Low-energy-consumption driving control system of aerial work platform

Abstract

The invention relates to a low-energy-consumption driving control method for an aerial work platform, and the method comprises the following steps: S1, obtaining the current working state information of the aerial work platform through a sensor, transmitting the obtained data to a control system, and enabling the working state information to comprise the platform height, the load weight and the operation speed; s2, analyzing the operation mode of the current aerial work platform according to the working state information obtained in the step S1; s3, different motor driving modes are selected according to the aerial work platform operation mode obtained in the step S2, and when the platform is in a rising state, a control system is in an electric mode; when the platform is in a descending state, the control system is switched from an electric mode to an energy storage mode; when the platform is in a static state, the control system keeps the motor in a standby mode all the time.

Description

Technical Field

[0001] The present invention relates to the technical field of aerial work, and particularly to a low-energy consumption drive control system for an aerial work platform. Background Art

[0002] In aerial work vehicles, especially aerial work equipment that is more than ten meters or even dozens of meters high, energy needs to be transmitted over a long distance. When the distance is long, the energy loss of the hydraulic system of the aerial work platform is high, resulting in great energy waste.

[0003] During the long-distance transmission of hydraulic oil in an aerial work platform, the frictional loss ΔP of the pipeline = k×ρ×L×v2 / 2 / d, where k is the flow coefficient, ρ is the liquid density, L is the pipeline length, v is the flow velocity, and d is the pipe diameter. When the hydraulic oil type is selected and the pipe diameter is determined, the frictional loss is related to the pipeline length and the flow velocity. The flow velocity v = q / A, where q is the flow rate and A is the cross-sectional area of the pipeline. After the pipeline is selected, A is determined, and the flow velocity is related to the flow rate. The flow rate q = V×r, where V is the pump displacement and r is the rotational speed. When the pump displacement and rotational speed are fixed, the flow rate can be considered unchanged. At this time, the frictional loss is only positively correlated with the pipeline length L, that is, the longer the pipeline, the greater the frictional loss (without considering the change in the flow coefficient caused by the change in oil temperature). However, in the actual pipeline layout, the length of the pipeline is restricted by the structure. Especially in the application of construction machinery that is several meters high, the pipeline from the chassis to the platform is long and cannot be shortened, resulting in an increase in the frictional loss of the pipeline, an increase in the wasted power, and a decrease in the overall efficiency of the machine.

[0004] Therefore, we hereby propose a power generation control system for an aerial work hydraulic platform. Summary of the Invention

[0005] The present invention proposes a low-energy consumption drive control system for an aerial work platform, aiming at solving the problems of energy waste caused by the frictional loss of the pipeline during the long-distance energy transmission process of the aerial work platform, and the resulting decrease in the overall efficiency of the machine.

[0006] To achieve the above object, the present invention proposes a low-energy consumption drive control system for an aerial work platform, including the following steps:

[0007] S1. Obtain the current working state information of the aerial work platform through sensors, and transmit the acquired data to the control system. The working state information includes: platform height, load weight, and running speed;

[0008] S2. Analyze the running mode of the current aerial work platform according to the working state information obtained in step S1;

[0009] S3. Select different motor drive modes according to the operating mode of the aerial work platform obtained in step S2. When the platform is in the ascending state, the control system is in the electric mode; the electric mode uses a hybrid strategy of vector control and direct torque control to drive the lifting of the platform; when the platform is in the descending state, the control system switches from the electric mode to the energy storage mode; the energy storage mode converts mechanical potential energy into electrical energy through regenerative braking; when the platform is in the stationary state, the control system maintains the motor in the standby mode all the time; the standby mode is specifically to reduce the winding voltage to the torque maintenance critical value.

[0010] Preferably, step S2 is specifically as follows: Calculate the current aerial change rate of the aerial work platform according to the height difference and time interval of the aerial work platform at adjacent time points, that is, by Calculate the current aerial change rate of the aerial work platform; where, Δt represents the sampling frequency of the sensor; when the obtained aerial change rate And the running speed v≥v 阈值 When, it is judged as the ascending state; the aerial change rate And the running speed v≥-v 阈值 When, it is judged as the descending state; the aerial change rate And the running speed |v|≤0.02m / s, and the duration t≥0.5s, it is judged as the stationary state.

[0011] Preferably, the electric mode specifically includes:

[0012] S3-1. In the initial acceleration stage of the platform ascending process, decouple the three-phase current into the torque component (Iq) and the excitation component (Id) through Clark-Park transformation, and set the excitation component Id = 0;

[0013] S3-2. When the platform speed reaches 0.8 times the rated maximum speed and enters the constant speed stage, switch to direct torque control, and optimize the PWM duty cycle through the fuzzy logic algorithm. The input variables are the current load rate of the platform And the difference between the platform target speed and the current platform speed Δv = v 目标 -v 当前 , output the duty cycle correction amount ΔD, and control the inverter switch state;

[0014] S3-3. When the platform approaches the target height and enters the deceleration stage, gradually reduce the motor speed, and at the same time, re-decouple the three-phase current through Clark-Park transformation, according to Correct the excitation component Among them, in the formula, Δh = h 目标 -h 当前 , represents the difference between the target height and the actual height; when Δh>0.1h目标 When it increases When Δh ≤ 0.1h 目标 When it is It is expressed as the speed change rate.

[0015] Preferably, the initial acceleration of the platform rising in the step S3-1 is calculated by calculation; where, in the formula, a max is expressed as the maximum allowable acceleration of the motor; w max is expressed as the maximum load weight of the platform; k is expressed as an adjustment coefficient, and k ≤ 1.

[0016] Preferably, the inverter in the step S3-3 is a three-level NPC topology structure, and the IGBT switch voltage is reduced by 50% through the neutral point clamping technology, and the dynamic adjustment range of the switching frequency is 5 - 20 kHz.

[0017] Preferably, the energy storage mode specifically includes:

[0018] S3-4. Drive the motor rotor to rotate in the reverse direction of the motor mode through the hydraulic system, utilize the regenerative braking to generate a back electromotive force, and store it in the super capacitor bank after being rectified by the inverter;

[0019] S3-5. Adopt a load adaptive braking torque compensation algorithm to dynamically adjust the phase angle of the motor winding current, so that the back electromotive force and the current are in the same phase to maximize the energy recovery efficiency.

[0020] Preferably, when it is detected that the energy storage device has overvoltage or the current mutation rate exceeds the standard, switch to the energy consumption braking mode, and dissipate the excess electric energy through the parallel resistance.

[0021] Preferably, the standby mode specifically includes:

[0022] S3-6. After the static state lasts for more than the set time, gradually reduce the motor winding voltage to the torque critical value according to the exponential curve, and correct the height estimation value through the Kalman filter; the set time is 30S; the exponential curve is calculated by (λ is the attenuation coefficient, V rated is the rated voltage) relation; the torque critical value V critical = 0.2V rated ;

[0023] S3-7. If it is detected that the corrected height change rate exceeds the preset safety threshold in the control system, and / or it is detected that the current height of the platform exceeds the limit lifting height of the platform, restore the full power output and activate the electric mode within 50 ms.

[0024] Preferably, in step S3-6, the corrected height estimate is specifically: the height change rate of the platform is obtained by encoder pulse counting and the acceleration data of the inertial measurement unit is fused through Kalman filtering to correct the height estimate.

[0025] The beneficial effects of the technical solution of the present invention are as follows:

[0026] By calculating the high-altitude change rate, the working mode of the current aerial work platform is obtained, and according to the obtained working mode of the current aerial work platform, different output voltages are selected. During the ascent of the platform, increasing the voltage ensures sufficient power to overcome the resistance brought by gravity and load, enabling the platform to rise smoothly; while during the descent, by switching the motor to the energy storage mode and using regenerative braking technology to convert mechanical potential energy into electrical energy for storage, not only the energy consumption is effectively reduced, but also the recycling of energy is realized.

[0027] In the initial acceleration stage during the ascent of the platform, by setting the excitation component Id = 0, the reactive component in the stator current is completely eliminated, the power factor of the motor is increased to nearly 1, the power utilization efficiency of the electric energy is improved, energy waste is reduced, and the operation cost is lowered; at the same time, after entering the constant speed stage, the PWM duty ratio is optimized through the fuzzy logic algorithm to achieve precise control of the motor speed, and the switching state of the inverter can be dynamically adjusted by combining two input variables, namely the current load rate of the platform and the difference between the target speed and the actual speed, ensuring the stability and high efficiency of the motor during constant speed operation, improving the operation efficiency of the platform, and reducing mechanical wear and increased energy consumption caused by speed fluctuations.

[0028] In the deceleration stage, the three-phase current is decoupled again through Clark-Park transformation and controlled according to the corrected excitation component, realizing a smooth reduction of the motor speed, making its deceleration process smoother, reducing potential damage to the platform and the motor itself, and avoiding impact wear that may occur in traditional braking methods. Specific embodiments

[0029] Next, the solutions in the embodiments of the present invention will be clearly and completely described in combination with the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present invention.

[0030] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0031] The present invention provides a low - energy - consumption drive control method for an aerial work platform, comprising the following steps:

[0032] S1. Obtain the current working state information of the aerial work platform through sensors, and transmit the acquired data to the control system. The working state information includes: platform height, load weight, and running speed;

[0033] S2. Analyze the running mode of the current aerial work platform according to the working state information obtained in step S1. Specifically, calculate the aerial change rate of the current aerial work platform according to the height difference and time interval of the aerial work platform at adjacent time points, that is, by Calculate the aerial change rate of the current aerial work platform; where, Δt represents the sampling frequency of the sensor;

[0034] When the obtained aerial change rate And the running speed v≥v 阈值 , it is judged to be in the ascending state; the aerial change rate And the running speed v≥ - v 阈值 , it is judged to be in the descending state; the aerial change rate And the running speed |v|≤0.02m / s, and the duration t≥0.5s, it is judged to be in the stationary state; where, the v 阈值 = 0.05m / s;

[0035] S3. Select different motor drive modes according to the running mode of the aerial work platform obtained in step S2. Specifically, when the platform is in the ascending state, the control system is in the electric mode; the electric mode adopts a hybrid strategy of vector control and direct torque control to drive the lifting of the platform;

[0036] When the platform is in the descending state, the control system switches from the electric mode to the energy - storage mode; the energy - storage mode converts mechanical potential energy into electrical energy through regenerative braking for storage;

[0037] When the platform is in the stationary state, the control system maintains the motor in the standby mode all the time; the standby mode is specifically to reduce the winding voltage to the torque - maintaining critical value.

[0038] In this embodiment, by calculating the high-altitude change rate, the working mode of the current aerial work platform is obtained, and different output voltages are selected according to the obtained working mode of the current aerial work platform. During the platform's ascent, increasing the voltage ensures sufficient power to overcome the resistance caused by gravity and load, enabling the platform to rise smoothly. While during descent, by switching the motor to the energy storage mode and using regenerative braking technology to convert mechanical potential energy into electrical energy for storage, not only is the energy consumption effectively reduced, but also the recycling and reuse of energy are achieved.

[0039] Compared with traditional drive control methods, the energy utilization efficiency is significantly improved, and the dependence on external power sources is reduced. At the same time, maintaining the motor standby mode in the stationary state, by reducing the winding voltage to the critical value of the holding torque, further unnecessary energy consumption is reduced, the battery life is extended, and the operating cost is lowered.

[0040] In one of the embodiments, the electric mode specifically includes:

[0041] S3-1. During the initial acceleration stage of the platform's ascent, decouple the three-phase current into torque component (Iq) and excitation component (Id) through Clark-Park transformation, and set the excitation component Id = 0;

[0042] S3-2. When the platform speed reaches 0.8 times the rated maximum speed and enters the constant speed stage, switch to direct torque control, and optimize the PWM duty cycle through fuzzy logic algorithm. The input variables are the current load rate of the platform and the difference Δv = v 目标 -v 当前 between the platform target speed and the current platform speed, and output the duty cycle correction amount ΔD to control the inverter switch state;

[0043] S3-3. When the platform approaches the target height and enters the deceleration stage, gradually reduce the motor speed, and at the same time, decouple the three-phase current again through Clark-Park transformation. According to correct the excitation component

[0044] where, in the formula, Δh = h 目标 -h 当前 represents the difference between the target height and the actual height; when Δh > 0.1h 目标 increase when Δh ≤ 0.1h 目标 set which represents the speed change rate.

[0045] In this embodiment, during the initial acceleration stage of the platform's ascent, by setting the excitation component Id = 0, the reactive component in the stator current is completely eliminated, the power factor of the motor is increased to nearly 1, the power utilization efficiency is improved, energy waste is reduced, and the operating cost is lowered. At the same time, after entering the constant speed stage, the PWM duty cycle is optimized through the fuzzy logic algorithm to achieve precise control of the motor speed. By combining the two input variables of the current load rate of the platform and the difference between the target speed and the actual speed, the switching state of the inverter can be dynamically adjusted to ensure the stability and efficiency of the motor during constant speed operation, improve the operating efficiency of the platform, and reduce mechanical wear and increased energy consumption caused by speed fluctuations.

[0046] On the other hand, during the deceleration stage, the three-phase current is decoupled again through the Clark-Park transformation and controlled according to the corrected excitation component, realizing a smooth reduction of the motor speed, making its deceleration process smoother, reducing potential damage to the platform and the motor itself, and avoiding the impact wear that may occur in traditional braking methods.

[0047] To sum up, precise control of the entire process of the platform's ascent is achieved, the positioning accuracy of the platform is improved, and it can also stop smoothly when approaching the target height, avoiding potential safety hazards and efficiency losses caused by over-ascending or under-ascending.

[0048] Furthermore, in step S3-1, the initial acceleration of the platform's ascent is calculated by calculation;

[0049] wherein, in the formula, a max represents the maximum allowable acceleration of the motor; w max represents the maximum load weight of the platform; k represents the adjustment coefficient, and k ≤ 1.

[0050] For example, referring to Table 1 below, when the maximum allowable acceleration of the motor is 1.2 m / s²; the maximum load weight of the platform: Wmax = 2000 kg; the current load weight: W = 1500 kg W = 1500 kg; the adjustment coefficient: k = 0.8.

[0051]

[0052]

[0053] Table 1

[0054] S3-1 Initial acceleration stage:

[0055] According to the initial acceleration calculation formula Substituting the above values, we can get:

[0056]

[0057] Calculate the motor torque based on the initial acceleration of the platform obtained above:

[0058]

[0059] Solve for the torque current component

[0060]

[0061] Assume the current loop output is 200V and generate the motor PWM duty cycle for the initial acceleration stage:

[0062]

[0063] S3-2 Constant speed stage:

[0064] When the platform speed reaches 0.8 times the rated maximum speed and enters the constant speed stage, when v 目标 = 0.8●1.5 = 1.2m / s, switch to direct torque control; the maximum load weight of the platform The difference between the platform target speed and the current platform speed; Δv = v 目标 -v 当前 = 1.2 - 1.18 = 0.02m / s;

[0065] Judge that the current maximum load weight of the platform is high, the deviation between the platform target speed and the current platform speed is small, and output the duty cycle correction amount ΔD = 0.05;

[0066] Calculate the optimized duty cycle:

[0067] D opt = D base +ΔD = 0.385 + 0.05 = 0.435 (43.5%);

[0068] S3-3 Deceleration stage:

[0069] Assume the current height of the platform is 9.5m, and the difference from the target height is 0.5m, and enter the deceleration stage.

[0070] Correct the excitation component:

[0071]

[0072] Flux and torque coordinated control:

[0073]

[0074] Based on the flux error ΔΨ = Ψref - Ψactual, generate the corrected duty cycle:

[0075] D final= D opt -0.1·ΔΨ = 0.435 - 0.1·0.2 = 0.416 (41.5%)

[0076] According to the duty cycle obtained above, refer to Table 2 below.

[0077]

[0078] Table 2

[0079] According to the above table, it can be seen that the multi-stage collaborative control strategy proposed in this embodiment shows significant optimization characteristics in energy consumption distribution. Among them, the energy consumption in the deceleration stage only accounts for 16.3% of the total energy consumption (0.48 / 2.95), which is more than 40% lower than that of the traditional constant deceleration braking method (usually accounting for 25% - 30%).

[0080] The improvement of its energy feedback efficiency is quantitatively calculated by the following formula:

[0081]

[0082] Furthermore, Etraditional represents the energy consumption of the traditional constant deceleration braking method, and Eproposed represents the energy consumption of the dynamic field excitation correction strategy in this embodiment;

[0083] When Etraditional = 0.72 kWh and Eproposed = 0.48 kWh:

[0084]

[0085] In one of the embodiments, the inverter in step S3-3 is of a three-level NPC topology structure, and the IGBT switch voltage is reduced by 50% through the neutral point clamping technology, and the dynamic adjustment range of the switching frequency is 5 - 20 kHz.

[0086] In this embodiment, since the IGBT switch voltage is reduced by 50%, the voltage stress borne by the IGBT device during the switching process is greatly reduced, the service life of the IGBT device is extended, the failure probability caused by overvoltage damage is reduced, and the reliability of the entire inverter system can also be improved.

[0087] In one of the embodiments, the energy storage mode specifically includes:

[0088] S3-4. Drive the motor rotor to rotate in the reverse direction of the motor mode through the hydraulic system, utilize the regenerative braking to generate a back electromotive force, and store it in the super capacitor bank after rectification by the inverter;

[0089] S3-5. Adopt a braking torque compensation algorithm with load adaptability to dynamically adjust the phase angle of the motor winding current, making the back electromotive force in phase with the current to maximize the energy recovery efficiency.

[0090] In this embodiment, by using a hydraulic system to drive the motor rotor to rotate in the reverse electromotive mode direction and utilizing regenerative braking to generate a reverse electromotive force, which is rectified by an inverter and stored in a supercapacitor bank, energy recovery and reuse are achieved during the platform descent process, effectively reducing energy consumption and improving energy utilization efficiency. At the same time, by adopting a braking torque compensation algorithm with load adaptability, the phase angle of the motor winding current is dynamically adjusted to make the back electromotive force in phase with the current to maximize the energy recovery efficiency, thereby automatically adjusting the braking torque according to different load conditions to ensure efficient energy recovery under various working conditions.

[0091] Further, when it is detected that the energy storage device is overvoltage or the current mutation rate exceeds the standard, switch to the energy consumption braking mode, and dissipate the excess electrical energy through a shunt resistor.

[0092] In one of the embodiments, the standby mode specifically includes:

[0093] S3-6. After the stationary state lasts for more than the set time, gradually reduce the motor winding voltage to the torque maintenance critical value according to an exponential curve, and correct the height estimation value through a Kalman filter; the set time is 30S; the exponential curve is calculated by (λ is the attenuation coefficient, V rated is the rated voltage) relationship; the torque critical value V critical =0.2V rated ;

[0094] S3-1. If it is detected that the corrected height change rate exceeds the preset safety threshold in the control system, and / or it is detected that the current height of the platform exceeds the maximum lifting height of the platform, restore full power output within 50ms and activate the electric mode.

[0095] In this embodiment, by gradually reducing the motor winding voltage to the torque maintenance critical value according to an exponential curve, the motor only consumes the minimum amount of energy in the standby mode to maintain the current position of the platform, avoiding unnecessary energy waste and improving energy utilization efficiency. At the same time, by correcting the height estimation value through a Kalman filter, the accuracy and stability of height control are ensured, further reducing the additional energy consumption caused by height errors.

[0096] On the other hand, after the stationary state lasts for more than a set time (such as 30 seconds), if it is detected that the corrected height change rate exceeds the safety threshold preset in the control system, or the current height of the platform exceeds the limit lifting height, the system can quickly restore full power output and activate the electric mode within 50 milliseconds, preventing potential safety hazards, such as excessive lifting or accidental movement of the platform, thereby enhancing the overall safety of the system, reducing the energy consumption of the motor in non-essential states, and quickly switching to the electric mode in case of emergency to protect the motor and other key components.

[0097] In one of the embodiments, the corrected height estimate value in step S3-6 is specifically:

[0098] The height change rate of the platform is obtained by encoder pulse counting And the acceleration data of the inertial measurement unit is fused through Kalman filtering to correct the height estimate value.

[0099]

[0100] In the formula, Kk is the Kalman gain, zk is the actually measured height by the encoder, and aIMU is the vertical acceleration measured by the IMU;

[0101] In this embodiment, the height change rate of the platform is obtained by encoder pulse counting, providing preliminary real-time data for height estimation. And Kalman filtering corrects and optimizes the preliminary estimation by fusing the acceleration data of the inertial measurement unit (IMU), so as to obtain a more accurate and stable height estimate value.

[0102] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the technical solution of the present invention is within the protection scope of the present invention.

Claims

1. A low-energy consumption drive control method for an aerial work platform, characterized in that: The following steps are involved: S1. Obtaining the current working status information of the aerial work platform through a sensor, and transmitting the acquired data to a control system, wherein the working status information includes: platform height, load weight, and operating speed; S2. Analyze the current operation mode of the aerial work platform according to the working status information obtained in step S1; S3. According to the aerial work platform operation mode obtained in step S2, different motor drive modes are selected. When the platform is in an ascending state, the control system is in electric mode; the electric mode uses a hybrid strategy of vector control and direct torque control to drive the lifting of the platform; when the platform is in a descending state, the control system switches from electric mode to energy storage mode; the energy storage mode converts mechanical potential energy into electrical energy storage through regenerative braking; when the platform is in a stationary state, the control system maintains the motor in standby mode at all times; the standby mode is specifically achieved by reducing the winding voltage to maintain the torque critical value.

2. A low energy consumption driving control system for an aerial work platform according to claim 1, characterized in that: The step S2 is specifically as follows: according to the height difference and time interval of the aerial work platform at adjacent time points, the height change rate of the current aerial work platform is calculated, that is, by Calculate the altitude change rate of the current aerial work platform; where Δt represents the sampling frequency of the sensor; when the altitude change rate is obtained And the running speed v ≥ v 阈值 When the altitude change rate is And the running speed v≥-v 阈值 When the altitude change rate is If the running speed |v|≤0.02m / s and the duration t≥0.5s, it is judged as a stationary state.

3. A low energy consumption driving control system for an aerial work platform according to claim 1, characterized in that: The electric mode specifically includes: S3-1, in the initial acceleration stage of the platform ascending process, the three-phase current is decoupled into the torque component (Iq) and the excitation component (Id) through Clark-Park transformation, and the excitation component Id is set to 0; S3-2: When the platform speed reaches 0.8 times the rated maximum speed, it enters the constant speed stage and switches to direct torque control. The PWM duty cycle is optimized through the fuzzy logic algorithm. The input variable is the current load rate of the platform. The difference between the platform target speed and the current platform speed Δv = v 目标 -v 当前 , output duty cycle correction value ΔD to control the switching state of the inverter; S3-3, when the platform approaches the target height and enters the deceleration stage, the motor speed is gradually reduced, and the three-phase current is re-decoupled through Clark-Park transformation. Corrected excitation component Where Δh=h 目标 -h 当前 , expressed as the difference between the target height and the actual height; when Δh>0.1h 目标 When When Δh≤0.1h 目标 When Expressed as the rate of change of velocity.

4. A low energy consumption driving control system for an aerial work platform according to claim 3, characterized in that: The initial acceleration of the platform rising in step S3-1 is Calculate; where a max Indicates the maximum acceleration allowed by the motor; w max It is expressed as the maximum load weight of the platform; k is expressed as the adjustment coefficient, and k≤1.

5. A low energy consumption driving control system for an aerial work platform according to claim 4, characterized in that: The inverter in step S3-3 is a three-level NPC topology structure, and the IGBT switching voltage is reduced by 50% through the midpoint clamping technology, and the switching frequency is dynamically adjusted in the range of 5-20kHz.

6. A low energy consumption driving control system for an aerial work platform according to claim 1, characterized in that: The energy storage mode specifically includes: S3-4, driving the motor rotor to rotate in the opposite direction of the electric mode through the hydraulic system, using regenerative braking to generate reverse electromotive force, which is rectified by the inverter and stored in the supercapacitor bank; S3-5. Use a load-adaptive braking torque compensation algorithm to dynamically adjust the motor winding current phase angle so that the back electromotive force and current are in phase to maximize energy recovery efficiency.

7. A low energy consumption driving control system for an aerial work platform according to claim 6, characterized in that: When it is detected that the energy storage device is over-voltage or the current mutation rate exceeds the standard, it switches to the energy consumption braking mode and dissipates excess electrical energy through the parallel resistor.

8. The low energy consumption driving control system for an aerial work platform according to claim 1, characterized in that: The standby mode specifically includes: S3-6, after the static state lasts for more than the set time, the motor winding voltage is gradually reduced according to the exponential curve to the critical value of the torque maintenance, and the height estimation value is corrected by the Kalman filter; the set time is 30S; the exponential curve is passed through Relational calculation: The torque threshold V critical =0.2V rated ; S3-7. If it is detected that the corrected height change rate exceeds the safety threshold preset in the control system, and / or it is detected that the current height of the platform exceeds the platform's maximum lifting height, full power output is restored within 50ms and the electric mode is activated.

9. A low energy consumption driving control system for an aerial work platform according to claim 8, characterized in that: The height estimation value is corrected in step S3-6, specifically: the height change rate of the platform is obtained by counting the encoder pulses. The altitude estimate is corrected by fusing the acceleration data of the inertial measurement unit through Kalman filtering.

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