed of the drive motor can be further determined, achieving real-time control of the lifting speed of the work platform and improving the working stability and safety of the work platform.

[0069] In one embodiment, the control method further includes:

[0070] The working platform is determined based on the real-time speed of the lifting mechanism during its operation;

[0071] Determine whether the target rotational speed needs to be corrected based on real-time speed and preset acceleration / deceleration speed;

[0072] If the target speed needs to be corrected, then the target speed should be corrected.

[0073] In this embodiment, it should be noted that during the lifting and lowering of the work platform, the movement of the operator on the platform will cause some disturbance, thus affecting the speed of the platform during lifting or lowering. In this embodiment, to reduce the instability caused by the operator's movements, it is necessary to correct the drive motor and the target speed.

[0074] Specifically, determining whether the target rotational speed needs to be corrected based on real-time speed and preset acceleration / deceleration speed includes:

[0075] Determine the speed difference between the real-time speed and the preset lifting / lowering speed;

[0076] If the speed difference exceeds a preset difference threshold, it is determined that the target rotational speed needs to be corrected.

[0077] It should be noted that the preset difference threshold is used to limit the error between the real-time speed and the preset lifting speed during the work platform's ascent or descent. The speed difference is obtained by subtracting the preset lifting speed from the real-time speed of the work platform based on the lifting mechanism during ascent or descent. This difference is then compared with the preset difference threshold. If the speed difference is greater than the preset difference threshold, it is determined that the target rotational speed needs to be corrected; if the speed difference is less than or equal to the preset difference threshold, it is determined that the error impact is small, and no correction to the target rotational speed is required.

[0078] Specifically, the target rotational speed is corrected, including:

[0079] The rotational speed correction value is determined based on the speed difference.

[0080] The target speed is corrected based on the speed correction value.

[0081] It should be noted that the speed correction value includes a correction value used to adjust the speed of the drive motor. After determining the speed difference, the processor will determine the speed correction value based on that speed difference. Specifically, the processor can convert the speed difference into the cylinder flow rate value of the telescopic cylinder, and then determine the speed correction value based on that cylinder flow rate value.

[0082] In this embodiment, the speed of the drive motor is corrected by the speed correction value, which reduces the disturbance caused by the operator walking on the work platform during the rising or falling process, and reduces the instability of the work platform.

[0083] In one embodiment, the control method further includes:

[0084] With the work platform stationary, obtain the second tilt angle value of the scissor lift linkage;

[0085] Determine whether the working platform needs jitter compensation based on the second tilt angle value;

[0086] When there is jitter displacement on the working platform, obtain the structural parameters and motion state matrix of the lifting mechanism;

[0087] The jitter displacement is offset by the compensation value corresponding to the jitter displacement, the jitter displacement, and the scissor structure parameters.

[0088] In this embodiment, it should be noted that when the work platform stops moving for operator operation, the operator's movement on the platform will cause some disturbance. To reduce the impact of this disturbance, this embodiment cancels out the shaking displacement of the work platform caused by this disturbance. The second tilt angle value refers to the tilt angle value of the scissor link corresponding to when the work platform stops moving. After the processor obtains the second tilt angle value, it can determine whether there is shaking displacement of the work platform based on the second tilt angle value and geometric analysis or multibody dynamics analysis, and obtain the scissor structure parameters of the lifting mechanism. The scissor structure parameters include at least the mass matrix, damping matrix, and stiffness matrix of the scissor group corresponding to the scissor arms of the lifting mechanism. Thus, the shaking displacement is canceled out based on the compensation value corresponding to the shaking displacement, the shaking displacement, and the scissor structure parameters.

[0089] Specifically, the jitter displacement is canceled based on the compensation value corresponding to the jitter displacement, the jitter displacement, and the scissor structure parameters, including:

[0090] If the compensation value is greater than the preset compensation value, the jitter displacement is offset based on the jitter displacement and scissor structure parameters.

[0091] It should be noted that the preset compensation value represents a threshold for limiting the magnitude of jitter displacement on the working platform. When the compensation value of the jitter displacement is less than or equal to the preset compensation value, there is no need to cancel the jitter displacement. When the compensation value of the jitter displacement is greater than the preset compensation value, the jitter displacement needs to be canceled based on the jitter displacement and the scissor structure parameters.

[0092] Specifically, the jitter displacement is canceled based on the jitter displacement and scissor structure parameters, including:

[0093] Determine the motion state matrix based on jitter displacement;

[0094] The feedback coefficients are determined based on the preset calibration response spectrum and scissor structure parameters;

[0095] The target output pressure of the hydraulic system is determined based on the motion state matrix and feedback coefficients.

[0096] The speed adjustment value of the drive motor is determined based on the target output pressure;

[0097] The drive motor is controlled to operate at the speed adjustment value to counteract the jitter displacement.

[0098] In one embodiment, the specific calculation process can be as follows: calculate the transfer function of each component based on the product structure, and obtain the system control equation by multiplying the transfer functions. Before mass production of the aerial work platform, a commonly used response spectrum of the accelerometer calibration platform can be deployed, i.e., a preset calibration response spectrum. Combined with the sequential quadratic programming method, the feedback coefficients of the state feedback control algorithm are obtained. Specifically, the target output pressure of the hydraulic system can be expressed as: λ m *X m , where λ m X represents the feedback coefficient. m The motion state matrix can be determined based on jitter displacement, the second tilt angle value, and the angular velocity corresponding to the second tilt angle; the real-domain response of the system is: Xω)=-ω 2 M+jωC+K) -1 Where ω represents the frequency; M represents the mass matrix of the scissor lift assembly; C represents the damping matrix of the scissor lift assembly; K represents the stiffness matrix of the scissor lift assembly; System limit response: Where R represents the amplitude of the actual response; X(ω) represents the motion state matrix of the scissor lift; S(ω) represents the random response spectrum of the actual motion platform; the feedback coefficient λ can be obtained by minimizing the system's limiting response. m After measuring the scissor lift lever inclination angle in real time, the target output driving force of the hydraulic system is calculated. By changing the speed of the drive motor as the speed adjustment value, the cylinder pressure that matches the target output driving force is output, thus offsetting the influence of random vibration of the work platform and improving the stability and safety of the work platform.

[0099] This invention provides a control device for a lifting mechanism applied to aerial work platforms. The aerial work platforms include a lifting mechanism, a chassis, and a work platform. The lifting mechanism includes a hydraulic system, scissor arms, and scissor links. The hydraulic system is connected to the scissor arms, and the scissor links are located between the scissor arms and the chassis. Multiple scissor arms form a scissor assembly, with both ends of the scissor assembly hinged to the chassis and the work platform, respectively. The hydraulic system includes a telescopic cylinder, a drive motor, and an electromagnetic proportional valve. The control device includes:

[0100] The information acquisition module is used to acquire the system pressure value of the hydraulic system and the first tilt angle value of the scissor link. The system pressure value includes the telescopic cylinder pressure value and the front end pressure value of the electromagnetic proportional valve.

[0101] The pressure determination module is used to determine the target pressure value based on the first tilt angle value and the preset lifting speed.

[0102] The flow calculation module is used to determine the cylinder flow rate of the telescopic cylinder based on the target pressure value and the system pressure value.

[0103] The parameter determination module is used to determine the target speed of the drive motor based on the cylinder flow rate value.

[0104] Adjust the control module to control the drive motor to operate at the target speed.

[0105] The control device for the lifting mechanism includes a processor and a memory. The aforementioned information acquisition module, pressure determination module, flow calculation module, parameter determination module, and adjustment control module are all stored as program units in the memory. The processor executes the aforementioned program units stored in the memory to realize the corresponding functions.

[0106] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and adjusting kernel parameters can improve the stability and security of the operating platform.

[0107] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0108] The control device for the lifting mechanism provided in this application embodiment can achieve... Figure 1 The various processes of the control method for the lifting mechanism in the method embodiment can achieve the same technical effect, and will not be described again here to avoid repetition.

[0109] This invention provides a processor for running a program, wherein the program executes the control method for the lifting mechanism during runtime.

[0110] This invention provides a machine-readable storage medium storing a program that, when executed by a processor, implements the control method for the lifting mechanism.

[0111] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied 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.

[0112] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0113] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0114] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0115] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0116] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0117] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0118] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0119] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for a lifting mechanism, characterized in that, The lifting mechanism is applied to aerial work platform equipment, which includes a lifting mechanism, a chassis, and a work platform. The lifting mechanism includes a hydraulic system, a scissor arm, and a scissor link. The hydraulic system is connected to the scissor arm, and the scissor link is located between the scissor arm and the chassis. Multiple scissor arms form a scissor assembly, and both ends of the scissor assembly are hinged to the chassis and the work platform, respectively. The hydraulic system includes a telescopic cylinder, a drive motor, and an electromagnetic proportional valve. The control method includes: Obtain the system pressure value of the hydraulic system and the first tilt angle value of the scissor link, wherein the system pressure value includes the telescopic cylinder pressure value of the telescopic cylinder and the front end pressure value of the electromagnetic proportional valve; The target pressure value is determined based on the first tilt angle value and the preset lifting speed; The cylinder flow rate of the telescopic cylinder is determined based on the target pressure value and the system pressure value. The target speed of the drive motor is determined based on the cylinder flow rate value; Control the drive motor to operate at the target speed; The real-time speed of the work platform is determined based on the working process of the lifting mechanism; Based on the real-time speed and the preset acceleration / deceleration speed, determine whether the target rotational speed needs to be corrected; If it is necessary to correct the target rotational speed, then correct the target rotational speed. When the work platform stops moving, obtain the second tilt angle value of the scissor link; Determine whether the working platform has a shaking displacement based on the second tilt angle value; When the working platform experiences vibration displacement, the scissor structure parameters of the lifting mechanism are obtained; The jitter displacement is canceled out based on the compensation value corresponding to the jitter displacement, the jitter displacement, and the scissor structure parameters.

2. The control method according to claim 1, characterized in that, The step of determining whether the target rotational speed needs to be corrected based on the real-time speed and the preset acceleration / deceleration speed includes: Determine the speed difference between the real-time speed and the preset lifting speed; If the speed difference is greater than a preset difference threshold, it is determined that the target rotational speed needs to be corrected.

3. The control method according to claim 2, characterized in that, The correction of the target rotational speed includes: The rotational speed correction value is determined based on the speed difference; The target rotational speed is corrected based on the rotational speed correction value.

4. The control method according to claim 1, characterized in that, The method of canceling the jitter displacement based on the compensation value corresponding to the jitter displacement, the jitter displacement, and the scissor structure parameters includes: If the compensation value is greater than the preset compensation value, the jitter displacement is canceled out based on the jitter displacement and the scissor structure parameters.

5. The control method according to claim 4, characterized in that, The method of canceling the jitter displacement based on the scissor structure parameters includes: The motion state matrix is ​​determined based on the jitter displacement; The feedback coefficients are determined based on the preset calibration response spectrum and the scissor structure parameters; The target output pressure of the hydraulic system is determined based on the motion state matrix and the feedback coefficient. The speed adjustment value of the drive motor is determined based on the target output pressure; The drive motor is controlled to operate at the speed adjustment value to counteract the jitter displacement.

6. A control device for a lifting mechanism, characterized in that, The lifting mechanism is applied to aerial work platform equipment, which includes a lifting mechanism, a chassis, and a work platform. The lifting mechanism includes a hydraulic system, a scissor arm, and a scissor link. The hydraulic system is connected to the scissor arm, and the scissor link is located between the scissor arm and the chassis. Multiple scissor arms form a scissor assembly, and both ends of the scissor assembly are hinged to the chassis and the work platform, respectively. The hydraulic system includes a telescopic cylinder, a drive motor, and an electromagnetic proportional valve. The control device includes: The information acquisition module is used to acquire the system pressure value of the hydraulic system and the first tilt angle value of the scissor link, wherein the system pressure value includes the telescopic cylinder pressure value of the telescopic cylinder and the front end pressure value of the electromagnetic proportional valve. The pressure determination module is used to determine the target pressure value based on the first tilt angle value and the preset lifting speed. A flow calculation module is used to determine the cylinder flow rate of the telescopic cylinder based on the target pressure value and the system pressure value. A parameter determination module is used to determine the target speed of the drive motor based on the cylinder flow rate value; Adjust the control module to control the drive motor to operate at the target speed; The parameter determination module is also used for: The real-time speed of the work platform is determined based on the working process of the lifting mechanism; Based on the real-time speed and the preset acceleration / deceleration speed, determine whether the target rotational speed needs to be corrected; If it is necessary to correct the target rotational speed, then correct the target rotational speed. The adjustment control module is also used for: When the work platform stops moving, obtain the second tilt angle value of the scissor link; Determine whether the working platform has a shaking displacement based on the second tilt angle value; When the working platform experiences vibration displacement, the scissor structure parameters of the lifting mechanism are obtained; The jitter displacement is canceled out based on the compensation value corresponding to the jitter displacement, the jitter displacement, and the scissor structure parameters.

7. A processor, characterized in that, It is configured to perform the control method for a lifting mechanism according to any one of claims 1 to 5.

8. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the control method for the lifting mechanism as described in any one of claims 1 to 5.

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