Control method and device of hydraulic synchronous lifting device, computer program and storage medium

Abstract

The invention discloses a control method and device of a hydraulic synchronous lifting device, a computer program and a storage medium, belongs to the technical field of ship manufacturing, and particularly relates to a control method of a hydraulic synchronous lifting device for ship assembly. In order to solve the problems of low synchronization precision, slow dynamic response, insufficient error compensation, poor environmental adaptability and the like of the existing control method of the hydraulic synchronous lifting device, the invention provides the control method of the hydraulic synchronous lifting device, which comprises the following steps of: acquiring a target height, a maximum inclination angle, a maximum deviation and a preset proportional valve opening; the actual heights of the four main jacking oil cylinders are obtained in real time, the average value and the inclination angle are calculated, whether the target height is reached or the maximum inclination angle is exceeded is judged, if not, the deviation of each oil cylinder is calculated, and the opening degree of the corresponding proportional valve is adjusted when the deviation is exceeded, and synchronous lifting is ensured. The device is suitable for the fields of ship building and maintenance, in-place and leveling of bridge precast beam bodies and extremely high requirements for lifting precision and safety.

Description

Technical Field

[0001] The present invention belongs to the technical field of shipbuilding, and in particular relates to a control method for a hydraulic synchronous lifting device for ship assembly. Background Art

[0002] Hydraulic synchronous lifting devices are widely used in shipbuilding, aviation assembly, and the lifting and positioning of large structural components. Their control accuracy is directly related to the safety and positioning accuracy of the operation process. With the increasing degree of industrial automation, hydraulic systems have placed higher requirements on the response speed, anti-interference ability, and adaptive performance of synchronous control.

[0003] Existing hydraulic synchronous lifting control methods are typically based on open-loop control, simplified closed-loop logic, or adjustment strategies that rely on manual intervention. These methods can achieve basic synchronous control under ideal operating conditions, but in real-world conditions such as load variations, uneven oil circuits, and environmental disturbances, control stability and synchronization accuracy are often difficult to guarantee. This is especially true during multi-point lifting, where different cylinders can easily experience inconsistent lifting heights due to differences in initial load or hydraulic parameters. Existing methods lack an effective dynamic correction mechanism, resulting in the risk of tilting during the entire lifting process.

[0004] Furthermore, some synchronization control strategies fail to fully incorporate high-precision sensors or real-time data fusion, and the control logic doesn't fully consider factors like angle changes and deviation compensation, making it difficult to achieve precise control of the lift attitude. Under dynamic conditions, existing methods are slow to respond to disturbance signals, and control parameters are often fixed, making them difficult to adapt to the synchronization and coordination requirements of complex environments.

[0005] In actual applications, there are still problems such as a single control parameter adjustment method, insufficient proportional valve control accuracy, and untimely response to lifting deviations, which make the hydraulic synchronous lifting system prone to imbalance, overadjustment or lag during execution, affecting the continuity and safety of the operation.

[0006] In summary, the existing hydraulic synchronous lifting control method still faces many technical challenges in terms of synchronization accuracy, dynamic response, error compensation and environmental adaptability. It is urgent to further optimize the control strategy and parameter adjustment mechanism to improve the overall control performance of the system. Summary of the Invention

[0007] In order to solve the problems existing in the control method of the existing hydraulic synchronous lifting device, the present invention proposes the following solutions: A control method for a hydraulic synchronous lifting device, the method comprising: S1. Collect working parameters, including target height. , maximum tilt angle , maximum deviation and preset proportional valve opening ; S2. Real-time collection of the actual lifting height of the four main lifting cylinders 、 、 and ; S3, according to the actual lifting height of the 4 main lifting cylinders 、 、 and Get the average value of actual lifting height ; S4. Determine the average value of the actual lifting height Whether the target height is reached If yes, then output a control signal to stop the four main lifting cylinders and complete the control; otherwise, proceed to the next step; S5. According to the actual lifting height of the 4 main lifting cylinders 、 、 and Get the tilt angle of the hydraulic synchronous lifting device ; S6. Determine the tilt angle of the hydraulic synchronous lifting device Whether the maximum tilt angle is reached If yes, then an emergency stop signal is output to stop the device and the control is terminated, otherwise proceed to the next step; S7, according to the actual lifting height of the 4 main lifting cylinders 、 、 、 and the average value of actual lifting height , obtain the lifting height deviation of the 4 main lifting cylinders 、 、 and ; S8. Determine the lifting height deviation of the four main lifting cylinders respectively 、 、 and Is it greater than the maximum deviation? For the main lifting cylinder whose lifting height deviation is greater than the maximum deviation, execute step S9 to adjust the actual opening of its corresponding proportional valve; S9. According to the actual opening of the corresponding proportional valve, the lifting speed of the main lifting cylinder corresponding to the corresponding proportional valve is controlled, and then the process returns to S2.

[0008] Furthermore, the average value of the actual lifting height is obtained in step S3 The method is: .

[0009] Furthermore, the step S5 obtains the tilt angle of the hydraulic synchronous lifting device. The method is: calculate Axis tilt angle: ; calculate Axis tilt angle: ; Get the tilt angle of the hydraulic synchronous lifting device: ; in, yes The spacing between the axes, yes The spacing between the axes.

[0010] Furthermore, the lifting height deviations of the four main lifting cylinders are obtained in step S7. 、 、 and The method is: ; ; ; .

[0011] Furthermore, the method for adjusting the actual opening of the corresponding proportional valve in step S9 is: ; ; ; ; in, 、 、 、 They are the actual openings of the proportional valves corresponding to the four main lifting cylinders, is the proportional gain coefficient.

[0012] Furthermore, the preset proportional valve opening The range is .

[0013] A control device for a hydraulic synchronous lifting device, the device comprising the following modules: Module for inputting operating parameters including target height , maximum tilt angle , maximum deviation and preset proportional valve opening ; Used to collect the actual lifting height of the 4 main lifting cylinders in real time 、 、 and Modules; Used to adjust the actual lifting height according to the actual lifting height of the 4 main lifting cylinders 、 、 and Get the average value of actual lifting height Modules; Average value used to determine actual lifting height Whether the target height is reached The module is further configured to output a control signal to stop the movement of the four main lifting cylinders when the judgment result is yes; Used to adjust the actual lifting height according to the actual lifting height of the 4 main lifting cylinders 、 、 and Get the tilt angle of the hydraulic synchronous lifting device Modules; Used to determine the tilt angle of the hydraulic synchronous lifting device Whether the maximum tilt angle is reached A module, wherein the module is further configured to output an emergency stop signal to stop the device when the judgment result is yes; Used to adjust the actual lifting height according to the actual lifting height of the 4 main lifting cylinders 、 、 、 and the average value of actual lifting height , obtain the lifting height deviation of the 4 main lifting cylinders 、 、 and Modules; Used to determine the lifting height deviation of the four main lifting cylinders 、 、 and Whether the maximum deviation is reached module; the module is also used for the main lifting cylinder with a lifting height deviation greater than the maximum deviation, calling the proportional valve opening adjustment module to adjust the actual opening of the proportional valve corresponding to the main lifting cylinder; The proportional valve opening adjustment module is used to adjust the actual opening of the corresponding proportional valve.

[0014] Based on the same inventive concept, the present invention also proposes a computer storage medium for storing a computer program. When the computer program is read by a computer, the computer executes any one of the methods described in the present invention.

[0015] Based on the same inventive concept, the present invention also proposes a computer, comprising a processor and a storage medium. When the processor reads the computer program stored in the storage medium, the computer executes any one of the methods described in the present invention.

[0016] Based on the same inventive concept, the present invention also proposes a computer program product, which is a computer program. When the computer program is read, it implements any one of the methods described in the present invention.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The control method of a hydraulic synchronous lifting device described in the present invention achieves millimeter-level synchronization accuracy by collecting the heights of the four main lifting cylinders in real time, calculating the average value and deviation, and adjusting the proportional valve opening in a closed loop based on this. A feedback control mechanism based on the real-time collection of cylinder heights is established. Combined with the lifting height average value and deviation calculation method, it effectively suppresses the synchronization error caused by mechanical linkage lag, load change or uneven oil circuit in the traditional system, solves the problem of generally low synchronization accuracy in the existing technology, and realizes closed-loop lifting control with controllable accuracy and adjustable error.

[0018] 2. The control method for a hydraulic synchronous lifting device described in this invention addresses the problem of existing systems relying on a single sensor and lacking multi-dimensional posture monitoring. By directly utilizing the height difference of the oil cylinders and using spatial geometry methods to calculate the X and Y axis inclination angles, this method synthesizes the overall inclination angle to achieve continuous and accurate monitoring of the lifting platform's posture. This not only avoids sensor interference but also provides the control system with more comprehensive state perception capabilities, effectively enhancing the accuracy and real-time performance of posture control.

[0019] 3. The control method of the hydraulic synchronous lifting device described in the present invention addresses the problem that the traditional control algorithm is static and cannot respond quickly under dynamic conditions such as ship shaking, vibration, wind load, etc., and sets the maximum tilt angle , maximum deviation Dual judgment criteria monitors the platform status in real time and immediately prompts the operator and interrupts the action when the threshold is exceeded. It quickly responds to dynamic disturbances such as ship swaying and deck vibration, significantly improving the system's dynamic response capability and anti-interference performance.

[0020] 4. The control method for a hydraulic synchronous lifting device described in this invention dynamically calculates the actual opening of the proportional valve based on the linear relationship between the lifting deviation of each cylinder and a preset proportional gain coefficient, achieving refined closed-loop regulation. Compared to existing fixed-value control or empirically set methods, this method can adjust the valve opening on demand and in a differentiated manner. This not only improves the response sensitivity to slight deviations but also optimizes energy consumption, resolving the technical shortcomings of traditional methods such as delayed error compensation and poor energy efficiency.

[0021] 5. The control method for a hydraulic synchronous lifting device described in this invention implements the core control logic as a computer program that can be embedded in a PLC, industrial PC, or embedded controller. It features a parameterized, modular architecture that adapts to various cylinder numbers and layouts. This approach reduces hardware modification costs, simplifies system maintenance and upgrades, and overcomes the complex and difficult-to-scalability issues of existing technologies.

[0022] This invention is applicable to various engineering scenarios requiring multi-point synchronous lifting and high-precision attitude control, particularly in hull assembly and deck module installation in shipbuilding and repair, the hoisting and assembly of heavy machinery and large components, the positioning and leveling of wind turbine towers and precast bridge beams, and in fields such as aerospace and large-scale assembly lines that require extremely high lifting precision and safety. Furthermore, the control method described in this invention can be widely embedded in PLCs, industrial PCs, or embedded controllers, facilitating stable and reliable synchronous lifting control in complex environments such as tunneling, heavy-duty workshops, and construction sites. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a flow chart of a control method for a hydraulic synchronous lifting device described in embodiment 1; Figure 2 It is the control object of the control method of the present invention, a structural diagram of a hydraulic synchronous lifting device, reference numerals: main lifting cylinder 1; Figure 3 This is an electrical schematic diagram of a control system on which the control method described in the present invention is based: Figure numeral: proportional valve 2. DETAILED DESCRIPTION

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0025] Implementation Method 1 like Figure 1As shown, a control method for a hydraulic synchronous lifting device, the method comprising: A control method for a hydraulic synchronous lifting device, the method comprising: S1. Collect working parameters, including target height. , maximum tilt angle , maximum deviation and preset proportional valve 2 opening ; S2, real-time collection of the actual lifting height of the four main lifting cylinders 1 、 、 and ; S3, according to the actual lifting height of the 4 main lifting cylinders 1 、 、 and Get the average value of actual lifting height ; S4. Determine the average value of the actual lifting height Whether the target height is reached If yes, then output a control signal to stop the movement of the four main lifting cylinders 1 to complete the control, otherwise proceed to the next step; S5, according to the actual lifting height of the 4 main lifting cylinders 1 、 、 and Get the tilt angle of the hydraulic synchronous lifting device ; S6. Determine the tilt angle of the hydraulic synchronous lifting device Whether the maximum tilt angle is reached If yes, then an emergency stop signal is output to stop the device and the control is terminated, otherwise proceed to the next step; S7, according to the actual lifting height of the 4 main lifting cylinders 1 、 、 、 and the average value of actual lifting height , obtain the lifting height deviation of the 4 main lifting cylinders 1 、 、 and ; S8. Determine the lifting height deviation of the four main lifting cylinders 1 respectively 、 、 and Is it greater than the maximum deviation? For the main lifting cylinder 1 whose lifting height deviation is greater than the maximum deviation, execute step S9 to adjust the actual opening of its corresponding proportional valve 2; S9. Adjust the opening of the corresponding proportional valve 2 according to the current opening of the corresponding proportional valve 2, thereby controlling the lifting speed of the main lifting cylinder corresponding to the corresponding proportional valve, and return to S2.

[0026] In this embodiment, the parameters collected in step S1 are used for starting control, wherein the opening of the proportional valve 2 is preset. is the initial opening of all proportional valves.

[0027] In this embodiment, the maximum tilt angle and maximum deviation It is the maximum deviation allowed by the hydraulic synchronous lifting device, and this data is designed according to the actual support area of the hydraulic synchronous lifting device and the corresponding technical requirements of the support.

[0028] In this embodiment, step S9, adjusting the opening of the proportional valve is used to adjust the lifting speed of the corresponding main lifting cylinder, thereby reducing or even eliminating its lifting height deviation, and ultimately achieving the lifting height of the four main lifting cylinders to be kept as consistent as possible, so that the hydraulic synchronous lifting device is stable during the lifting process.

[0029] This implementation establishes a closed-loop feedback control mechanism based on real-time data collection of the heights of the four main lifting cylinders (1). By calculating the average and deviation of the cylinder heights and adjusting the opening of the proportional valve (2) accordingly, this achieves millimeter-level synchronous control accuracy. This method effectively eliminates the asynchronous lifting issues associated with traditional systems caused by mechanical linkage lag, load variations, or uneven oil circuits, significantly improving the smoothness and accuracy of multi-point lifting.

[0030] The period of real-time data collection in this embodiment is the control period, which can be adjusted according to actual conditions, preferably (100±20) ms. This control period reduces the amount of data processing while ensuring control accuracy and response speed.

[0031] In practical applications, the above control period can also be adjusted according to actual conditions. A preferred solution is as follows: After step S6, a further determination step is added: when the tilt angle of the hydraulic synchronous lifting device is Exceeding the maximum tilt angle When the tilt angle of the hydraulic synchronous lifting device reaches 70%-80%, the control period is adjusted to 0.3-0.6 times of the original control period until the tilt angle of the hydraulic synchronous lifting device reaches Less than the maximum tilt angle 65% of the original control cycle.

[0032] The above preferred method is to find the tilt angle of the hydraulic synchronous lifting device Approaching the maximum tilt angle When the control cycle is shortened, the adjustment frequency is increased to achieve rapid posture correction until the inclination angle of the hydraulic synchronous lifting device is Away from the maximum tilt angle Restore the original control cycle.

[0033] In this embodiment, an abnormal situation processing step can be added: when step S2 collects the actual lifting height of the four main lifting cylinders 1 in real time, 、 、 and If any actual lifting height is the same for three consecutive times, the opening of the corresponding proportional valve of the corresponding main lifting cylinder 1 will be the preset opening. , and issue an alarm message.

[0034] In the above steps, based on the data collection situation, it is inferred that the lifting height collection sensor of a certain main lifting cylinder 1 is faulty. Therefore, adjustment measures must be taken to avoid accidents caused by adjustment errors due to sensor failure.

[0035] The abnormal situation processing step can also be increased as follows: when the actual lifting height of any main lifting cylinder 1 is greater than the set height difference between two consecutive collected data, the opening of the corresponding proportional valve of the corresponding main lifting cylinder 1 is the preset opening. , and issue an alarm message.

[0036] In the above steps, the preset height difference is set based on the physical parameters of the actual main lifting cylinder 1 and its corresponding proportional valve, i.e., the maximum value of the adjustment height. If the height difference between two consecutive measurements is too large, i.e., if the adjustment height is impossible, it can be inferred that there is a sensor failure, and corrective measures must be taken to avoid accidents caused by incorrect adjustments due to sensor failure.

[0037] Implementation Method 2 This embodiment is a further limitation of the first embodiment. In this embodiment, the average value of the actual lifting height obtained in step S3 is The method is: .

[0038] This embodiment explicitly adopts the arithmetic mean formula to obtain the average value of the actual lifting height. This embodiment simplifies the height data processing process, ensures the reliability and consistency of the calculation results, and reduces the complexity of the algorithm, laying a unified and reliable data foundation for subsequent deviation calculation and valve control adjustment.

[0039] Implementation Method 3 This embodiment is a further limitation of the first embodiment. In this embodiment, the tilt angle of the hydraulic synchronous lifting device is obtained in step S5. The method is: calculate Axis tilt angle: ; calculate Axis tilt angle: ; Get the tilt angle of the hydraulic synchronous lifting device: ; in, yes The spacing between the axes, yes The spacing between the axes.

[0040] This embodiment proposes a two-dimensional tilt angle calculation method based on the cylinder height difference, which can accurately reflect the tilt state of the platform in the X and Y directions, realize continuous and precise monitoring of the lifting platform posture, replace the dependence on external posture sensors, and enhance the stability and adaptability of the system.

[0041] Based on the obtained Axis tilt angle 、 Axis tilt angle This embodiment adds a new step: unbalanced load determination and adjustment step: During the current 18-25 consecutive control cycles, the Axis tilt angle or Axis tilt angle If the linear regression slope change rate exceeds (0.01±0.002)° / s, in step S9, only the opening of the corresponding proportional valve of the main jacking cylinder in the load-biasing direction is adjusted until the linear regression slope change rate is less than 0.008° / s, and step S9 restores the original adjustment method.

[0042] The above-mentioned biased load judgment and adjustment steps are based on the data obtained from multiple consecutive sampling cycles. Axis and The rate of change of the linear regression slope of the inclination angle in the axial direction can be used to infer whether the hydraulic synchronous lifting device is in an overload situation. In actual operation, if the hydraulic synchronous lifting device is in this overload situation for a long time, it may cause an accident. Therefore, the above steps adjust the adjustment method of the proportional valve in step S9 for this situation, that is, only adjust the main lifting cylinder in the overload direction to correct the overload situation.

[0043] Implementation Method 4 This embodiment is a further limitation of the first embodiment. In this embodiment, the lifting height deviation of the four main lifting cylinders 1 is obtained in step S7. 、 、 and The method is: ; ; ; .

[0044] This implementation simplifies the deviation extraction process by directly defining the lift height deviation of each cylinder, making subsequent valve control adjustments more intuitive and reliable. This deviation calculation method not only improves the system's ability to identify subtle height differences, but also provides precise input for dynamic closed-loop compensation.

[0045] Implementation Method Five This embodiment is a further limitation of the first embodiment. In this embodiment, the method for adjusting the actual opening of the corresponding proportional valve 2 in step S8 is: ; ; ; ; in, 、 、 、 They are the actual openings of the corresponding proportional valves 2 of the four main lifting cylinders 1, is the proportional gain coefficient.

[0046] In this embodiment, the proportional gain coefficient It is designed based on the load conditions of the hydraulic synchronous lifting device and the technical parameters of the main lifting cylinder, and the preferred value range is 0.01±0.005.

[0047] This embodiment adjusts the actual opening of the corresponding proportional valve 2, which is designed based on the linear relationship between the deviation of the lifting height of the corresponding main jacking cylinder 1 and the proportional gain coefficient A. In the actual control process, the actual opening of each proportional valve 2 is dynamically calculated according to the lifting height, thereby realizing the differentiation and on-demand adjustment of the valve opening, greatly improving the response sensitivity and compensation speed to the lifting deviation, while taking into account the energy-saving effect, and overcoming the defects of slow response and high energy consumption of traditional fixed value or experience setting methods.

[0048] Furthermore, a further preferred solution of the method for adjusting the actual opening of the corresponding proportional valve as described in step S9 of this embodiment is: when a proportional valve is adjusted more than n times continuously, the proportional gain coefficient corresponding to the adjustment of the opening is The reduction is 15-20%, and the n is 2 or 3.

[0049] The above preferred solution is that if the lifting height deviation of a main lifting cylinder is still large after adjusting the corresponding proportional valve opening n times, the proportional gain coefficient of the corresponding proportional valve adjustment is reduced accordingly. , avoid mechanical oscillation caused by adjustment and maintain the stability of the hydraulic synchronous lifting device during the rising process.

[0050] Implementation Method 6 This embodiment is a further limitation of the first embodiment. In this embodiment, the preset opening of the proportional valve 2 is The range is .

[0051] This embodiment ensures the legitimacy and safety of control parameters by limiting the preset opening GD of the proportional valve 2 to a reasonable range, avoiding the risk of valve saturation or loss of control due to parameter exceeding the limit, thereby enhancing the robustness and reliability of the entire control system.

[0052] The specific technical means further described in the above embodiments 2 to 6 can also be reasonably combined with each other to form new embodiments.

[0053] Implementation Method Seven This embodiment integrates the technical solutions described in the aforementioned multiple embodiments, combines the actual situation, and further verifies and explains the technical effects of the present invention through specific examples.

[0054] During a large-scale hull closure operation at a certain shipyard, four outriggers needed to be hydraulically raised and lowered synchronously to ensure the accuracy of the side interface. To meet the stringent requirements for lifting accuracy, attitude control, and safety during hull closure, the hydraulic synchronous lifting control method described in this invention was used for experimental verification.

[0055] The hydraulic synchronous lifting device used in this operation is model XYZ-LLC-1000, which mainly includes: High-precision cylinder module: 4 main lifting cylinders, model HC-200-300, with a stroke range of 0–3000 mm and integrated displacement sensors with an accuracy of ±0.1 mm; Proportional valve control unit: 4-way electronic proportional valve (model PV-E03), supports 0.00–1.00 opening adjustment, response time ≤10ms; Controller and communication interface: PLC controller (model PLC-8A) is equipped with CAN bus and industrial Ethernet interfaces to achieve real-time data acquisition and command issuance; Human-machine interface (HMI): 7-inch touch screen for inputting working parameters, displaying real-time status and alarm prompts; Hydraulic pump station and filter unit: provides a maximum working pressure of 20MPa and is equipped with a high-efficiency oil filter to ensure system cleanliness and stability.

[0056] The main reasons for choosing this system are: its integrated design of cylinder and sensor simplifies installation and debugging, the proportional valve unit has high-resolution opening adjustment capability, and the PLC controller and industrial Ethernet interface realize full-cycle, low-latency data closed-loop processing, which fully meets the hardware foundation required for the method of the present invention.

[0057] The structural parameters of the hydraulic synchronous lifting device platform used in this operation include: Axle spacing (distance between left and right legs): ; Axle spacing (distance between front and rear outriggers): ; Platform load: approximately 200 tons of heavy hull structure with slightly uneven load distribution.

[0058] The platform's structural parameters and load characteristics place higher demands on the control method, requiring high-precision synchronous control capabilities, real-time attitude monitoring capabilities, and dynamic deviation compensation capabilities.

[0059] The control method parameters of the hydraulic synchronous lifting device used in this operation include: Target height: ; Maximum tilt angle: ; Maximum height deviation: ; Preset proportional valve opening: (50%); Proportional gain coefficient: ; According to step S2 of the control method described herein, to ensure the platform maintains excellent response speed and control accuracy throughout operation, the system performs height acquisition and control calculations every 100 milliseconds (ms). This control cycle balances the system's responsiveness and data processing load, avoiding unnecessary resource waste while ensuring control quality. The target lift height for this operation was set at 1200mm. This means that until the lift is complete, the system must continuously monitor the height information of each main lift cylinder and, through dynamic feedback control, ensure that all cylinders reach the target height as synchronously as possible.

[0060] In order to further improve the system's adaptability to sudden disturbances, this experiment also set up several redundant safety logics in the PLC: When the height deviation of any cylinder exceeds the limit for three consecutive times, the system automatically switches to the second-order gain adjustment mode and temporarily reduces the proportional gain coefficient A by 20% to avoid mechanical oscillation caused by rapid valve mutation; When the tilt angle θ approaches 1.5° (higher than the 75% threshold), the system issues an early warning and switches to the priority posture correction mode, upgrading the threshold determination from once per cycle to once every 50ms. If the oil cylinder displacement sensor fails or the data is abnormal (the continuous sampling value remains unchanged or the fluctuation exceeds the limit) at any time, the system enters the safety lock state and the proportional valve opening automatically returns to the preset value ; At a certain collection moment, the lifting heights of the four main lifting cylinders collected by the system are: Left front main lifting cylinder: , Right front main lifting cylinder: , Right rear main lifting cylinder: , Left rear main lifting cylinder: , According to step S3 of the control method of the present invention, according to the actual lifting height of the four main lifting cylinders 、 、 and Get the average value of actual lifting height : ; According to step S4 of the control method of the present invention, the average value of the actual lifting height is determined. Whether the target height is reached :

[0061] At this point, the average actual lift height of the four main lift cylinders was 1177.0 mm, significantly lower than the target height of 1200.0 mm. The system determined that the platform had not yet completed its lift mission and therefore entered the next round of feedback control, continuing with posture assessment and error correction. This system mechanism ensures continuous control under full monitoring, eliminating the risk of "blind control" or "sudden behavior."

[0062] This average value is not only used to determine whether the lift is complete, but also provides an important benchmark for subsequent tilt angle calculations and lift error analysis. The height feedback closed-loop control mechanism is based on this real-time average value, improving the system's control robustness and error tolerance.

[0063] When the system detects that the average value has not yet reached the standard, it also needs to pay attention to whether the platform's spatial attitude has obvious tilt to prevent structural instability or load offset during the synchronization process. The next step is to enter the platform attitude analysis step.

[0064] The platform's inclination angle is a crucial safety indicator in lifting systems, especially when handling high-load or high-level lifts. Therefore, the system calculates the platform's X / Y-axis inclination angle and resulting inclination angle in real time based on the cylinder height difference during each control cycle.

[0065] According to step S5 of the control method of the present invention, according to the actual lifting height of the four main lifting cylinders 、 、 and Get the tilt angle of the hydraulic synchronous lifting device : calculate Axis tilt angle: ; calculate Axis tilt angle: ; Get the tilt angle of the hydraulic synchronous lifting device: ; in, yes The spacing between the axes, yes The spacing between the axes.

[0066] To improve the intelligence level of platform posture monitoring, the PLC has a built-in sliding window-based tilt trend analysis algorithm: If a or If the linear regression slope change rate exceeds 0.01° / s, it can be determined that the platform has a continuous load deviation trend; In this case, the system will give priority to advance gain adjustment of the cylinder in the offset load direction to prevent sudden changes before the angle exceeds the limit.

[0067] According to step S6 of the control method of the present invention, the tilt angle of the hydraulic synchronous lifting device is determined. Whether the maximum tilt angle is reached : ; This value is much smaller than the maximum allowable tilt angle set by the system, indicating that the current platform posture is stable and there is no obvious deflection.

[0068] The system not only confirms structural safety at this stage but also provides a reference for subsequent control strategy selection. For example, when the tilt angle approaches the upper limit, the system prioritizes adjusting the tilt cylinder rather than relying solely on average error compensation, thereby enhancing the intelligence of the control strategy.

[0069] According to step S7 of the control method of the present invention, according to the actual lifting height of the four main lifting cylinders 、 、 、 and the average value of actual lifting height , obtain the lifting height deviation of the 4 main lifting cylinders 、 、 and : ; ; ; ; The purpose of this step is to quantify the difference between the degree of elevation of each cylinder and the current average height of the system, that is, the "deviation", to provide basic data for the subsequent differentiated adjustment of the proportional valve. Through the feedback control concept, the system is no longer simply synchronously controlled, but makes "personalized" fine-tuning based on the current state. A positive deviation indicates that the cylinder rises faster (higher than the average), and a negative deviation indicates that the cylinder rises slower (lower than the average), providing accurate and independent error signal input for the subsequent control of each cylinder. This deviation calculation method is simple and practical, and can reflect the local imbalance of the platform's horizontal state in real time. It is the core prerequisite for achieving synchronous control of multiple cylinders. According to step S8 of the control method of the present invention, the lifting height deviation of the four main lifting cylinders is determined. 、 、 and Whether the maximum deviation is reached : The maximum deviation preset for this operation , preset proportional valve opening , then:

[0070]

[0071]

[0072]

[0073] The control system compares the 4 deviation values collected in the current cycle with the maximum deviation to determine whether there is a serious lack of synchronization. 、 Exceeding the maximum deviation, and If the maximum deviation is not exceeded, the system determines that the opening of the proportional valves corresponding to the left front and right rear main lift cylinders needs to be adjusted. This judgment mechanism avoids unnecessary interruptions within a controllable error range, demonstrating the robustness and adaptability of the control method of the present invention.

[0074] The system enters the proportional valve adjustment stage. According to the feedback control principle, the actual opening of the proportional valve corresponding to each main lifting cylinder is calculated in sequence using the following formula: ; ; According to step S9 of the control method of the present invention, the actual opening of the proportional valve 、 、 and Or preset proportional valve opening Adjust the corresponding proportional valve: The deviation of the left front main lifting cylinder is 2.5mm at this moment, which is higher than the maximum deviation , the corresponding proportional valve opening increases to 52.5%, accelerating its rising speed; The deviation of the left rear main lifting cylinder is 1.0mm at this moment, which is lower than the maximum deviation , the corresponding proportional valve opening maintains the preset proportional valve opening and the speed remains unchanged; The deviation of the right rear main lifting cylinder is 3.2mm at this moment, which is higher than the maximum deviation , the corresponding proportional valve opening is adjusted to 46.8% to slow down its rising speed; The deviation of the right front main lifting cylinder is 1.7mm at this moment, which is lower than the maximum deviation , the corresponding proportional valve opening maintains the preset proportional valve opening and the speed remains unchanged; To further improve the smoothness of control, the system uses a second-order low-pass filter when performing valve opening updates. The filter parameters are set as follows: Cut-off frequency: 10Hz; Damping ratio: 0.7; This filtering process can effectively suppress valve jitter caused by data fluctuations or sudden changes in values, ensuring a smooth valve opening curve, thereby improving the life of mechanical components and system comfort.

[0075] During the 1200 consecutive control cycles (120 seconds in total) of this operation, the system always maintained the average height and the deviation of each cylinder within the set range: ;

[0076] ; The entire closing process lasted 45 minutes. Finally, the height of each main lifting cylinder reached 1200.0mm, and the platform inclination angle was less than 0.2°, meeting the accuracy and safety requirements of the hull closing.

[0077] This implementation method focuses on the actual hull assembly operation and verifies the following key technical points: Real-time closed-loop control architecture: Through a high-frequency sampling period of 100ms, the system implements a three-level closed loop for cylinder height, platform attitude, and deviation calculation, ensuring full blind-spot monitoring and dynamic compensation capabilities. Multi-dimensional data fusion: By integrating cylinder displacement sensor data with the X / Y axis inclination angles calculated from the geometric model, two-way feedback on the synchronization and stability of the platform's posture is achieved, overcoming the limitations of single parameter adjustment. Grading threshold judgment mechanism: setting the maximum tilt angle at the same time and maximum deviation The system can automatically switch between conventional adjustment, gain scaling and priority correction modes according to different deviation levels, improving the flexibility and safety margin of the control strategy; Adaptive gain adjustment: Introduces an online adjustment strategy for the proportional gain coefficient A. When continuous over-limit deviations or abnormal attitude trends are detected, the gain parameters are automatically adjusted to avoid over-control and system oscillation, thereby enhancing robustness. Dynamic smoothing: A second-order low-pass filter is used to smooth the proportional valve opening change curve during its update process, effectively suppressing valve jitter caused by data jitter or external disturbances, extending valve life and improving control accuracy. Modular software and hardware integration: Control logic is implemented in the form of PLC program, combined with CAN bus and industrial Ethernet real-time communication, supporting rapid parameter configuration, fault diagnosis and remote upgrade, significantly improving the overall maintainability and engineering adaptability of the system; Redundant safety strategy: The system has built-in multiple safety logics, including sensor failure detection, emergency degradation mode and over-limit warning function, which fully guarantees the operational safety of hull closure operations.

[0078] The above key technical points work together to provide the present invention with a stable, reliable and precise hydraulic synchronous lifting control solution under high load, dynamic interference and multi-support point environments.

[0079] The technical solution provided by the present invention is further described in detail through the above specific embodiments in order to highlight the advantages and benefits of the technical solution provided by the present invention. However, the above specific embodiments are not intended to limit the present invention. Any reasonable modification and improvement of the present invention, combination of embodiments and equivalent replacement, etc. based on the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0080] Those skilled in the art will understand that the above description is only a preferred embodiment of the present invention, and the various embodiments disclosed in the present invention and / or the features described in the claims can be combined or coupled in various ways, even if such combinations or couplings are not explicitly described in the disclosure of the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0081] Although preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they are aware of the basic inventive concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention. Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, the present invention is intended to include such changes and modifications as fall within the scope of the claims and their equivalents.

Claims

1. A control method for a hydraulic synchronous lifting device, characterized in that: The method comprises: S1. Collect working parameters, including target height. , maximum tilt angle , maximum deviation and preset proportional valve opening ; S2. Real-time collection of the actual lifting height of the four main lifting cylinders 、 、 and ; S3, according to the actual lifting height of the 4 main lifting cylinders 、 、 and Get the average value of actual lifting height ; S4. Determine the average value of the actual lifting height Whether the target height is reached If yes, then output a control signal to stop the four main lifting cylinders and complete the control; otherwise, proceed to the next step; S5. According to the actual lifting height of the 4 main lifting cylinders 、 、 and Get the tilt angle of the hydraulic synchronous lifting device ; S6. Determine the tilt angle of the hydraulic synchronous lifting device Whether the maximum tilt angle is reached If yes, then an emergency stop signal is output to stop the device and the control is terminated, otherwise proceed to the next step; S7, according to the actual lifting height of the 4 main lifting cylinders 、 、 、 and the average value of actual lifting height , obtain the lifting height deviation of the 4 main lifting cylinders 、 、 and ; S8. Determine the lifting height deviation of the four main lifting cylinders respectively 、 、 and Is it greater than the maximum deviation? For the main lifting cylinder whose lifting height deviation is greater than the maximum deviation, execute step S9 to adjust the actual opening of its corresponding proportional valve; S9. According to the actual opening of the corresponding proportional valve, the lifting speed of the main lifting cylinder corresponding to the corresponding proportional valve is controlled, and then the process returns to S2.

2. The method according to claim 1, characterized in that The average value of the actual lifting height obtained in step S3 The method is: 。 3. The method according to claim 1, characterized in that Step S5 obtains the tilt angle of the hydraulic synchronous lifting device The method is: calculate Axis tilt angle: ; calculate Axis tilt angle: ; Get the tilt angle of the hydraulic synchronous lifting device: ； in, yes The spacing between the axes, yes The spacing between the axes.

4. The method according to claim 1, wherein Step S7 obtains the lifting height deviation of the four main lifting cylinders 、 、 and The method is: ； ； ； 。 5. The method according to claim 1, wherein The method for adjusting the actual opening of the corresponding proportional valve in step S9 is: ； ； ； ； in, 、 、 、 They are the actual openings of the proportional valves corresponding to the four main lifting cylinders, is the proportional gain coefficient.

6. The method according to claim 1, characterized in that The preset proportional valve opening The range is .

7. A control device for a hydraulic synchronous lifting device, characterized in that: The device includes the following modules: Module for inputting operating parameters including target height , maximum tilt angle , maximum deviation and preset proportional valve opening ; Used to collect the actual lifting height of the 4 main lifting cylinders in real time 、 、 and Modules; Used to adjust the actual lifting height according to the actual lifting height of the 4 main lifting cylinders 、 、 and Get the average value of actual lifting height Modules; Average value used to determine actual lifting height Whether the target height is reached The module is further configured to output a control signal to stop the movement of the four main lifting cylinders when the judgment result is yes; Used to adjust the actual lifting height according to the actual lifting height of the 4 main lifting cylinders 、 、 and Get the tilt angle of the hydraulic synchronous lifting device Modules; Used to determine the tilt angle of the hydraulic synchronous lifting device Whether the maximum tilt angle is reached A module, wherein the module is further configured to output an emergency stop signal to stop the device when the judgment result is yes; Used to adjust the actual lifting height according to the actual lifting height of the 4 main lifting cylinders 、 、 、 and the average value of actual lifting height , obtain the lifting height deviation of the 4 main lifting cylinders 、 、 and Modules; Used to determine the lifting height deviation of the four main lifting cylinders 、 、 and Whether the maximum deviation is reached module; the module is also used for the main lifting cylinder with a lifting height deviation greater than the maximum deviation, calling the proportional valve opening adjustment module to adjust the actual opening of the proportional valve corresponding to the main lifting cylinder; The proportional valve opening adjustment module is used to adjust the actual opening of the corresponding proportional valve.

8. A computer storage medium for storing a computer program, characterized in that When the computer program is read by a computer, the computer executes the method according to any one of claims 1 to 6.

9. A computer comprising a processor and a storage medium, characterized in that When the processor reads the computer program stored in the storage medium, the computer executes the method according to any one of claims 1 to 6.

10. A computer program product, being a computer program, characterized in that When the computer program is read, the method according to any one of claims 1 to 6 is implemented.

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