A control system and control method of a shaft type component lifting device

Abstract

The application relates to a control system and a control method of a shaft part lifting device, and belongs to the shaft part lifting control field. The system comprises a multi-cylinder control unit, a multi-cylinder driving unit, a multi-cylinder power supply unit and a multi-cylinder interface unit; the multi-cylinder driving unit is signal-connected with the multi-cylinder interface unit and is electrically connected with the multi-cylinder power supply unit; the multi-cylinder interface unit is signal-connected with an electro-hydraulic direct driving device; the multi-cylinder control unit is signal-connected with the multi-cylinder driving unit and is electrically connected with the multi-cylinder power supply unit; the multi-cylinder control unit is used for controlling the reversing, speed regulating, pressure regulating or torque regulating functions of the electro-hydraulic direct driving device, finally controlling the action of the shaft part lifting device and realizing synchronous lifting.

Description

Technical Field

[0001] This invention belongs to the field of lifting control of shaft components, and relates to a control system and control method for a lifting device of shaft components. Background Technology

[0002] Lifting devices are widely used in industries such as metallurgy, light industry, power, chemical industry, mining, and coal. Their function is to enable the synchronous lifting of shaft components under special working conditions.

[0003] To achieve this function, lifting devices all require a drive component, and existing drives mainly fall into three categories. The first type involves a rigid connection between the drive and shaft components. During lifting, either the motor and reducer must move accordingly, and the synchronization error of the shaft components cannot be compensated after wear; or, to avoid the motor and reducer moving, flexible transmission components such as chain drives are used. The total length of the chain is much greater than the center distance between the master and slave sprockets, and a tensioning device is then used to tension the chain. When shaft components need to be lifted, the tensioning device must be disassembled, resulting in the inability to synchronize the lifting and transmission of shaft components. The second type generally uses traditional cylinders for driving. Using cylinders requires a separate pneumatic system, and the lifting action is stiff, with poor synchronization, and cannot achieve the function of stopping at any position during the lifting process. The third type uses traditional valve control and hydraulic cylinders, which requires hydraulic stations, valves, valve blocks, and other hydraulic system components, as well as civil engineering and piping work.

[0004] In summary, existing transmission lifting devices have shortcomings such as poor synchronization and coordination, overly complex mechanisms, numerous failure points, poor stability, and a large workload for construction, inspection, and maintenance, which bring many difficulties to production and operation.

[0005] With the continuous development of hydraulic servo technology, a new type of electro-hydraulic direct drive device has emerged. Patent publication number CN111853205A discloses a lifting transmission device for shaft components. During the lifting transmission of shaft components, it is necessary to control the hydraulic cylinder in the drive device to move to a given position. The quality of this control directly affects the synchronization, stability, and service life of the shaft components, and can even lead to jamming.

[0006] Patent CN110848189A discloses a multi-stage two-cylinder hydraulic synchronous control method. This method is based on a multi-stage two-cylinder hydraulic synchronous control system, which includes a control unit module, a hydraulic unit module, and an execution unit module. The control unit module controls the opening and closing of hydraulic valves in the hydraulic unit module and collects sensor data from the execution unit module. The hydraulic unit module is connected to the execution unit module and is used to realize the movement of the execution unit module through control commands from the control unit module. The execution unit module is used to achieve synchronous lifting and lowering movements under the control of the control unit module. The control unit module includes a remote controller, a programmable controller, a communication expansion module, an analog output module, and a proportional amplifier. The remote controller is connected to the programmable controller (PLC) to send motion commands, including the rising and falling motions of the execution unit module. The PLC connects to a communication expansion module and an analog output module. The PLC analyzes the remote controller's motion commands to calculate the lifting speed of the AGV lifting platform. Then, based on the parameter characteristics of the hydraulic valves in the hydraulic unit module, it calculates the voltage value required to open the hydraulic valves, obtains a voltage control signal, and sends it to the analog output module. The PLC also selects a reference hydraulic cylinder from multiple sets of hydraulic cylinders in the execution unit module, calculates the positional error between the other hydraulic cylinders and the reference cylinder, and calculates the flow compensation amount for the non-reference hydraulic cylinders. The voltage compensation signal is then sent based on the calculated flow compensation amount. The voltage control signal and voltage compensation control signal are sent to the analog output module; the communication expansion module is used to read the displacement data of the sensor in the execution unit module; the analog output module is used to output continuous voltage control signals and continuous voltage compensation control signals, and transmit them to the proportional amplifier. The number of output points of the analog output module is consistent with the number of proportional amplifiers; the proportional amplifier is used to convert the voltage control signal and voltage compensation control signal obtained from the analog output module into current control signal and current compensation control signal of the hydraulic valve in the hydraulic unit module through proportional conversion, so as to control the hydraulic valve in the hydraulic unit module; the hydraulic valve in the hydraulic unit module is jointly controlled by the current compensation control signal and the current control signal converted from the action command issued by the remote controller. It can be seen that the control method of this patent is to convert the voltage signal into a current signal and then realize the direct joint control of multiple cylinders. However, this control method belongs to the traditional hydraulic valve control technology. First, a hydraulic station needs to be configured, which requires a lot of civil engineering and piping construction work, and there is also the problem of valve jamming.

[0007] Therefore, there is an urgent need for a control system and control method for lifting devices of electro-hydraulic direct-drive cylinder drive shaft components that are highly synchronized, stable, reliable, and versatile. Summary of the Invention

[0008] In view of this, the purpose of the present invention is to provide a control system and control method for a lifting device for electro-hydraulic direct drive cylinder drive shaft components that is highly synchronized, stable, reliable, and versatile.

[0009] To achieve the above objectives, the present invention provides the following technical solution:

[0010] Option 1: A control system for a lifting device for shaft components includes a multi-cylinder control unit, a multi-cylinder drive unit, a multi-cylinder power supply unit, and a multi-cylinder interface unit; the multi-cylinder drive unit is signal-connected to the multi-cylinder interface unit and electrically connected to the multi-cylinder power supply unit; the multi-cylinder interface unit is signal-connected to the electro-hydraulic direct drive device; the multi-cylinder control unit is signal-connected to the multi-cylinder drive unit and electrically connected to the multi-cylinder power supply unit; the multi-cylinder control unit is used to control the commutation, speed regulation, pressure regulation, or torque regulation functions of the electro-hydraulic direct drive device, ultimately controlling the movement of the lifting device for shaft components to achieve synchronous lifting.

[0011] Furthermore, the multi-cylinder control unit includes a multi-cylinder logic control unit, a multi-cylinder signal generation unit, a multi-cylinder synchronization control unit, a multi-cylinder data processing unit, and a multi-cylinder communication unit;

[0012] The multi-cylinder logic control unit, multi-cylinder signal generation unit, multi-cylinder synchronization control unit, and multi-cylinder data processing unit are sequentially connected to form a closed loop; the multi-cylinder communication unit is connected to the multi-cylinder data processing unit, multi-cylinder power supply unit, and multi-cylinder interface unit respectively.

[0013] Furthermore, the multi-cylinder logic control unit is used to perform logical operations on the status feedback signal and host computer signal of the electro-hydraulic direct drive device, and then the operation result is processed by the multi-cylinder signal generation unit and sent to the multi-cylinder synchronization control unit to realize interlocking control.

[0014] Furthermore, the status feedback signal of the electro-hydraulic direct drive device is sequentially sent to the multi-cylinder logic control unit through the multi-cylinder interface unit, the multi-cylinder communication unit, and the multi-cylinder data processing unit.

[0015] Furthermore, the multi-cylinder signal generation unit is used to receive the calculation result signal sent by the multi-cylinder logic control unit. The signal includes a step signal, a ramp signal, or a square wave signal. After being processed by the multi-cylinder signal generation unit, the signal is sent to the multi-cylinder synchronization control unit.

[0016] Furthermore, the processing of the step signal includes arbitrarily specifying and modifying the step amount online; the processing of the ramp signal includes arbitrarily specifying and modifying the slope and target position online; and the processing of the square wave signal includes arbitrarily specifying and modifying the amplitude and period of the square wave online.

[0017] Furthermore, the multi-cylinder synchronous control unit is used to receive the signal processed by the multi-cylinder signal generating unit to realize synchronous lifting control of shaft components; wherein, multi-cylinder synchronous control refers to multiple hydraulic cylinders driving the lifting device of shaft components according to the signal given by the multi-cylinder signal generating unit to realize synchronous lifting.

[0018] Furthermore, the multi-cylinder data processing unit is used for input and output processing of digital signals and analog signals of the electro-hydraulic direct drive device; wherein, the input processing of analog signals includes analog-to-digital conversion and electrical-to-physical signal conversion; the output processing of analog signals includes physical-to-electrical signal conversion and digital-to-analog conversion.

[0019] Furthermore, the multi-cylinder communication unit is used for internal and external communication of the control system; wherein, internal communication includes communication between the multi-cylinder control unit and the drive unit, and the communication methods include EtherCAT communication, 485 serial communication and hard-wiring; external communication includes communication between the multi-cylinder control unit and the debugging computer and communication between the multi-cylinder control unit and the host computer, and the communication methods are all Ethernet communication, connected through Cat5e network cable.

[0020] Option 2:

[0021] A control method for a lifting device for shaft-type components includes a multi-cylinder lifting synchronization control method and a multi-cylinder fault detection method, which are implemented in the multi-cylinder control unit of the aforementioned control system.

[0022] Furthermore, the multi-cylinder lifting synchronization control method includes a linear speed fitting method and a closed-loop synchronization compensation method, that is, the multi-cylinder lifting synchronization control quantity is:

[0023] Sn(t) = Vns * Sni(t) + Pn(t)

[0024] Where Sn(t) represents the given motor speed at time t, Vns represents the lifting speed of cylinder n, Sni(t) represents the fitted given motor speed at time t, and Pn(t) represents the given motor speed for closed-loop synchronous compensation at time t.

[0025] Furthermore, the linear velocity fitting method is specifically as follows:

[0026] 1) The lifting speed Vns of cylinder n is the speed specified by the host computer when the lifting device lifts or lowers;

[0027] 2) The fitted speed of the motor at time t is given by Sni(t), which is the average of the actual motor speed corresponding to the offline single-cylinder lifting speed.

[0028] Furthermore, the closed-loop synchronization compensation method specifically includes:

[0029] 1) To achieve synchronous lifting of multiple cylinders and ensure that the electro-hydraulic direct drive device operates at the speed specified by the host computer, a target position curve is defined for the lifting device. The rising and falling curves are different. First, during the rising phase:

[0030]

[0031] Where Ysu(t) represents the target position of the lifting device at time t; Vsu represents the speed specified by the host computer when the lifting device rises; and Yw represents the working position of the lifting device.

[0032] 2) The initial positions of different hydraulic cylinders before lifting and lowering are not exactly the same. To compensate for the differences in initial positions, it is necessary to recalculate the given position curve for the lifting and lowering of any hydraulic cylinder, and to compensate for the performance differences of the transmission components between multiple cylinders to ensure synchronous lifting and lowering of multiple cylinders. Given position curve for the lifting of any hydraulic cylinder:

[0033]

[0034] Where Ynu(t) represents the given position of cylinder n at time t when it rises; Vnu(t) represents the given velocity of cylinder n at time t when it rises, and its expression is:

[0035]

[0036] Where m represents the smoothing weight of the given speed; Vsnu represents the target speed to be reached when cylinder n rises, expressed as:

[0037]

[0038] Where Yn(0) represents the initial position of cylinder n, and Ymax(0) represents the maximum value of the initial positions of cylinder n.

[0039] 3) When the lifting device descends:

[0040]

[0041] Where Ysd(t) represents the target position of the lifting device at time t, and Vsd represents the speed specified by the host computer when the lifting device descends.

[0042] 4) The given position curve during the descent of any hydraulic cylinder:

[0043]

[0044] Where Ynd(t) represents the given position of cylinder n at time t when it descends, and Vnd(t) represents the given velocity of cylinder n at time t when it descends, the expression is:

[0045]

[0046] Where Vsnd represents the target velocity of cylinder n during its descent, expressed as:

[0047]

[0048] Where Vsd represents the speed specified by the host computer when the lifting device descends, and Ymin(0) represents the minimum position of the n cylinders at the initial moment.

[0049] 5) Pn(t) is obtained by using a closed-loop control algorithm based on the proposed target position of cylinder n and the actual position of cylinder n.

[0050] Furthermore, the multi-cylinder fault detection method specifically states that since the components of the multi-cylinder system differ and have different service lives, the multi-cylinder fault of the lifting device can be determined by the relationship between the pressure, position, and motor speed given and the target position of a single cylinder and the rated speed of the motor.

[0051] The beneficial effects of this invention are as follows:

[0052] 1) The control system of this invention is interlocked with the host computer. It can control the multi-cylinder synchronous lifting of the electro-hydraulic direct drive device by controlling the given command signal through the host computer system, and finally realize the synchronous lifting of the shaft component lifting device. It can also feed back the real-time status of the shaft component lifting device to the host computer system.

[0053] 2) This invention facilitates effective control of electro-hydraulic direct drive devices, including functions of commutation, speed regulation, pressure regulation, and torque regulation.

[0054] 3) This invention can monitor the health status of the electro-hydraulic direct drive device through the data processing unit, realize the device's fault self-diagnosis, and provide early warning of device faults, thereby reducing unexpected downtime of shaft components and improving the operating rate.

[0055] 4) This invention can control the synchronous lifting and lowering of shaft components at a constant speed, control the thrust of shaft components to be large and the impact to be small, reduce the wear of shaft components and improve the service life of shaft components.

[0056] 5) This invention can effectively reduce the installed load, power load and device size while meeting the requirements of constant speed synchronous lifting.

[0057] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0058] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

[0059] Figure 1 This is a block diagram of the control system of the present invention. Detailed Implementation

[0060] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0061] Please see Figure 1 This invention provides a control system for a lifting device for shaft components, including a multi-cylinder control unit, a multi-cylinder power supply unit, a multi-cylinder drive unit, and a multi-cylinder interface unit.

[0062] In this embodiment, the multi-cylinder control unit is used to control the commutation, speed regulation, pressure regulation, and torque regulation functions of the electro-hydraulic direct drive device, ultimately controlling the movement of shaft components. The multi-cylinder control unit includes a multi-cylinder logic control unit, a multi-cylinder signal generation unit, a multi-cylinder synchronization control unit, a multi-cylinder data processing unit, and a multi-cylinder communication unit; the multi-cylinder logic control unit, multi-cylinder signal generation unit, multi-cylinder synchronization control unit, and multi-cylinder data processing unit are sequentially connected to form a closed loop; the multi-cylinder communication unit is connected to the multi-cylinder data processing unit, multi-cylinder power supply unit, and multi-cylinder interface unit respectively.

[0063] In this embodiment, the multi-cylinder logic control unit is used to perform interlocking control on the status feedback signal of the electro-hydraulic direct drive device; the multi-cylinder logic control unit is also used to perform interlocking control with the host computer signal.

[0064] In this embodiment, the signals of the multi-cylinder signal generation unit include step signals, ramp signals, and square wave signals. Specifically, the step signal allows for arbitrary specification and online modification of the step amount; the ramp signal allows for arbitrary specification and online modification of the slope and target position; and the square wave signal allows for arbitrary specification and online modification of the square wave amplitude and period.

[0065] In this embodiment, the multi-cylinder synchronous control unit includes synchronous lifting control of shaft components; multi-cylinder synchronous control refers to the synchronous lifting of shaft components according to the signal given by the signal generating unit.

[0066] In this embodiment, the multi-cylinder data processing unit is used for input / output processing of digital signals and analog signals of the electro-hydraulic direct drive device. The input processing of analog signals includes analog-to-digital conversion and conversion from electrical signals to physical signals; the output processing of analog signals includes conversion from physical signals to electrical signals and digital-to-analog conversion.

[0067] In this embodiment, the multi-cylinder communication unit is used for internal and external communication of the control system. Internal communication includes communication between the controller and the drive unit, using methods such as EtherCAT, RS-485 serial communication, and hard-wiring. External communication includes communication between the controller and the debugging computer, and between the controller and the host computer, both using Ethernet communication and connected via Cat5e network cables.

[0068] In this embodiment, the multi-cylinder power supply unit is used to supply power to the control system and the electro-hydraulic direct drive device, respectively. The multi-cylinder power supply unit includes 380V three-phase AC power supply, 220V uninterruptible power supply, 200V three-phase AC power supply, and 24V DC power supply.

[0069] In this embodiment, the multi-cylinder drive unit includes a filter and a servo driver or frequency converter. The filter is used to filter out the instability of the mains voltage.

[0070] In this embodiment, the multi-cylinder interface unit is an industrial heavy-duty connector. The connector is used for plug-and-play connection between the control system and the drive unit; it is a high-protection-level interface unit, making the use of the drive unit more convenient, stable, and reliable.

[0071] In this embodiment, the control system is connected to the electro-hydraulic direct drive device via a connector, and controls the shaft components to move synchronously after the multi-cylinder signal generation unit gives a signal.

[0072] The control system in this embodiment controls the lifting device to move synchronously according to the given position and speed commands based on the command signals sent by the host computer system, achieving fast response and high synchronization, and can simultaneously lift shaft-type parts.

[0073] The control method of the above-mentioned control system is implemented in a multi-cylinder control unit. This control method includes a multi-cylinder lifting and lowering synchronization control method and a multi-cylinder fault detection method, wherein:

[0074] 1. The multi-cylinder lifting synchronization control method includes two methods: linear velocity fitting method and closed-loop synchronization compensation method. The multi-cylinder lifting synchronization control quantity is:

[0075] Sn(t) = Vns * Sni(t) + Pn(t)

[0076] Where Sn(t) represents the given motor speed at time t, Vns represents the lifting speed of cylinder n, Sni(t) represents the fitted given motor speed at time t, and Pn(t) represents the given motor speed for closed-loop synchronous compensation at time t.

[0077] (1) The linear velocity fitting method specifically includes:

[0078] 1) The lifting speed of cylinder n is the speed specified by the host computer when the lifting device lifts or lowers;

[0079] 2) The fitted speed of the motor at time t is given by the average of the actual motor speed corresponding to the offline single-cylinder lifting speed.

[0080] (2) The closed-loop synchronous compensation method specifically includes:

[0081] 1) To achieve synchronized multi-cylinder lifting and to drive the lifting device to operate at the speed specified by the host computer, a target position curve is defined. The rising and falling curves are different. First, during the rising phase:

[0082]

[0083] 2) The initial positions of different hydraulic cylinders before lifting and lowering are not exactly the same. To compensate for the differences in initial positions, it is necessary to recalculate the given position curve for the lifting and lowering of any hydraulic cylinder, and to compensate for the performance differences of the transmission components between multiple cylinders to ensure synchronous lifting and lowering of multiple cylinders. Given position curve for the lifting of any hydraulic cylinder:

[0084]

[0085] in:

[0086]

[0087] in:

[0088]

[0089] Where Ysu(t) represents the target position of the lifting device at time t, Vsu represents the speed specified by the host computer when the lifting device rises, Yw represents the working position of the lifting device, Ynu(t) represents the given position when cylinder n rises at time t, Vnu(t) represents the given speed when cylinder n rises at time t, Vsnu represents the target speed when cylinder n rises, m represents the smoothing weight of the given speed, Yn(0) represents the initial position of cylinder n, and Ymax(0) represents the maximum value of the initial positions of cylinder n.

[0090] 3) When the lifting device descends:

[0091]

[0092] 4) The curve of a given position during the descent of any cylinder:

[0093]

[0094] in:

[0095]

[0096] in:

[0097]

[0098] Wherein, sd(t) represents the target position of the lifting device at time t, Vsd represents the speed specified by the host computer when the lifting device descends, Ynd(t) represents the given position when cylinder n descends at time t, Vnd(t) represents the given speed when cylinder n descends at time t, Vsnd represents the target speed when cylinder n descends, Yn(0) represents the initial position of cylinder n, and Ymin(0) represents the minimum value of the initial positions of the n cylinders.

[0099] 5) Pn(t) is obtained by using a closed-loop control algorithm based on the proposed target position of cylinder n and the actual position of cylinder n.

[0100] 2. Fault detection methods include: Since there are differences in the components of multiple cylinders and their service life, the multi-cylinder faults of the lifting device can be judged by testing the hydraulic cylinder pressure, position, and the relationship between the given motor speed and the target position of a single cylinder and the rated speed of the motor.

[0101] The above description is only used to illustrate the technical solution of the present invention and is not intended to limit it. It does not involve the selection of drive units, control units, etc. The selection parameters need to be determined based on the system components of the electro-hydraulic direct drive device and the lifting device for load shaft components, etc., which will not be described here.

[0102] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A control method for a lifting device for shaft-type components, characterized in that, This includes a multi-cylinder lifting and synchronizing control method and a multi-cylinder fault detection method, both implemented in the multi-cylinder control unit. The multi-cylinder lifting synchronization control method includes a linear speed fitting method and a closed-loop synchronization compensation method, that is, the multi-cylinder lifting synchronization control quantity is: Where Sn(t) represents the given motor speed at time t, Vns represents the lifting speed of cylinder n, Pn(t) represents the given motor speed with closed-loop synchronous compensation at time t, and Sni(t) represents the given fitted motor speed at time t. The linear velocity fitting method is as follows: 1) The lifting speed Vns of cylinder n is the speed specified by the host computer when the lifting device lifts or lowers; 2) The fitted motor speed Sni(t) at time t is the average of the actual motor speed corresponding to the offline single-cylinder lifting speed; The closed-loop synchronous compensation method is as follows: 1) Define a target position curve for the lifting device. The upward and downward curves are different. First, during the upward movement: Where Ysu(t) represents the target position of the lifting device at time t; Vsu represents the speed specified by the host computer when the lifting device rises; and Yw represents the working position of the lifting device. 2) Curve of a given position during the ascent of any hydraulic cylinder: Where Ynu(t) represents the given position when cylinder n rises at time t, and Vnu(t) represents the given velocity when cylinder n rises at time t; 3) When the lifting device descends: Where Ysd(t) represents the target position of the lifting device at time t, and Vsd represents the speed specified by the host computer when the lifting device descends; 4) Curve of a given position during the descent of any hydraulic cylinder: Where Ynd(t) represents the given position of cylinder n at time t when it descends, and Vnd(t) represents the given velocity of cylinder n at time t when it descends; 5) Pn(t) is obtained by using a closed-loop control algorithm based on the proposed target position of cylinder n and the actual position of cylinder n.

2. The control method according to claim 1, characterized in that, In the closed-loop synchronous compensation method, the expression for the given velocity Vnu(t) when cylinder n rises at time t is: Where m represents the smoothing weight of the given speed, and Vsnu represents the target speed to be set when cylinder n rises; The expression for the given velocity Vnd(t) when cylinder n descends at time t is: Where Vsnd represents the target speed to be set when cylinder n descends.

3. The control method according to claim 2, characterized in that, In the closed-loop synchronous compensation method, the expression for the target speed Vsnu during the ascent of cylinder n is: Where Yn(0) represents the initial position of cylinder n, and Ymax(0) represents the maximum value of the initial positions of cylinder n; The expression for the target speed Vsnd when cylinder n descends is: Where Vsd represents the speed specified by the host computer when the lifting device descends, and Ymin(0) represents the minimum position of the n cylinders at the initial moment.

4. The control method according to claim 1, characterized in that, The multi-cylinder fault detection method is as follows: the multi-cylinder components determine the multi-cylinder fault of the lifting device by detecting the pressure, position, and the relationship between the given motor speed and the target position of a single cylinder and the rated speed of the motor.

5. A control system for a lifting device for shaft components used to implement the control method according to any one of claims 1 to 4, comprising a multi-cylinder drive unit, a multi-cylinder power supply unit, and a multi-cylinder interface unit; wherein the multi-cylinder drive unit is signal-connected to the multi-cylinder interface unit and electrically connected to the multi-cylinder power supply unit; and the multi-cylinder interface unit is signal-connected to an electro-hydraulic direct drive device; characterized in that, The system also includes a multi-cylinder control unit, which is signal-connected to the multi-cylinder drive unit and electrically connected to the multi-cylinder power supply unit. The multi-cylinder control unit is used to control the commutation, speed regulation, pressure regulation, or torque regulation functions of the electro-hydraulic direct drive device, and ultimately control the action of the lifting device for shaft components to achieve synchronous lifting.

6. The control system according to claim 5, characterized in that, The multi-cylinder control unit includes a multi-cylinder logic control unit, a multi-cylinder signal generation unit, a multi-cylinder synchronization control unit, a multi-cylinder data processing unit, and a multi-cylinder communication unit; The multi-cylinder logic control unit, multi-cylinder signal generation unit, multi-cylinder synchronization control unit, and multi-cylinder data processing unit are sequentially connected to form a closed loop; the multi-cylinder communication unit is connected to the multi-cylinder data processing unit, multi-cylinder power supply unit, and multi-cylinder interface unit respectively.

7. The control system according to claim 6, characterized in that, The multi-cylinder logic control unit is used to perform logical operations on the status feedback signal and host computer signal of the electro-hydraulic direct drive device, and then send the operation result to the multi-cylinder synchronization control unit after processing by the multi-cylinder signal generation unit to realize interlocking control.

8. The control system according to claim 7, characterized in that, The status feedback signal of the electro-hydraulic direct drive device is sent to the multi-cylinder logic control unit in sequence through the multi-cylinder interface unit, the multi-cylinder communication unit, and the multi-cylinder data processing unit.

9. The control system according to claim 6, characterized in that, The multi-cylinder signal generation unit is used to receive the calculation result signal sent by the multi-cylinder logic control unit. The signal includes a step signal, a ramp signal, or a square wave signal. After being processed by the multi-cylinder signal generation unit, the signal is sent to the multi-cylinder synchronization control unit.

10. The control system according to claim 9, characterized in that, The processing of the step signal includes arbitrarily specifying and modifying the step amount online; the processing of the ramp signal includes arbitrarily specifying and modifying the slope and target position online; the processing of the square wave signal includes arbitrarily specifying and modifying the amplitude and period of the square wave online.

11. The control system according to claim 9, characterized in that, The multi-cylinder synchronous control unit is used to receive signals processed by the multi-cylinder signal generating unit to realize synchronous lifting control of shaft components; wherein, multi-cylinder synchronous control refers to multiple hydraulic cylinders driving the lifting device of shaft components according to the signals given by the multi-cylinder signal generating unit to achieve synchronous lifting.

12. The control system according to claim 6, characterized in that, The multi-cylinder data processing unit is used for input and output processing of digital signals and analog signals of the electro-hydraulic direct drive device; wherein, the input processing of analog signals includes analog-to-digital conversion and electrical-to-physical signal conversion; the output processing of analog signals includes physical-to-electrical signal conversion and digital-to-analog conversion.

13. The control system according to claim 6, characterized in that, The multi-cylinder communication unit is used for internal and external communication of the control system; the internal communication includes communication between the multi-cylinder control unit and the drive unit; the external communication includes communication between the multi-cylinder control unit and the debugging computer, and communication between the multi-cylinder control unit and the host computer.

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