Monitoring method and system suitable for large-water-head vertical lifting complex

Abstract

The invention discloses a monitoring method and system suitable for a large-water-head vertical lifting complex, and the method comprises the steps: obtaining the operation information of the vertical lifting complex through an arranged sensor, the operation information comprises the real-time height of the system, the total mass of the system, the number of hydraulic lifting assemblies, the height of the hydraulic lifting assemblies, the initial load of the hydraulic lifting assemblies, the environment humidity and the environment temperature; a coupling function between the hydraulic lifting assemblies is set, and the mutual influence between the hydraulic lifting assemblies is monitored according to the operation information; and setting a nonlinear response function of the hydraulic system for monitoring the response condition of the hydraulic system, and meanwhile, setting a system controller for controlling and adjusting the vertical lifting complex through the system controller.

Description

Technical Field

[0001] The present invention belongs to the technical field of vertical lifting complex monitoring, and more specifically, relates to a monitoring method and system suitable for a vertical lifting complex with a large water level difference. Background Art

[0002] At present, with the development of economy, people's demand for tourism and leisure is increasing. In the upper reaches of the Yangtze River, due to the narrow surface and rapid water flow of the Yangtze River, it is very suitable for the development of water sightseeing tourism. The water level of the Yangtze River varies greatly at different times of the year. In the upper reaches of the Yangtze River, vertical docks are used, and a set of vertical dock lifting devices suitable for large water level differences is developed. The position of the lifting device is dynamically adjusted to adapt to the change of large water levels. This set of dock vertical lifting complex device is crucial to the normal operation of the port, so a set of vertical lifting complex monitoring system needs to be developed.

[0003] Project monitoring refers to the technical means of using sensors and monitoring instruments to monitor various control indicators of key parts of the project throughout the life cycle of the project, which can check, verify and ensure the safety and rationality of the project during the construction, production operation, and overhaul and maintenance. Project monitoring can obtain monitoring data comprehensively, accurately and in real time, improve the accuracy of project early warning, and improve the health of the project, which is of great significance to ensuring the safe operation of the project.

[0004] Traditional engineering monitoring methods mainly rely on manual observation. Manual observation is restricted by various conditions and has the following business pain points: (1) the monitoring point is located inside a hidden project, (2) the monitoring frequency requirement is high, (3) long-term monitoring is required, and (4) there are special monitoring requirements. For the above business pain points, traditional manual monitoring methods are difficult to implement. Summary of the invention

[0005] In order to solve the above technical problems, the present invention proposes a monitoring method suitable for a large water level difference vertical lifting complex, comprising: Obtaining operation information of the vertical lifting complex through the provided sensors, wherein the operation information includes: the real-time height of the system, the total mass of the system, the number of hydraulic lifting assemblies, the height of the hydraulic lifting assemblies, the initial load of the hydraulic lifting assemblies, the ambient humidity and the ambient temperature; Setting coupling functions between hydraulic lifting components and monitoring mutual influence between the hydraulic lifting components according to the operation information; A nonlinear response function of the hydraulic system is set to monitor the response of the hydraulic system. At the same time, a system controller is set to control and adjust the vertical lifting complex through the system controller.

[0006] Furthermore, the coupling function between the hydraulic lifting components includes: , in, is the real-time height of the system, For time, is the total mass of the system, is the number of hydraulic lifting components, For the Non-linear loads of hydraulic lifting components, is the total gravity of the system, For the The first hydraulic lift assembly and the The coupling coefficient between the hydraulic lifting components, For the The height of the hydraulic lifting assembly, For the The height of the hydraulic lift assembly.

[0007] Further, Non-linear loads of hydraulic lifting components include: , in, is the initial load of the hydraulic lifting assembly, For the The first adjustment factor for the nonlinear load of the hydraulic lifting assembly, For the The second adjustment factor for the nonlinear load of the hydraulic lifting assembly, For the The third adjustment factor for the nonlinear load of the hydraulic lifting components, For the The fourth adjustment factor for the non-linear load of the hydraulic lifting components, For the The fifth adjustment factor for the non-linear load of the hydraulic lifting components, For the The sixth adjustment factor for the nonlinear load of the hydraulic lifting components, For the The seventh adjustment factor for the non-linear load of the hydraulic lifting components, is the ambient humidity, For time The disturbance term when For time The noise term when is the ambient temperature.

[0008] Furthermore, the nonlinear response function of the hydraulic system includes: , in, For the The pressure of the hydraulic cylinder, For the Hydraulic cylinders at time The first adjustment factor is For the Hydraulic cylinders at time The second adjustment factor is For the the current volume of hydraulic fluid in the hydraulic cylinder, For the Hydraulic cylinders at time The third adjustment factor for For the The rate of change of the current volume of hydraulic oil in the hydraulic cylinder, For the Hydraulic cylinders at time The fourth adjustment factor is For the The initial volume of hydraulic oil in the hydraulic cylinder, For the Hydraulic cylinders at time The fifth adjustment factor when For the Hydraulic cylinders at time The pressure of For time is the noise term regarding the pressure of the hydraulic cylinder.

[0009] Furthermore, the system controller includes: , in, For the The control input variables of the hydraulic lifting components are: For the The sliding mode gain of the controller for the hydraulic lift assembly, For the The target height of the first hydraulic lift assembly and the The sign function between the actual heights of the hydraulic lift assemblies, For the The target height of the hydraulic lifting assembly, For the The actual height of the hydraulic lifting assembly, For the The proportional gain of the controller for the hydraulic lift assembly, For the The integral gain of the controller for the hydraulic lift assembly, For time, For the The control input variables of the first hydraulic lift component and the The coupling coefficient between the control input variables of the hydraulic lifting components, For the The control input variables of the hydraulic lifting components.

[0010] The present invention also proposes a monitoring system suitable for a large water level difference vertical lifting complex, comprising: An information acquisition module is used to acquire operation information of the vertical lifting complex through a set sensor, wherein the operation information includes: real-time height of the system, total mass of the system, number of hydraulic lifting assemblies, height of the hydraulic lifting assemblies, initial load of the hydraulic lifting assemblies, ambient humidity and ambient temperature; A mutual influence monitoring module is used to set the coupling function between the hydraulic lifting components and monitor the mutual influence between the hydraulic lifting components according to the operation information; The control module is used to set a nonlinear response function of the hydraulic system and monitor the response of the hydraulic system. At the same time, a system controller is set to control and adjust the vertical lifting complex through the system controller.

[0011] Furthermore, the coupling function between the hydraulic lifting components includes: , in, is the real-time height of the system, For time, is the total mass of the system, is the number of hydraulic lifting components, For the Non-linear loads of hydraulic lifting components, is the total gravity of the system, For the The first hydraulic lift assembly and the The coupling coefficient between the hydraulic lifting components, For the The height of the hydraulic lifting assembly, For the The height of the hydraulic lift assembly.

[0012] Further, Non-linear loads of hydraulic lifting components include: , in, is the initial load of the hydraulic lifting assembly, For the The first adjustment factor for the nonlinear load of the hydraulic lifting assembly, For the The second adjustment factor for the nonlinear load of the hydraulic lifting assembly, For the The third adjustment factor for the nonlinear load of the hydraulic lifting components, For the The fourth adjustment factor for the non-linear load of the hydraulic lifting components, For the The fifth adjustment factor for the non-linear load of the hydraulic lifting components, For the The sixth adjustment factor for the nonlinear load of the hydraulic lifting components, For the The seventh adjustment factor for the non-linear load of the hydraulic lifting components, is the ambient humidity, For time The disturbance term when For time The noise term when is the ambient temperature.

[0013] Furthermore, the nonlinear response function of the hydraulic system includes: , in, For the The pressure of the hydraulic cylinder, For the Hydraulic cylinders at time The first adjustment factor when For the Hydraulic cylinders at time The second adjustment factor is For the The current volume of hydraulic fluid in the hydraulic cylinders, For the Hydraulic cylinders at time The third adjustment factor for For the The rate of change of the current volume of hydraulic oil in the hydraulic cylinder, For the Hydraulic cylinders at time The fourth adjustment factor is For the The initial volume of hydraulic oil in the hydraulic cylinder, For the Hydraulic cylinders at time The fifth adjustment factor when For the Hydraulic cylinders at time The pressure of For time is the noise term regarding the pressure of the hydraulic cylinder.

[0014] Furthermore, the system controller includes: , in, For the The control input variables of the hydraulic lifting components are: For the The sliding mode gain of the controller for the hydraulic lift assembly, For the The target height of the first hydraulic lift assembly and the The sign function between the actual heights of the hydraulic lift assemblies, For the The target height of the hydraulic lifting assembly, For the The actual height of the hydraulic lifting assembly, For the The proportional gain of the controller for the hydraulic lift assembly, For the The integral gain of the controller for the hydraulic lift assembly, For time, For the The control input variables of the first hydraulic lifting component and the The coupling coefficient between the control input variables of the hydraulic lifting components, For the The control input variables of the hydraulic lifting components.

[0015] In general, the above technical solution conceived by the present invention has the following beneficial effects compared with the prior art: The invention sets a coupling function between hydraulic lifting components, and monitors the mutual influence between the hydraulic lifting components according to the operation information; sets a hydraulic system nonlinear response function to monitor the response of the hydraulic system, and at the same time, sets a system controller to control and adjust the vertical lifting complex through the system controller. The invention uses the above technical scheme to monitor the vertical lifting complex with large water level difference in real time, thereby ensuring normal operation and improving the use efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a flow chart of the method of embodiment 1 of the present invention; Figure 2 It is a structural diagram of the system of embodiment 2 of the present invention. DETAILED DESCRIPTION

[0017] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0018] The method provided by the present invention can be implemented in the following terminal environment, and the terminal may include one or more of the following components: a processor, a storage medium, and a display screen. The storage medium stores at least one instruction, and the instruction is loaded and executed by the processor to implement the method described in the following embodiment.

[0019] The processor may include one or more processing cores. The processor uses various interfaces and lines to connect various parts in the entire terminal, and executes various functions of the terminal and processes data by running or executing instructions, programs, code sets or instruction sets stored in the storage medium, and calling data stored in the storage medium.

[0020] The storage medium may include a random access memory (RAM) or a read-only memory (ROM). The storage medium may be used to store instructions, programs, codes, code sets or instructions.

[0021] The display screen is used to display the user interface of each application.

[0022] In addition, those skilled in the art can understand that the structure of the above terminal does not constitute a limitation on the terminal, and the terminal may include more or fewer components, or combine certain components, or arrange the components differently. For example, the terminal also includes components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, and a power supply, which will not be described in detail here.

[0023] The purpose of the present invention is to monitor the passenger vertical lifting unit linkage system with large water level difference, whose invention name is "Passenger vertical lifting unit linkage system and method suitable for large water level difference" and application number is "CN202211524788.7".

[0024] Example 1 like Figure 1 As shown, an embodiment of the present invention provides a monitoring method applicable to a large water level difference vertical lifting complex, comprising: Step 101, obtaining operation information of the vertical lifting complex through the set sensors, wherein the operation information includes: the real-time height of the system, the total mass of the system, the number of hydraulic lifting components, the height of the hydraulic lifting components, the initial load of the hydraulic lifting components, the ambient humidity and the ambient temperature; Step 102, setting a coupling function between the hydraulic lifting components, and monitoring the mutual influence between the hydraulic lifting components according to the operation information; Specifically, the coupling functions between the hydraulic lifting components include: , in, is the real-time height of the system, For time, is the total mass of the system, is the number of hydraulic lifting components, For the Non-linear loads of hydraulic lifting components, is the total gravity of the system, For the The first hydraulic lift assembly and the The coupling coefficient between the hydraulic lifting components, For the The height of the hydraulic lifting assembly, For the The height of the hydraulic lift assembly.

[0025] Specifically, Non-linear loads of hydraulic lifting components include: , in, is the initial load of the hydraulic lifting assembly, For the The first adjustment factor for the nonlinear load of the hydraulic lifting assembly, For the The second adjustment factor for the nonlinear load of the hydraulic lifting assembly, For the The third adjustment factor for the nonlinear load of the hydraulic lifting components, For the The fourth adjustment factor for the non-linear load of the hydraulic lifting components, For the The fifth adjustment factor for the non-linear load of the hydraulic lifting components, For the The sixth adjustment factor for the nonlinear load of the hydraulic lifting components, For the The seventh adjustment factor for the non-linear load of the hydraulic lifting components, is the ambient humidity, For time The disturbance term when For time The noise term when is the ambient temperature.

[0026] Step 103, setting a nonlinear response function of the hydraulic system to monitor the response of the hydraulic system, and at the same time, setting a system controller to control and adjust the vertical lifting complex through the system controller.

[0027] Specifically, the nonlinear response function of the hydraulic system includes: , in, For the The pressure of the hydraulic cylinder, For the Hydraulic cylinders at time The first adjustment factor when For the Hydraulic cylinders at time The second adjustment factor is For the the current volume of hydraulic fluid in the cylinder, For the Hydraulic cylinders at time The third adjustment factor for For the The rate of change of the current volume of hydraulic oil in the hydraulic cylinder, For the Hydraulic cylinders at time The fourth adjustment factor is For the The initial volume of hydraulic oil in the hydraulic cylinder, For the Hydraulic cylinders at time The fifth adjustment factor when For the Hydraulic cylinders at time The pressure of For time is the noise term regarding the pressure of the hydraulic cylinder.

[0028] Specifically, the system controller includes: , in, For the The control input variables of the hydraulic lifting components are: For the The sliding mode gain of the controller for the hydraulic lift assembly, For the The target height of the first hydraulic lift assembly and the The sign function between the actual heights of the hydraulic lift assemblies, For the The target height of the hydraulic lifting assembly, For the The actual height of the hydraulic lifting assembly, For the The proportional gain of the controller for the hydraulic lift assembly, For the The integral gain of the controller for the hydraulic lift assembly, For time, For the The control input variables of the first hydraulic lifting component and the The coupling coefficient between the control input variables of the hydraulic lifting components, For the The control input variables of the hydraulic lifting components.

[0029] Sign Function, usually written as , used to represent a real number. , symbolic function The specific functions are as follows: when When it is positive, the sign function returns 1, indicating that the actual altitude of the system is lower than the target altitude and the control input needs to be increased.

[0030] When the error When it is zero, the sign function returns 0, indicating that the actual altitude of the system is equal to the target altitude and no control input adjustment is required.

[0031] When the error When it is negative, the sign function returns −1, indicating that the actual altitude of the system is higher than the target altitude and the control input needs to be reduced.

[0032] Example 2 like Figure 2 As shown, an embodiment of the present invention further provides a monitoring system suitable for a large water level difference vertical lifting complex, comprising: An information acquisition module is used to acquire operation information of the vertical lifting complex through a set sensor, wherein the operation information includes: real-time height of the system, total mass of the system, number of hydraulic lifting assemblies, height of the hydraulic lifting assemblies, initial load of the hydraulic lifting assemblies, ambient humidity and ambient temperature; A mutual influence monitoring module is used to set the coupling function between the hydraulic lifting components and monitor the mutual influence between the hydraulic lifting components according to the operation information; Specifically, the coupling functions between the hydraulic lifting components include: , in, is the real-time height of the system, For time, is the total mass of the system, is the number of hydraulic lifting components, For the Non-linear loads of hydraulic lifting components, is the total gravity of the system, For the The first hydraulic lift assembly and the The coupling coefficient between the hydraulic lifting components, For the The height of the hydraulic lifting assembly, For the The height of the hydraulic lift assembly.

[0033] Specifically, Non-linear loads of hydraulic lifting components include: , in, is the initial load of the hydraulic lifting assembly, For the The first adjustment factor for the nonlinear load of the hydraulic lifting assembly, For the The second adjustment factor for the nonlinear load of the hydraulic lifting assembly, For the The third adjustment factor for the nonlinear load of the hydraulic lifting components, For the The fourth adjustment factor for the non-linear load of the hydraulic lifting components, For the The fifth adjustment factor for the non-linear load of the hydraulic lifting components, For the The sixth adjustment factor for the nonlinear load of the hydraulic lifting components, For the The seventh adjustment factor for the non-linear load of the hydraulic lifting components, is the ambient humidity, For time The disturbance term when For time The noise term when is the ambient temperature.

[0034] The control module is used to set a nonlinear response function of the hydraulic system and monitor the response of the hydraulic system. At the same time, a system controller is set to control and adjust the vertical lifting complex through the system controller.

[0035] Specifically, the nonlinear response function of the hydraulic system includes: , in, For the The pressure of the hydraulic cylinder, For the Hydraulic cylinders at time The first adjustment factor is For the Hydraulic cylinders at time The second adjustment factor is For the The current volume of hydraulic fluid in the hydraulic cylinders, For the Hydraulic cylinders at time The third adjustment factor for For the The rate of change of the current volume of hydraulic oil in the hydraulic cylinder, For the Hydraulic cylinders at time The fourth adjustment factor is For the The initial volume of hydraulic oil in the hydraulic cylinder, For the Hydraulic cylinders at time The fifth adjustment factor when For the Hydraulic cylinders at time The pressure of For time is the noise term regarding the pressure of the hydraulic cylinder.

[0036] Specifically, the system controller includes: , in, For the The control input variables of the hydraulic lifting components are: For the The sliding mode gain of the controller for the hydraulic lift assembly, For the The target height of the first hydraulic lift assembly and the The sign function between the actual heights of the hydraulic lift assemblies, For the The target height of the hydraulic lifting assembly, For the The actual height of the hydraulic lifting assembly, For the The proportional gain of the controller for the hydraulic lift assembly, For the The integral gain of the controller for the hydraulic lift assembly, For time, For the The control input variables of the first hydraulic lift component and the The coupling coefficient between the control input variables of the hydraulic lifting components, For the The control input variables of the hydraulic lifting components.

[0037] Sign Function, usually written as , used to represent a real number. , symbolic function The specific functions are as follows: when When it is positive, the sign function returns 1, indicating that the actual altitude of the system is lower than the target altitude and the control input needs to be increased.

[0038] When the error When it is zero, the sign function returns 0, indicating that the actual altitude of the system is equal to the target altitude and no control input adjustment is required.

[0039] When the error When it is negative, the sign function returns −1, indicating that the actual altitude of the system is higher than the target altitude and the control input needs to be reduced.

[0040] Example 3 The embodiment of the present invention further proposes a storage medium storing a plurality of instructions, wherein the instructions are used to implement the monitoring method applicable to a vertical lifting complex with a large water level difference.

[0041] Optionally, in this embodiment, the above storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0042] Optionally, in this embodiment, the storage medium is configured to store program codes for executing the following steps: Step 101, obtaining operation information of the vertical lifting complex through a set sensor, wherein the operation information includes: the real-time height of the system, the total mass of the system, the number of hydraulic lifting assemblies, the height of the hydraulic lifting assemblies, the initial load of the hydraulic lifting assemblies, the ambient humidity and the ambient temperature; Step 102, setting a coupling function between the hydraulic lifting components, and monitoring the mutual influence between the hydraulic lifting components according to the operation information; Specifically, the coupling functions between the hydraulic lifting components include: , in, is the real-time height of the system, For time, is the total mass of the system, is the number of hydraulic lifting components, For the Non-linear loads of hydraulic lifting components, is the total gravity of the system, For the The first hydraulic lift assembly and the The coupling coefficient between the hydraulic lifting components, For the The height of the hydraulic lifting assembly, For the The height of the hydraulic lift assembly.

[0043] Specifically, Non-linear loads of hydraulic lifting components include: , in, is the initial load of the hydraulic lifting assembly, For the The first adjustment factor for the nonlinear load of the hydraulic lifting assembly, For the The second adjustment factor for the nonlinear load of the hydraulic lifting assembly, For the The third adjustment factor for the nonlinear load of the hydraulic lifting components, For the The fourth adjustment factor for the non-linear load of the hydraulic lifting components, For the The fifth adjustment factor for the non-linear load of the hydraulic lifting components, For the The sixth adjustment factor for the nonlinear load of the hydraulic lifting components, For the The seventh adjustment factor for the non-linear load of the hydraulic lifting components, is the ambient humidity, For time The disturbance term when For time The noise term when is the ambient temperature.

[0044] Step 103, setting a nonlinear response function of the hydraulic system to monitor the response of the hydraulic system, and at the same time, setting a system controller to control and adjust the vertical lifting complex through the system controller.

[0045] Specifically, the nonlinear response function of the hydraulic system includes: , in, For the The pressure of the hydraulic cylinder, For the Hydraulic cylinders at time The first adjustment factor is For the Hydraulic cylinders at time The second adjustment factor is For the the current volume of hydraulic fluid in the hydraulic cylinder, For the Hydraulic cylinders at time The third adjustment factor for For the The rate of change of the current volume of hydraulic oil in the hydraulic cylinder, For the Hydraulic cylinders at time The fourth adjustment factor is For the The initial volume of hydraulic oil in the hydraulic cylinder, For the Hydraulic cylinders at time The fifth adjustment factor when For the Hydraulic cylinders at time The pressure of For time is the noise term regarding the pressure of the hydraulic cylinder.

[0046] Specifically, the system controller includes: , in, For the The control input variables of the hydraulic lifting components are: For the The sliding mode gain of the controller for the hydraulic lift assembly, For the The target height of the first hydraulic lift assembly and the The sign function between the actual heights of the hydraulic lift assemblies, For the The target height of the hydraulic lifting assembly, For the The actual height of the hydraulic lifting assembly, For the The proportional gain of the controller for the hydraulic lift assembly, For the The integral gain of the controller for the hydraulic lift assembly, For time, For the The control input variables of the first hydraulic lifting component and the The coupling coefficient between the control input variables of the hydraulic lifting components, For the The control input variables of the hydraulic lifting components.

[0047] Sign Function, usually written as , used to represent a real number. , symbolic function The specific functions are as follows: when When it is positive, the sign function returns 1, indicating that the actual altitude of the system is lower than the target altitude and the control input needs to be increased.

[0048] When the error When it is zero, the sign function returns 0, indicating that the actual altitude of the system is equal to the target altitude and no control input adjustment is required.

[0049] When the error When it is negative, the sign function returns −1, indicating that the actual altitude of the system is higher than the target altitude and the control input needs to be reduced.

[0050] Example 4 An embodiment of the present invention also proposes an electronic device, including a processor and a storage medium connected to the processor, wherein the storage medium stores multiple instructions, which can be loaded and executed by the processor so that the processor can execute the monitoring method suitable for a vertical lifting complex with a large water level difference.

[0051] Specifically, the electronic device of this embodiment may be a computer terminal, and the computer terminal may include: one or more processors, and a storage medium.

[0052] Among them, the storage medium can be used to store software programs and modules, such as a monitoring method suitable for a large water level difference vertical lifting complex in an embodiment of the present invention, and the corresponding program instructions / modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the storage medium, that is, realizing the above-mentioned monitoring method suitable for a large water level difference vertical lifting complex. The storage medium may include high-speed random storage media, and may also include non-volatile storage media, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state storage media. In some instances, the storage medium may further include storage media remotely arranged relative to the processor, and these remote storage media can be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0053] The processor can call the information and application program stored in the storage medium through the transmission system to perform the following steps: Step 101, obtaining the operation information of the vertical lifting complex through the set sensor, wherein the operation information includes: the real-time height of the system, the total mass of the system, the number of hydraulic lifting components, the height of the hydraulic lifting components, the initial load of the hydraulic lifting components, the ambient humidity and the ambient temperature; Step 102, setting a coupling function between the hydraulic lifting components, and monitoring the mutual influence between the hydraulic lifting components according to the operation information; Specifically, the coupling functions between the hydraulic lifting components include: , in, is the real-time height of the system, For time, is the total mass of the system, is the number of hydraulic lifting components, For the Non-linear loads of hydraulic lifting components, is the total gravity of the system, For the The first hydraulic lift assembly and the The coupling coefficient between the hydraulic lifting components, For the The height of the hydraulic lifting assembly, For the The height of the hydraulic lift assembly.

[0054] Specifically, Non-linear loads of hydraulic lifting components include: , in, is the initial load of the hydraulic lifting assembly, For the The first adjustment factor for the nonlinear load of the hydraulic lifting assembly, For the The second adjustment factor for the nonlinear load of the hydraulic lifting assembly, For the The third adjustment factor for the nonlinear load of the hydraulic lifting components, For the The fourth adjustment factor for the non-linear load of the hydraulic lifting components, For the The fifth adjustment factor for the non-linear load of the hydraulic lifting components, For the The sixth adjustment factor for the nonlinear load of the hydraulic lifting components, For the The seventh adjustment factor for the non-linear load of the hydraulic lifting components, is the ambient humidity, For time The disturbance term when For time The noise term when is the ambient temperature.

[0055] Step 103, setting a nonlinear response function of the hydraulic system to monitor the response of the hydraulic system, and at the same time, setting a system controller to control and adjust the vertical lifting complex through the system controller.

[0056] Specifically, the nonlinear response function of the hydraulic system includes: , in, For the The pressure of the hydraulic cylinder, For the Hydraulic cylinders at time The first adjustment factor is For the Hydraulic cylinders at time The second adjustment factor is For the The current volume of hydraulic fluid in the hydraulic cylinders, For the Hydraulic cylinders at time The third adjustment factor for For the The rate of change of the current volume of hydraulic oil in the hydraulic cylinder, For the Hydraulic cylinders at time The fourth adjustment factor is For the The initial volume of hydraulic oil in the hydraulic cylinder, For the Hydraulic cylinders at time The fifth adjustment factor when For the Hydraulic cylinders at time The pressure of For time is the noise term regarding the pressure of the hydraulic cylinder.

[0057] Specifically, the system controller includes: , in, For the The control input variables of the hydraulic lifting components are: For the The sliding mode gain of the controller for the hydraulic lift assembly, For the The target height of the first hydraulic lift assembly and the The sign function between the actual heights of the hydraulic lift assemblies, For the The target height of the hydraulic lifting assembly, For the The actual height of the hydraulic lifting assembly, For the The proportional gain of the controller for the hydraulic lift assembly, For the The integral gain of the controller for the hydraulic lift assembly, For time, For the The control input variables of the first hydraulic lift component and the The coupling coefficient between the control input variables of the hydraulic lifting components, For the The control input variables of the hydraulic lifting components.

[0058] Sign Function, usually written as , used to represent a real number. , symbolic function The specific functions are as follows: when When it is positive, the sign function returns 1, indicating that the actual altitude of the system is lower than the target altitude and the control input needs to be increased.

[0059] When the error When it is zero, the sign function returns 0, indicating that the actual altitude of the system is equal to the target altitude and no control input adjustment is required.

[0060] When the error When it is negative, the sign function returns −1, indicating that the actual altitude of the system is higher than the target altitude and the control input needs to be reduced.

[0061] Example 5 In this embodiment, the monitoring of the large water level difference vertical lifting complex is realized through "5G + Internet of Things". "5G + Internet of Things" refers to the use of new generation information and communication technologies represented by 5G to build a new infrastructure, application model and industrial ecology that is interconnected and deeply integrated with industrial facilities and equipment. Through the comprehensive connection of people, machines, objects, systems, etc. through 5G technology, a service system covering the entire industrial chain and the entire value chain is built, providing a new way to realize the digitalization, networking and intelligent development of the industry, and achieving cost reduction, quality improvement, efficiency increase, green and safe development.

[0062] Table 1: Airborne health monitoring system module composition table

[0063] Since the vertical lifting complex needs to display and analyze the operating status, the outlet pressure of the power pump station, motor vibration, bearing temperature, real-time height of the system, total mass of the system, number of hydraulic lifting components, height of the hydraulic lifting components, initial load of the hydraulic lifting components, ambient humidity and ambient temperature within the vertical lifting complex need to be monitored accordingly.

[0064] The lifting unit monitoring module is installed in the lifting unit structure and consists of sensors, remote I / O modules and 5G transceivers. It is used to monitor the status of the vertical lifting complex and transmit it to the upper computer of the vertical lifting complex monitoring system in the rear control room through the 5G transceiver. The upper computer of the vertical lifting complex monitoring system performs data diagnosis based on the received status data, finds abnormalities, and issues alarms and prompts solutions; The sensors consist of a current sensor installed in the motor starter, a voltage sensor, a winding temperature sensor of the pump unit motor, a vibration sensor of the pump unit motor, a liquid level switch of the pump unit oil tank, a filter blockage switch, a pressure sensor, a temperature sensor, an oil analysis sensor, a cylinder stroke sensor of the hydraulic lifting component and a cylinder in-position proximity switch sensor, a water depth sensor of the lifting unit structure, a liquid level switch sensor, etc.

[0065] Table 2: Sensor composition table

[0066] There are 4 sets of hydraulic lifting components, each set consists of a first lifting cylinder, a first top moving latch cylinder, a first bottom fixed latch cylinder, and a first horizontal latch cylinder, so there are 16 sets of cylinder stroke sensors.

[0067] The data-driven vertical lift complex monitoring system mainly includes the following four aspects: 1. Mechanical mechanism fault alarm and diagnosis The fault alarm of the mechanical mechanism monitors the vibration frequency of the mechanism, and comprehensively compares the measured vibration data of the mechanism with the fault judgment standard recommended by GB6075 and the monitoring baseline value measured and learned by the system under normal working conditions of the machine equipment. When the vibration amplitude exceeds the alarm standard, a fault alarm signal or an alarm signal is output.

[0068] When the system issues a mechanical mechanism fault alarm, it automatically compares the frequency spectrum of the monitored mechanism vibration signal with the vibration spectrum of the normal operation of the machine and the typical fault spectrum, and outputs the possible cause of the fault.

[0069] 2. Hydraulic system fault alarm and diagnosis Hydraulic system failures are mainly caused by single characteristics of the hydraulic system (such as temperature, pressure, liquid level, etc.). The data measured by the sensor is compared with the design value, and a fault alarm is output when the design limit value is exceeded. System failures are compared with the design indicators of the machine hydraulic system and the overall operation data of the machine through monitoring. When the design value cannot be met, a hydraulic system failure is output.

[0070] 3. Electrical system fault alarm and diagnosis The faults of electrical systems mainly include single characteristics of electrical systems (such as voltage, current, temperature, etc.). The data measured by the sensor is compared with the design value, and a fault alarm is output when the design limit value is exceeded. The faults of electrical systems directly give the cause of the fault and the solution through the data of the sensor.

[0071] 4. Product system fault diagnosis and diagnosis There is also a system failure, which outputs a system failure when the overall operating function or performance of the machine cannot meet the design value through monitoring. A product failure database is established, and the possible causes and recommended solutions of the fault alarm are output through the failure phenomenon and possible causes combined with the product system data monitored by the health status.

[0072] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0073] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0074] In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the system embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0075] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0076] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0077] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only storage medium (ROM, Read-Only Memory), random access storage medium (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0078] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A monitoring method suitable for a large water level difference vertical lifting complex, characterized in that: include: Obtaining operation information of the vertical lifting complex through the provided sensors, wherein the operation information includes: the real-time height of the system, the total mass of the system, the number of hydraulic lifting assemblies, the height of the hydraulic lifting assemblies, the initial load of the hydraulic lifting assemblies, the ambient humidity and the ambient temperature; Setting coupling functions between hydraulic lifting components and monitoring mutual influence between the hydraulic lifting components according to the operation information; A nonlinear response function of the hydraulic system is set to monitor the response of the hydraulic system. At the same time, a system controller is set to control and adjust the vertical lifting complex through the system controller.

2. A monitoring method for a large water level difference vertical lifting complex as claimed in claim 1, characterized in that: The coupling functions between the hydraulic lifting components include: , in, is the real-time height of the system, For time, is the total mass of the system, is the number of hydraulic lifting components, For the Non-linear loads of hydraulic lifting components, is the total gravity of the system, For the The first hydraulic lift assembly and the The coupling coefficient between the hydraulic lifting components, For the The height of the hydraulic lifting assembly, For the The height of the hydraulic lift assembly.

3. A monitoring method for a large water level difference vertical lifting complex as claimed in claim 2, characterized in that: No. Non-linear loads of hydraulic lifting components include: , in, is the initial load of the hydraulic lifting assembly, For the The first adjustment factor for the nonlinear load of the hydraulic lifting assembly, For the The second adjustment factor for the nonlinear load of the hydraulic lifting assembly, For the The third adjustment factor for the nonlinear load of the hydraulic lifting components, For the The fourth adjustment factor for the non-linear load of the hydraulic lifting components, For the The fifth adjustment factor for the non-linear load of the hydraulic lifting components, For the The sixth adjustment factor for the nonlinear load of the hydraulic lifting components, For the The seventh adjustment factor for the non-linear load of the hydraulic lifting components, is the ambient humidity, For time The disturbance term when For time The noise term when is the ambient temperature.

4. A monitoring method for a large water level difference vertical lifting complex as claimed in claim 1, characterized in that: The nonlinear response function of the hydraulic system includes: , in, For the The pressure of the hydraulic cylinder, For the Hydraulic cylinders at time The first adjustment factor is For the Hydraulic cylinders at time The second adjustment factor is For the the current volume of hydraulic fluid in the hydraulic cylinder, For the Hydraulic cylinders at time The third adjustment factor for For the The rate of change of the current volume of hydraulic oil in the hydraulic cylinder, For the Hydraulic cylinders at time The fourth adjustment factor is For the The initial volume of hydraulic oil in the hydraulic cylinder, For the Hydraulic cylinders at time The fifth adjustment factor when For the Hydraulic cylinders at time The pressure of For time is the noise term regarding the pressure of the hydraulic cylinder.

5. A monitoring method for a large water level difference vertical lifting complex as claimed in claim 1, characterized in that: The system controller comprises: , in, For the The control input variables of the hydraulic lifting components are: For the The sliding mode gain of the controller for the hydraulic lift assembly, For the The target height of the first hydraulic lift assembly and the The sign function between the actual heights of the hydraulic lift assemblies, For the The target height of the hydraulic lifting assembly, For the The actual height of the hydraulic lifting assembly, For the The proportional gain of the controller for the hydraulic lift assembly, For the The integral gain of the controller for the hydraulic lift assembly, For time, For the The control input variables of the first hydraulic lift component and the The coupling coefficient between the control input variables of the hydraulic lifting components, For the The control input variables of the hydraulic lifting components.

6. A monitoring method for a large water level difference vertical lifting complex as claimed in claim 1, characterized in that: The sensor is composed of a current sensor installed in a motor starter, a voltage sensor, a winding temperature sensor of a pump group motor, a vibration sensor of a pump group motor, a liquid level switch of a pump group oil tank, a filter blockage switch, a pressure sensor, a temperature sensor, an oil product analysis sensor, a cylinder stroke sensor of a hydraulic lifting assembly, a cylinder in-position proximity switch sensor, a water depth sensor of a lifting unit structure, and a liquid level switch sensor.

7. A monitoring system suitable for vertical lifting complex with large water level difference, characterized in that: include: An information acquisition module is used to acquire operation information of the vertical lifting complex through a set sensor, wherein the operation information includes: real-time height of the system, total mass of the system, number of hydraulic lifting assemblies, height of the hydraulic lifting assemblies, initial load of the hydraulic lifting assemblies, ambient humidity and ambient temperature; A mutual influence monitoring module is used to set the coupling function between the hydraulic lifting components and monitor the mutual influence between the hydraulic lifting components according to the operation information; The control module is used to set a nonlinear response function of the hydraulic system and monitor the response of the hydraulic system. At the same time, a system controller is set to control and adjust the vertical lifting complex through the system controller.

8. A monitoring system for a large water level difference vertical lifting complex as claimed in claim 7, characterized in that: The coupling functions between the hydraulic lifting components include: , in, is the real-time height of the system, For time, is the total mass of the system, is the number of hydraulic lifting components, For the Non-linear loads of hydraulic lifting components, is the total gravity of the system, For the The first hydraulic lift assembly and the The coupling coefficient between the hydraulic lifting components, For the The height of the hydraulic lifting assembly, For the The height of the hydraulic lift assembly.

9. A monitoring system for a large water level difference vertical lifting complex as claimed in claim 8, characterized in that: No. Non-linear loads of hydraulic lifting components include: , in, is the initial load of the hydraulic lifting assembly, For the The first adjustment factor for the nonlinear load of the hydraulic lifting assembly, For the The second adjustment factor for the nonlinear load of the hydraulic lifting assembly, For the The third adjustment factor for the nonlinear load of the hydraulic lifting components, For the The fourth adjustment factor for the non-linear load of the hydraulic lifting components, For the The fifth adjustment factor for the non-linear load of the hydraulic lifting components, For the The sixth adjustment factor for the nonlinear load of the hydraulic lifting components, For the The seventh adjustment factor for the non-linear load of the hydraulic lifting components, is the ambient humidity, For time The disturbance term when For time The noise term when is the ambient temperature.

10. A monitoring system for a large water level difference vertical lifting complex as claimed in claim 7, characterized in that: The nonlinear response function of the hydraulic system includes: ， in, For the The pressure of the hydraulic cylinder, For the Hydraulic cylinders at time The first adjustment factor is For the Hydraulic cylinders at time The second adjustment factor is For the The current volume of hydraulic fluid in the hydraulic cylinders, For the Hydraulic cylinders at time The third adjustment factor for For the The rate of change of the current volume of hydraulic oil in the hydraulic cylinder, For the Hydraulic cylinders at time The fourth adjustment factor is For the The initial volume of hydraulic oil in the hydraulic cylinder, For the Hydraulic cylinders at time The fifth adjustment factor when For the Hydraulic cylinders at time The pressure of For time is the noise term regarding the pressure of the hydraulic cylinder.

Images