Control method for translation synchronization of double oil cylinders, hoisting equipment and storage medium

Abstract

The embodiment of the invention relates to a control method for translation synchronization of double oil cylinders, hoisting equipment and a storage medium. According to the embodiment of the invention, the current proportionality coefficient is calculated in advance according to the real-time working lengths of the first oil cylinder and the second oil cylinder in the initial translational motion stage, and the current proportionality coefficient is combined according to the real-time working lengths of the first oil cylinder and the second oil cylinder in the stable translational motion stage. And calculating a first target current and a second target current, and outputting the first target current and the second target current to the corresponding control valves so as to control the translational motion of the first oil cylinder and the second oil cylinder through the control valves. By means of the double-adjustment mode of the initial translation movement stage (namely the feed-forward adjustment stage) and the stable translation movement stage (namely the feedback adjustment stage), the synchronization error of the oil cylinder during translation starting can be reduced, the control precision of translation synchronization of the oil cylinder is improved, high-precision translation synchronization control is achieved, and the requirement for high-precision translation synchronization control is met.

Description

Technical Field

[0001] The present invention relates to the field of lifting equipment technology, and in particular to a control method for synchronous translation of dual hydraulic cylinders, lifting equipment and storage medium. Background Technology

[0002] With the rapid development of technologies such as lifting machinery and equipment, hoisting engineering, and installation positioning, the requirements for control precision in the lifting, hoisting and installation processes are becoming increasingly higher. In particular, in the field of high-precision positioning in lifting and hoisting, the high-precision control requirements of dual-cylinder translation have become a challenge for industry control technology.

[0003] In related technologies, the control strategy for dual-cylinder translation involves giving both cylinders the same control signal. However, differences in hydraulic pipe diameter, hydraulic flow rate, and pipe resistance can lead to asynchronous translation, resulting in deflection of the load. Current methods compensate for this error based on the feedback difference in cylinder length. However, the lag in feedback adjustment results in insufficient control accuracy for cylinder translation synchronization, failing to meet the requirements of high-precision translation control. This is especially true in scenarios involving jogging (e.g., continuous start-stop) cylinder translation, where the cumulative error in cylinder length increases, further reducing the control accuracy for cylinder translation synchronization. Summary of the Invention

[0004] In view of this, one objective of the present invention is to provide a control method, lifting equipment and storage medium for synchronous translation of dual hydraulic cylinders, so as to solve the technical problem of insufficient control accuracy of synchronous translation of hydraulic cylinders in the prior art.

[0005] To address the aforementioned technical problems, the embodiments of the present invention provide the following technical solutions: In a first aspect, embodiments of the present invention provide a control method for synchronous translation of dual hydraulic cylinders, applied to lifting equipment. The lifting equipment includes a robotic arm and a hydraulic cylinder system. The hydraulic cylinder system includes a controller, a control handle, a first hydraulic cylinder, a second hydraulic cylinder, a first length detection device, a second length detection device, a first control valve, a second control valve, a first translation device, and a second translation device. The first translation device is mounted and fixed to the robotic arm. The first hydraulic cylinder and the second hydraulic cylinder are mounted and disposed between the first translation device and the second translation device. The cylinder body of the first hydraulic cylinder and the second hydraulic cylinder are connected and fixed to the first translation device, and the telescopic part of the first hydraulic cylinder and the second hydraulic cylinder is connected and fixed to the second translation device. The controller is communicatively connected to the control handle, the first length detection device, the second length detection device, the first control valve, and the second control valve. The first length detection device is disposed on the first cylinder and is used to detect the working length of the first cylinder. The second length detection device is disposed on the second cylinder and is used to detect the working length of the second cylinder. The first control valve and the second control valve are also electrically connected to the first cylinder and the second cylinder, respectively. The method includes: Obtain a current proportionality coefficient, which is used to characterize the relationship between the control current of the first cylinder and the control current of the second cylinder. The current proportionality coefficient is a coefficient calculated based on the real-time working length of the first cylinder and the second cylinder during the initial translational motion phase. In response to the detection of the target control signal output by the control handle, a first target length and a second target length are obtained. The target control signal is used to characterize the first cylinder and the second cylinder in a smooth translational motion phase. The first target length and the second target length are respectively the real-time working lengths of the first cylinder and the second cylinder in the smooth translational motion phase. The first target current and the second target current are determined based on the first target length, the second target length, and the current proportionality coefficient. The first target current is output to the first control valve so that the first control valve drives the first cylinder to move in translation with the first target current. The second target current is output to the second control valve so that the second control valve drives the second cylinder to move in translational motion with the second target current.

[0006] In some embodiments, obtaining the current proportionality coefficient includes: In response to the detection of the reference control signal output by the control handle, a first reference length and a second reference length are obtained. The reference control signal is used to characterize the first cylinder and the second cylinder in the initial translational motion stage. The first reference length and the second reference length are respectively the real-time working lengths of the first cylinder and the second cylinder in the initial translational motion stage. Based on the first reference length and the second reference length, the first hydraulic cylinder and the second hydraulic cylinder are subjected to feedforward adjustment to determine the current proportional coefficient.

[0007] In some embodiments, the step of performing feedforward adjustment processing on the first and second hydraulic cylinders based on the first reference length and the second reference length to determine the current proportionality coefficient includes: A first reference current of the first hydraulic cylinder is determined, wherein the first reference current is positively correlated with the reference opening of the control handle, and the reference opening is the real-time opening of the control handle during the initial translational motion phase of the first and second hydraulic cylinders. Based on the first reference length, the second reference length, and the first reference current, the second reference current of the second cylinder is determined. The second reference current is the sum of the first reference current and the first intermediate current. The first intermediate current is the product of a preset candidate proportional coefficient and the first reference current. The first reference current is output to the first control valve so that the first control valve drives the first cylinder to move in translation with the first reference current. The second reference current is output to the second control valve so that the second control valve drives the second cylinder to move in translational motion with the second reference current. The current proportional coefficient is determined based on the synchronization state of the first and second cylinders. The synchronization state indicates whether the translation error of the first and second cylinders is within the error threshold range.

[0008] In some embodiments, determining the second reference current of the second cylinder based on the first reference length, the second reference length, and the first reference current includes: Calculate the reference length difference, wherein the reference length difference is the difference between the first reference length and the second reference length; Based on the reference length difference, determine the candidate scaling factor; Multiply the candidate scaling factor by the first reference current to obtain the first intermediate current; The first reference current is added to the first intermediate current to obtain the second reference current.

[0009] In some embodiments, determining the current proportionality coefficient based on the synchronization state of the first hydraulic cylinder and the second hydraulic cylinder includes: In response to the synchronization state of the first cylinder and the second cylinder being out of synchronization, the candidate proportional coefficient is updated, wherein the out-of-synchronization state indicates that the translation error of the first cylinder and the second cylinder exceeds the error threshold range; Based on the updated candidate scaling factor, the updated second reference current is obtained; The updated second reference current is output to the second control valve so that the second control valve drives the second cylinder to translate with the updated second reference current until the synchronization state of the first cylinder and the second cylinder is synchronized. or, In response to the synchronization state of the first cylinder and the second cylinder being synchronized, the candidate proportional coefficient corresponding to the second reference current is determined as the current proportional coefficient. The synchronized state indicates that the translation error of the first cylinder and the second cylinder is within the error threshold range.

[0010] In some embodiments, determining the first target current and the second target current based on the first target length, the second target length, and the current scaling factor includes: The target opening degree of the control handle is obtained, and the target opening degree is the real-time opening degree of the control handle during the smooth translational movement phase of the first and second hydraulic cylinders. The first target current is determined based on the target opening degree; Calculate the target length error, wherein the target length error is the difference between the first target length and the second target length; The first target current and the second target current are determined based on the first target current, the target length error, and the current proportionality coefficient.

[0011] In some embodiments, determining the first target current and the second target current based on the first target current, the target length error, and the current scaling factor includes: The target length error is input into the PID module to calculate the compensation current; The second target current is calculated based on the first target current, the compensation current, and the current proportionality coefficient.

[0012] In some embodiments, calculating the second target current based on the first target current, the compensation current, and the current proportionality coefficient includes: Multiply the current scaling factor by the first target current to obtain the second intermediate current; The second intermediate current, the first target current, and the compensation current are added together to obtain the second target current.

[0013] Secondly, embodiments of the present invention provide a lifting device, including a robotic arm and a hydraulic cylinder system, wherein the hydraulic cylinder system includes a controller, a control handle, a first hydraulic cylinder, a second hydraulic cylinder, a first length detection device, a second length detection device, a first control valve, a second control valve, a first translation device, and a second translation device; The first translation device is mounted and fixed to the robotic arm. The first hydraulic cylinder and the second hydraulic cylinder are mounted and disposed between the first translation device and the second translation device. The cylinder body of the first hydraulic cylinder and the second hydraulic cylinder are connected and fixed to the first translation device, and the telescopic part of the first hydraulic cylinder and the second hydraulic cylinder is connected and fixed to the second translation device. The controller is communicatively connected to the control handle, the first length detection device, the second length detection device, the first control valve, and the second control valve. The first length detection device is disposed on the first cylinder and is used to detect the working length of the first cylinder. The second length detection device is disposed on the second cylinder and is used to detect the working length of the second cylinder. The first control valve and the second control valve are also electrically connected to the first cylinder and the second cylinder, respectively. The controller is used to execute any of the dual-cylinder translation synchronization control methods proposed in the first aspect.

[0014] Thirdly, embodiments of the present invention provide a computer-readable storage medium storing processor-executable computer program instructions, which, when executed by a processor, cause the computer to perform any of the dual-cylinder translational synchronization control methods proposed in the first aspect.

[0015] The embodiments of the present invention have the following beneficial effects: Unlike the prior art, the dual-cylinder translational synchronization control method provided by the embodiments of the present invention calculates the current proportional coefficient in advance based on the real-time working length of the first and second cylinders during the initial translational movement phase. Based on the real-time working length of the first and second cylinders during the stable translational movement phase, combined with the current proportional coefficient, the first target current and the second target current are calculated. The first target current and the second target current are output to the corresponding control valves to control the translational movement of the first and second cylinders. In this way, through the dual adjustment method of the initial translational movement phase (i.e., the feedforward adjustment phase) and the stable translational movement phase (i.e., the feedback adjustment phase), the synchronization error of the cylinders during translational start-up can be reduced, the control accuracy of cylinder translational synchronization can be improved, and high-precision translational synchronization control of the cylinders can be achieved, meeting the requirements of high-precision translational synchronization control. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the prior art or embodiments will be briefly introduced below. Obviously, the drawings described below only show some embodiments of the present invention and should not be considered as limiting the scope of protection. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 These are schematic diagrams of the lifting equipment provided in some embodiments of the present invention; Figure 2a This is a schematic diagram illustrating an application scenario of the dual-cylinder translational synchronization control method provided in some embodiments of the present invention; Figure 2b This is a schematic diagram of the operation panel in a lifting device provided in some embodiments of the present invention; Figure 3a These are schematic diagrams of the lifting equipment provided in other embodiments of the present invention; Figure 3b This is a schematic diagram of the structure of the controller in the lifting equipment provided in some embodiments of the present invention; Figure 4 This is a flowchart illustrating the control method for synchronous translation of dual hydraulic cylinders in some embodiments of the present invention; Figure 5 This is a schematic diagram of the control device for synchronous translation of dual hydraulic cylinders in some embodiments of the present invention. Detailed Implementation

[0018] To make the objectives and advantages of the embodiments of the present invention more readily understood, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. The detailed description of the embodiments of the present invention in the accompanying drawings is not intended to limit the scope of protection claimed by the present invention, but only to illustrate selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] It should be noted that, unless there is a conflict, the various technical features involved in the embodiments of the present invention described below can be combined with each other, and all are within the protection scope of the present invention. Furthermore, although functional modules are divided in the device or structural schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. In addition, the terms "first," "second," "third," and other similar expressions used herein do not limit the data or execution order, but are only for illustrative purposes and to distinguish identical or similar items with substantially the same function and effect, and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features.

[0020] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. It should be understood that the term "and / or" as used herein includes any and all combinations of one or more of the listed items.

[0021] To facilitate understanding of the dual-cylinder translational synchronization control method provided in the embodiments of the present invention, the lifting equipment provided in the embodiments of the present invention will first be described in detail.

[0022] Please see Figure 1 and Figure 2a , Figure 1 The diagram shows a structural schematic of a lifting device provided in some embodiments of the present invention. Figure 2a The diagram illustrates an application scenario of the dual-cylinder translational synchronization control method provided in some embodiments of the present invention.

[0023] For example, such as Figure 1 As shown, the lifting equipment 100 includes a robotic arm 110, a hydraulic cylinder system 120, and a rotating platform 130. The robotic arm 110 is connected to the hydraulic cylinder system 120 and the rotating platform 130 respectively. The rotating platform 130 is fixed to the ground or other fixed devices to ensure the stability of the lifting equipment 100.

[0024] like Figure 2a As shown, the robotic arm 110 includes a main arm 111, a secondary arm 112, and a connecting arm 113. The main arm 111 is rotatably connected to both the secondary arm 112 and the connecting arm 113. The first end of the secondary arm 112 is fixed to the rotating platform 130, and the second end of the secondary arm 112 is connected to the first end of the main arm 111. The second end of the main arm 111 is connected to the first end of the connecting arm 113, and the second end of the connecting arm 113 is fixedly connected to the first translation device 1209. The main arm 111 can rotate relative to the secondary arm 112 (i.e., the main arm 111 can be raised or lowered relative to the secondary arm 112), and the connecting arm 113 can rotate relative to the main arm 111 (i.e., the connecting arm 113 can be raised or lowered relative to the main arm 111).

[0025] In this embodiment, the hydraulic cylinder system 120 includes a controller 1201, a control handle 1202, a first hydraulic cylinder 1203, a second hydraulic cylinder 1204, a first length detection device 1205, a second length detection device 1206, a first control valve 1207, a second control valve 1208, a first translation device 1209, and a second translation device 1210. The first translation device 1209 is fixedly mounted to the robotic arm 110, and the first hydraulic cylinder 1203 and the second hydraulic cylinder 1204 are mounted between the first translation device 1209 and the second translation device 1210.

[0026] Specifically, the first translation device 1209 is installed and fixed to the second end of the connecting arm 113, the cylinder body of the first cylinder 1203 and the second cylinder 1204 are connected and fixed to the first translation device 1209, and the telescopic parts of the first cylinder 1203 and the second cylinder 1204 are connected and fixed to the second translation device 1210, wherein the second translation device 1210 hoists the object to be transported (i.e., hoisted object 200).

[0027] The controller 1201 is communicatively connected to the control handle 1202, the first length detection device 1205, the second length detection device 1206, the first control valve 1207, and the second control valve 1208 via any suitable communication method (e.g., via CAN bus). The first length detection device 1205 is mounted on the first cylinder 1203 and is used to detect the working length of the first cylinder 1203. The second length detection device 1206 is mounted on the second cylinder 1204 and is used to detect the working length of the second cylinder 1204. Engineers input control signals by operating the control handle 1202 to control the translation of the first cylinder 1203 and the second cylinder 1204, thereby synchronizing the translation of the first cylinder 1203 and the second cylinder 1204. It is understood that the control handle 1202 can be positioned at any suitable location on the lifting equipment 100. For example, in some embodiments, please refer to... Figure 2b The lifting equipment 100 also includes an operation panel 140, on which a control handle 1202 is mounted. The control handle 1202 exists in the form of multiple control buttons. Of course, the control handle 1202 can also exist as a single handle or any other suitable form.

[0028] The first control valve 1207 is electrically connected to the first hydraulic cylinder 1203, and the second control valve 1208 is electrically connected to the second hydraulic cylinder 1204. The controller 1201 receives the control signal input by the control handle 1202, and combines the working length of the first hydraulic cylinder 1203 detected by the first length detection device 1205 and the working length of the second hydraulic cylinder 1204 detected by the second length detection device 1206 to output the corresponding control current to the first control valve 1207 and the second control valve 1208. The first control valve 1207 and the second control valve 1208 drive the first hydraulic cylinder 1203 and the second hydraulic cylinder 1204 to translate with the corresponding control current, thereby realizing the synchronous control of the translation of the first hydraulic cylinder 1203 and the second hydraulic cylinder 1204, and positioning the hoisted object 200 in the required position with high precision, so as to facilitate the disassembly of the hoisted object 200.

[0029] Please see Figure 3aIn some embodiments, the cylinder system 120 also includes a display instrument 1211, which is mounted at any suitable location on the lifting equipment 100, for example, see [reference needed]. Figure 2b The display instrument 1211 is mounted on the operation panel 140 of the lifting equipment 100. To facilitate the synchronous control of the hydraulic cylinder translation, the display instrument 1211 is usually integrated into the operation panel 140. The display instrument 1211 is communicatively connected to the controller 1201, for example, via a CAN bus. The display instrument 1211 is used to display parameters such as the working length, working length error, and feedback current of the first hydraulic cylinder 1203 and the second hydraulic cylinder 1204 sent by the controller 1201. It can also be used to set parameters such as the output control current and current proportional coefficient of the first control valve 1207 and the second control valve 1208.

[0030] It is understood that the operation panel 140 also has installed or integrated devices or components required for controlling the synchronous translation of the hydraulic cylinder, such as a physical keyboard for inputting control commands and physical buttons for controlling the rotation of the rotating platform 130. In some embodiments, the controller 1201 or other suitable devices or components can also be integrated into the operation panel 140 to facilitate the synchronous translation of the hydraulic cylinder, thereby increasing the integration of the control system for controlling the synchronous translation of the hydraulic cylinder and improving the convenience of control.

[0031] It is readily understood that engineers can position the first length detection device 1205 at any suitable location on the first hydraulic cylinder 1203, and the second length detection device 1206 at any suitable location on the second hydraulic cylinder 1204, as long as the working lengths of the first and second hydraulic cylinders 1203 and 1204 can be accurately detected. Furthermore, the first length detection device 1205 and the second length detection device 1206 can be any suitable type of device, component, or sensor, such as a displacement sensor or a linear encoder. Those skilled in the art can select any suitable detection device according to actual needs, and this embodiment of the invention does not impose any limitations in this regard.

[0032] Similarly, the controller 1201 can be any suitable type of device, component, etc., such as a microcontroller, FPGA chip, ASIC circuit or single-chip microcomputer, etc. Those skilled in the art can select any suitable controller according to actual needs, and the embodiments of the present invention do not limit it in any way.

[0033] It should be understood that Figures 1 to 3aThis illustration merely demonstrates one scenario of controlling the synchronous translation of the dual hydraulic cylinders of the lifting device 100 in some embodiments of the present invention. It does not limit the structure, type, or quantity of the lifting device in other application scenarios or embodiments. For example, in other application scenarios or embodiments, the lifting device may include more... Figure 1 The structure shown has more or fewer components, or has the same as Figure 1 The diagram shows different configurations of the structure.

[0034] Please see Figure 3b , Figure 3b The schematic diagram illustrates the structure of the controller in the lifting equipment provided in some embodiments of the present invention.

[0035] For example, such as Figure 3b As shown, the controller 31 includes at least one processor 311 and a memory 312 connected in communication. Figure 3b Taking a processor connected via a bus system 313 as an example, the various components of the controller 31 are coupled together through the bus system 313, which is used to realize communication between the various components. It's easy to understand that the bus system 313, in addition to the data bus, can also include a power bus, a control bus, and a status signal bus, etc. However, for clarity and brevity, in... Figure 3b The general designates all buses as Bus System 313. This is understandable. Figure 3b The structures shown in the embodiments are merely illustrative and do not limit the structure of the controller described above. For example, the controller may also include components such as... Figure 3b The structure shown has more or fewer components, or has the same as Figure 3b The diagram shows different configurations of the structure.

[0036] Specifically, the processor 311 provides computational and control capabilities to control the controller 31 to perform corresponding tasks, such as controlling the controller 31 to execute any of the dual-cylinder translation synchronization control methods provided in the embodiments of the present invention, or to execute the steps in any possible implementation of any of the dual-cylinder translation synchronization control methods provided in the embodiments of the present invention. Those skilled in the art will understand that the processor 311 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0037] The memory 312, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, instructions, and modules, such as the program, instructions, and modules corresponding to the dual-cylinder translational synchronization control method in the embodiments of the present invention. In some embodiments, the memory 312 may include a program storage area and a data storage area. The program storage area may store the operating system and an application program required for at least one function, and the data storage area may store data created according to the use of the processor 311. The processor 311 executes various functional applications and data processing of the controller 31 by running the non-transitory software programs, instructions, and modules stored in the memory 312, thereby implementing any dual-cylinder translational synchronization control method provided in the embodiments of the present invention, or executing the steps in any possible implementation of any dual-cylinder translational synchronization control method provided in the embodiments of the present invention. In some embodiments, the memory 312 may include high-speed random access memory and may also include non-transitory memory. For example, at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 312 may also include memory remotely located relative to the processor 311, and these remotely located memories may be connected to the processor 311 through a communication network. It is understood that examples of the aforementioned communication networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0038] As can be understood from the above, the implementing entity of any of the dual-cylinder translational synchronization control methods provided in the embodiments of the present invention can be any suitable type of lifting equipment with certain calculation and control capabilities, such as the lifting equipment 100 described above. In some feasible implementations, any of the dual-cylinder translational synchronization control methods provided in the embodiments of the present invention can be implemented by a processor executing computer program instructions stored in a memory.

[0039] The following will describe in detail the control method for synchronous translation of dual hydraulic cylinders provided in the embodiments of the present invention, with reference to exemplary applications and implementations of the lifting equipment provided in the embodiments of the present invention.

[0040] Please see Figure 4 , Figure 4 The schematic diagram illustrates a flow chart of a dual-cylinder translational synchronization control method provided in some embodiments of the present invention.

[0041] Those skilled in the art will understand that the dual-cylinder translational synchronization control method provided in this embodiment of the invention can be applied to the aforementioned lifting equipment (e.g., lifting equipment 100). Specifically, the executing entity of this dual-cylinder translational synchronization control method is the controller of the lifting equipment.

[0042] Specifically, such as Figure 4 As shown, the control method for synchronous translation of dual hydraulic cylinders includes, but is not limited to, the following steps S100-S500: S100: Obtain the current proportional coefficient.

[0043] In this step, the current proportionality coefficient is used to characterize the relationship between the control current of the first cylinder and the control current of the second cylinder. The current proportionality coefficient is a coefficient calculated based on the real-time working length of the first cylinder and the second cylinder during the initial translational motion phase.

[0044] For example, in this embodiment of the invention, a first length detection device and a second length detection device are used to detect the real-time working lengths of the first and second hydraulic cylinders during the initial translational movement phase, respectively, to obtain a first reference length and a second reference length. Based on the first and second reference lengths, and in conjunction with the opening of the control handle, a first reference current and a second reference current are calculated, wherein the first and second reference currents are the control currents of the first and second hydraulic cylinders, respectively. The first and second reference currents are output to a first control valve and a second control valve, respectively, to control the translational movement of the first and second hydraulic cylinders, and the translational synchronization state of the first and second hydraulic cylinders is detected. When the first and second hydraulic cylinders are detected to be in a translational synchronization state, a current proportionality coefficient is calculated based on the first and second reference currents when the first and second hydraulic cylinders are in the translational synchronization state.

[0045] For example, in some embodiments, obtaining the current proportionality coefficient specifically includes, but is not limited to, the following steps S110-S120: S110: In response to the detection of a reference control signal output by the control handle, acquire the first reference length and the second reference length.

[0046] In this step, the reference control signal is used to characterize the initial translational motion phase of the first and second hydraulic cylinders. The reference control signal can be a signal existing and transmitted in any suitable form, such as a message, command, or digital signal. Clearly, the first reference length is the real-time working length of the first hydraulic cylinder during the initial translational motion phase, and the second reference length is the real-time working length of the second hydraulic cylinder during the initial translational motion phase. The initial translational motion phase refers to the stage after starting the first and second hydraulic cylinders, where adjustments are made to the first and second hydraulic cylinders based on their working lengths to reduce the synchronization error during the translational start-up.

[0047] Specifically, in this embodiment of the invention, the presence or absence of a reference control signal output by the control handle is detected to determine whether the first and second hydraulic cylinders are in the initial translational motion phase. For example, when the reference control signal output by the control handle is detected, this embodiment of the invention responds by acquiring a first reference length and a second reference length. This is achieved either by acquiring the first reference length from a first length detection device and the second reference length from a second length detection device, or by the first length detection device sending the first reference length to the controller and the second length detection device sending the second reference length to the controller, thereby obtaining the first and second reference lengths.

[0048] S120: Based on the first reference length and the second reference length, perform feedforward adjustment on the first and second hydraulic cylinders to determine the current proportional coefficient.

[0049] In this embodiment, the feedforward adjustment process refers to the control operation of synchronizing the first and second cylinders during the initial translational movement stage, so as to reduce the synchronization error of the first and second cylinders when the translation starts in advance and improve the control accuracy of cylinder translation synchronization.

[0050] Specifically, based on the first reference length and the second reference length, and combined with the opening of the control handle, the first control current and the second control current are calculated. The first control current and the second control current are output to the first control valve and the second control valve, respectively. The first control valve and the second control valve control the translational movement of the first cylinder and the second cylinder, so that the first cylinder and the second cylinder are in a translational synchronization state. Based on the first control current of the first cylinder and the second control current of the second cylinder when the first cylinder and the second cylinder are in the translational synchronization state, the current proportional coefficient is calculated.

[0051] In some embodiments, the first and second hydraulic cylinders are subjected to feedforward adjustment based on the first reference length and the second reference length to determine the current proportional coefficient, specifically including but not limited to the following steps S121-S125: S121: Determine the first reference current for the first hydraulic cylinder.

[0052] In this embodiment, the first reference current is positively correlated with the reference opening degree of the control handle. Engineers can design the correspondence between the current and the opening degree of the control handle in advance based on the relationship between the current and the opening degree of the control handle. The reference opening degree refers to the real-time opening degree of the control handle during the initial translational movement phase of the first and second hydraulic cylinders.

[0053] Understandably, in fields such as mechanical control, industrial operation, or gaming equipment, the opening degree of a control handle refers to the proportion or angular range of the travel of the handle (or joystick) from its initial position (e.g., neutral, zero position) to its maximum operating position, used to quantify the range of motion of the handle. In short, the opening degree of a control handle can be understood as "the degree to which the control handle is pulled / pushed," a parameter measuring the intensity of the operating command.

[0054] In the operation of equipment such as excavators, cranes, and machine tools, control handles are used to control the speed or force of actions, such as the bucket lifting speed, the range of motion of the robotic arm, and the translation range of hydraulic or pneumatic cylinders. The opening degree is... This indicates that the control handle is in the neutral (or zero) position, there is no operating command, and the equipment will not operate. The opening degree is... This indicates that the control handle has been pushed to its maximum travel or operating position, and the device is performing the action at maximum speed / force. The control handle is at its intermediate opening (e.g., ...). , When the control handle is at different opening degrees, the device performs the action at a speed / force ratio corresponding to the opening degree. In this embodiment, when the control handle is at different opening degrees, different control currents are output to drive the first and second hydraulic cylinders to translate, thereby causing the first and second hydraulic cylinders to run at a speed corresponding to the opening degree of the control handle.

[0055] In some embodiments, the correspondence between current and the opening degree of the control handle is shown in Table 1 below: Table 1:

[0056] As shown in Table 1, each control handle opening corresponds to a current, meaning that when the control handle is at any opening, the current corresponding to that opening is output to the control valve to drive the translational movement of the first and second hydraulic cylinders. It is understood that Table 1 is merely illustrative and does not impose any limitations on the correspondence between current and control handle opening. Provided that the current and control handle opening are positively correlated, any other suitable method can be used to represent the correspondence between current and control handle opening.

[0057] For example, in this embodiment of the invention, a reference opening degree of the control handle is obtained. Based on the reference opening degree of the control handle and the preset correspondence between the current and the opening degree of the control handle, the current corresponding to the reference opening degree is determined as the first reference current of the first oil cylinder. The first reference current is the control current acting on the first oil cylinder.

[0058] S122: Determine the second reference current of the second cylinder based on the first reference length, the second reference length, and the first reference current.

[0059] In this step, the second reference current is the sum of the first reference current and the first intermediate current, where the first intermediate current is the product of a preset candidate proportional coefficient and the first reference current. In this embodiment of the invention, the first hydraulic cylinder is the active control cylinder, and the second hydraulic cylinder is the driven control cylinder. That is, the control current of the first hydraulic cylinder is used as the base current for the feedforward adjustment of the second hydraulic cylinder. The control current of the second hydraulic cylinder is adjusted according to the control current of the first hydraulic cylinder to ensure good synchronization between the first and second hydraulic cylinders during startup.

[0060] Specifically, the first reference length is compared with the second reference length. When the first reference length is greater than the second reference length, it indicates that the working length of the first cylinder leads the working length of the second cylinder. Therefore, the control current of the second cylinder needs to be adjusted to be greater than the first reference current of the first cylinder. That is, a preset candidate proportional coefficient is multiplied by the first reference current to obtain the first intermediate current. At this point, the candidate proportional coefficient is a value greater than zero. The first intermediate current is then added to the first reference current to obtain the second reference current of the second cylinder.

[0061] When the first reference length is equal to the second reference length, it means that the working length of the first cylinder is equal to the working length of the second cylinder, and the control current of the second cylinder is equal to the first reference current of the first cylinder. The first reference current is determined to be the second reference current of the second cylinder.

[0062] When the first reference length is less than the second reference length, it indicates that the working length of the first cylinder lags behind the working length of the second cylinder. Therefore, the control current of the second cylinder needs to be adjusted to be less than the first reference current of the first cylinder. A preset candidate proportional coefficient is multiplied by the first reference current to obtain the first intermediate current. At this point, the candidate proportional coefficient is a value less than zero. The first intermediate current is then added to the first reference current to obtain the second reference current of the second cylinder.

[0063] For example, in some embodiments, the second reference current of the second cylinder is determined based on the first reference length, the second reference length, and the first reference current, specifically including but not limited to the following steps S1221-S1224: S1221: Calculate the reference length difference.

[0064] S1222: Determine the candidate scaling factor based on the reference length difference.

[0065] S1223: Multiply the candidate proportional coefficient by the first reference current to obtain the first intermediate current.

[0066] S1224: Add the first reference current to the first intermediate current to obtain the second reference current.

[0067] In this embodiment, the reference length difference is the difference between the first reference length and the second reference length.

[0068] Specifically, the first reference length is subtracted from the second reference length to obtain the reference length difference. When the reference length difference is greater than zero, it indicates that the first reference length is greater than the second reference length, and the working length of the first cylinder leads the working length of the second cylinder. The control current of the second cylinder needs to be adjusted to be greater than the first reference current of the first cylinder. Therefore, the candidate proportional coefficient is set to any value greater than zero. The preset candidate proportional coefficient is multiplied by the first reference current to obtain the first intermediate current. The first intermediate current is added to the first reference current to obtain the second reference current of the second cylinder.

[0069] When the difference in reference lengths is zero, it means that the first reference length is equal to the second reference length, the working length of the first cylinder is equal to the working length of the second cylinder, the control current of the second cylinder is equal to the first reference current of the first cylinder, and the first reference current is determined to be the second reference current of the second cylinder.

[0070] When the difference in reference lengths is less than zero, it means that the first reference length is less than the second reference length, and the working length of the first cylinder lags behind the working length of the second cylinder. The control current of the second cylinder needs to be adjusted to be less than the first reference current of the first cylinder. Therefore, the candidate proportional coefficient is set to any value greater than zero. The candidate proportional coefficient is multiplied by the first reference current to obtain the first intermediate current. The first intermediate current is added to the first reference current to obtain the second reference current of the second cylinder.

[0071] S123: Output the first reference current to the first control valve so that the first control valve drives the first cylinder to move in translation with the first reference current.

[0072] S124: Output the second reference current to the second control valve so that the second control valve drives the second cylinder to move in translation with the second reference current.

[0073] For example, in an embodiment of the present invention, a first reference current is output to a first control valve in any suitable form through a suitable communication method. The first control valve responds to the received first reference current and drives the first cylinder to move in translational motion with the first reference current, thereby controlling the first cylinder to move in translational motion.

[0074] For example, in an embodiment of the present invention, a second reference current is output to a second control valve in any suitable form through a suitable communication method. The second control valve responds to the received second reference current and drives the second cylinder to move in translational motion with the second reference current, thereby controlling the translational motion of the second cylinder.

[0075] S125: Determine the current proportional coefficient based on the synchronization status of the first and second oil cylinders.

[0076] In this embodiment, the synchronization state characterizes whether the translation error of the first and second hydraulic cylinders is within the error threshold range. The synchronization state includes an unsynchronized state and a synchronized state. The unsynchronized state is used to characterize that the translation error of the first and second hydraulic cylinders exceeds the error threshold range, and the synchronized state is used to characterize that the translation error of the first and second hydraulic cylinders is within the error threshold range. It is readily understood that those skilled in the art can pre-set the error threshold range based on experimental data and empirical data, for example, in this embodiment of the invention, the error threshold range is set to [-3mm, 3mm].

[0077] Specifically, in this embodiment of the invention, it detects whether the first oil cylinder and the second oil cylinder are in a synchronized state to calculate a current proportional coefficient based on the first reference current and the second reference current. The current proportional coefficient is a candidate proportional coefficient corresponding to the second reference current when the first oil cylinder and the second oil cylinder are in a synchronized state.

[0078] In some embodiments, a current proportionality coefficient is determined based on the synchronization state of the first and second hydraulic cylinders, specifically including but not limited to the following steps S1251-S1253: S1251: In response to the synchronization status of the first and second cylinders being out of sync, update the candidate proportional coefficient.

[0079] Specifically, in this embodiment of the invention, the translation error of the first cylinder and the second cylinder (i.e., the difference between the working length of the first cylinder and the working length of the second cylinder) is obtained, and the synchronization state of the first cylinder and the second cylinder is determined based on the translation error. That is, when the translation error of the first cylinder and the second cylinder exceeds the error threshold range, the first cylinder and the second cylinder are in a non-synchronized state, and when the translation error of the first cylinder and the second cylinder is within the error threshold range, the first cylinder and the second cylinder are in a synchronized state.

[0080] When the synchronization state of the first cylinder and the second cylinder is detected to be out of sync, the embodiment of the present invention responds by updating the candidate proportional coefficient according to the translation error of the first cylinder and the second cylinder. That is, according to the difference between the working length of the first cylinder and the working length of the second cylinder, the candidate proportional coefficient is updated and set to any value greater than or less than zero, so as to obtain the updated candidate proportional coefficient.

[0081] S1252: Obtain the updated second reference current based on the updated candidate scaling factor.

[0082] Specifically, after obtaining the updated candidate proportional coefficient, the updated candidate proportional coefficient is multiplied by the first reference current to obtain the first intermediate current. The first intermediate current is added to the first reference current to obtain the updated second reference current of the second cylinder.

[0083] S1253: Output the updated second reference current to the second control valve so that the second control valve drives the second cylinder to move in translation with the updated second reference current until the synchronization state of the first cylinder and the second cylinder is synchronized.

[0084] Specifically, in this embodiment of the invention, the updated second reference current is output to the second control valve through a suitable communication method. The second control valve responds to the received updated second reference current and drives the second cylinder to translate with the updated second reference current. Thus, the first cylinder and the second cylinder are controlled to translate with the first reference current and the updated second reference current, respectively, until the synchronization state of the first cylinder and the second cylinder is synchronized, that is, the translation error of the first cylinder and the second cylinder (i.e., the difference between the working length of the first cylinder and the working length of the second cylinder) is within the error threshold range.

[0085] In some embodiments, a current proportionality coefficient is determined based on the synchronization state of the first and second hydraulic cylinders, specifically including but not limited to the following step S1254: S1254: In response to the synchronization state of the first and second cylinders being synchronized, the candidate proportional coefficient corresponding to the second reference current is determined as the current proportional coefficient.

[0086] Specifically, when the synchronization state of the first and second cylinders is detected to be synchronized, it indicates that the translation error of the first and second cylinders (i.e., the difference between the working length of the first cylinder and the working length of the second cylinder) is within the error threshold range. In this embodiment of the invention, a response is made to determine the candidate proportional coefficient corresponding to the second reference current as the current proportional coefficient. That is, the preset candidate proportional coefficients in the current translation synchronization control process and all translation synchronization control processes (if any) before the current translation synchronization control process are added together to obtain the sum of the candidate proportional coefficients (i.e., the candidate proportional coefficient corresponding to the second reference current). The sum of the candidate proportional coefficients is determined as the current proportional coefficient.

[0087] In some embodiments of the present invention, during the process of determining the current proportional coefficient based on the translation error of the first and second cylinders, that is, during the process of performing feedforward adjustment on the first and second cylinders based on the first and second reference lengths to determine the current proportional coefficient, the engineer can operate the control handle according to the translation error of the first and second cylinders displayed on the display instrument. In this embodiment of the present invention, the first and second reference currents are continuously adjusted according to the opening of the control handle to make the first and second cylinders synchronized, and finally the current proportional coefficient is determined.

[0088] S200: In response to the detection of the target control signal output by the control handle, obtain the first target length and the second target length.

[0089] In this step, the target control signal is used to characterize the first and second hydraulic cylinders being in a smooth translational motion phase. The target control signal can be a signal existing and transmitted in any suitable form, such as a message, command, or digital signal. Clearly, the first target length is the real-time working length of the first hydraulic cylinder during the smooth translational motion phase, and the second target length is the real-time working length of the second hydraulic cylinder during the smooth translational motion phase. The smooth translational motion phase refers to the stage where, after performing feedforward adjustment to reduce the synchronization error when the first and second hydraulic cylinders start translational, adjustments are made to the first and second hydraulic cylinders based on their working lengths (i.e., the feedback adjustment signal) to reduce the synchronization error during the translational synchronization control process.

[0090] Specifically, in this embodiment of the invention, the presence or absence of a target control signal output by the control handle is detected to determine whether the first and second hydraulic cylinders are in a smooth translational motion phase. For example, when a target control signal output by the control handle is detected, this embodiment of the invention responds by acquiring a first target length and a second target length. Alternatively, this embodiment of the invention acquires the first target length from a first length detection device and the second target length from a second length detection device, or the first length detection device sends the first target length to the controller and the second length detection device sends the second target length to the controller, thereby obtaining the first and second target lengths.

[0091] S300: Determine the first target current and the second target current based on the first target length, the second target length, and the current ratio coefficient.

[0092] For example, the opening degree of the control handle is obtained during the smooth translational movement phase of the first and second hydraulic cylinders. Based on the first target length and the second target length, and in combination with the opening degree of the control handle, the first target current and the second target current are calculated.

[0093] For example, in some embodiments, the first target current and the second target current are determined based on the first target length, the second target length, and the current scaling factor, specifically including but not limited to the following steps S310-S340: S310: Obtain the target opening degree of the control handle.

[0094] S320: Determine the first target current based on the target opening degree.

[0095] In this embodiment, the target opening is the real-time opening of the control handle during the smooth translational motion phase of the first and second hydraulic cylinders, and the first target current is positively correlated with the target opening of the control handle.

[0096] For example, in this embodiment of the invention, the target opening degree of the control handle is obtained, for example, by reading the target opening degree of the control handle from the display instrument. Based on the target opening degree of the control handle and the preset correspondence between the current and the opening degree of the control handle, the current corresponding to the target opening degree is determined as the first target current in the correspondence between the current and the opening degree of the control handle. The first target current is the control current acting on the first oil cylinder.

[0097] S330: Calculate the target length error.

[0098] S340: Determine the second target current based on the first target current, the target length error, and the current proportionality coefficient.

[0099] In this embodiment, the target length error is the difference between the first target length and the second target length, and the current proportional coefficient includes a first proportional coefficient and a second proportional coefficient, wherein the first proportional coefficient is the current proportional coefficient when the target length error is greater than zero, and the second proportional coefficient is the current proportional coefficient when the target length error is less than zero.

[0100] Specifically, the target length error is obtained by subtracting the second target length from the first target length. When the target length error is greater than zero, it indicates that the first target length is greater than the second target length. Then, the current proportionality coefficient (i.e., the first proportionality coefficient) when the target length error is greater than zero is obtained. Based on the first target current and the first proportionality coefficient, the second target current is calculated, where the second target current is the control current acting on the second cylinder. For example, in some embodiments, the first proportionality coefficient is multiplied by the first target current to obtain the second intermediate current, and the second intermediate current is added to the first target current to obtain the second target current.

[0101] When the target length error is zero, it means that the first target length is equal to the second target length, the working length of the first cylinder is equal to the working length of the second cylinder, the control current of the second cylinder is equal to the first reference current of the first cylinder, and the first target current is determined to be the second target current acting on the second cylinder.

[0102] When the target length error is less than zero, it indicates that the first target length is less than the second target length. The current proportionality coefficient (i.e., the second proportionality coefficient) is obtained when the target length error is less than zero, and the second target current is calculated based on the first target current and the second proportionality coefficient. For example, in some embodiments, the second proportionality coefficient is multiplied by the first target current to obtain a second intermediate current, and the second intermediate current is added to the first target current to obtain the second target current.

[0103] Of course, those skilled in the art can also use any other suitable calculation method based on experimental data and actual needs to calculate the second target current according to the first target current, the target length error and the current ratio coefficient. This embodiment of the invention does not limit this in any way.

[0104] In some embodiments, the second target current is determined based on the first target current, the target length error, and the current proportionality coefficient, specifically including but not limited to the following steps S341-S342: S341: Input the target length error into the PID module to calculate the compensation current.

[0105] In this embodiment, the PID module is a module preset in the controller for calculating the compensation current based on the difference between the working length of the first cylinder and the working length of the second cylinder (i.e., the target length error). The compensation current is the control current applied to the second cylinder.

[0106] Specifically, after calculating the target length error, the target length error is input to the PID module. The PID module calculates the compensation current based on the input target length error and calls a preset PID algorithm. In this embodiment of the invention, the compensation current is limited to the current threshold range [-0.1I, 0.1I], where I is the first target current. This ensures that the difference between the finally calculated second target current and the first target current is not too large, avoiding damage or other accidents caused by excessive movement amplitude when controlling the translational movement of the second cylinder with the second target current, thereby improving the accuracy and safety of the cylinder translational synchronization control.

[0107] S342: Calculate the second target current based on the first target current, the compensation current, and the current proportionality coefficient.

[0108] Specifically, when the target length error is greater than zero, the obtained current proportionality coefficient is the current proportionality coefficient when the target length error is greater than zero (i.e., the first proportionality coefficient). Based on the first target current, the compensation current, and the first proportionality coefficient, the second target current is calculated. For example, in some embodiments, the first target current and the compensation current are added to obtain a first current sum value. The first proportionality coefficient is multiplied by the first current sum value to obtain a first current product value. The first current product value is added to the first target current to obtain the second target current.

[0109] When the target length error is less than zero, the obtained current proportionality coefficient is the current proportionality coefficient when the target length error is less than zero (i.e., the second proportionality coefficient). Based on the first target current, the compensation current, and the second proportionality coefficient, the second target current is calculated. For example, in some embodiments, the first target current and the compensation current are added to obtain a first current sum value. The second proportionality coefficient is multiplied by the first current sum value to obtain a first current product value. The first current product value is added to the first target current to obtain the second target current.

[0110] Of course, those skilled in the art can also use any other suitable calculation method based on experimental data and actual needs to calculate the second target current according to the first target current, the compensation current and the current ratio coefficient. This embodiment of the invention does not limit this in any way.

[0111] In some embodiments, a second target current is calculated based on a first target current, a compensation current, and a current scaling factor, specifically including but not limited to the following steps S3241-S3242: S3241: Multiply the current proportionality coefficient by the first target current to obtain the second intermediate current.

[0112] S3242: Add the second intermediate current, the first target current and the compensation current to obtain the second target current.

[0113] Specifically, after determining the first target current and obtaining the corresponding current ratio coefficient, the current ratio coefficient is multiplied by the first target current to obtain the second intermediate current. The second intermediate current, the first target current, and the compensation current are added together to obtain the second target current.

[0114] S400: Output the first target current to the first control valve so that the first control valve drives the first cylinder to move in translation with the first target current.

[0115] S500: Output the second target current to the second control valve so that the second control valve drives the second cylinder to move in translation with the second target current.

[0116] For example, in an embodiment of the present invention, a first target current is output to a first control valve in any suitable form through a suitable communication method. The first control valve responds to the received first target current and drives the first hydraulic cylinder to move in translational motion with the first target current, thereby controlling the first hydraulic cylinder to move in translational motion.

[0117] For example, in an embodiment of the present invention, the second target current is output to the second control valve in any suitable form through a suitable communication method. The second control valve responds to the received second target current and drives the second cylinder to move in translational motion with the second target current, thereby controlling the second cylinder to move in translational motion.

[0118] In summary, the dual-cylinder translational synchronization control method provided in this embodiment of the invention calculates the current proportional coefficient in advance based on the real-time working length of the first and second cylinders during the initial translational movement phase. Then, based on the real-time working length of the first and second cylinders during the smooth translational movement phase, and combined with the current proportional coefficient, a first target current and a second target current are calculated. These first and second target currents are output to the corresponding control valves to control the translational movement of the first and second cylinders. Thus, through the dual adjustment method of the initial translational movement phase (i.e., the feedforward adjustment phase) and the smooth translational movement phase (i.e., the feedback adjustment phase), the synchronization error of the cylinders during translational start-up can be reduced, the control accuracy of cylinder translational synchronization can be improved, and high-precision translational synchronization control of the cylinders can be achieved, meeting the requirements of high-precision translational synchronization control.

[0119] As another aspect of this invention, this embodiment also provides a control device for synchronous translation of two hydraulic cylinders. The control device for synchronous translation of two hydraulic cylinders can be a software module, which includes several instructions stored in a memory. A processor can access the memory, call the instructions, and execute them to complete the synchronous translation control method for two hydraulic cylinders described in the above embodiments.

[0120] In some possible implementations, the control device for synchronizing the translation of two hydraulic cylinders can also be constructed from hardware components. For example, the control device for synchronizing the translation of two hydraulic cylinders can be constructed from one or more chips, which can work in coordination to realize the control method for synchronizing the translation of two hydraulic cylinders described in the above embodiments. In some embodiments, the control device for synchronizing the translation of two hydraulic cylinders can also be constructed from various logic devices, such as general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), microcontrollers, field-programmable gate arrays (FPGAs), ARM (Acorn RISC Machine) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or any combination of these devices or components.

[0121] Please see Figure 5 , Figure 5 The diagram illustrates the structure of a dual-cylinder translational synchronization control device provided in some embodiments of the present invention. It is readily understood that the dual-cylinder translational synchronization control device can be configured in lifting equipment and connected to corresponding systems, devices, components, or parts.

[0122] See Figure 5 As shown, the dual-cylinder translation synchronization control device 500 includes an acquisition module 510, a response module 520, a determination module 530, a first output module 540, and a second output module 550.

[0123] The acquisition module 510 acquires a current proportionality coefficient, which characterizes the relationship between the control current of the first cylinder and the control current of the second cylinder. The current proportionality coefficient is calculated based on the real-time working lengths of the first and second cylinders during their initial translational motion phase. The response module 520 responds to the detected target control signal output by the control handle, acquiring a first target length and a second target length. The target control signal characterizes the first and second cylinders during their smooth translational motion phase. The first and second target lengths are the real-time working lengths of the first and second cylinders during this smooth translational motion phase, respectively. The determination module 530 determines a first target current and a second target current based on the first target length, the second target length, and the current proportionality coefficient. The first output module 540 outputs the first target current to the first control valve, causing the first control valve to drive the first cylinder to translate using the first target current. The second output module 550 outputs the second target current to the second control valve, causing the second control valve to drive the second cylinder to translate using the second target current.

[0124] In some embodiments, the acquisition module 510 is specifically used to: respond to the detection of a reference control signal output by the control handle, acquire a first reference length and a second reference length, the reference control signal being used to characterize the first cylinder and the second cylinder being in the initial translational motion stage, the first reference length and the second reference length being the real-time working length of the first cylinder and the second cylinder in the initial translational motion stage, and perform feedforward adjustment processing on the first cylinder and the second cylinder according to the first reference length and the second reference length to determine the current proportional coefficient.

[0125] In some embodiments, the acquisition module 510 is further specifically used for: determining a first reference current of the first cylinder, wherein the first reference current is positively correlated with the reference opening of the control handle, the reference opening being the real-time opening of the control handle during the initial translational movement phase of the first and second cylinders; determining a second reference current of the second cylinder based on the first reference length, the second reference length, and the first reference current, wherein the second reference current is the sum of the first reference current and the first intermediate current, the first intermediate current being the product of a preset candidate proportional coefficient and the first reference current; outputting the first reference current to the first control valve so that the first control valve drives the first cylinder to translate with the first reference current; outputting the second reference current to the second control valve so that the second control valve drives the second cylinder to translate with the second reference current; and determining a current proportional coefficient based on the synchronization state of the first and second cylinders, wherein the synchronization state characterizes whether the translational error of the first and second cylinders is within the error threshold range.

[0126] In some embodiments, the acquisition module 510 is further specifically used for: calculating the reference length difference, wherein the reference length difference is the difference between the first reference length and the second reference length; determining a candidate proportional coefficient based on the reference length difference; multiplying the candidate proportional coefficient by the first reference current to obtain the first intermediate current; and adding the first reference current and the first intermediate current to obtain the second reference current.

[0127] In some embodiments, the acquisition module 510 is further specifically configured to: update the candidate proportional coefficient in response to the synchronization state of the first cylinder and the second cylinder being out of sync, wherein the out-of-sync state indicates that the translation error of the first cylinder and the second cylinder exceeds the error threshold range; obtain the updated second reference current based on the updated candidate proportional coefficient; and output the updated second reference current to the second control valve so that the second control valve drives the second cylinder to translate with the updated second reference current until the synchronization state of the first cylinder and the second cylinder is synchronized; or, in response to the synchronization state of the first cylinder and the second cylinder being synchronized, determine the candidate proportional coefficient corresponding to the second reference current as the current proportional coefficient, wherein the synchronized state indicates that the translation error of the first cylinder and the second cylinder is within the error threshold range.

[0128] In some embodiments, the determining module 530 is specifically used to: obtain the target opening degree of the control handle, the target opening degree being the real-time opening degree of the control handle during the smooth translational motion phase of the first and second cylinders; determine the first target current based on the target opening degree; calculate the target length error, wherein the target length error is the difference between the first target length and the second target length; and determine the second target current based on the first target current, the target length error, and the current proportionality coefficient.

[0129] In some embodiments, the determining module 530 is further specifically used to: input the target length error into the PID module, calculate the compensation current, and calculate the second target current based on the first target current, the compensation current, and the current proportional coefficient.

[0130] In some embodiments, the determining module 530 is further specifically used to: multiply the current proportionality coefficient by the first target current to obtain the second intermediate current, and add the second intermediate current, the first target current and the compensation current to obtain the second target current.

[0131] It should be noted that, for the sake of simplicity and brevity, the aforementioned dual-cylinder translation synchronization control device 200 can execute the corresponding functional modules and beneficial effects of the dual-cylinder translation synchronization control method provided in the embodiments of the present invention. Technical details not described in detail in the embodiments of the dual-cylinder translation synchronization control device 200 can be found in the dual-cylinder translation synchronization control method provided in the embodiments of the present invention. The specific working process of the aforementioned dual-cylinder translation synchronization control device 200 can also be found in the specific execution process corresponding to the dual-cylinder translation synchronization control method provided in the embodiments of the present invention, and will not be elaborated upon here.

[0132] This invention provides a computer-readable storage medium storing processor-executable computer program instructions. When executed by the processor, the computer program instructions cause the computer to perform any of the dual-cylinder translational synchronization control methods provided in this invention, or to perform the steps in any possible implementation of any of the dual-cylinder translational synchronization control methods provided in this invention.

[0133] In some embodiments, the storage medium may be a flash memory, a hard disk, an optical disk, a register, a magnetic surface memory, a removable disk, a CD-ROM, a random access memory (RAM), a read-only memory (ROM), an electrically programmable ROM, and an electrically erasable programmable ROM, or any other form of storage medium known in the art, or various devices including one or any combination of the above storage media.

[0134] In some embodiments, computer program instructions may take the form of programs, software, software modules, scripts, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as stand-alone programs or as modules, components, subroutines, or other units suitable for use in a computing environment.

[0135] As an example, computer program instructions may, but do not necessarily, correspond to files in a file system, and may be stored as part of a file that holds other programs or data, for example, in one or more scripts in an HTML (Hypertext Markup Language) document, or in a single file dedicated to the program in question, or in multiple collaborative files (e.g., a file that stores one or more modules, subroutines, or code sections).

[0136] As an example, computer program instructions can be deployed to execute on a single computing device (including devices such as smart terminals and servers), or on multiple computing devices located in one location, or on multiple computing devices distributed across multiple locations and interconnected via a communication network. It is readily understood that all or part of the steps of the methods described in the embodiments of the present invention above can be implemented directly using electronic hardware or processor-executable computer program instructions, or a combination of both.

[0137] Those skilled in the art will understand that the embodiments provided by this invention are merely illustrative. The order in which the steps in the methods of the embodiments are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The order can be adjusted, merged, and deleted according to actual needs. Modules or sub-modules, units or sub-units in the apparatus or system of the embodiments can be merged, divided, and deleted according to actual needs. For example, the division of units is only a logical functional division, and there may be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0138] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, it can be implemented using hardware. Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods.

[0139] It should be noted that the above embodiments are for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. Those skilled in the art can understand that all or part of the processes of the above embodiments can be implemented by modifying the technical solutions described in the embodiments of the present invention, or by making equivalent substitutions for some of the technical features. It is understood that these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and should be considered as equivalent changes and modifications made based on the embodiments of the present invention, all of which should fall within the scope of the claims of the present invention.

Claims

1. A control method for synchronous translation of two hydraulic cylinders, applied to lifting equipment, characterized in that, The lifting equipment includes a robotic arm and a hydraulic cylinder system. The hydraulic cylinder system includes a controller, a control handle, a first hydraulic cylinder, a second hydraulic cylinder, a first length detection device, a second length detection device, a first control valve, a second control valve, a first translation device, and a second translation device. The first translation device is mounted and fixed to the robotic arm. The first hydraulic cylinder and the second hydraulic cylinder are mounted and disposed between the first translation device and the second translation device. The cylinder body of the first hydraulic cylinder and the second hydraulic cylinder are connected and fixed to the first translation device, and the telescopic part of the first hydraulic cylinder and the second hydraulic cylinder is connected and fixed to the second translation device. The controller is communicatively connected to the control handle, the first length detection device, the second length detection device, the first control valve, and the second control valve. The first length detection device is disposed on the first cylinder and is used to detect the working length of the first cylinder. The second length detection device is disposed on the second cylinder and is used to detect the working length of the second cylinder. The first control valve and the second control valve are also electrically connected to the first cylinder and the second cylinder, respectively. The method includes: Obtain a current proportionality coefficient, which is used to characterize the relationship between the control current of the first cylinder and the control current of the second cylinder. The current proportionality coefficient is a coefficient calculated based on the real-time working length of the first cylinder and the second cylinder during the initial translational motion phase. In response to the detection of the target control signal output by the control handle, a first target length and a second target length are obtained. The target control signal is used to characterize the first cylinder and the second cylinder in a smooth translational motion phase. The first target length and the second target length are respectively the real-time working lengths of the first cylinder and the second cylinder in the smooth translational motion phase. The first target current and the second target current are determined based on the first target length, the second target length, and the current proportionality coefficient. The first target current is output to the first control valve so that the first control valve drives the first cylinder to move in translation with the first target current. The second target current is output to the second control valve so that the second control valve drives the second cylinder to move in translational motion with the second target current.

2. The control method according to claim 1, characterized in that, The current scaling factor includes: In response to the detection of the reference control signal output by the control handle, a first reference length and a second reference length are obtained. The reference control signal is used to characterize the first cylinder and the second cylinder in the initial translational motion stage. The first reference length and the second reference length are respectively the real-time working lengths of the first cylinder and the second cylinder in the initial translational motion stage. Based on the first reference length and the second reference length, the first hydraulic cylinder and the second hydraulic cylinder are subjected to feedforward adjustment to determine the current proportional coefficient.

3. The control method according to claim 2, characterized in that, The step of performing feedforward adjustment processing on the first and second hydraulic cylinders based on the first reference length and the second reference length to determine the current proportional coefficient includes: A first reference current is determined for the first hydraulic cylinder, wherein the first reference current is positively correlated with the reference opening of the control handle, and the reference opening is the real-time opening of the control handle during the initial translational motion phase of the first and second hydraulic cylinders. Based on the first reference length, the second reference length, and the first reference current, the second reference current of the second cylinder is determined. The second reference current is the sum of the first reference current and the first intermediate current. The first intermediate current is the product of a preset candidate proportional coefficient and the first reference current. The first reference current is output to the first control valve so that the first control valve drives the first cylinder to move in translation with the first reference current. The second reference current is output to the second control valve so that the second control valve drives the second cylinder to move in translational motion with the second reference current. The current proportional coefficient is determined based on the synchronization state of the first and second cylinders. The synchronization state indicates whether the translation error of the first and second cylinders is within the error threshold range.

4. The control method according to claim 3, characterized in that, The step of determining the second reference current of the second cylinder based on the first reference length, the second reference length, and the first reference current includes: Calculate the reference length difference, wherein the reference length difference is the difference between the first reference length and the second reference length; Based on the reference length difference, determine the candidate scaling factor; Multiply the candidate scaling factor by the first reference current to obtain the first intermediate current; The first reference current is added to the first intermediate current to obtain the second reference current.

5. The control method according to claim 3, characterized in that, Determining the current proportionality coefficient based on the synchronization state of the first and second hydraulic cylinders includes: In response to the synchronization state of the first cylinder and the second cylinder being out of synchronization, the candidate proportional coefficient is updated, wherein the out-of-synchronization state indicates that the translation error of the first cylinder and the second cylinder exceeds the error threshold range; Based on the updated candidate scaling factor, the updated second reference current is obtained; The updated second reference current is output to the second control valve so that the second control valve drives the second cylinder to translate with the updated second reference current until the synchronization state of the first cylinder and the second cylinder is synchronized. or, In response to the synchronization state of the first cylinder and the second cylinder being synchronized, the candidate proportional coefficient corresponding to the second reference current is determined as the current proportional coefficient. The synchronized state indicates that the translation error of the first cylinder and the second cylinder is within the error threshold range.

6. The control method according to any one of claims 1-5, characterized in that, The step of determining the first target current and the second target current based on the first target length, the second target length, and the current scaling factor includes: The target opening degree of the control handle is obtained, and the target opening degree is the real-time opening degree of the control handle during the smooth translational movement phase of the first and second hydraulic cylinders. The first target current is determined based on the target opening degree; Calculate the target length error, wherein the target length error is the difference between the first target length and the second target length; The second target current is determined based on the first target current, the target length error, and the current proportionality coefficient.

7. The control method according to claim 6, characterized in that, Determining the second target current based on the first target current, the target length error, and the current proportionality coefficient includes: The target length error is input into the PID module to calculate the compensation current; The second target current is calculated based on the first target current, the compensation current, and the current proportionality coefficient.

8. The control method according to claim 7, characterized in that, The step of calculating the second target current based on the first target current, the compensation current, and the current proportionality coefficient includes: Multiply the current scaling factor by the first target current to obtain the second intermediate current; The second intermediate current, the first target current, and the compensation current are added together to obtain the second target current.

9. A lifting device, characterized in that, It includes a robotic arm and a hydraulic cylinder system, wherein the hydraulic cylinder system includes a controller, a control handle, a first hydraulic cylinder, a second hydraulic cylinder, a first length detection device, a second length detection device, a first control valve, a second control valve, a first translation device, and a second translation device; The first translation device is mounted and fixed to the robotic arm. The first hydraulic cylinder and the second hydraulic cylinder are mounted and disposed between the first translation device and the second translation device. The cylinder body of the first hydraulic cylinder and the second hydraulic cylinder are connected and fixed to the first translation device, and the telescopic part of the first hydraulic cylinder and the second hydraulic cylinder is connected and fixed to the second translation device. The controller is communicatively connected to the control handle, the first length detection device, the second length detection device, the first control valve, and the second control valve. The first length detection device is disposed on the first cylinder and is used to detect the working length of the first cylinder. The second length detection device is disposed on the second cylinder and is used to detect the working length of the second cylinder. The first control valve and the second control valve are also electrically connected to the first cylinder and the second cylinder, respectively. The controller is used to execute the dual-cylinder translation synchronization control method as described in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores processor-executable computer program instructions, which, when executed by the processor, cause the computer to perform the dual-cylinder translational synchronization control method as described in any one of claims 1-8.

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