A synchronous control system and method for a cross-type working platform of tunneling equipment

Abstract

The present application discloses a synchronous control system and method for a cross-type working platform of tunneling equipment, which relates to the technical field of tunneling equipment control. The system includes a synchronous control module, which determines the starting parameters of each solenoid valve according to the working condition data of the target working condition and the empirical model of the starting parameters; inputs the starting parameters of each solenoid valve as the initial value into the control signal characteristic curve to determine the opening control signal of each solenoid valve in the action time period; determines the target position information of each cylinder according to the opening control signal of each solenoid valve; and adopts the PID control method to adjust the switching state of each solenoid valve according to the target position information of each cylinder, the real-time position information of each cylinder and the action deviation of each cylinder and the adjacent cylinder to realize synchronous control of the lifting action of each cylinder. The present application can reduce the impact force of the cylinder start and stop process, extend the mechanical life, and at the same time improve the response speed to realize synchronous control of the cross-type working platform.

Description

Technical Field

[0001] The present application relates to the technical field of tunneling equipment control, and in particular to a synchronous control system and method for a cross-type working platform of tunneling equipment. Background Art

[0002] With the continuous advancement of mining technology, some tunneling equipment now incorporates an integrated drilling, anchoring, and tunneling structure. These cross-operation platforms, mounted on the tunneling equipment, utilize a fully hydraulic drive and work in conjunction with the tunneling mechanism, effectively improving mining efficiency. These platforms typically utilize multiple solenoid valves to drive the hydraulic cylinders for anchoring operations. However, insufficient solenoid valve control during the raising and lowering process can lead to asynchronous cylinder movement, poor platform stability, and, in severe cases, mechanical damage to the tunneling equipment.

[0003] The existing cross-type working platform has a large impact force during the start and stop of the cylinder, which affects the mechanical life. In addition, the multi-solenoid valve control method is usually master-slave control, where the slave solenoid valve follows the master solenoid valve, which has slow response speed and poor synchronization. Summary of the Invention

[0004] The purpose of this application is to provide a synchronous control system and method for a cross-type working platform of tunneling equipment, which can reduce the impact force during the start and stop process of the cylinder, extend the life of the machinery, and at the same time improve the response speed to achieve synchronous control of the cross-type working platform.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In a first aspect, the present application provides a synchronous control system for a cross-type working platform of tunneling equipment, wherein the synchronous control system is used to control the cross-type working platform of tunneling equipment, and the cross-type working platform of tunneling equipment includes: a hydraulic module, a flow control module, and a position acquisition module; the synchronous control system for the cross-type working platform of tunneling equipment includes: a synchronous control module;

[0007] The synchronous control module is connected to the flow control module and the position acquisition module respectively; the flow control module includes: a plurality of solenoid valves; the hydraulic module includes: a plurality of oil cylinders; one solenoid valve is correspondingly connected to one oil cylinder;

[0008] The synchronization control module is used for:

[0009] Acquire working condition data of the target working condition; the working condition data includes: cross-type working platform load parameters, cross-type working platform gravity parameters, hydraulic module oil temperature parameters and hydraulic module response speed parameters;

[0010] Determining the starting parameters of each solenoid valve under the target working condition based on the working condition data of the target working condition and the starting parameter empirical model; wherein the starting parameter empirical model is established based on an empirical database; the empirical database is determined by manually testing the crossover work platform under different working conditions; the empirical database includes: the working condition data under different working conditions and the corresponding starting parameters of each solenoid valve;

[0011] Inputting the starting parameters of each solenoid valve under the target working condition as initial values ​​into the control signal characteristic curve to determine the opening control signal of each solenoid valve in the operating time period under the target working condition; the control signal characteristic curve represents the changing relationship of the opening control signal of the solenoid valve at different operating times;

[0012] Determine the target position information of each cylinder within the action time period under the target working condition according to the opening control signal of each solenoid valve within the action time period under the target working condition;

[0013] According to the target position information of each cylinder within the action time period under the target working conditions, the real-time position information of each cylinder detected by the position acquisition module, and the action deviation between each cylinder and the adjacent cylinders, the PID control method is used to adjust the switching state of each solenoid valve to achieve synchronous control of the lifting and lowering actions of each cylinder.

[0014] Optionally, in terms of achieving synchronous control of the lifting and lowering actions of the cylinders by adjusting the switching state of the solenoid valves using a PID control method based on the target position information of the cylinders within the action time period under the target working condition, the real-time position information of the cylinders detected by the position acquisition module, and the action deviation between the cylinders and adjacent cylinders, the synchronous control module is specifically configured to:

[0015] At any action moment within the action time period, obtaining the real-time position information of each of the oil cylinders detected by the position acquisition module;

[0016] Calculating the self-regulation amount of the oil cylinder according to the real-time position information of each oil cylinder and the corresponding target position information;

[0017] Determining the movement deviation between each cylinder and an adjacent cylinder by adopting a cross-coupling ratio according to the position information of each cylinder;

[0018] The oil cylinder coupling adjustment amount is determined according to the action deviation, and the switch state of each solenoid valve is controlled according to the oil cylinder self-adjustment amount and the oil cylinder coupling adjustment amount, so as to realize the synchronous control of the lifting action of each oil cylinder at the current action moment.

[0019] Optionally, the synchronization control module is further used to determine a control signal characteristic curve;

[0020] In terms of determining the control signal characteristic curve, the synchronous control module is specifically used to:

[0021] The cylinder action time period is divided into a cylinder start buffer period, a cylinder steady action period, and a cylinder stop buffer period according to a first critical moment and a second critical moment; the first critical moment is the moment when the cylinder reaches a maximum speed, and the second critical moment is the moment when the cylinder reaches a set position at a constant speed from a limit position; the set position is a position at a set distance from the limit position;

[0022] Determining a change relationship between the opening control signal of the solenoid valve within the oil cylinder start buffer time period, the oil cylinder stable action time period, and the oil cylinder stop buffer time period;

[0023] The control signal characteristic curve is determined according to the change relationship of the opening control signal of the electromagnetic valve in the different time periods.

[0024] Optionally, the expression of the control signal characteristic curve is:

[0025]

[0026] Among them, I t is the opening control signal of the action time t, I min is the starting parameter of the solenoid valve, I max is the opening control signal when the solenoid valve core opens to the maximum, t1 is the first critical moment, t2 is the second critical moment, and t3 is the cylinder stop moment.

[0027] Optionally, the calculation formula of the oil cylinder self-regulation amount is:

[0028]

[0029] Among them, I pid_self Indicates the self-regulation amount of the cylinder, i indicates the i-th sampling cycle, k indicates the number of sampling cycles within the action time t, K P is the proportionality coefficient, K I is the integral coefficient, K D is the differential coefficient, e self (k) is the displacement difference between the real-time position of the cylinder and the corresponding target position at the kth sampling period, is the cumulative displacement difference between the real-time position of the cylinder and the corresponding target position within i sampling periods, e self (k-1) is the displacement difference between the real-time position of the cylinder and the corresponding target position in the k-1th sampling period.

[0030] Optionally, the calculation formula of the oil cylinder coupling adjustment amount is:

[0031]

[0032] Among them, I pid_cross Indicates the cylinder coupling adjustment amount, i represents the i-th sampling cycle, k represents the number of sampling cycles within the action time t, K P is the proportionality coefficient, K I is the integral coefficient, K D is the differential coefficient, e(k) is the displacement difference between the cylinder itself and the adjacent cylinder at the kth sampling period, is the cumulative displacement difference between the cylinder itself and its adjacent cylinders in i sampling periods, and e(k-1) is the displacement difference between the cylinder itself and its adjacent cylinders in the k-1th sampling period.

[0033] In a second aspect, the present application provides a method for synchronously controlling a crossover work platform of tunneling equipment, the method for synchronously controlling a crossover work platform of tunneling equipment being used in the above-mentioned synchronous control system for the crossover work platform of tunneling equipment, and the method for synchronously controlling a crossover work platform of tunneling equipment comprising:

[0034] Acquire working condition data of the target working condition; the working condition data includes: cross-type working platform load parameters, cross-type working platform gravity parameters, hydraulic module oil temperature parameters and hydraulic module response speed parameters;

[0035] Determining the starting parameters of each solenoid valve under the target working condition based on the working condition data of the target working condition and the starting parameter empirical model; wherein the starting parameter empirical model is established based on an empirical database; the empirical database is determined by manually testing the crossover work platform under different working conditions; the empirical database includes: the working condition data under different working conditions and the corresponding starting parameters of each solenoid valve;

[0036] Inputting the starting parameters of each solenoid valve under the target working condition as initial values ​​into the control signal characteristic curve to determine the opening control signal of each solenoid valve in the operating time period under the target working condition; the control signal characteristic curve represents the changing relationship of the opening control signal of the solenoid valve at different operating times;

[0037] Determine the target position information of each cylinder within the action time period under the target working condition according to the opening control signal of each solenoid valve within the action time period under the target working condition;

[0038] According to the target position information of each cylinder within the action time period under the target working conditions, the real-time position information of each cylinder detected by the position acquisition module, and the action deviation between each cylinder and the adjacent cylinders, the PID control method is used to adjust the switching state of each solenoid valve to achieve synchronous control of the lifting and lowering actions of each cylinder.

[0039] Optionally, according to the target position information of each cylinder within the action time period under the target working condition, the real-time position information of each cylinder detected by the position acquisition module, and the action deviation between each cylinder and the adjacent cylinders, a PID control method is used to adjust the switch state of each solenoid valve to achieve synchronous control of the lifting action of each cylinder, specifically including:

[0040] At any action moment within the action time period, obtaining the real-time position information of each of the oil cylinders detected by the position acquisition module;

[0041] Calculating the self-regulation amount of the oil cylinder according to the real-time position information of each oil cylinder and the corresponding target position information;

[0042] Determining the movement deviation between each cylinder and an adjacent cylinder by adopting a cross-coupling ratio according to the position information of each cylinder;

[0043] The oil cylinder coupling adjustment amount is determined according to the action deviation, and the switch state of each solenoid valve is controlled according to the oil cylinder self-adjustment amount and the oil cylinder coupling adjustment amount, so as to realize the synchronous control of the lifting action of each oil cylinder at the current action moment.

[0044] Optionally, the method for determining the control signal characteristic curve specifically includes:

[0045] The cylinder's action time period is divided into a cylinder start buffer period, a cylinder steady action period, and a cylinder stop buffer period according to the first critical moment and the second critical moment; the cylinder start buffer period is a period of uniform acceleration of the cylinder; the cylinder steady action period is a period of uniform speed of the cylinder; and the cylinder stop buffer period is a period of uniform deceleration of the cylinder; the first critical moment is the moment when the cylinder reaches the maximum speed, and the second critical moment is the moment when the cylinder reaches a set position at a uniform speed away from the limit position; the set position is a position at a set distance from the limit position;

[0046] Determining a change relationship between the opening control signal of the solenoid valve within the oil cylinder start buffer time period, the oil cylinder stable action time period, and the oil cylinder stop buffer time period;

[0047] The control signal characteristic curve is determined according to the change relationship of the opening control signal of the electromagnetic valve in the different time periods.

[0048] Optionally, the expression of the control signal characteristic curve is:

[0049]

[0050] Among them, I t is the opening control signal of the action time t, I minis the starting parameter of the solenoid valve, I max is the opening control signal when the solenoid valve core opens to the maximum, t1 is the first critical moment, t2 is the second critical moment, and t3 is the cylinder stop moment.

[0051] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0052] The present invention provides a synchronous control system and method for a cross-type working platform of tunneling equipment. By acquiring working condition data of a target working condition, a starting parameter empirical model of each working condition data and the starting parameter of each solenoid valve is established, and the starting parameter is determined by the starting parameter empirical model and input into the control signal characteristic curve to determine the opening control signal of each solenoid valve in the action time period, thereby controlling the opening of the solenoid valve, driving the oil cylinder to start and stop smoothly, reducing the impact force during the start and stop process of the oil cylinder, reducing equipment damage, and improving the service life of the machinery; by collecting the real-time position information of each oil cylinder, according to the target position information of each oil cylinder in the action time period, the real-time position information of the oil cylinder and the action deviation of each oil cylinder with adjacent oil cylinders, a PID control method is used to adjust the switching state of each solenoid valve, thereby realizing real-time adjustment of the oil cylinder's own position deviation and the action deviation of the oil cylinder's own position with adjacent oil cylinders, balancing the response difference of the hydraulic module, and improving the synchronization of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0054] Figure 1 This is a functional module diagram of a synchronous control system for a cross-type working platform of tunneling equipment in one embodiment of the present application;

[0055] Figure 2 for Figure 1 A structural diagram of a synchronous control module in a synchronous control system of a cross-type working platform of tunneling equipment;

[0056] Figure 3 A flow chart showing the synchronous adjustment of solenoid valve control signals by a synchronous control system for a cross-type working platform of tunneling equipment provided in one embodiment of the present application;

[0057] Figure 4 This is a flow chart of a synchronous control method for a cross-type working platform of tunneling equipment provided in another embodiment of the present application;

[0058] Explanation of symbols:

[0059] Synchronous control module-100, acquisition unit-201, control unit-202, operation unit-203, execution unit-204. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0061] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0062] See also Figure 1 This embodiment provides a synchronous control system for a cross-type working platform of tunneling equipment, which is used to control the cross-type working platform of tunneling equipment. The cross-type working platform of tunneling equipment includes: a hydraulic module, a flow control module and a position acquisition module; the synchronous control system for the cross-type working platform of tunneling equipment includes: a synchronous control module 100.

[0063] The synchronous control module 100 is connected to the flow control module and the position acquisition module respectively; the flow control module includes: a plurality of solenoid valves; the hydraulic module includes: a plurality of oil cylinders; one solenoid valve is correspondingly connected to one oil cylinder.

[0064] The position acquisition module is used to collect the real-time position information of each cylinder.

[0065] The synchronization control module 100 is used for:

[0066] (1) Obtaining working condition data of a target working condition; the working condition data includes: a cross-type working platform load parameter, a cross-type working platform gravity parameter, a hydraulic module oil temperature parameter, and a hydraulic module response speed parameter.

[0067] (2) determining the starting parameters of each solenoid valve under the target working condition based on the working condition data of the target working condition and the starting parameter empirical model; wherein the starting parameter empirical model is established based on an empirical database; the empirical database is determined by manually performing test operations on the cross-type working platform under different working conditions; the empirical database includes: working condition data under different working conditions and corresponding starting parameters of each solenoid valve; inputting the starting parameters of each solenoid valve under the target working condition as initial values ​​into the control signal characteristic curve to determine the opening control signal of each solenoid valve in the action time period under the target working condition; the control signal characteristic curve represents the change relationship of the opening control signal of the solenoid valve at different action times; according to the opening control signal of each solenoid valve in the action time period under the target working condition, determining the target position information of each cylinder in the action time period under the target working condition; according to the target position information of each cylinder in the action time period under the target working condition, the real-time position information of each cylinder detected by the position acquisition module, and the action deviation of each cylinder and the adjacent cylinder, adopting the PID control method to adjust the switch state of each solenoid valve to realize the synchronous control of the lifting action of each cylinder.

[0068] See also Figure 2 In the synchronization control module 100 , the above step (1) can be implemented by the acquisition unit 201 inside the synchronization control module 100 , and the above step (2) can be implemented by the control unit 202 inside the synchronization control module 100 .

[0069] In another exemplary embodiment of the present application, see Figure 2 The synchronization control module 100 further includes: an operation unit 203 and an execution unit 204 , wherein the operation unit 203 and the execution unit 204 are connected to the control unit 202 respectively.

[0070] The operation unit 203 is used to send a solenoid valve start operation instruction to the control unit 202. The control unit 202 executes the above steps (1)-(2) after receiving the start operation instruction from the operation unit 203. The execution unit 204 is used to adjust the opening of the solenoid valve spool according to the control signal generated by the control unit 202 through the control signal characteristic curve and the adjustment result of the PID control method.

[0071] In an exemplary embodiment, the synchronization control module 100 is further configured to determine a control signal characteristic curve.

[0072] A solenoid valve is an electro-hydraulic control device that controls the valve core opening and flow rate, thereby controlling the cylinder's movement, by applying an input control signal to the electromagnet. The solenoid valve core opening is linearly proportional to the input control signal. Here, the solenoid valve's flow rate characteristic is considered linear, meaning that the solenoid valve flow rate is linearly proportional to the valve core opening. Using the formula v = Q / A, we can see that the cylinder's movement speed and the solenoid valve flow rate are also linearly proportional, where v is the cylinder's movement speed, Q is the solenoid valve flow rate, and A is the cylinder's cross-sectional area. This confirms that the input control signal is linearly proportional to the cylinder's movement speed. Therefore, if you want the cylinder to accelerate uniformly at startup and decelerate uniformly when approaching its limit position, you can simply adjust the input control signal to achieve this.

[0073] Therefore, in terms of determining the control signal characteristic curve, the synchronous control module 100 is specifically used to: determine the cylinder's action time period into a cylinder start buffer time period, a cylinder smooth action time period and a cylinder stop buffer time period according to the first critical moment and the second critical moment; the first critical moment is the moment when the cylinder reaches the maximum speed, and the second critical moment is the moment when the cylinder reaches the set value at a uniform speed from the limit position; determine the change relationship of the solenoid valve opening control signal within the cylinder start buffer time period, the cylinder smooth action time period and the cylinder stop buffer time period; determine the control signal characteristic curve according to the change relationship of the solenoid valve opening control signal within the different time periods.

[0074] The expression of the control signal characteristic curve is:

[0075]

[0076] Among them, I t is the opening control signal of the action time t, I min is the starting parameter of the solenoid valve, I max is the opening control signal when the solenoid valve core opens to the maximum, t1 is the first critical moment, t2 is the second critical moment, and t3 is the cylinder stop moment.

[0077] Specifically, the time period 0-t1 is the oil cylinder start buffer period, the oil cylinder starts and performs uniform acceleration, the speed reaches the maximum from 0, and the control signal changes from I min Reach I max The time period t1-t2 is the time period for the cylinder to move smoothly. The cylinder always keeps moving at the maximum speed and the control signal keeps I max The time period t2-t3 is the oil cylinder stop buffer time period, the oil cylinder performs uniform deceleration until it stops, and the control signal changes from I max to I min .

[0078] In another exemplary embodiment of the present application, according to the target position information of each cylinder within the action time period under the target working condition, the real-time position information of each cylinder detected by the position acquisition module, and the action deviation between each cylinder and the adjacent cylinder, the PID control method is adopted to adjust the switch state of each solenoid valve to realize the synchronous control of the lifting and lowering actions of each cylinder. The synchronous control module 100 is specifically used to: for any action moment within the action time period, obtain the real-time position information of each cylinder detected by the position acquisition module; calculate the cylinder self-adjustment amount according to the real-time position information of each cylinder and the corresponding target position information; determine the action deviation between each cylinder and the adjacent cylinder by using the cross-coupling ratio according to the position information of each cylinder; determine the cylinder coupling adjustment amount according to the action deviation, and control the switch state of each solenoid valve according to the cylinder self-adjustment amount and the cylinder coupling adjustment amount to realize the synchronous control of the lifting and lowering actions of each cylinder at the current action moment.

[0079] The calculation formula of the oil cylinder self-regulation amount is:

[0080]

[0081] Among them, I pid_self Represents the self-regulation amount of the oil cylinder, i represents the i-th sampling cycle, k represents the number of sampling cycles performed within the action time t, wherein the relationship between the number of sampling cycles k and the action time t is t = k × T, T is the sampling time of each sampling cycle, K P is the proportionality coefficient, K I is the integral coefficient, K D is the differential coefficient, e self (k) is the displacement difference between the real-time position of the cylinder and the corresponding target position at the kth sampling period, is the cumulative displacement difference between the real-time position of the cylinder and the corresponding target position within i sampling periods, e self (k-1) is the displacement difference between the real-time position of the cylinder and the corresponding target position in the k-1th sampling period.

[0082] The calculation formula of the oil cylinder coupling adjustment amount is:

[0083]

[0084] Among them, I pid_cross Represents the cylinder coupling adjustment amount, i represents the i-th sampling cycle, k represents the number of sampling cycles performed within the action time t, wherein the relationship between the sampling cycle number k and the action time t is t = k × T, T is the sampling time of each sampling cycle, K P is the proportionality coefficient, K I is the integral coefficient, KD is the differential coefficient, e(k) is the displacement difference between the cylinder itself and the adjacent cylinder at the kth sampling period, is the cumulative displacement difference between the cylinder itself and its adjacent cylinders in i sampling periods, and e(k-1) is the displacement difference between the cylinder itself and its adjacent cylinders in the k-1th sampling period.

[0085] In a specific embodiment, the operation steps of the synchronization control module 100 may be:

[0086] (1) Establish an empirical model of the starting parameters of the cross-type work platform lifting solenoid valve and determine the starting parameters based on the real-time working conditions, including:

[0087] After receiving the action instruction sent by the operating unit 203, the control unit 202 determines the starting parameters of each solenoid valve according to a preset starting parameter experience model and in combination with the real-time working conditions.

[0088] The empirical model for each solenoid valve's actuation parameters was established by manually testing a cross-type work platform, recording the corresponding data between each solenoid valve's actuation parameters and different operating conditions. This empirical database was then created. These different operating conditions include changes in the platform's load, the effects of gravity when the platform ascends or descends, changes in hydraulic system oil temperature, and variations in hydraulic system response speed.

[0089] Specifically, the determination of the synchronous starting parameters of each solenoid valve can be carried out according to the following steps: first, determine the load parameters of the working platform, the gravity parameters of the working platform itself, the oil temperature parameters of the hydraulic system, the response speed of the hydraulic system and other parameters; according to the above-determined parameters, find the optimal starting parameters that match them in the starting parameter empirical model, which are the starting parameters of each solenoid valve.

[0090] (2) The characteristic curve of each solenoid valve control signal is set with the starting parameter as the initial value, so that the solenoid valve drives the cylinder to start and stop smoothly.

[0091] Smooth cylinder start and stop refers to starting with a buffer, maintaining the maximum speed after reaching the maximum speed, and stopping with a buffer when approaching the limit position. Starting with a buffer means uniform acceleration when the cylinder starts, while stopping with a buffer means uniform deceleration when the cylinder stops.

[0092] (3) After each solenoid valve operates based on the specific curve of the control signal, the action deviation between the cylinder itself and the cylinder is determined through cross-coupling comparison based on the real-time displacement signal collected by the position acquisition module. The solenoid valve control signal is synchronously adjusted based on the action deviation, specifically including:

[0093] The controller sends control information to the solenoid valve based on the specific control signal curve. The solenoid valve performs the corresponding action, pushing the cylinder to extend or retract. The position acquisition module collects the cylinder's real-time displacement signal. The controller is equipped with a PID control module.

[0094] The real-time displacement information of the cylinder is sent to a controller with a PID adjustment module. Through cross-coupling comparison, the action deviation between the cylinder itself and the cylinder is determined. The solenoid valve control signal is PID-adjusted according to the action deviation, thereby achieving synchronous adjustment of the control signal.

[0095] Taking three solenoid valves and three corresponding oil cylinders as an example, the PID control process implemented by the synchronous control module 100 is introduced in detail.

[0096] See also Figure 3 The lifting of the cross-type working platform is realized by three groups of electromagnetically controlled cylinders. A group of solenoid valves is set in front of the platform as the front solenoid valve, and a group of solenoid valves are set on the left and right sides of the rear of the platform, namely the left rear solenoid valve and the right rear solenoid valve. The front solenoid valve, the left rear solenoid valve and the right rear solenoid valve are connected to the front cylinder, the left rear cylinder and the right rear cylinder respectively. The position acquisition module is three displacement sensors installed on the front cylinder, the left rear cylinder and the right rear cylinder of the working platform. The real-time position signals of the three cylinders are collected through these three displacement sensors.

[0097] The optimal PID coefficient is determined through Simulink simulation and combined with manual test data. During the cylinder movement process, the control unit 202 performs PID adjustment on the movement of the three cylinders themselves. At the same time, through cross-coupling comparison, PID adjustment is performed on the movement deviation between the cylinders, thereby achieving synchronous adjustment of the solenoid valve opening control signal.

[0098] For the front solenoid valve, when control signal 1 is input, the front solenoid valve adjusts the flow rate to control the movement of the front cylinder. The front cylinder generates displacement 1, and a synchronous displacement difference 1 is generated between the front cylinder and the left rear cylinder. Simultaneously, the front cylinder displacement 1 and the synchronous displacement difference 1 between the front and left rear cylinders are used as adjustment items to perform PID control on control signal 1. Similarly, for the left rear solenoid valve, the left rear cylinder displacement 2 and the synchronous displacement difference 2 between the left rear cylinder and right rear cylinder are used as adjustment items to perform PID control on control signal 2. For the right rear solenoid valve, the right rear cylinder displacement 3 and the synchronous displacement difference 3 between the right rear cylinder and the front cylinder are used as adjustment items to perform PID control on control signal 3. This allows the three solenoid valves to perform cross-coupling adjustment while self-regulating, ultimately achieving synchronized movement of the three cylinders.

[0099] The calculation formula of the cylinder coupling adjustment amount is:

[0100]

[0101] For the left rear cylinder, e(k) in the cylinder coupling adjustment calculation formula represents the displacement difference between the left rear cylinder and the right rear cylinder in the kth sampling period. For the right rear cylinder, e(k) refers to the displacement difference between the right rear cylinder and the front cylinder in the kth sampling period. For the front cylinder, e(k) refers to the displacement difference between the front cylinder and the left rear cylinder in the kth sampling period.

[0102] Similarly, for the left rear cylinder, e(i) represents the cumulative displacement difference between the left cylinder and the right cylinder within i sampling periods; for the right rear cylinder, e(i) represents the cumulative displacement difference between the right rear cylinder and the front cylinder within i sampling periods; for the front cylinder, e(i) represents the cumulative displacement difference between the front cylinder and the left rear cylinder within i sampling periods.

[0103] For the left cylinder, e(k)-e(k-1) refers to the deviation between the displacement difference between the left and right cylinders in the kth sampling period and the displacement difference in the k-1th sampling period. For the right cylinder, e(k)-e(k-1) refers to the deviation between the displacement difference between the right and front cylinders in the kth sampling period and the displacement difference in the k-1th sampling period. For the front cylinder, e(k)-e(k-1) refers to the deviation between the displacement difference between the front and left cylinders in the kth sampling period and the displacement difference in the k-1th sampling period.

[0104] Based on the same inventive concept, an embodiment of the present application also provides a method for synchronously controlling a crossover work platform of tunneling equipment involved in the synchronous control system of the crossover work platform of tunneling equipment.

[0105] See also Figure 4 The synchronous control method of the cross-type working platform of the tunneling equipment specifically includes:

[0106] Step 401 , obtaining working condition data of a target working condition; the working condition data includes: cross-type working platform load parameters, cross-type working platform gravity parameters, hydraulic module oil temperature parameters, and hydraulic module response speed parameters.

[0107] Step 402, determining the starting parameters of each solenoid valve under the target working condition based on the working condition data of the target working condition and the starting parameter empirical model; wherein, the starting parameter empirical model is established based on an empirical database; the empirical database is determined by manually performing test operations on the cross-type working platform under different working conditions; the empirical database includes: working condition data under different working conditions and the corresponding starting parameters of each solenoid valve.

[0108] In step 403, the starting parameters of each solenoid valve under the target working condition are input as initial values ​​into the control signal characteristic curve to determine the opening control signal of each solenoid valve in the action time period under the target working condition; the control signal characteristic curve represents the change relationship of the opening control signal of the solenoid valve at different action times.

[0109] Step 404 : determining target position information of each oil cylinder within the action time period under the target working condition according to the opening control signal of each solenoid valve within the action time period under the target working condition.

[0110] Step 405, based on the target position information of each cylinder within the action time period under the target working condition, the real-time position information of each cylinder detected by the position acquisition module, and the action deviation between each cylinder and the adjacent cylinders, the PID control method is used to adjust the switching state of each solenoid valve to achieve synchronous control of the lifting and lowering actions of each cylinder.

[0111] In an exemplary embodiment, the specific implementation method of the above-mentioned step 405 includes: for any action moment within the action time period, obtaining the real-time position information of each of the cylinders detected by the position acquisition module; calculating the cylinder self-adjustment amount based on the real-time position information of each of the cylinders and the corresponding target position information; determining the action deviation between each of the cylinders and the adjacent cylinders by using a cross-coupling ratio according to the position information of each of the cylinders; determining the cylinder coupling adjustment amount based on the action deviation, and controlling the switching state of each of the solenoid valves based on the cylinder self-adjustment amount and the cylinder coupling adjustment amount, so as to realize synchronous control of the lifting and lowering actions of each of the cylinders at the current action moment.

[0112] As an optional implementation, the method for determining the control signal characteristic curve in the above step 403 specifically includes: determining that the cylinder's action time period is divided into a cylinder start buffer time period, a cylinder smooth action time period, and a cylinder stop buffer time period according to a first critical moment and a second critical moment; the first critical moment is the moment when the cylinder reaches the maximum speed, and the second critical moment is the moment when the cylinder reaches a set value at a uniform speed from the limit position; determining the change relationship of the solenoid valve opening control signal within the cylinder start buffer time period, the cylinder smooth action time period, and the cylinder stop buffer time period; and determining the control signal characteristic curve according to the change relationship of the solenoid valve opening control signal within the different time periods.

[0113] The expression of the control signal characteristic curve is:

[0114]

[0115] Among them, I t is the opening control signal of the action time t, I minis the starting parameter of the solenoid valve, I max is the opening control signal when the solenoid valve core opens to the maximum, t1 is the first critical moment, t2 is the second critical moment, and t3 is the cylinder stop moment.

[0116] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0117] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above examples is only intended to help understand the method and core concept of this application. At the same time, for those skilled in the art, based on the concept of this application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A synchronous control system for a cross-type working platform of tunneling equipment, characterized in that: The tunneling equipment cross-type working platform synchronization control system is used to control the tunneling equipment cross-type working platform, and the tunneling equipment cross-type working platform includes: a hydraulic module, a flow control module and a position acquisition module; the tunneling equipment cross-type working platform synchronization control system includes: a synchronization control module; The synchronous control module is connected to the flow control module and the position acquisition module respectively; the flow control module includes: a plurality of solenoid valves; the hydraulic module includes: a plurality of oil cylinders; one solenoid valve is correspondingly connected to one oil cylinder; The synchronization control module is used for: Acquire working condition data of the target working condition; the working condition data includes: cross-type working platform load parameters, cross-type working platform gravity parameters, hydraulic module oil temperature parameters and hydraulic module response speed parameters; Determining the starting parameters of each solenoid valve under the target working condition based on the working condition data of the target working condition and the starting parameter empirical model; wherein the starting parameter empirical model is established based on an empirical database; the empirical database is determined by manually testing the crossover work platform under different working conditions; the empirical database includes: the working condition data under different working conditions and the corresponding starting parameters of each solenoid valve; Inputting the starting parameters of each solenoid valve under the target working condition as initial values ​​into the control signal characteristic curve to determine the opening control signal of each solenoid valve in the operating time period under the target working condition; the control signal characteristic curve represents the changing relationship of the opening control signal of the solenoid valve at different operating times; Determine the target position information of each cylinder within the action time period under the target working condition according to the opening control signal of each solenoid valve within the action time period under the target working condition; Based on the target position information of each cylinder within the action time period under the target working condition, the real-time position information of each cylinder detected by the position acquisition module, and the action deviation between each cylinder and the adjacent cylinders, the PID control method is used to adjust the switching state of each solenoid valve to achieve synchronous control of the lifting and lowering actions of each cylinder; wherein, the synchronous control module is specifically used to: At any action moment within the action time period, obtaining the real-time position information of each of the oil cylinders detected by the position acquisition module; Calculating the self-regulation amount of the oil cylinder according to the real-time position information of each oil cylinder and the corresponding target position information; Determining the movement deviation between each cylinder and an adjacent cylinder by adopting a cross-coupling ratio according to the position information of each cylinder; The oil cylinder coupling adjustment amount is determined according to the action deviation, and the switch state of each solenoid valve is controlled according to the oil cylinder self-adjustment amount and the oil cylinder coupling adjustment amount, so as to realize the synchronous control of the lifting action of each oil cylinder at the current action moment.

2. The synchronous control system for the cross-type working platform of tunneling equipment according to claim 1, characterized in that: The synchronous control module is further used to determine a control signal characteristic curve; In terms of determining the control signal characteristic curve, the synchronous control module is specifically used to: The cylinder's action time period is divided into a cylinder start buffer period, a cylinder steady action period, and a cylinder stop buffer period according to the first critical moment and the second critical moment; the cylinder start buffer period is a period during which the cylinder is uniformly accelerated; the cylinder steady action period is a period during which the cylinder is uniformly moved; and the cylinder stop buffer period is a period during which the cylinder is uniformly decelerated; the first critical moment is the moment when the cylinder reaches its maximum speed, and the second critical moment is the moment when the cylinder reaches a set position at a uniform speed; the set position is a position at a distance from a limit position that is a set value; Determining a change relationship between the opening control signal of the solenoid valve within the oil cylinder start buffer time period, the oil cylinder stable action time period, and the oil cylinder stop buffer time period; The control signal characteristic curve is determined according to the change relationship of the opening control signal of the electromagnetic valve in different time periods.

3. The synchronous control system for the cross-type working platform of tunneling equipment according to claim 1, characterized in that: The expression of the control signal characteristic curve is: ； in, Action time t The opening control signal, is the starting parameter of the solenoid valve, It is the opening control signal when the solenoid valve core opens to the maximum. The first critical moment, is the second critical moment, The cylinder stops at this moment.

4. The synchronous control system for the cross-type working platform of tunneling equipment according to claim 1, characterized in that: The calculation formula of the oil cylinder self-regulation amount is: ； in, Indicates the self-regulation amount of the cylinder. i Indicates the i Sampling period, k Indicates the action time t The number of sampling cycles performed within is the proportionality coefficient, is the integration coefficient, is the differential coefficient, For the k The displacement difference between the real-time position of the cylinder and the corresponding target position during a sampling period, The oil cylinder itself is i The cumulative displacement difference between the real-time position of the cylinder and the corresponding target position within a sampling period, For the k -1 sampling period, the displacement difference between the real-time position of the cylinder and the corresponding target position.

5. The synchronous control system for the cross-type working platform of tunneling equipment according to claim 1, characterized in that: The calculation formula of the oil cylinder coupling adjustment amount is: ； in, Indicates the cylinder coupling adjustment amount, i Indicates the i Sampling period, k Indicates the action time t The number of sampling cycles performed within is the proportionality coefficient, is the integration coefficient, is the differential coefficient, For the k The displacement difference between the cylinder itself and the adjacent cylinder during a sampling period, is the cumulative displacement difference between the cylinder itself and the adjacent cylinders within i sampling cycles, For the k -1 sampling period displacement difference between the cylinder itself and the adjacent cylinder.

6. A synchronous control method for a cross-type working platform of tunneling equipment, characterized in that: The synchronous control method for the cross-type working platform of tunneling equipment is used for the synchronous control system for the cross-type working platform of tunneling equipment according to any one of claims 1 to 5, and the synchronous control method for the cross-type working platform of tunneling equipment comprises: Acquire working condition data of the target working condition; the working condition data includes: cross-type working platform load parameters, cross-type working platform gravity parameters, hydraulic module oil temperature parameters and hydraulic module response speed parameters; Determining the starting parameters of each solenoid valve under the target working condition based on the working condition data of the target working condition and the starting parameter empirical model; wherein the starting parameter empirical model is established based on an empirical database; the empirical database is determined by manually testing the crossover work platform under different working conditions; the empirical database includes: the working condition data under different working conditions and the corresponding starting parameters of each solenoid valve; Inputting the starting parameters of each solenoid valve under the target working condition as initial values ​​into the control signal characteristic curve to determine the opening control signal of each solenoid valve in the operating time period under the target working condition; the control signal characteristic curve represents the changing relationship of the opening control signal of the solenoid valve at different operating times; Determine the target position information of each cylinder within the action time period under the target working condition according to the opening control signal of each solenoid valve within the action time period under the target working condition; According to the target position information of each cylinder within the action time period under the target working condition, the real-time position information of each cylinder detected by the position acquisition module, and the action deviation between each cylinder and the adjacent cylinder, the PID control method is adopted to adjust the switch state of each solenoid valve to realize the synchronous control of the lifting and lowering actions of each cylinder, including: for any action moment within the action time period, obtaining the real-time position information of each cylinder detected by the position acquisition module; calculating the cylinder self-regulation amount according to the real-time position information of each cylinder and the corresponding target position information; determining the action deviation between each cylinder and the adjacent cylinder by using the cross-coupling ratio according to the position information of each cylinder; determining the cylinder coupling adjustment amount according to the action deviation, and controlling the switch state of each solenoid valve according to the cylinder self-regulation amount and the cylinder coupling adjustment amount, to realize the synchronous control of the lifting and lowering actions of each cylinder at the current action moment.

7. The synchronous control method for cross-type working platforms of tunneling equipment according to claim 6, characterized in that: The method for determining the control signal characteristic curve specifically includes: The cylinder's action time period is divided into a cylinder start buffer period, a cylinder steady action period, and a cylinder stop buffer period according to the first critical moment and the second critical moment; the cylinder start buffer period is a period of uniform acceleration of the cylinder; the cylinder steady action period is a period of uniform speed of the cylinder; and the cylinder stop buffer period is a period of uniform deceleration of the cylinder; the first critical moment is the moment when the cylinder reaches the maximum speed, and the second critical moment is the moment when the cylinder reaches a set position at a uniform speed away from the limit position; the set position is a position at a set distance from the limit position; Determining a change relationship between the opening control signal of the solenoid valve within the oil cylinder start buffer time period, the oil cylinder stable action time period, and the oil cylinder stop buffer time period; The control signal characteristic curve is determined according to the change relationship of the opening control signal of the electromagnetic valve in the different time periods.

8. The synchronous control method for cross-type working platforms of tunneling equipment according to claim 6, characterized in that: The expression of the control signal characteristic curve is: ； in, Action time t The opening control signal, is the starting parameter of the solenoid valve, The opening control signal when the solenoid valve core is at its maximum opening The first critical moment, is the second critical moment, The cylinder stops at this moment.

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