Multi-pile-leg synchronous driving control method and device and lifting equipment

Abstract

The invention provides a multi-pile-leg synchronous driving control method and device and lifting device.The multi-pile-leg synchronous driving control method comprises the steps that multiple pile legs are controlled to move, and speed information and displacement information of each pile leg are obtained at the same time; and a synchronous driving instruction is obtained, and the opening degree of the proportional reversing valve corresponding to each pile leg is adjusted according to the synchronous driving instruction, the speed information of each pile leg and the displacement information of each pile leg, so that the multiple pile legs move synchronously. The speed values and the displacement values of the pile legs in operation are detected in real time, the speed and position information of the multiple pile legs is obtained and serves as input variables of synchronous control, synchronous driving control is conducted on the multiple pile legs through the proportional reversing valves, high-precision synchronous movement among the multiple pile legs can be achieved, and synchronous control over the multiple pile legs is achieved. And the stability and the operation precision of the lifting equipment can be improved. A high-precision synchronous motor does not need to be adopted, precise control is conducted through the proportional reversing valve and the hydraulic motor, and therefore the cost of equipment is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic control, and in particular relates to a method and device for synchronously driving and controlling multiple pile legs, and a lifting device. Background Art

[0002] In the related art, for synchronous control of multiple pile legs, either the control precision is not high, or the use of high-precision synchronous motors leads to high costs, or the use of load sensing leads to high costs, complex maintenance, complex systems, and difficult maintainability. Summary of the invention

[0003] In the first aspect, an embodiment of the present invention provides a method for synchronously driving and controlling multiple pile legs. The method for synchronously driving and controlling multiple pile legs is used to control the synchronous movement of multiple pile legs of a lifting device. The lifting device also includes multiple proportional reversing valves and multiple hydraulic motors. One pile leg is correspondingly provided with a hydraulic motor and a proportional reversing valve. The hydraulic motor rotates to drive the pile leg to move. The proportional reversing valve is connected to the hydraulic motor and is used to control the speed of the hydraulic motor. The method for synchronously driving and controlling multiple pile legs includes: controlling the movement of multiple pile legs and simultaneously obtaining speed information and displacement information of each pile leg; obtaining a synchronous driving instruction, and adjusting the opening of the proportional reversing valve corresponding to each pile leg according to the synchronous driving instruction, the speed information of each pile leg and the displacement information of each pile leg, so that the multiple pile legs can move synchronously.

[0004] In the second aspect, an embodiment of the present invention provides a multi-pile leg synchronous drive control device, which is used to control the synchronous movement of multiple pile legs of a lifting device. The lifting device also includes multiple proportional reversing valves and multiple hydraulic motors. One pile leg is correspondingly provided with a hydraulic motor and a proportional reversing valve. The hydraulic motor rotates to drive the pile leg to move. The proportional reversing valve is connected to the hydraulic motor and is used to control the speed of the hydraulic motor. The multi-pile leg synchronous drive control device includes: a first processing unit, which is used to control the movement of multiple pile legs and simultaneously obtain the speed information and displacement information of each pile leg; a second processing unit, which is used to obtain a synchronous drive instruction, and according to the synchronous drive instruction, the speed information of each pile leg and the displacement information of each pile leg, the opening of the proportional reversing valve corresponding to each pile leg is adjusted respectively to make the multiple pile legs move synchronously.

[0005] In a third aspect, an embodiment of the present invention provides a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the multi-leg synchronous drive control method of the first aspect.

[0006] In a fourth aspect, an embodiment of the present invention provides a lifting device, which includes: multiple pile legs; multiple hydraulic motors, one hydraulic motor is connected to one pile leg, and is used to drive the pile legs to move; multiple proportional reversing valves, one proportional reversing valve is connected to one hydraulic motor, and is used to control the rotation speed of the hydraulic motor; multiple speed sensors, one speed sensor is arranged on one pile leg, and is used to obtain the speed information of the corresponding pile leg; multiple displacement sensors, one displacement sensor is arranged on one pile leg, and is used to obtain the displacement information of the corresponding pile leg; a controller, which is connected to the multiple proportional reversing valves, the multiple speed sensors and the multiple displacement sensors; the controller is used to control the movement of the multiple pile legs and simultaneously obtain the speed information and displacement information of each pile leg; obtain a synchronous drive instruction, and according to the synchronous drive instruction, the speed information of each pile leg and the displacement information of each pile leg, adjust the opening of the proportional reversing valve corresponding to each pile leg respectively, so that the multiple pile legs move synchronously.

[0007] The beneficial effects brought by the present invention are as follows:

[0008] The multi-pile leg synchronous drive control method proposed in the present invention is used to control the synchronous movement of multiple pile legs of a lifting device. In addition to the multiple pile legs, the lifting device also includes multiple proportional reversing valves and multiple hydraulic motors. One pile leg is correspondingly provided with a hydraulic motor and a proportional reversing valve. The hydraulic motor rotates to drive the pile leg to move. The proportional reversing valve is connected to the hydraulic motor and is used to control the speed of the hydraulic motor. Specifically, the lifting device also includes a controller, and the multi-pile leg synchronous drive control method can be specifically implemented by the controller of the lifting device.

[0009] Multiple pile legs are the basic supporting parts of the lifting equipment, used to support the weight of the entire lifting equipment and allow the lifting equipment to be raised and lowered in the vertical direction. Each pile leg is equipped with a hydraulic motor, which drives the movement of the pile leg by rotating. Each hydraulic motor is connected to a proportional reversing valve. The proportional reversing valve is used to control the speed of the hydraulic motor, thereby achieving precise control of the speed and direction of the pile leg movement.

[0010] The multi-pile leg drive control method proposed in the present invention first controls the movement of multiple pile legs, specifically, starts the lifting equipment to make all the pile legs start to move, and further controls the movement of multiple pile legs to provide hydraulic power to each hydraulic motor, so that the hydraulic motor starts to rotate and drive the pile legs.

[0011] After controlling the movement of the multiple pile legs, the speed information and displacement information of each pile leg are obtained. Specifically, a sensor can be used to monitor the speed and displacement of each pile leg in real time, so as to obtain feedback on the current movement state of each pile leg. The present invention obtains the movement state of the multiple pile legs, so as to monitor the multiple pile legs.

[0012] Get the synchronous drive instruction, which can come from the operator of the lifting equipment. The synchronous drive instruction indicates that multiple pile legs need to be raised and lowered synchronously. After getting the synchronous drive instruction, calculate the opening of each proportional reversing valve according to the synchronous drive instruction and the speed and displacement information of each pile leg. By adjusting the opening of these valves, the speed of each hydraulic motor can be accurately controlled, and finally the movement speed of each pile leg is consistent with the instruction requirements.

[0013] The present invention detects the speed and displacement values ​​of the pile legs in real time, obtains the speed + position information and state information of multiple pile legs, and uses them as input variables for synchronous control. Through the proportional reversing valve, the multiple pile legs are synchronously driven and controlled, so that high-precision synchronous movement between multiple pile legs can be achieved, which helps to improve the stability and operation accuracy of the lifting equipment. The present invention does not need to use a high-precision synchronous motor, but uses a proportional reversing valve and a hydraulic motor for precise control, thereby reducing the cost of the equipment. The present invention avoids the use of a complex load sensing system, simplifies the system structure, and reduces the complexity and maintenance difficulty of the system. Due to the simplification of the system structure, maintenance work becomes easier and more efficient, and the reliability and service life of the equipment are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 One of the flow charts showing a method for synchronously driving and controlling multiple pile legs according to an embodiment of the present invention;

[0015] Figure 2 A second flow chart showing a method for synchronously driving and controlling multiple pile legs according to an embodiment of the present invention;

[0016] Figure 3 A third flow chart showing a method for synchronously driving and controlling multiple pile legs according to an embodiment of the present invention;

[0017] Figure 4 A control block diagram of a first pile leg in a method for synchronously driving and controlling multiple pile legs according to an embodiment of the present invention is shown;

[0018] Figure 5 One of the block diagrams showing the multi-leg control coupling of the second leg by a multi-leg synchronous drive control method according to an embodiment of the present invention;

[0019] Figure 6 A second block diagram showing the coupling of multi-leg control of a second leg by a multi-leg synchronous drive control method according to an embodiment of the present invention;

[0020] Figure 7 A structural block diagram showing a multi-leg synchronous drive control device according to an embodiment of the present invention;

[0021] Figure 8A schematic structural block diagram of a lifting device according to an embodiment of the present invention is shown.

[0022] Figure 8 In the figure, 800 is a lifting device, 802 is a machine body, 804 is a pile leg, 806 is a hydraulic motor, 808 is a proportional reversing valve, 810 is a speed sensor, 812 is a displacement sensor, and 814 is a controller. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] like Figure 1 As shown, in an embodiment of the present invention, a method for synchronously driving a plurality of pile legs is proposed, wherein the method for synchronously driving a plurality of pile legs comprises:

[0025] S102: controlling the movement of multiple pile legs, and simultaneously acquiring speed information and displacement information of each pile leg;

[0026] S104: Acquire a synchronous drive instruction, and adjust the opening of the proportional reversing valve corresponding to each pile leg according to the synchronous drive instruction, the speed information of each pile leg, and the displacement information of each pile leg, so as to make the multiple pile legs move synchronously.

[0027] In this embodiment, the multi-pile leg synchronous drive control method proposed by the present invention is used to control the synchronous movement of multiple pile legs of the lifting device. In addition to the multiple pile legs, the lifting device also includes multiple proportional reversing valves and multiple hydraulic motors. One pile leg is correspondingly provided with a hydraulic motor and a proportional reversing valve. The hydraulic motor rotates to drive the pile legs to move. The proportional reversing valve is connected to the hydraulic motor and is used to control the speed of the hydraulic motor. Specifically, the lifting device also includes a controller, and the multi-pile leg synchronous drive control method can be specifically implemented by the controller of the lifting device.

[0028] Multiple pile legs are the basic supporting parts of the lifting equipment, used to support the weight of the entire lifting equipment and allow the lifting equipment to be raised and lowered in the vertical direction. Each pile leg is equipped with a hydraulic motor, which drives the movement of the pile leg by rotating. Each hydraulic motor is connected to a proportional reversing valve. The proportional reversing valve is used to control the speed of the hydraulic motor, thereby achieving precise control of the speed and direction of the pile leg movement.

[0029] Specifically, the hydraulic motor, the proportional reversing valve and the pile legs cooperate with each other during the working process to realize the synchronous driving of the lifting equipment. The hydraulic motor is a device that converts the input hydraulic energy into mechanical energy. In the lifting equipment, the hydraulic motor is connected to the pile legs and drives the movement of the pile legs by rotation. Specifically, when the hydraulic oil enters the hydraulic motor through the proportional reversing valve, the volume of the sealed working chamber inside the hydraulic motor changes, thereby generating torque and speed, which are transmitted to the pile legs to drive the pile legs to move.

[0030] The proportional reversing valve is a hydraulic valve that can continuously and proportionally control the direction, flow rate or pressure of the fluid flow. The proportional reversing valve consists of a DC proportional solenoid and a hydraulic valve. When the command signal is amplified by the proportional amplifier, the proportional current is output to the proportional solenoid, and the solenoid outputs force and moves the position of the valve core proportionally, thereby controlling the flow rate of the fluid and changing the direction of the fluid flow.

[0031] The proportional reversing valve has the characteristics of high precision, high response speed and high stability, and can realize precise control of the speed and direction of the hydraulic motor. Driven by the hydraulic motor, the pile leg is raised and lowered through its internal transmission mechanism. When the hydraulic motor rotates, its torque and speed are transmitted to the pile leg, causing the pile leg to rise and fall.

[0032] The multi-pile leg driving control method proposed in the present invention first controls the movement of multiple pile legs, specifically, starts the lifting equipment to make all the pile legs start to move, and further provides hydraulic power to each hydraulic motor to make the hydraulic motor start to rotate and drive the pile legs.

[0033] After controlling the movement of the plurality of pile legs, the speed information and displacement information of each pile leg are obtained. Specifically, a sensor or a measuring device is used to monitor the speed and displacement of each pile leg in real time, so as to obtain feedback of the current movement state of each pile leg. The present invention obtains the movement state of the plurality of pile legs, so as to monitor the plurality of pile legs.

[0034] Get the synchronous drive instruction, which usually comes from the operator or automatic control system of the lifting equipment. The synchronous drive instruction indicates that multiple pile legs need to be lifted and lowered synchronously, and can indicate the target position, speed or other motion parameters that the lifting equipment needs to achieve.

[0035] After obtaining the synchronous drive instruction, the opening degree of each proportional reversing valve should be calculated according to the synchronous drive instruction and the speed and displacement information of each pile leg. By adjusting the opening degree of these valves, the speed of each hydraulic motor can be accurately controlled, so that the movement speed of each pile leg is consistent with the instruction requirements.

[0036] The present invention detects the speed and displacement values ​​of the pile legs in real time, obtains the speed and position information and status information of multiple pile legs, and uses them as input variables for synchronous control. Through the proportional reversing valve, the multiple pile legs are synchronously driven and controlled, so that high-precision synchronous movement between multiple pile legs can be achieved, which helps to improve the stability and operation accuracy of the lifting equipment. The present invention does not need to use a high-precision synchronous motor, but uses a proportional reversing valve and a hydraulic motor for precise control, thereby reducing the cost of the equipment. The present invention avoids the use of a complex load sensing system, simplifies the system structure, and reduces the complexity and maintenance difficulty of the system. Due to the simplification of the system structure, maintenance work becomes easier and more efficient, and the reliability and service life of the equipment are improved.

[0037] like Figure 2 As shown, in an embodiment of the present invention, a method for synchronously driving a plurality of pile legs is proposed, wherein the method for synchronously driving a plurality of pile legs comprises:

[0038] S202: Control the movement of multiple pile legs, and simultaneously obtain speed information and displacement information of each pile leg;

[0039] S204: setting one of the plurality of pile legs as a first pile leg, and setting the remaining pile legs as second pile legs;

[0040] S206: adjusting the opening of the proportional reversing valve corresponding to the first leg according to the synchronous driving instruction, the speed information of the first leg and the displacement information of the first leg;

[0041] S208: determining a speed compensation amount of each second leg according to the speed information of the first leg and the speed information of each second leg, and determining a displacement compensation amount of each second leg according to the displacement information of the first leg and the displacement information of each second leg;

[0042] S210: adjusting the opening of the proportional reversing valve corresponding to each second leg according to the speed compensation amount and the displacement compensation amount of each second leg, so that each second leg moves synchronously with the first leg.

[0043] In this embodiment, the process of obtaining the synchronous drive instruction, adjusting the opening of the proportional reversing valve corresponding to each pile leg according to the synchronous drive instruction, the speed information of each pile leg and the displacement information of each pile leg, so as to make the multiple pile legs move synchronously is limited. Specifically, the present application adopts the design of setting the main axis of movement and the slave axis to follow the movement. The movement of other "second pile legs" is led and coordinated by a selected "first pile leg", thereby ensuring the synchronization and stability of the entire multi-pile leg system.

[0044] First, one of the multiple legs is set as the first leg, the movement of the leg set as the first leg will serve as a reference for the movement of other legs, and the remaining legs are set as second legs.

[0045] Afterwards, the opening of the proportional reversing valve corresponding to the first leg is adjusted according to the synchronous drive instruction, the speed information of the first leg and the displacement information of the first leg. By real-time monitoring of the speed and displacement information of the first leg and adjusting the opening of the proportional reversing valve corresponding to the first leg according to the information, precise control of the movement of the first leg is achieved.

[0046] The speed compensation amount of each second leg is determined according to the speed information of the first leg and the speed information of each second leg, and the displacement compensation amount of each second leg is determined according to the displacement information of the first leg and the displacement information of each second leg. According to the speed compensation amount and the displacement compensation amount of each second leg, the opening of the proportional reversing valve corresponding to each second leg is adjusted respectively, so that each second leg moves synchronously with the first leg.

[0047] By comparing the motion state of the first pile leg with the motion state of each second pile leg, the speed compensation and displacement compensation required for each second pile leg are calculated. These compensations are used to adjust the opening of the proportional reversing valve corresponding to each second pile leg, thereby achieving precise control of the movement of the second pile leg and keeping it synchronized with the first pile leg.

[0048] By taking the motion state of the first pile leg as a reference and calculating the speed and displacement compensation required by each second pile leg, the present invention can ensure high-precision synchronous motion between multiple pile legs. The present invention can select different pile legs as the main axis according to actual needs, thereby improving the flexibility and adaptability of the system. In addition, by adjusting the opening of the proportional reversing valve, the motion speed and displacement of each pile leg can be flexibly controlled to adapt to different working scenes and needs.

[0049] like Figure 5 As shown, in some embodiments of the present invention, optionally, the number of pile legs is 4, and the calculation formula of the speed compensation amount is: Δv = ︳V1-V 1+n ︳; where Δv is the speed compensation, V1 is the speed information of the first leg, V 1+n is the speed information of the second leg.

[0050] In this embodiment, the method for calculating the speed compensation amount is limited. Specifically, in the lifting device, four legs are included, which can be respectively defined as leg 1, leg 2, leg 3 and leg 4. Among them, leg 1 is set to be lower than the leg, that is, the main axis, and its speed and displacement information are used as the reference benchmark for the movement of other legs, the second leg, that is, the secondary axis.

[0051] The speed compensation calculation formula is: Δv = |V1-(V 1+n )|, where Δv is the speed compensation, V1 is the speed information of the first leg, and V 1+n is the speed information of the second leg. Specifically, n=1, 2, 3.

[0052] Specifically, the speed compensation amount of leg 2 Δv2 = |V1-V2|, the speed compensation amount of leg 3 Δv3 = |V1-V3|, and the speed compensation amount of leg 4 Δv4 = |V1-V4|.

[0053] The speed compensation calculated by the above calculation method is used to adjust the opening of the proportional reversing valves corresponding to pile legs 2, 3 and 4, so that their speeds are increased or decreased by corresponding amounts respectively, thereby keeping synchronization with the speed of pile leg 1.

[0054] The present invention can monitor and correct the speed difference between the pile legs in real time through the calculation of the speed compensation amount, ensuring that the pile legs perform lifting and lowering movements at the same speed, thereby improving the synchronization and stability of the system.

[0055] like Figure 6 As shown, in some embodiments of the present invention, optionally, the number of pile legs is four, and the calculation formula of the displacement compensation amount is: Δs=︳S1-S 1+n ︳; where Δs is the displacement compensation, S1 is the displacement information of the first pile leg, S 1+n is the displacement information of the second pile leg.

[0056] In this embodiment, the method for calculating the displacement compensation amount is limited. Specifically, in the lifting device, four legs are included, which can be respectively defined as leg 1, leg 2, leg 3 and leg 4. Among them, leg 1 is set as the main axis, and its speed and displacement information are used as the reference benchmark for the movement of other legs.

[0057] The calculation formula of displacement compensation is: Δs=︳S1-S 1+n ︳; where Δs is the displacement compensation, S1 is the displacement information of the first pile leg, S 1+n is the displacement information of the second pile leg, specifically, n=1, 2, 3.

[0058] Specifically, the displacement compensation amount of pile leg 2 Δs2 = |S1-S2|, the displacement compensation amount of pile leg 3 Δs3 = |S1-S3|, and the displacement compensation amount of pile leg 4 Δs4 = |S1-S4|.

[0059] By calculating the displacement compensation of each leg relative to the main shaft leg 1, the displacement difference between the legs can be monitored and corrected in real time. The displacement compensation is used to adjust the movement of each leg so that its displacement is consistent with leg 1, thereby achieving synchronous lifting and lowering among the four legs.

[0060] In some embodiments of the present invention, optionally, the process of adjusting the opening of the proportional reversing valve corresponding to each second leg according to the speed compensation amount and the displacement compensation amount of each second leg specifically includes: determining the first control voltage of each second leg according to the speed compensation amount of each second leg; determining the second control voltage of each second leg according to the displacement compensation amount of each second leg; and outputting the first control voltage and the second control voltage to the proportional reversing valve corresponding to each second leg, so as to adjust the opening of each proportional reversing valve.

[0061] In this embodiment, the present invention is to control the proportional reversing valve by generating a control voltage. According to the speed compensation amount and displacement compensation amount of each second leg, the process of adjusting the opening of the proportional reversing valve corresponding to each second leg specifically includes: according to the speed compensation amount of each second leg, respectively determining the first control voltage of each second leg. The present invention first determines the first control voltage. Specifically, according to the speed compensation amount of each second leg calculated before, these speed compensation amounts are converted into corresponding control voltage values, i.e., the first control voltage.

[0062] Specifically, the present invention pre-sets a mapping relationship comparison table, and maps the speed compensation amount to the corresponding control voltage through the pre-set mapping relationship comparison table.

[0063] According to the displacement compensation amount of each second pile leg, the second control voltage of each second pile leg is determined respectively. The present invention then determines the second control voltage, specifically, according to the displacement compensation amount of each second pile leg calculated before, these displacement compensation amounts are converted into corresponding control voltage values, i.e., the second control voltage.

[0064] Specifically, the present invention pre-sets a mapping relationship comparison table, and maps the displacement compensation amount to the corresponding control voltage through a pre-set mapping relationship comparison table.

[0065] Output the control voltage and adjust the opening of the proportional reversing valve. Specifically, combine the first control voltage and the second control voltage of each second pile leg. Output the combined control voltage to the proportional reversing valve corresponding to each second pile leg. The proportional reversing valve adjusts its opening according to the received control voltage value, thereby controlling the speed of the hydraulic motor and the extension and contraction amount of the hydraulic cylinder, and realizing synchronous adjustment of the speed and displacement of the pile legs.

[0066] Through the above arrangement, each second pile leg of the present invention can be synchronously lifted and lowered according to the motion trajectory of the main shaft pile leg, thereby ensuring the stability and synchronization of the entire multi-pile leg lifting device.

[0067] In some embodiments of the present invention, optionally, the lifting equipment also includes multiple speed sensors and multiple displacement sensors, one speed sensor is set on one pile leg, and one displacement sensor is set on one pile leg. The process of obtaining the speed information and displacement information of each pile leg specifically includes: controlling each speed sensor to obtain the speed information of the connected pile leg; controlling each displacement sensor to obtain the displacement information of the connected pile leg.

[0068] In this embodiment, a speed sensor and a displacement sensor are respectively installed on each pile leg. These sensors monitor the motion state of each pile leg in real time. Specifically, the speed sensor is used to obtain the speed information of the connected pile legs, and the displacement sensor is used to obtain the displacement information of the connected pile legs.

[0069] The process of obtaining the speed information and displacement information of each pile leg specifically includes: controlling each speed sensor to obtain the speed information of the connected pile leg; controlling each displacement sensor to obtain the displacement information of the connected pile leg.

[0070] The collected speed information and displacement information are transmitted to the controller for processing. Based on the collected speed information and displacement information, the speed compensation and displacement compensation of each pile leg relative to the main shaft pile leg are calculated. According to the calculated compensation amount, the corresponding adjustment instructions are generated. These instructions include the opening value to which each proportional reversing valve should be adjusted to achieve precise control of the speed and displacement of each pile leg. The adjustment instructions are sent to the proportional reversing valve connected to each pile leg. The proportional reversing valve adjusts its opening according to the received instructions, thereby changing the speed of the hydraulic motor and the extension and contraction of the hydraulic cylinder, so that the pile legs are raised and lowered as planned.

[0071] By real-time acquisition and processing of speed and displacement signals, combined with precise control of proportional reversing valves, the system can achieve high-precision synchronous lifting between multiple pile legs, improving the stability and reliability of the lifting equipment.

[0072] The hardware combination of proportional reversing valve + speed sensor + displacement sensor adopted in the present invention, combined with advanced control algorithms and real-time data acquisition technology, realizes high-precision synchronous lifting control of multiple pile legs in the lifting equipment, which not only improves the performance and stability of the equipment, but also reduces the operating cost and maintenance difficulty.

[0073] Specifically, the pulse width modulation output signal (PWM) of the valve group can also be collected, and the speed signal, displacement signal and the pulse width modulation output signal of the valve group can be combined as the basic data of the input variables of the synchronous drive control.

[0074] Specifically, Figure 4 , Figure 5 and Figure 6 As shown, there are four pile legs, four speed sensors, and four displacement sensors. The flow rates of the hydraulic motors of the four pile legs are all distributed from a set of hydraulic systems. Due to differences in pipeline lengths, manufacturing precision, and resistance of control valve groups such as proportional reversing valves, the flow rates distributed to the hydraulic motors will always be inconsistent. On the basis of cost control, the hydraulic motor is used as a carrier. The hardware of the present invention uses a combination of proportional reversing valve + speed sensor + displacement sensor. At the software level, the first pile leg (pile leg 1) is set, and the other pile legs are used as the second pile legs (pile legs 2, pile legs 3, and pile legs 4) for motion following. The solution further improves and realizes high-precision synchronization, realizes synchronous control between the four pile legs, and jointly lifts the multi-pile leg device. The present invention provides an economical and high-precision synchronization solution for multi-axis synchronous control.

[0075] like Figure 3 As shown, in an embodiment of the present invention, a method for synchronously driving a plurality of pile legs is proposed, wherein the method for synchronously driving a plurality of pile legs comprises:

[0076] S302: Control the multiple pile legs to touch the ground so that the multiple pile legs are at a synchronous control zero point;

[0077] S304: controlling the movement of the plurality of pile legs, and simultaneously acquiring the speed information and displacement information of each pile leg;

[0078] S306: Acquire a synchronous drive instruction, and adjust the opening of the proportional reversing valve corresponding to each pile leg according to the synchronous drive instruction, the speed information of each pile leg, and the displacement information of each pile leg, so that the multiple pile legs move synchronously.

[0079] In this embodiment, before controlling the plurality of pile legs to move and acquiring their respective speed information and displacement information in real time, these pile legs are controlled to touch the ground, and this state is set as the zero point of the synchronous control.

[0080] Specifically, before the lifting device starts working, it is first necessary to operate the device to extend its legs. After extending, these legs will be supported on a specific surface, such as the seabed in marine engineering.

[0081] When the pile legs are in contact with the seabed and compacted, they reach a stable state, which is used as the reference point for subsequent synchronous control. Control multiple pile legs to touch the ground so that multiple pile legs are at the zero point of synchronous control. The zero point of synchronous control refers to the state where the motion state of all pile legs is uniformly set as the starting point or reference point after they touch the ground and compact.

[0082] Specifically, in the case of four pile legs, the setting process is usually completed through the data calibration function on the LCD screen of the operation box. The operator can enter or select the corresponding parameters on the LCD screen to set the current pile leg state as the zero point of the synchronous control.

[0083] By setting the synchronous control zero point, it can be ensured that all pile legs have a common starting point or reference point in the subsequent lifting process. This greatly improves the accuracy of synchronous control and makes the movement of each pile leg more coordinated and consistent.

[0084] In some embodiments of the present invention, optionally, the synchronous drive control method for multiple pile legs includes: first, setting the synchronous control zero point of each pile leg, then controlling the lifting and lowering operation of each pile leg through a proportional reversing valve, then combining the collected signal with a constraint algorithm to make the corresponding pile legs lift as planned, and then setting the motion main axis and slave axis to follow and jointly lift the multiple pile leg device.

[0085] In the above process, first, the lifting device is operated to extend the pile legs. After the pile legs are supported on the seabed, the pile legs touch the ground and compaction is used as the zero point of the pile leg synchronization control. There are a total of four pile legs, and the setting of the synchronous control zero point is achieved through the data calibration of the LCD screen of the operation box.

[0086] After that, the control signal obtained after the controller data processing can adjust the opening size of the proportional reversing valve, and then control the speed of the hydraulic motor to realize the lifting and lowering operation of each pile leg. After that, in the process of controlling the pile legs, the speed sensor and displacement sensor installed on the pile legs collect the speed and displacement signals of each pile leg in real time, and after being processed by the controller motion constraint algorithm, the adjustment command is sent to the proportional reversing valve to make the corresponding pile leg rise and fall according to the plan.

[0087] like Figure 4 , Figure 5 and Figure 6 As shown, leg 1 is set as the first leg, i.e., the main axis. The speed and displacement reference of leg 1 are used to control and couple legs 2 to 4 through a controller to further enhance and achieve high-precision synchronization, realize synchronous control among the four legs, and lift multiple legs together.

[0088] like Figure 7As shown, in an embodiment of the present invention, a multi-pile leg synchronous drive control device 700 is proposed, and the multi-pile leg synchronous drive control device 700 is used to control the synchronous movement of multiple pile legs of the lifting device. The lifting device also includes multiple proportional reversing valves and multiple hydraulic motors. One pile leg is correspondingly provided with a hydraulic motor and a proportional reversing valve. The hydraulic motor rotates to drive the pile leg to move. The proportional reversing valve is connected to the hydraulic motor and is used to control the speed of the hydraulic motor. The multi-pile leg synchronous drive control device 700 includes: a first processing unit 710, which is used to control the movement of multiple pile legs and simultaneously obtain the speed information and displacement information of each pile leg; a second processing unit 720, which is used to obtain a synchronous drive instruction, and according to the synchronous drive instruction, the speed information of each pile leg and the displacement information of each pile leg, the opening of the proportional reversing valve corresponding to each pile leg is adjusted respectively, so that the multiple pile legs move synchronously.

[0089] In this embodiment, the multi-pile leg synchronous drive control device 700 proposed by the present invention is used to control the synchronous movement of multiple pile legs of the lifting device. In addition to the multiple pile legs, the lifting device also includes multiple proportional reversing valves and multiple hydraulic motors. One pile leg is correspondingly provided with a hydraulic motor and a proportional reversing valve. The hydraulic motor rotates to drive the pile leg to move. The proportional reversing valve is connected to the hydraulic motor and is used to control the speed of the hydraulic motor. Specifically, the lifting device also includes a controller, and the multi-pile leg synchronous drive control device 700 can be specifically implemented by the controller of the lifting device.

[0090] Multiple pile legs are the basic supporting parts of the lifting equipment, used to support the weight of the entire lifting equipment and allow the lifting equipment to be raised and lowered in the vertical direction. Each pile leg is equipped with a hydraulic motor, which drives the movement of the pile leg by rotating. Each hydraulic motor is connected to a proportional reversing valve. The proportional reversing valve is used to control the speed of the hydraulic motor, thereby achieving precise control of the speed and direction of the pile leg movement.

[0091] In the multi-pile leg drive control device proposed in the present invention, the first processing unit 710 controls the movement of multiple pile legs, specifically, starts the lifting equipment to make all the pile legs start to move, and further controls the movement of multiple pile legs to provide hydraulic power to each hydraulic motor, so that the hydraulic motor starts to rotate and drive the pile legs.

[0092] After controlling the movement of the multiple pile legs, the first processing unit 710 obtains the speed information and displacement information of each pile leg. Specifically, a sensor can be used to monitor the speed and displacement of each pile leg in real time, so as to obtain feedback on the current movement state of each pile leg. The present invention obtains the movement state of multiple pile legs, so as to monitor the multiple pile legs.

[0093] The second processing unit 720 obtains a synchronous drive instruction, which may come from an operator of the lifting device. The synchronous drive instruction indicates that a plurality of pile legs need to be raised and lowered synchronously. After obtaining the synchronous drive instruction, the opening to which each proportional reversing valve should be adjusted is calculated according to the synchronous drive instruction and the speed and displacement information of each pile leg. By adjusting the opening of these valves, the rotation speed of each hydraulic motor can be accurately controlled, and finally the movement speed of each pile leg is kept consistent with the instruction requirement.

[0094] The present invention detects the speed and displacement values ​​of the pile legs in real time, obtains the speed + position information and state information of multiple pile legs, and uses them as input variables for synchronous control. Through the proportional reversing valve, the multiple pile legs are synchronously driven and controlled, so that high-precision synchronous movement between multiple pile legs can be achieved, which helps to improve the stability and operation accuracy of the lifting equipment. The present invention does not need to use a high-precision synchronous motor, but uses a proportional reversing valve and a hydraulic motor for precise control, thereby reducing the cost of the equipment. The present invention avoids the use of a complex load sensing system, simplifies the system structure, and reduces the complexity and maintenance difficulty of the system. Due to the simplification of the system structure, maintenance work becomes easier and more efficient, and the reliability and service life of the equipment are improved.

[0095] In some embodiments of the present invention, optionally, in the process of adjusting the opening of the proportional reversing valve corresponding to each pile leg according to the synchronous drive instruction, the speed information of each pile leg and the displacement information of each pile leg, so that the multiple pile legs move synchronously, the second processing unit 720 is specifically used to: set one of the multiple pile legs as the first pile leg, and set the remaining pile legs as the second pile leg; adjust the opening of the proportional reversing valve corresponding to the first pile leg according to the synchronous drive instruction, the speed information of the first pile leg and the displacement information of the first pile leg; determine the speed compensation amount of each second pile leg according to the speed information of the first pile leg and the speed information of each second pile leg, and determine the displacement compensation amount of each second pile leg according to the displacement information of the first pile leg and the displacement information of each second pile leg; adjust the opening of the proportional reversing valve corresponding to each second pile leg according to the speed compensation amount and the displacement compensation amount of each second pile leg, so that each second pile leg moves synchronously with the first pile leg.

[0096] In some embodiments of the present invention, optionally, in the process of adjusting the opening of the proportional reversing valve corresponding to each second leg according to the speed compensation amount and the displacement compensation amount of each second leg, the second processing unit 720 is specifically used to: determine the first control voltage of each second leg according to the speed compensation amount of each second leg; determine the second control voltage of each second leg according to the displacement compensation amount of each second leg; output the first control voltage and the second control voltage to the proportional reversing valve corresponding to each second leg, so as to adjust the opening of each proportional reversing valve.

[0097] In some embodiments of the present invention, optionally, the lifting equipment also includes multiple speed sensors and multiple displacement sensors, one speed sensor is set on one pile leg, and one displacement sensor is set on one pile leg. In the process of obtaining the speed information and displacement information of each pile leg, the first processing unit 710 is specifically used to: control each speed sensor to obtain the speed information of the connected pile leg; control each displacement sensor to obtain the displacement information of the connected pile leg.

[0098] In some embodiments of the present invention, optionally, the multi-leg synchronous drive control device 700 further includes a third processing unit, and the third processing unit is used to control the multiple legs to touch the ground so that the multiple legs are at a synchronous control zero point.

[0099] In an embodiment of the present invention, the present invention further proposes a storage medium on which a computer program is stored. When the program is executed by a processor, the steps of the multi-pile leg synchronous drive control method in any of the above embodiments are implemented.

[0100] In this embodiment, the present invention proposes a storage medium having a computer program stored thereon. When the program is executed by a processor, the steps of the multi-pile-leg synchronous drive control method in any of the above embodiments are implemented, and thus the program has all the beneficial effects of the multi-pile-leg synchronous drive control method in any of the above embodiments.

[0101] like Figure 8 As shown, in the embodiment of the present invention, the present invention further proposes a lifting device 800, which includes: a plurality of pile legs 804; a plurality of hydraulic motors 806, one hydraulic motor 806 is connected to one pile leg 804, and is used to drive the pile leg 804 to move; a plurality of proportional reversing valves 808, one proportional reversing valve 808 is connected to one hydraulic motor 806, and is used to control the rotation speed of the hydraulic motor 806; a plurality of speed sensors 810, one speed sensor 810 is arranged on one pile leg 804, and is used to obtain the speed information of the corresponding pile leg 804; a plurality of displacement sensors 812, one displacement sensor The sensor 812 is arranged on a pile leg 804, and is used to obtain the displacement information of the corresponding pile leg 804; the controller 814 is connected with multiple proportional reversing valves 808, multiple speed sensors 810 and multiple displacement sensors 812; the controller 814 is used to control the movement of multiple pile legs 804, and simultaneously obtain the speed information and displacement information of each pile leg 804; obtain the synchronous driving instruction, and adjust the opening of the proportional reversing valve 808 corresponding to each pile leg 804 according to the synchronous driving instruction, the speed information of each pile leg 804 and the displacement information of each pile leg 804, so that the multiple pile legs 804 move synchronously.

[0102] In this embodiment, the present invention proposes a lifting device 800, which includes multiple pile legs 804, multiple hydraulic motors 806, multiple proportional reversing valves 808, multiple speed sensors 810, multiple displacement sensors 812, and a controller 814. The lifting device 800 proposed by the present invention uses a combination of proportional reversing valves 808+speed sensors 810+displacement sensors 812 in hardware to achieve high-precision synchronous movement of multiple pile legs 804.

[0103] The lifting device 800 includes a plurality of legs 804, which are the main supporting structure of the lifting device 800 and are responsible for stably supporting the device on the target surface. Each leg 804 has independent movement capability and is lifted and lowered by hydraulic drive.

[0104] The hydraulic motor 806 is used as a power source, and one hydraulic motor 806 is connected to one pile leg 804 to drive the pile leg 804 to move up and down. Each proportional reversing valve 808 is connected to one hydraulic motor 806, and the input flow of the hydraulic motor 806 is changed by adjusting the opening of the proportional reversing valve 808, thereby realizing accurate control of the movement speed of the pile leg 804.

[0105] A speed sensor 810 is provided on each pile leg 804 to monitor the movement speed of the pile leg 804 in real time. The speed sensor 810 transmits the acquired speed information to the controller 814 to provide data for synchronous control. A displacement sensor 812 is also provided on each pile leg 804 to monitor the displacement of the pile leg 804. The displacement sensor 812 transmits the acquired displacement information to the controller 814 to achieve precise displacement control.

[0106] The controller 814 is a core component of the lifting device 800 and is responsible for receiving and processing information from the speed sensor 810 and the displacement sensor 812 .

[0107] The controller 814 adjusts the opening of the proportional reversing valve 808 corresponding to each pile leg 804 according to the synchronous driving instruction, the speed information and the displacement information of each pile leg 804 , so as to realize the synchronous movement of the multiple pile legs 804 .

[0108] Specifically, the controller 814 receives a synchronous drive instruction, which specifies the target motion state and trajectory of the lifting device 800. The controller 814 calculates the speed and displacement of each leg 804 that need to be adjusted based on the synchronous drive instruction and the speed information and displacement information of each leg 804. Then, the controller 814 sends the adjustment instruction to the proportional reversing valve 808 corresponding to each leg 804, and changes the input flow of the hydraulic motor 806 by adjusting the opening of the proportional reversing valve 808, thereby achieving precise control of the motion speed and displacement of the leg 804. Under the precise control of the controller 814, multiple legs 804 perform synchronous lifting motion according to the predetermined trajectory and speed, ensuring the stability and reliability of the lifting device 800 and improving work efficiency.

[0109] The present invention detects the speed and displacement values ​​of the pile legs 804 in real time, obtains the speed + position information and state information of the multiple pile legs 804, and uses them as input variables for synchronous control. Through the proportional reversing valve 808, the multiple pile legs 804 are synchronously driven and controlled, so that high-precision synchronous movement between the multiple pile legs 804 can be achieved, which helps to improve the stability and operation accuracy of the lifting device 800. The present invention does not need to use a high-precision synchronous motor, and uses the proportional reversing valve 808 and the hydraulic motor 806 for precise control, thereby reducing the cost of the equipment. The present invention avoids the use of a complex load sensing system, simplifies the system structure, and reduces the complexity and maintenance difficulty of the system. Due to the simplification of the system structure, maintenance work becomes easier and more efficient, and the reliability and service life of the equipment are improved.

[0110] Specifically, the lifting device 800 further includes a machine body 802 , a pile leg 804 is disposed on the machine body 802 , and a portion of the pile leg 804 can move relative to the machine body 802 , and a controller 814 is disposed on the machine body 802 .

[0111] Specifically, the lifting device 800 is a trestle, which includes a signal acquisition module, a data processing module, a display and control terminal, and an actuator, wherein a speed sensor 810 and a displacement sensor 812 constitute the signal acquisition module. The speed sensor 810 and the displacement sensor 812 are installed on each pile leg 804, and detect the speed value and displacement value of the pile leg 804 in real time during operation, and transmit the collected analog data detection value to the controller 814 through the controller 814 local area network. Specifically, the controller 814 is a programmable logic controller (PLC).

[0112] The controller 814 constitutes a data processing module. The controller 814 can obtain the speed + position information and status information of the multiple pile legs 804 through the input module and bus, and use it as the input variable of the synchronous control to perform synchronous drive control on the multiple pile legs 804 through the proportional reversing valve 808.

[0113] The display and control terminal is an LCD screen of the operation box. Through the local area network communication, the operation box receives the data signal from the controller 814, generates the operation state machine operation diagram, and displays the current trestle action status in real time. The operation box is arranged with switches and control handles to execute action instructions such as the multi-pile legs 804, and sends the operation instructions to the controller 814 through the bus to realize the synchronous lifting and lowering of the multi-pile legs 804.

[0114] The hydraulic motor 806 constitutes the above-mentioned actuator, and the hydraulic motor 806 is controlled by the proportional reversing valve 808, connected to the pile legs 804, and the proportional reversing valve 808 is used to adjust the flow output and pressure output of each valve, and accurately control each hydraulic motor 806 and the pile legs 804 connected thereto. There are four pile legs 804 in total, and the multiple pile legs 804 act synchronously to jointly realize the lifting and lowering of the platform.

[0115] In some embodiments of the present invention, optionally, in the process of adjusting the opening of the proportional reversing valve 808 corresponding to each leg 804 according to the synchronous drive instruction, the speed information of each leg 804 and the displacement information of each leg 804 so that the multiple legs 804 move synchronously, the controller 814 specifically sets one leg 804 among the multiple legs 804 as the first leg and sets the remaining legs 804 as the second leg; adjusts the opening of the proportional reversing valve 808 corresponding to the first leg according to the synchronous drive instruction, the speed information of the first leg and the displacement information of the first leg; determines the speed compensation amount of each second leg according to the speed information of the first leg and the speed information of each second leg, and determines the displacement compensation amount of each second leg according to the displacement information of the first leg and the displacement information of each second leg; adjusts the opening of the proportional reversing valve 808 corresponding to each second leg according to the speed compensation amount and the displacement compensation amount of each second leg so that each second leg moves synchronously with the first leg.

[0116] In some embodiments of the present invention, optionally, in the process of adjusting the opening of the proportional reversing valve 808 corresponding to each second leg according to the speed compensation amount and the displacement compensation amount of each second leg, the controller 814 determines the first control voltage of each second leg according to the speed compensation amount of each second leg; determines the second control voltage of each second leg according to the displacement compensation amount of each second leg; and outputs the first control voltage and the second control voltage to the proportional reversing valve 808 corresponding to each second leg, so as to adjust the opening of each proportional reversing valve 808.

[0117] In some embodiments of the present invention, optionally, the lifting device 800 also includes multiple speed sensors 810 and multiple displacement sensors 812, one speed sensor 810 is set on one pile leg 804, and one displacement sensor 812 is set on one pile leg 804. In the process of obtaining the speed information and displacement information of each pile leg 804, the controller 814 controls each speed sensor 810 to obtain the speed information of the connected pile leg 804; and controls each displacement sensor 812 to obtain the displacement information of the connected pile leg 804.

[0118] In some embodiments of the present invention, optionally, the controller 814 can also control the plurality of legs 804 to touch the ground, so that the plurality of legs 804 are at a synchronous control zero point.

[0119] The above are preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A method for synchronously driving and controlling multiple pile legs, characterized in that: The method is used to control the synchronous movement of multiple pile legs of the lifting device, wherein the lifting device further comprises multiple proportional reversing valves and multiple hydraulic motors, wherein one pile leg is correspondingly provided with a hydraulic motor and a proportional reversing valve, wherein the hydraulic motor rotates to drive the pile leg to move, and the proportional reversing valve is connected to the hydraulic motor to control the rotation speed of the hydraulic motor. The method for synchronously driving multiple pile legs comprises: Controlling the movement of the plurality of pile legs and simultaneously acquiring speed information and displacement information of each pile leg; A synchronous drive instruction is obtained, and according to the synchronous drive instruction, the speed information of each pile leg and the displacement information of each pile leg, the opening of the proportional reversing valve corresponding to each pile leg is adjusted respectively, so that the multiple pile legs move synchronously.

2. The method for controlling synchronous driving of multiple pile legs according to claim 1, characterized in that: The step of obtaining a synchronous driving instruction and adjusting the opening of the proportional reversing valve corresponding to each of the pile legs according to the synchronous driving instruction, the speed information of each of the pile legs and the displacement information of each of the pile legs, so as to make the plurality of pile legs move synchronously, specifically includes: Setting one of the plurality of legs as a first leg, and setting the remaining legs as second legs; According to the synchronous drive instruction, the speed information of the first leg and the displacement information of the first leg, adjusting the opening of the proportional reversing valve corresponding to the first leg; Determine the speed compensation amount of each second leg according to the speed information of the first leg and the speed information of each second leg, and determine the displacement compensation amount of each second leg according to the displacement information of the first leg and the displacement information of each second leg; According to the speed compensation amount and the displacement compensation amount of each second leg, the opening of the proportional reversing valve corresponding to each second leg is adjusted respectively, so that each second leg moves synchronously with the first leg.

3. The method for controlling synchronous driving of multiple pile legs according to claim 2, characterized in that: The number of the pile legs is 4, and the calculation formula of the speed compensation amount is: Δv=︳V1-V 1+n ︳; Wherein, Δv is the speed compensation, V1 is the speed information of the first leg, V 1+n is the speed information of the second leg.

4. The method for controlling synchronous driving of multiple pile legs according to claim 2, characterized in that: The number of the pile legs is four, and the calculation formula of the displacement compensation amount is: Δs=︳S1-S 1+n ︳; Wherein, Δs is the displacement compensation amount, S1 is the displacement information of the first pile leg, S 1+n is the displacement information of the second pile leg.

5. The method for controlling synchronous driving of multiple pile legs according to claim 2, characterized in that: The process of adjusting the opening of the proportional reversing valve corresponding to each second leg according to the speed compensation amount and the displacement compensation amount of each second leg specifically includes: Determining a first control voltage of each of the second legs according to a speed compensation amount of each of the second legs; Determining a second control voltage of each of the second legs according to a displacement compensation amount of each of the second legs; The first control voltage and the second control voltage are respectively output to the proportional reversing valve corresponding to each of the second legs to adjust the opening of each of the proportional reversing valves.

6. The method for controlling synchronous driving of multiple pile legs according to any one of claims 1 to 5, characterized in that: The lifting device further includes a plurality of speed sensors and a plurality of displacement sensors, one speed sensor is arranged on one of the pile legs, and one displacement sensor is arranged on one of the pile legs. The process of obtaining the speed information and the displacement information of each of the pile legs specifically includes: Controlling each of the speed sensors to obtain speed information of the connected pile legs; Each of the displacement sensors is controlled to obtain displacement information of the connected pile leg.

7. The method for controlling synchronous driving of multiple pile legs according to any one of claims 1 to 5, characterized in that: Before controlling the movement of the plurality of pile legs and simultaneously acquiring the speed information and displacement information of each of the pile legs, the method for synchronously driving and controlling the plurality of pile legs further comprises: The plurality of legs are controlled to touch the ground so as to be at a synchronous control zero point.

8. A multi-leg synchronous drive control device, characterized in that: The device is used to control the synchronous movement of multiple pile legs of the lifting device, wherein the lifting device also includes multiple proportional reversing valves and multiple hydraulic motors. One pile leg is correspondingly provided with a hydraulic motor and a proportional reversing valve. The hydraulic motor rotates to drive the pile leg to move. The proportional reversing valve is connected to the hydraulic motor and is used to control the rotation speed of the hydraulic motor. The synchronous drive control device for multiple pile legs includes: A first processing unit, used for controlling the movement of the plurality of pile legs and simultaneously acquiring speed information and displacement information of each pile leg; The second processing unit is used to obtain a synchronous drive instruction, and adjust the opening of the proportional reversing valve corresponding to each pile leg according to the synchronous drive instruction, the speed information of each pile leg and the displacement information of each pile leg, so as to make the multiple pile legs move synchronously.

9. A readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the multi-pile leg synchronous drive control method according to any one of claims 1 to 7 are implemented.

10. A lifting device (800), characterized in that: include: A plurality of legs (804); A plurality of hydraulic motors (806), one of the hydraulic motors (806) being connected to one of the pile legs (804) for driving the pile leg (804) to move; a plurality of proportional reversing valves (808), one of the proportional reversing valves (808) being connected to one of the hydraulic motors (806) and used for controlling the rotation speed of the hydraulic motor (806); A plurality of speed sensors (810), one of the speed sensors (810) being arranged on one of the pile legs (804) and being used to obtain speed information of the corresponding pile leg (804); a plurality of displacement sensors (812), one of the displacement sensors (812) being disposed on one of the pile legs (804) and being used to obtain displacement information of the corresponding pile leg (804); A controller (814) connected to the plurality of proportional reversing valves (808), the plurality of speed sensors (810) and the plurality of displacement sensors (812); The controller (814) is used to control the movement of the plurality of pile legs (804) and simultaneously obtain speed information and displacement information of each pile leg (804); A synchronous drive instruction is obtained, and according to the synchronous drive instruction, the speed information of each pile leg (804) and the displacement information of each pile leg (804), the opening of the proportional reversing valve (808) corresponding to each pile leg (804) is adjusted respectively, so that the plurality of pile legs (804) move synchronously.

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