Self-adaptive control method and device for multi-stage hydraulic cylinder heavy-load erecting mechanism

Abstract

The application relates to a self-adaptive control method of a multi-stage hydraulic cylinder heavy-load erecting mechanism, which comprises the following steps: determining a stage-changing point of the multi-stage hydraulic cylinder according to a rotating angular velocity of an erecting frame, an acceleration value of the erecting frame and a pressure value of a hydraulic system; detecting erecting time of each stage of the multi-stage hydraulic cylinder and the acceleration value of the erecting frame when reaching the stage-changing point, and combining a pre-set erecting time index value of each stage and a corresponding acceleration index value to calculate a multi-stage erecting effect weighted calculation result; based on the weighted calculation result and pre-set erecting time adjustment steps and acceleration adjustment steps, optimal PID control parameters are obtained through multiple adjustments; based on the optimal PID control parameters, the erecting angle of the erecting frame changing with time is planned, and the control of the erecting mechanism is completed. The problems of large impact and stage-changing stability of the multi-stage hydraulic cylinder heavy-load erecting mechanism in the prior art are solved.

Description

Technical Field

[0001] This invention relates to the field of erection angle measurement, and more particularly to an adaptive control method and device for a multi-stage hydraulic cylinder heavy-duty erection mechanism. Background Technology

[0002] Multi-stage hydraulic cylinder heavy-duty erection mechanisms are devices that enable a mechanism to transition from a horizontal to a vertical state. Typical mechanism motion control uses position sensors to measure the mechanism's position information and outputs control commands in real time, achieving closed-loop position control. However, under heavy loads, the actuators experience large loads and high extension ratios. The erection device's actuators have long strokes and short installation distances, leading to significant impacts during multi-stage hydraulic cylinder transitions. Furthermore, factors such as structural installation and inconsistent launcher rigidity cause deviations in the transition points between different erection mechanisms. Transitions require speed reduction, and continuous speed changes affect timing metrics. Oscillations are also prone to occur at the multi-stage hydraulic cylinder transition points, resulting in excessive erection acceleration and adversely affecting the erection device. Summary of the Invention

[0003] Based on the above analysis, the present invention aims to provide an adaptive control method and device for a multi-stage hydraulic cylinder heavy-duty erection mechanism; and to solve the problems in the prior art such as large impact during stage switching of the multi-stage hydraulic cylinder heavy-duty erection mechanism, deviation of the stage switching points of different erection mechanisms, and stage switching smoothness.

[0004] The objective of this invention is mainly achieved through the following technical solutions:

[0005] On one hand, this invention discloses an adaptive control method for a multi-stage hydraulic cylinder heavy-duty erection mechanism, the method comprising the following steps:

[0006] The switching points of the multi-stage hydraulic cylinders are determined based on the rotational angular velocity of the erecting frame, the acceleration value of the erecting frame, and the pressure value of the hydraulic system.

[0007] The system detects the erection time of each stage of the multi-stage hydraulic cylinder and the acceleration value of the erecting frame when it reaches the stage transition point. It then calculates the weighted result of the multi-stage erection effect by combining the pre-set erection time index value and the corresponding acceleration index value of each stage.

[0008] The PID control parameters are obtained based on the weighted calculation results and the preset adjustment step size for the erection time and acceleration. When the weighted calculation results meet the requirements, the current PID parameters are the optimal PID control parameters. When the weighted calculation results do not meet the requirements, the PID parameters are adjusted based on the adjustment step size until the optimal PID control parameters are obtained.

[0009] Based on the optimal PID control parameters, the process of the erection angle of the erecting frame changing over time is planned to complete the control of the erection mechanism.

[0010] Furthermore, the rotational angular velocity is detected by an encoder mounted on the rotating shaft of the erecting mechanism; the acceleration value of the erecting frame is measured by an accelerometer mounted on the erecting frame; and the pressure value of the hydraulic system is measured by a pressure sensor.

[0011] Furthermore, when the rotational angular velocity of the erecting frame is less than 0.2° / s, the fluctuation amplitude of the hydraulic system pressure sensor exceeds 2 MPa, and the acceleration value of the erecting frame is greater than 0.2g, the position corresponding to the multi-stage hydraulic cylinder is the stage switching point.

[0012] Furthermore, the weighted calculation result of the multi-level erection effect includes:

[0013] Set the erection time index value for each stage of the erection mechanism and the acceleration index value for each stage transition point according to the system requirements of the erection mechanism;

[0014] Detect the erection time of each stage of a multi-stage hydraulic cylinder and the acceleration value at each stage transition point;

[0015] A scoring weight is set for the erection time of each stage of the erection mechanism and the acceleration at each stage transition point;

[0016] Based on the detected erection time and acceleration values, the erection time score for each stage of the erection mechanism and the acceleration score for each stage transition point are calculated by combining the erection time index and the acceleration index.

[0017] The weighted sum of the erection time score for each level and the acceleration score for each level transition point is used to obtain the weighted calculation result of the erection effect.

[0018] Furthermore, the erection time score and acceleration score are calculated using the following formulas:

[0019] Q ti =(T i -t i ) / T i ;

[0020] Q gj =(G j -g j ) / G j ;

[0021] Among them, Q ti For the rating of the erection time of level i, T i To preset the erection time target, t i To detect the erection time of the i-th stage, Q gjFor the acceleration score at the j-th transition point, G j To preset the acceleration index, g j Let be the acceleration at the j-th stage transition point detected.

[0022] The weighted calculation result of the erection effect is obtained by using the following formula:

[0023]

[0024] Where, k i Let k be the weight for the scoring of the i-th level's erection time. j Let m be the weight of the j-th stage transition point, where m is an integer greater than 1, representing the number of stages of the erecting mechanism.

[0025] Furthermore, the feature is that when the weighted calculation result is less than 0, the overall index does not meet the requirements, and the PID control parameters are adjusted further; when the weighted calculation result is greater than or equal to 0, the overall index meets the requirements, and the corresponding parameters are the optimal PID control parameters.

[0026] Furthermore, the optimal PID control parameters are obtained by adjusting according to the following formula:

[0027] Kp n =Kp (n-1) *(1-s t *Q t.n );

[0028] KI n =KI (n-1) *(1-s g *Q g.n );

[0029] Among them, Kp n Kp is the proportional coefficient obtained from the nth adjustment. (n-1) The proportionality coefficient obtained from the (n-1)th adjustment, s t To adjust the step size for the erection time, Q t.n For the nth erection time score, KI n KI is the proportionality coefficient obtained from the nth adjustment. (n-1) Let s be the integral coefficient obtained from the (n-1)th adjustment. g To adjust the step size for acceleration, Q g.n The score is for the nth acceleration.

[0030] Furthermore, after adjusting to obtain the optimal PID control parameters, the method also includes: acquiring accelerometer signals and encoder signals through the main controller to determine the stage switching points of the multi-stage hydraulic cylinders in real time; if the position of the stage switching point changes, the position parameters of the stage switching point are corrected to achieve adaptive control of the erecting mechanism.

[0031] On the other hand, a computer device is also disclosed, including at least one processor and at least one memory communicatively connected to said processor;

[0032] The memory stores instructions that can be executed by the processor to implement the aforementioned adaptive control method for the multi-stage hydraulic cylinder heavy-duty lifting mechanism.

[0033] The beneficial effects of this invention are as follows:

[0034] 1. This invention improves stability while meeting time and accuracy requirements, enabling smooth and rapid erection of multi-stage cylinders.

[0035] 2. This invention acquires accelerometer signals, encoder signals, and hydraulic system pressure sensor information to sense changes in hydraulic system parameters, and corrects the control law in real time to achieve adaptive control of the erecting mechanism.

[0036] 3. This invention includes sensors such as accelerometers, encoders, and hydraulic system pressure sensors. Through multi-sensor fusion, it accurately identifies the parameters of the hydraulic system and achieves adaptive control.

[0037] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0038] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0039] Figure 1 This is a flowchart of the adaptive control method for the multi-stage hydraulic cylinder heavy-duty erection mechanism according to an embodiment of the present invention.

[0040] Figure 2 This is a schematic diagram of the adaptive control system of the multi-stage hydraulic cylinder heavy-duty erection mechanism according to an embodiment of the present invention. Detailed Implementation

[0041] The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings, which constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the invention, but are not intended to limit the scope of the invention:

[0042] This embodiment presents an adaptive control method for a multi-stage hydraulic cylinder heavy-duty erection mechanism. The multi-stage hydraulic cylinder heavy-duty erection mechanism includes: a hydraulic system, an erection frame, an encoder, an accelerometer, a training system, and a main controller. The hydraulic system includes multi-stage hydraulic cylinders, a valve block, a pressure-regulating proportional valve, a speed-regulating proportional valve, and a pressure sensor. The upper fulcrum of the multi-stage hydraulic cylinder is connected to the erection frame. The valve block is placed inside the hydraulic cylinder and is used to install the pressure-regulating proportional valve, the speed-regulating proportional valve, and the pressure sensor. The pressure-regulating proportional valve is used to regulate the oil source pressure of the hydraulic system; the speed-regulating proportional valve is used to regulate the oil source flow rate of the hydraulic system.

[0043] The adaptive control method for a multi-stage hydraulic cylinder heavy-duty lifting mechanism includes the following steps:

[0044] Step S1: Determine the switching point of the multi-stage hydraulic cylinder based on the rotational angular velocity of the erecting frame, the acceleration value of the erecting frame, and the pressure value of the hydraulic system pressure sensor;

[0045] Specifically, the rotational angular velocity is detected using an encoder mounted on the rotating shaft of the erecting mechanism; the acceleration value of the erecting frame is measured using an accelerometer mounted on the erecting frame. When the rotational angular velocity of the erecting frame is less than 0.2° / s, the fluctuation amplitude of the hydraulic system pressure sensor exceeds 2 MPa, and the acceleration value of the erecting frame is greater than 0.2g, the corresponding position of the multi-stage hydraulic cylinder is determined as the stage switching point.

[0046] Preferably, the accelerometer used in this embodiment has a resolution of not less than 0.01g, and the encoder is of absolute type with a single-turn resolution of not less than 13 bits. The main controller collects accelerometer signals, encoder signals, and hydraulic system pressure sensor information, and determines the position of the multi-stage hydraulic cylinder transition point based on the information from each sensor. In this embodiment, the indicators for each sensor used to determine the transition point are: rotational angular velocity less than 0.2° / s, acceleration greater than 0.2g, and hydraulic system pressure sensor fluctuation amplitude greater than 2 MPa. In practical applications, the threshold values ​​for each sensor indicator at the transition point can be set according to the characteristics of the erecting mechanism.

[0047] Step S2: Detect the erection time of each stage of the multi-stage hydraulic cylinder and the acceleration value of the erecting frame when it reaches the stage change point. Combine the pre-set erection time index value and corresponding acceleration index value of each stage to calculate the weighted calculation result of the multi-stage erection effect.

[0048] Specifically, the training system pre-sets constraints, including the erection time index for each stage of the erecting mechanism and the maximum acceleration index at each stage transition point. The erection time index and maximum acceleration index are derived from the required indexes of the erecting mechanism system. Furthermore, different weights k need to be assigned to the time and acceleration indices for each stage. i and k jWhere i is an integer greater than 1, representing the number of stages in the multi-stage hydraulic cylinder, and j is an integer greater than or equal to 1, representing the number of stage-changing points; the weight values ​​can be adjusted according to the characteristics of the erecting mechanism and the emphasis on erecting time and acceleration. The training system calculates the erecting time score for each stage and the acceleration score for each stage-changing point based on pre-set erecting time and maximum acceleration indicators, combined with the actual measured erecting time and acceleration values. The smaller the acceleration value, the higher the acceleration score; the shorter the erecting time, the higher the erecting time score. The training system performs a weighted summation of the erecting time score and acceleration score to obtain the overall weighted calculation result. Based on the weighted calculation result, it automatically evaluates the erecting effect and adjusts the control parameters of each hydraulic valve in the hydraulic system according to preset indicators. After multiple evaluations, the optimal control parameters are obtained, achieving the optimal time and accuracy indicators. While meeting the time and accuracy indicators, stability is improved, enabling smooth and rapid erection of the multi-stage cylinder.

[0049] Preferably, the steps for calculating the weighted calculation result of the erection effect in this embodiment include:

[0050] Set the erection time index for each stage of the erection mechanism and the acceleration index for each stage transition point;

[0051] Detect the erection time of each stage of a multi-stage hydraulic cylinder and the acceleration value at each stage transition point;

[0052] A scoring weight is set for the erection time of each stage of the erection mechanism and the acceleration at each stage transition point;

[0053] Based on the detected erection time and acceleration values, the erection time score for each stage of the erection mechanism and the acceleration score for each stage transition point are calculated by combining the erection time index and the acceleration index.

[0054] The weighted sum of the erection time score for each level and the acceleration score for each level transition point is used to obtain the weighted calculation result of the erection effect.

[0055] Specifically, the weighted calculation results, erection time score, and acceleration score are calculated using the following formulas:

[0056]

[0057] Q ti =(T i -t i ) / T i ;

[0058] Q gj =(G j -g j ) / G j ;

[0059]

[0060] Among them, Q ti For the scoring of the erection time of level i, k i T represents the weight of the standing time score for level i. i To preset the erection time target, t i To detect the erection time of the i-th stage, Q gj For the acceleration score at the j-th stage transition point, k j G is the score weight for the j-th grade transition point. j To preset the acceleration index, g j The acceleration at the j-th stage change point is detected; i = 1, 2, ..., m, where m represents the number of stages in the multi-stage hydraulic cylinder, and j = 1, 2, ..., (m-1), where m-1 is the number of stage change points.

[0061] Preferably, taking a three-stage cylinder hydraulic system as an example, the training system sets the erection time index and the maximum acceleration index at the stage transition point. Specifically, the erection time index for each stage of the multi-stage cylinder is set to T1, T2, and T3; the acceleration index at the first and second stage transition point is set to G1; and the acceleration index at the second and third stage transition point is set to G2. Different weights k1, k2, and k3 are assigned to the erection time index, and weights k4 and k5 are assigned to the acceleration index; the sum of k1, k2, k3, k4, and k5 is 100, and in this embodiment, the weight values ​​are all set to 20. The actual erection times obtained are t1, t2, and t3, and the actual maximum acceleration at the stage transition point is g1 and g2. The erection time scoring results are as follows:

[0062] Q1=(T1-t1) / T1; Q2=(T2-t2) / T2; Q3=(T3-t3) / T3;

[0063] The acceleration scores are as follows:

[0064] Q4=(G1-g1) / G1; Q5=(G2-g2) / G2.

[0065] The overall weighted calculation result is:

[0066] Q=k1Q1+k2Q2+k3Q3+k4Q4+k5Q5.

[0067] Step S3: Obtain PID control parameters based on the weighted calculation results and the preset adjustment step size for erection time and acceleration; when the weighted calculation results meet the requirements, the current PID parameters are the optimal PID control parameters; when the weighted calculation results do not meet the requirements, continue to adjust the PID parameters based on the adjustment step size until the optimal PID control parameters are obtained.

[0068] Specifically, in this embodiment, the optimal PID control parameters are obtained by adjusting according to the following formula:

[0069] Kp n =Kp (n-1) *(1-s ti *Q t.n );

[0070] KI n =KI (n-1) *(1-s gj *Q g.n );

[0071] Among them, Kp n Kp is the proportional coefficient obtained from the nth adjustment. (n-1) The proportionality coefficient obtained from the (n-1)th adjustment, s ti To adjust the step size of the erection time for the i-th stage, Q t.n For the score of the nth adjustment of the erection time, KI n Let KI be the integral coefficient obtained from the nth adjustment. (n-1) The proportionality coefficient obtained from the (n-1)th adjustment, s gj Adjust the step size of the acceleration at the j-th stage transition point, Q g.n The score is for the nth acceleration.

[0072] It should be noted that the PID control parameters include proportional control, integral control, and derivative control. Due to the characteristics of the multi-stage hydraulic cylinder erection mechanism, proportional control has a significant impact on the erection time, while integral control has a more obvious effect on adjusting the acceleration value at the stage switching point. Moreover, with a suitable step size, there will be no overshoot. Therefore, this embodiment does not require derivative control adjustment to achieve the purpose of rapid and stable erection.

[0073] Preferably, taking a three-stage hydraulic cylinder as an example, the training system sets step sizes s1, s2, s3, s4, and s5 based on preset erection time and maximum acceleration indicators. The step sizes can be set according to actual conditions. In this embodiment, the erection time step size ranges from 0.005 to 0.01, and the acceleration step size ranges from 0.001 to 0.01. Based on the step sizes, the PID control parameters Kp1, Ki1, Kp2, Ki2, and Kp3 are adjusted multiple times. The adjustment rule for the control parameters is as follows:

[0074] Kp1 n =Kp1 (n-1) *(1-s1*Q1);

[0075] Kp2 n =Kp2 (n-1) *(1-s²+Q²);

[0076] Kp3n =Kp3 (n-1) *(1-s³+Q³);

[0077] KI1 n =Ki1 (n-1) *(1-s4*Q4);

[0078] KI2 n =Ki2 (n-1) *(1-s5*Q5);

[0079] Among them, Kp1 n Kp2 n Kp3 n The proportional coefficients KI1 and KI1 are obtained from the nth adjustment of the erection time for the 1st, 2nd, and 3rd levels, respectively. n and KI2 n These are the integral coefficients obtained from the nth adjustment at the first and second transition points, respectively.

[0080] Preferably, when the weighted calculation result Q is less than 0, the overall performance does not meet the requirements, and the PID control parameters are adjusted further; when the weighted calculation result Q is greater than or equal to 0, the overall performance meets the requirements, and the corresponding parameters are the optimal PID control parameters. After multiple evaluations, the optimal control parameters are finally converged, achieving the optimal time and accuracy performance. This embodiment improves the stability of the stage-changing point of the erecting mechanism while meeting the time and accuracy performance requirements, realizing smooth and rapid erection of multi-stage cylinders.

[0081] Step S4: Based on the optimal PID control parameters, plan the process of the erection angle of the erecting frame changing over time, and complete the control of the erection mechanism.

[0082] Specifically, the main controller configures the control parameters of the hydraulic system through a training system; an encoder is used to measure the erection angle, and the planned erection angle-time signal is used as a reference signal for control by a PID controller. Taking a three-stage erection mechanism as an example, after multiple experiments, it was found that adjusting the erection time by a proportional coefficient and adjusting the acceleration value by an integral coefficient can meet the purpose of adjusting the system's response speed and stability. Preferably, in this embodiment, the erection time of the three erection segments of the three-stage erection mechanism is adjusted by PID control parameters Kp1, Kp2, and Kp3, and the acceleration values ​​of the two transition points are adjusted by KI1 and KI2. The main controller plans the process of the erection angle of the erecting frame changing over time based on the optimal PID control parameters obtained from the training system. Specifically, the erection time of each stage and the acceleration of each transition point are planned separately. The first segment is from the initial position to the first transition point, and the corresponding control parameters are Kp1 and KI1. That is, the erection time of the first segment and the acceleration value of the first transition point are planned by Kp1 and KI1. The second segment consists of the movement from the first transition point to the second transition point, with corresponding control parameters Kp2 and KI2. The third segment consists of the movement from the second transition point to the final position; only the erection time of the third segment needs to be planned, with the corresponding control parameter Kp3. Through hierarchical planning and control, the speed at the transition points is reduced, impacts are avoided, and rapid and stable erection is achieved.

[0083] Preferably, in practical applications, the main controller collects accelerometer signals, encoder signals, and hydraulic system pressure sensor information in real time, calculates the angle and acceleration index corresponding to the stage switching point of the multi-stage hydraulic cylinder, and corrects the stage switching point position parameters in real time to achieve adaptive control.

[0084] Another embodiment of the present invention also discloses a computer device, including at least one processor and at least one memory communicatively connected to said processor;

[0085] The memory stores instructions executable by the processor, which are used to implement the aforementioned adaptive control method for the multi-stage hydraulic cylinder heavy-duty lifting mechanism.

[0086] In summary, this invention addresses the shortcomings of existing multi-stage hydraulic cylinder heavy-duty erection mechanisms, such as large impact and low efficiency during stage switching, by proposing an adaptive control method for multi-stage hydraulic cylinder erection mechanisms based on multi-sensor fusion. This method utilizes… Figure 2The multi-stage hydraulic cylinder erection system shown utilizes an encoder mounted on the rotating shaft of the erection mechanism to detect the rotation angle of the shaft relative to the erection platform; a pressure sensor installed in the hydraulic system to detect the pressure value of the hydraulic system; and an accelerometer mounted on the erection frame to measure acceleration. An external training system collects signals from the accelerometer, encoder, and hydraulic system pressure sensors. Based on the mechanism's motion data and the training system, the optimal hydraulic system control parameters are calculated and sent to the main controller. The main controller collects signals from the accelerometer, encoder, and hydraulic system pressure sensors, and controls the output of various valves in the hydraulic system, including pressure-regulating proportional valves and speed-regulating proportional valves, to control the oil pressure and flow rate. This control of the hydraulic system enables the erection mechanism to erect quickly and smoothly.

[0087] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0088] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method of adaptive control of a multi-stage hydraulic cylinder heavy lift erecting mechanism, characterized by, The method comprises the following steps: According to the rotation angular velocity of the erecting frame, the acceleration value of the erecting frame and the pressure value of the hydraulic system, the switching point of the multi-stage hydraulic cylinder is determined; The erecting time of each stage of the multi-stage hydraulic cylinder and the acceleration value of the erecting frame when reaching the switching point of the stage are detected, and the erecting effect weighted calculation result of the multi-stage erecting is calculated in combination with the pre-set erecting time index value and the corresponding acceleration index value of each stage; Based on the weighted calculation result and the pre-set erecting time adjustment step and acceleration adjustment step, the PID control parameter is obtained; when the weighted calculation result meets the requirement, the current PID parameter is the optimal PID control parameter; when the weighted calculation result does not meet the requirement, the PID parameter adjustment is continued based on the adjustment step until the optimal PID control parameter is obtained; Based on the optimal PID control parameter, the process of the erecting angle of the erecting frame changing with time is planned, and the control of the erecting mechanism is completed.

2. The erecting mechanism adaptive control method according to claim 1, characterized in that, The rotation angular velocity is detected by using an encoder installed on the rotating shaft of the erecting mechanism; the acceleration value of the erecting frame is measured by using an accelerometer installed on the erecting frame; and the pressure value of the hydraulic system is measured by using a pressure sensor.

3. The method of claim 1, wherein, When the rotation angular velocity value of the erecting frame is less than 0.2° / s, the fluctuation amplitude of the hydraulic system pressure sensor is greater than 2Mpa, and the acceleration value of the erecting frame is greater than 0.2g, the position corresponding to the multi-stage hydraulic cylinder is the switching point.

4. The self-erecting mechanism adaptive control method according to claim 1, wherein, The calculation of the multi-stage erecting effect weighted calculation result comprises: The erecting time index value of each stage of the erecting mechanism and the acceleration index value of each switching point are set according to the system requirements of the erecting mechanism; The erecting time of each stage of the multi-stage hydraulic cylinder and the acceleration value of each switching point are detected; The erecting time of each stage of the erecting mechanism and the acceleration of each switching point are set with a scoring weight; The erecting time score of each stage of the erecting mechanism and the acceleration score of each switching point are calculated in combination with the erecting time index and the acceleration index according to the detected erecting time and acceleration value; The erecting time score of each stage and the acceleration score of each switching point are weighted and summed to obtain the erecting effect weighted calculation result.

5. The erecting mechanism adaptive control method according to claim 4, characterized in that, The erecting time score and the acceleration score are calculated by the following formula: Q ti = (T i -t i ) / T i ; Q gj = (G j - g j ) / G j ; wherein Q ti is the i-th level of erecting time score, T i is the preset erecting time index, t i is the i-th level of erecting time detected, Q gj is the j-th level change point of acceleration score, G j is the preset acceleration index, g j is the j-th level change point of acceleration detected.

6. The erecting mechanism adaptive control method according to claim 5, wherein, The erecting effect weighted calculation result is calculated by the following formula: where k i is the vertical time rating weight for the ith stage, k j is the rating weight for the jth changeover point, and m is an integer greater than 1 representing the number of stages of the vertical mechanism.

7. The erecting mechanism adaptive control method according to any one of claims 1 to 6, characterized in that, When the weighted calculation result is less than 0, the overall index does not meet the requirement, and the PID control parameter is continuously adjusted; when the weighted calculation result is greater than or equal to 0, the overall index meets the requirement, and the corresponding parameter is the optimal PID control parameter.

8. The method of claim 1, wherein, The optimal PID control parameter is adjusted according to the following formula: Kp n = Kp (n-1) *(1 - s t *Q t.n ); KI n = KI (n-1) * (1 - s g * Q g.n ); Kp n Kp (n-1) Kp t Q t.n KI n KI (n-1) KI g Q g.n KI 9. The stand-up mechanism adaptive control method according to claim 1, wherein After the optimal PID control parameter is adjusted, the accelerometer signal and the encoder signal are collected by the main controller to determine the switching point of the multi-stage hydraulic cylinder in real time; if the position of the switching point changes, the position parameter of the switching point is corrected to realize the adaptive control of the erecting mechanism.

10. A computer device, comprising: The method comprises at least one processor and at least one memory connected in communication with the processor; The memory stores instructions executable by the processor for execution by the processor to implement the adaptive control method of the multi-stage hydraulic cylinder heavy lift erecting mechanism of any one of claims 1-9.

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