Hydraulic oil cylinder control system of sliding shoe type crane

Abstract

The invention discloses a hydraulic oil cylinder control system of a sliding shoe type crane, and belongs to the technical field of engineering machinery control. The system comprises a central controller, a multi-dimensional sensor network, a working condition database, a hydraulic actuating mechanism and a safety protection module, the central controller is matched with pre-stored data in a working condition database based on working condition parameters (such as a wind load, an arm frame parameter and a vehicle body posture) collected in real time, control instructions of the vertical hydraulic oil cylinder and the transverse hydraulic oil cylinder are generated, and accurate dynamic adjustment of pressure and speed is achieved; by means of the multi-working-condition simulation database, the 10-dimensional data acquisition network, a triple safety protection mechanism and cooperative control logic, the problems that an existing system is lagged in pressure adjustment, poor in adaptability, low in safety and the like are solved, the operation safety is remarkably improved, energy consumption and part abrasion are reduced, and the system is suitable for heavy hoisting operation under complex working conditions.

Description

Technical Field

[0001] This invention relates to a hydraulic cylinder control system for a slipper crane, belonging to the field of engineering machinery control technology. Specifically, it relates to the hydraulic control subsystem of a slipper crane, and is particularly suitable for pressure regulation, stroke control and safety protection scenarios of hydraulic cylinders for slipper cranes under complex working conditions (multiple ground types, variable wind loads, different boom parameters). It can be widely used in engineering fields that require high-precision control of slipper support status, such as heavy lifting, bridge construction, and wind power installation. Background Technology

[0002] As a heavy-duty mobile construction equipment, the slipper crane's travel system relies on the coordinated operation of vertical and horizontal hydraulic cylinders: The core function of the vertical hydraulic cylinder is to lift the entire vehicle, keeping the bottom sliding shoe of the vehicle body in a critical state of slight contact with the ground. This prevents the sliding shoe from partially detaching from the ground and causing a tendency to overturn, which could lead to the entire vehicle overturning. It also minimizes the friction between the sliding shoe and the ground. The horizontal hydraulic cylinder is responsible for pushing the vertical hydraulic cylinder to move along a preset trajectory, thereby driving the vehicle to perform actions such as moving forward, backward, turning left, turning right, and turning around on the spot.

[0003] Current hydraulic control systems for slipper cranes primarily employ a control logic that combines fixed pressure settings with manual adjustment. They lack adaptive design for dynamic operating conditions (such as varying wind loads, different boom parameters, and complex terrain), revealing the following key defects and shortcomings in practical applications: 1. Unable to adjust the pressure change of the hydraulic cylinder in response to changes in the torque of the crane's center of gravity relative to the vertical hydraulic cylinder support point.

[0004] 1. Pressure loss of control when the center of gravity dynamically shifts relative to the vertical cylinder position; During crane movement (such as forward turning, uphill and downhill), the center of gravity of the entire vehicle shifts in real time according to the movement trajectory and load position, causing dynamic changes in the pressure on each vertical cylinder. However, the existing control system uses a fixed pressure threshold design, which cannot adjust the output pressure of individual vertical cylinders in real time according to the center of gravity shift. This easily leads to problems such as overload of some cylinders and insufficient pressure of others, which disrupts the critical contact state between the slipper and the ground.

[0005] 2. The difference in pressure on both sides caused by the difference in the position of the center of gravity relative to the whole vehicle requires the control system to control the pressure of the hydraulic cylinders on both sides separately; When a crane carries a load (such as when hoisting bridge components), the center of gravity shifts towards the load side. At this time, the vertical hydraulic cylinders on both sides of the crane body need to withstand different pressures (the cylinders on the load side require higher pressure to maintain the crane's balance, while the cylinders on the non-load side require lower pressure to prevent the slipper from lifting off the ground). Existing systems lack center of gravity position detection and pressure distribution logic, relying solely on manual adjustment of the hydraulic cylinder pressure by the operator. This not only results in low adjustment accuracy (pressure deviations often exceeding ±2MPa) but also a lag in adjustment, requiring 3-5 seconds from detecting the center of gravity shift to completing the adjustment. This can easily cause the crane body to tilt, potentially leading to the entire vehicle overturning.

[0006] Second, inaccurate pressure control of the vertical hydraulic cylinder leads to safety and operational efficiency issues.

[0007] 1. Work stoppage caused by insufficient pressure; The existing system lacks linkage detection between pressure and slipper contact status. When the vertical cylinder pressure is below a critical value (such as insufficient pressure when working on soft ground), a situation may occur where the vertical cylinder moves but the entire vehicle remains stationary (see...). Figure 4 — This means that the hydraulic cylinder cannot effectively lift the vehicle body when it extends or retracts, the friction between the slipper and the ground is not reduced, the pushing resistance of the lateral hydraulic cylinder increases, causing the vehicle to stop moving and the vertical hydraulic cylinder to slide freely. Operators need to manually increase the pressure repeatedly, which seriously affects the work efficiency. Each adjustment takes an average of 5-8 minutes.

[0008] 2. Risk of overturning due to excessive pressure; When the vertical cylinder pressure exceeds the safety threshold, such as when working on hardened surfaces where the pressure is too high, the skids will completely detach from the ground, compromising the vehicle's stability (see...). Figure 5 Especially when cranes are turning or making U-turns, excessive pressure in a single cylinder can easily cause the crane to tip over to the unsupported side. Existing systems rely solely on operators' experience to judge the pressure value and lack automatic pressure relief protection. Industry data from the past three years shows that such tipping accidents account for more than 35% of crane safety accidents.

[0009] Third, it is not adapted to different motion states and complex working conditions, and has poor adaptability.

[0010] 1. Lack of adaptation to the movement state; The different movement states of a crane, such as forward, backward, left turn, right turn, and turning in place, have significantly different pressure requirements for the vertical hydraulic cylinder. For example, turning in place requires higher pressure to reduce circumferential friction, while forward movement only requires basic pressure. The existing system lacks movement state recognition capabilities and uses a uniform pressure mode, resulting in insufficient pressure and excessive friction during turning, leading to a 20% increase in energy consumption of the lateral hydraulic cylinder; conversely, it results in excessive pressure during forward movement, increasing the risk of the slipper leaving the ground.

[0011] 2. Insufficient coverage of complex working conditions; In actual operation, ground types such as soft, hardened, and gravel; wind loads such as gusts of wind ranging from level 0 to 12; and boom parameters such as length from 5 to 50 meters and angle from 0 to 85 degrees all affect the vertical cylinder pressure requirements. For example, higher pressure is required to maintain vehicle stability under level 8 wind conditions. The existing system lacks operational parameter detection and adaptation logic, and only controls pressure according to a fixed mode. When wind loads change abruptly or boom parameters are adjusted, pressure mismatch is prone to occur, leading to operation interruption or safety hazards.

[0012] Fourth, ignoring the impact of vehicle body posture changes on pressure results in poor adaptability to complex road conditions.

[0013] When operating on uneven surfaces, such as uphill, downhill, or side slopes, the vehicle body will exhibit changes in posture, such as tilting to the left, right, forward, backward, or oblique. For example, when going uphill, the vehicle body tilts backward, and the front hydraulic cylinder needs to reduce pressure to prevent the slipper from leaving the ground, while the rear hydraulic cylinder needs to increase pressure to maintain the vehicle body's balance. When operating on a side slope, the downhill hydraulic cylinder needs to increase pressure to prevent the vehicle body from sliding downhill, while the uphill hydraulic cylinder needs to reduce pressure to prevent the slipper from being overloaded.

[0014] The existing system lacks a vehicle posture detection module and cannot adjust the pressure of each cylinder according to the road slope and flatness. As a result, when operating on roads with a slope of more than 8°, the sinking depth of the slipper often exceeds 100mm, far exceeding the safety threshold of 50mm, or the vehicle tilt angle exceeds 5°, while the safety tilt threshold is 3°, which cannot meet the needs of operating on complex road conditions.

[0015] Fifth, the poor coordination between vertical and horizontal hydraulic cylinders exacerbates component wear and energy consumption problems.

[0016] The movement of the entire vehicle requires the vertical hydraulic cylinder to maintain the critical contact of the slipper and the lateral hydraulic cylinder to push the vehicle body to move synchronously. Furthermore, under different vehicle conditions, such as no-load / full-load, straight-line / turning, and variable wind load, the pressure and action speed of the two types of hydraulic cylinders need to be dynamically matched.

[0017] In summary, the existing system lacks coordinated control logic, and the vertical and horizontal cylinders operate independently, resulting in: 1. Poor coordination; If the pressure of the vertical cylinder is not adjusted in time when the horizontal cylinder is pushing, the friction between the slipper and the ground will increase, and the energy consumption of the horizontal cylinder will increase by 30%-40%.

[0018] 2. Components wear out quickly; Excessive friction will accelerate the wear of the skates, potentially shortening their lifespan by nearly 40% compared to their design life. Summary of the Invention

[0019] This invention overcomes the shortcomings of the existing technology and provides a hydraulic cylinder control system for a slipper crane, which can realize precise dynamic adjustment of hydraulic cylinder pressure, adapt to complex working conditions, and improve safety and operating efficiency.

[0020] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a hydraulic cylinder control system for a slipper crane, characterized in that it includes: The central controller is configured to dynamically match real-time acquired operating parameters with a pre-stored operating database, and generate control commands for the vertical and horizontal hydraulic cylinders through intelligent calculations. A multi-dimensional sensor network is configured to collect real-time operating parameters of the slipper crane, including wind load, boom parameters, vehicle posture, load, cylinder displacement, hydraulic pressure and lateral cylinder action data, forming a 10-dimensional data acquisition network. The working condition database contains the coordinates of the vehicle's center of gravity and the theoretical values ​​of the vertical hydraulic cylinder pressure under multiple working conditions calculated through multibody dynamics simulation. The working conditions include different ground types, wind load levels, boom parameters, and vehicle body posture. The hydraulic actuator is configured to adjust the pressure and speed of the vertical hydraulic cylinder and the horizontal hydraulic cylinder according to the control command. The safety protection module is configured to automatically trigger triple protection actions when abnormal operating conditions are detected.

[0021] This invention achieves intelligent dynamic control of hydraulic cylinders by integrating a central controller, a multi-dimensional sensor network, and a working condition database, thus solving the problem of poor adaptability caused by the fixed pressure setting in existing systems.

[0022] Furthermore, the multi-dimensional sensor network includes an anemometer, arm length measuring instrument, rotary position encoder, level, load sensor, displacement sensor, pressure sensor, attitude sensor, and motion sensor, wherein: The anemometer has a measurement range of 0-60 m / s and an accuracy of ±0.1 m / s; The arm length measuring instrument has a measuring range of 5-50m and an accuracy of ±0.05m; The rotary position encoder has a measurement range of 0-360° and an accuracy of ±0.1°. The level has a measuring range of -15° to 15° and an accuracy of ±0.05°.

[0023] This invention, through the high-precision configuration of a 10-dimensional sensor network, ensures the comprehensiveness and accuracy of real-time data acquisition, providing reliable input for dynamic control. Furthermore, the working condition database is constructed using multibody dynamics simulation software and stores the correspondence between ground type, wind speed, boom length, boom angle, vehicle posture, center of gravity coordinates, and theoretical pressure values. The database contains more than 1,200 sets of working condition data, and the matching response time is ≤0.1 seconds.

[0024] This invention is based on the construction of a database for multibody dynamics simulation, which enables rapid matching of working conditions and pressure theories, covering the needs of all operational scenarios.

[0025] Furthermore, the central controller is equipped with a working condition matching algorithm, which compares the real-time collected working condition parameters with the working conditions in the database. When the matching degree is ≥95%, the theoretical pressure value is output, and the ground pressure of the skid collected by the ground pressure sensor is used for correction, with a correction deviation ≤0.3MPa.

[0026] This invention improves pressure control accuracy and adapts to dynamic ground conditions by combining a matching algorithm with pressure correction.

[0027] Furthermore, the hydraulic actuator includes a hydraulic pump and a solenoid proportional valve, wherein: The hydraulic pump is configured to dynamically adjust its speed according to the pressure requirement. When the pressure requirement is 8MPa, the speed is 1000r / min, and when the pressure requirement is 15MPa, the speed is 1500r / min. The electromagnetic proportional valve is configured to adjust the opening degree to control the hydraulic oil flow, achieving a cylinder pressure regulation accuracy of ±0.1MPa.

[0028] This invention achieves energy optimization and precise pressure output through the coordinated adjustment of a hydraulic pump and an electromagnetic proportional valve.

[0029] Furthermore, the central controller is also equipped with collaborative control logic, which adjusts the pushing speed of the horizontal hydraulic cylinder based on the working condition-speed matching relationship in the working condition database, so that the collaborative action error between the vertical and horizontal cylinders is ≤0.2 seconds.

[0030] This invention reduces friction loss and energy consumption through a coordinated control model of vertical and horizontal hydraulic cylinders.

[0031] Furthermore, the security protection module includes: The anomaly monitoring and automatic response unit is configured to trigger the pressure relief valve to release pressure within 0.3 seconds when the oil pressure exceeds 25MPa or the vehicle body tilts more than 3°. A sensor redundancy backup unit is configured to automatically switch to a backup sensor when the primary sensor fails. The over-limit protection unit is configured to automatically trigger load reduction protection and issue an audible and visual alarm when the operating parameters exceed the database range.

[0032] This invention improves the reliability of the system under extreme operating conditions through a comprehensive design of a triple safety protection mechanism.

[0033] Furthermore, the over-limit protection unit is configured to automatically reduce the vertical cylinder pressure to 80% of the safety threshold and limit the horizontal cylinder pushing speed to ≤0.3m / min when the wind speed exceeds 12m / s or the boom angle exceeds 85°.

[0034] This invention prevents equipment from overloading and tipping over by automatically reducing load when operating conditions exceed limits.

[0035] Furthermore, it also includes a control panel, configured as follows: Operators are allowed to set ground load thresholds and safe tilt angles; Real-time display of sensor data, cylinder pressure / stroke, and motion status; Provides a pop-up window displaying fault alarm information.

[0036] This invention simplifies the operation process and reduces reliance on operator experience by integrating a human-computer interaction interface.

[0037] Furthermore, the central controller is also configured to upload real-time data to the cloud platform via 4G / 5G network, supporting remote monitoring and dynamic database updates, with more than 50 new sets of operating condition data added annually.

[0038] This invention enables continuous system optimization and remote operation and maintenance through cloud-based data management functions.

[0039] In summary, this invention includes a central controller, a multi-dimensional sensor network, a working condition database, a hydraulic actuator, a safety protection module, and a control panel. The central controller connects to the multi-dimensional sensor network via a CAN bus (500kbps transmission rate) to collect working condition data in real time; the working condition database pre-stores more than 1200 sets of working condition simulation data; the hydraulic actuator includes a hydraulic pump and an electromagnetic proportional valve; the safety protection module integrates a triple protection mechanism; and the control panel provides a human-machine interface.

[0040] This invention achieves precise dynamic adjustment of hydraulic cylinder pressure through a technical approach that includes establishing a working condition database, fusing data from multiple sensors, and intelligent interaction with the controller. The specific technologies are as follows: 1. Multi-condition simulation database and dynamic matching module; Preliminary research covered all operating conditions of skid-shoe cranes, including different ground conditions such as soft ground, hardened ground, and gravel ground; wind conditions such as gusts of wind from level 0 to 12; boom conditions such as slewing angle from 0 to 360°, boom length from 5 to 50m, and boom angle from 0 to 85°; and vehicle posture such as tilting left / right / forward / backward from 0 to 15°. Based on multibody dynamics simulation software (such as ADAMS), the coordinates of the vehicle's center of gravity and the theoretical values ​​of vertical cylinder pressure under each operating condition were calculated. For example, under a boom length of 30m and a level 8 wind condition, the theoretical pressure of the left cylinder is 14MPa and the theoretical pressure of the right cylinder is 13MPa. A large database was built to establish the correspondence between operating condition parameters, center of gravity data, and theoretical pressure values, and this data was pre-entered into the central controller. This enabled rapid matching of operating conditions and pressure requirements, achieving a matching response time of ≤0.1 seconds, thus solving the problem that existing systems cannot cover complex operating conditions.

[0041] 2. Multi-dimensional sensor data acquisition and collaborative analysis unit; The following instruments have been added: an anemometer (measuring range 0-60m / s, accuracy ±0.1m / s), an arm length measuring instrument (measuring range 5-50m, accuracy ±0.05m), a rotary position encoder (measuring range 0-360°, accuracy ±0.1°), and a level (measuring range -15°~15°, accuracy ±0.05°). These are to be replaced by the existing load sensor (measuring range 0-500t, accuracy ±0.5t), displacement sensor (measuring range 0-2000mm, accuracy ±0.1mm), and pressure sensor (measuring range 0- A 10-dimensional data acquisition network is formed by a 30MPa sensor (accuracy ±0.05MPa), an attitude sensor (measurement range -30°~30°, accuracy ±0.1°), and a motion sensor (identifying pushing direction and speed, accuracy ±0.05m / min). This network collects key data such as wind load, boom parameters, boom rotation angle, and horizontal attitude in real time. After inputting the data into the central controller, it automatically matches the corresponding working conditions in the large database and outputs precise pressure control commands (pressure adjustment accuracy ±0.1MPa), avoiding control deviations caused by single parameter acquisition.

[0042] 3. Triple security protection mechanism; Building upon the existing anomaly monitoring, automatic response, and redundancy backup, a new over-limit protection function has been added. When the central controller detects through sensors that the actual working conditions exceed the database coverage range (such as wind speed exceeding 12m / s or boom angle exceeding 85°), it automatically triggers load reduction protection (such as reducing the vertical cylinder pressure to 80% of the safety threshold and limiting the lateral cylinder pushing speed to ≤0.3m / min). At the same time, it issues an audible and visual alarm (alarm volume ≥80dB, warning light flashing frequency 2 times / second) to remind the operator to adjust the working status. The anomaly monitoring and automatic response can trigger the pressure relief valve to release pressure within 0.3 seconds when the oil pressure exceeds 25MPa or the vehicle body tilt exceeds 3°. The redundancy backup avoids single-point failure through dual-channel sensors (pressure, displacement, and attitude sensors are all duplicated). The triple protection further reduces the safety risks under extreme working conditions.

[0043] 4. Adaptive and cooperative control logic based on operating conditions; Based on the matching relationship of working conditions, pressure, and speed in the big data database, the pressure-speed matching model of vertical-lateral hydraulic cylinders is upgraded. For example, under the working condition of boom length of 40m and level 5 wind, when the vertical hydraulic cylinder pressure reaches the theoretical value of 15MPa, the pushing speed of the lateral hydraulic cylinder is set to 0.8m / min (lower than 1.2m / min under normal working conditions) to avoid vehicle swaying caused by wind load. At the same time, the coordination parameters are dynamically adjusted in combination with the anemometer data (the lateral hydraulic cylinder speed is reduced to 0.6m / min when the wind speed exceeds 10m / s, and reduced to 0.5m / min when it exceeds 15m / s) to improve the coordination stability under complex working conditions (coordination action error ≤0.2 seconds).

[0044] Compared with the prior art, the present invention has the following advantages.

[0045] 1. The hydraulic cylinder pressure is adjusted precisely in real time, significantly improving the safety factor; This invention achieves dynamic real-time adjustment of vertical cylinder pressure (adjustment response time ≤ 0.1 seconds, pressure accuracy ± 0.1 MPa) through a 10-dimensional data acquisition network, multi-condition database matching, and intelligent calculation by the central controller. It can accurately adapt to dynamic scenarios such as center of gravity shift, wind load changes, and boom parameter adjustments, completely solving the problem of existing systems' inability to adaptively adjust pressure. At the same time, the triple safety protection mechanism (abnormal pressure relief, sensor redundancy, and over-limit protection) can respond to safety hazards within 0.3 seconds, reducing the overturning accident rate by more than 90%, and reducing the risk of vehicle body tilting beyond the safe angle from the current 15% to less than 1%. Its safety protection capability far exceeds that of traditional control systems.

[0046] 2. The friction loss of the slipper is greatly reduced, and its service life is significantly extended; This invention precisely controls the pressure of the vertical hydraulic cylinder, keeping the slipper in a critical state of slight contact with the ground (grounding pressure deviation ≤ 0.3 MPa). Compared with existing systems, which suffer from large pressure fluctuations and unstable frictional resistance, the friction between the slipper and the ground is reduced by more than 40%. At the same time, the coordinated action of the vertical and horizontal hydraulic cylinders (coordination error ≤ 0.2 seconds) avoids additional friction caused by asynchronous cylinder actions, reduces the frequency of slipper replacement, and lowers equipment maintenance costs.

[0047] 3. Dynamically adapts the vehicle's power output, significantly reducing energy consumption costs; The central controller of this invention can adjust the speed of the hydraulic pump in real time according to the working conditions (e.g., 1000 r / min when the pressure requirement is 8 MPa, and 1500 r / min when the pressure requirement is 15 MPa), avoiding the energy waste caused by the high-speed idling of the hydraulic pump in the existing system; at the same time, the fine-tuning of motion state and the adaptive adjustment of wind load (reducing the speed of the transverse cylinder in high wind conditions) further optimize energy consumption. According to actual operation verification, the total energy consumption of the system is reduced by more than 30% compared with the existing technology, and the economic advantages in long-term use are obvious.

[0048] 4. The overall cost of the vehicle is reduced, the operation is significantly simplified, and its performance is superior to that of a crawler crane; In terms of cost: Compared with the complex tracked walking system of tracked cranes, this invention is based on a slipper structure, which eliminates the need for tracked drive components, reducing the overall vehicle manufacturing cost by 15%-20%; at the same time, the reduction in energy consumption and maintenance costs further lowers the total life cycle cost. In terms of operation: Automated control replaces the traditional mode of manually adjusting pressure and judging working conditions based on experience. Operators only need to set target parameters (such as ground bearing threshold and safety angle) through the control panel, and the system can automatically complete data acquisition, working condition matching and pressure adjustment without repeated manual intervention. The operation process is simplified by more than 70%, and novice operators can become proficient after 1 hour of training, solving the problems of high operating threshold and reliance on experience in traditional systems. In terms of performance: Compared with the poor ground adaptability (easy to sink in soft ground) and large turning radius of crawler cranes, this invention can operate stably on complex road surfaces with a slope of ≤15° (crawler cranes are usually only suitable for slopes of ≤10°). It can turn around on the spot without extra space, and the slipper has a large ground contact area (ground pressure ≤3MPa). When working on soft ground, the sinking depth is ≤50mm. Its ground adaptability and operational flexibility are superior to crawler cranes, and it can cover more construction scenarios. Attached Figure Description

[0049] The present invention will now be further described with reference to the accompanying drawings.

[0050] Figure 1 This is a schematic diagram of the slipper crane structure involved in the present invention.

[0051] Figure 2This is a top view schematic diagram of the skid-shoe crane involved in the present invention.

[0052] Figure 3 for Figure 2 Schematic diagram of the cross-sectional structure at section AA.

[0053] Figure 4 This diagram illustrates a situation in an existing crane where, when the pressure in the vertical hydraulic cylinder is too low, the cylinder only bears part of the weight, causing the crane body to remain stationary while the vertical hydraulic cylinder slides freely.

[0054] Figure 5 This diagram illustrates a situation in an existing crane where, when the pressure in the vertical hydraulic cylinder is too high, the cylinder bears all the weight, causing the crane to overturn. Detailed Implementation

[0055] The present invention will be further described below with reference to specific embodiments.

[0056] like Figure 1 , Figure 2 and Figure 3 As shown, this invention addresses the shortcomings of existing vertical hydraulic cylinder control systems for slipper cranes through a technical chain encompassing full-dimensional data acquisition, multi-condition database matching, intelligent calculation by the central controller, hydraulic actuator response, and triple safety protection. This achieves precise, safe, and energy-efficient control under complex working conditions. The specific implementation logic is as follows: 1. Multi-condition database construction phase (preliminary preparation): Through on-site surveys, working parameters of typical operating scenarios for skid-shoe cranes were collected (covering 3 types of ground, 12 levels of wind load, 10 types of boom length, 8 types of boom angle, and 5 types of vehicle posture). The whole vehicle dynamics model was established using ADAMS multibody dynamics software. Simulation calculations were performed by inputting the working parameters to obtain the vehicle's center of gravity coordinates under different working conditions (e.g., when the boom length is 30m, the wind is level 8, and the right side is tilted by 3°, the center of gravity coordinates are X=2.5m, Y=1.8m, and Z=0.3m), and the theoretical values ​​of the pressure of each vertical cylinder (14MPa for the left cylinder and 13MPa for the right cylinder). The data of "ground type - wind speed - boom length - boom angle - vehicle posture - center of gravity coordinates - theoretical pressure value" were associated and stored to build a large database containing more than 1200 sets of working condition data, which was pre-entered into the central controller.

[0057] 2. Real-time data acquisition and operating condition matching stage; During operation, the 10-dimensional data acquisition network synchronously collects various parameters: the anemometer collects wind load data every 0.1 seconds, the boom length measuring instrument obtains the boom length in real time through laser rangefinding, the rotary position encoder records the boom rotation angle, the level instrument detects the vehicle's horizontal attitude, and other sensors synchronously collect load, cylinder displacement, hydraulic pressure, and lateral cylinder action data; all data are transmitted to the central controller via the CAN bus (transmission rate 500kbps). The central controller calls the "working condition matching algorithm" to compare the real-time collected parameters with the working conditions in the database (if the matching degree is ≥95%, it is determined to be the corresponding working condition), and quickly outputs the center of gravity coordinates and the theoretical values ​​of the vertical cylinder pressure under that working condition.

[0058] 3. Intelligent computation and execution control stage; The central controller has a built-in pressure correction algorithm that, combined with the ground pressure collected by the ground pressure sensor (measurement range 0-10MPa, accuracy ±0.02MPa), corrects the theoretical pressure value (e.g., if the ground pressure on soft ground exceeds 3MPa, the theoretical pressure is reduced by 0.5MPa), generating the final pressure control command. The command is transmitted to the hydraulic actuator: the hydraulic pump adjusts its speed according to the pressure requirement (e.g., 1500r / min when the pressure requirement is 15MPa, and 1000r / min when the requirement is 8MPa); the electromagnetic proportional valve adjusts its opening to control the hydraulic oil flow, achieving precise adjustment of the cylinder pressure; at the same time, the central controller sends a speed command to the flow regulating valve of the lateral cylinder according to the "working condition-speed" matching relationship, realizing coordinated action of the vertical and lateral cylinders (e.g., lateral cylinder speed is 0.8m / min when the pressure is 15MPa).

[0059] 4. Safety protection and anomaly handling phase; The central controller monitors data from various sensors in real time. If the following abnormalities occur: a. If the pressure exceeds 25MPa and the vehicle body tilts more than 3°: immediately trigger the pressure relief valve to release pressure to 10MPa, and simultaneously stop the hydraulic pump.

[0060] b. Abnormal sensor data (e.g., no signal from the pressure sensor): Automatically switch to the backup sensor to ensure uninterrupted data acquisition.

[0061] c. Parameters exceed database range (e.g., wind speed 13m / s): trigger load reduction protection, limit pressure and speed, and issue audible and visual alarms.

[0062] 5. Human-computer interaction and data management stage; The control panel features a 10-inch LCD screen, allowing operators to: a. Set the ground bearing capacity threshold (e.g., 3MPa for soft ground, 8MPa for hard ground) and the safe tilt angle (default 3°). b. View real-time data (parameters of each sensor, cylinder pressure / stroke, motion status); c. Receive fault alarm information (the fault type and location are displayed in a pop-up window on the screen); at the same time, the central controller supports data uploading to the cloud platform (using 4G / 5G transmission) to facilitate remote monitoring, working condition analysis and database updates (50+ sets of data can be added annually based on new working conditions).

[0063] This invention achieves precise dynamic adjustment of hydraulic cylinder pressure through a technical approach involving the establishment of a working condition database, multi-sensor data fusion, and intelligent interaction with the controller. The following description, using a specific operational scenario, illustrates this: Example 1: Travel conditions on soft muddy ground Initial setup: The crane is located at the wind power installation site, on soft, loose soil with low bearing capacity. The operator sets the ground bearing capacity threshold to 3 MPa via the control panel.

[0064] Problem trigger: The crane needs to move forward 10 meters. If the traditional system is used, the fixed pressure setting may cause some slippers to sink too deeply (>100mm), while the pressure in other slippers is insufficient, making the entire crane unable to move.

[0065] System response: 1. Data collection and matching; The level gauge detected a 1° forward tilt of the vehicle body, and the ground pressure sensor reported an average ground pressure of 2.8 MPa. The central controller combined the boom length (35m), angle (75°), wind speed (level 4), and vehicle posture data with the operating condition database.

[0066] 2. Intelligent computing and execution; The database analysis determined that, under this operating condition, the theoretical pressures for the front and rear vertical cylinders should be 12 MPa and 13 MPa, respectively, to prevent sinking. The central controller, based on the real-time ground pressure of 2.8 MPa being less than the set threshold of 3 MPa, adjusted the theoretical pressures by 0.5 MPa, ultimately outputting commands: 11.5 MPa for the front cylinder group and 12.5 MPa for the rear cylinder group. The hydraulic pump adjusted its speed as needed, and the electromagnetic proportional valve precisely controlled the pressure.

[0067] 3. Coordinated control: The central controller synchronously limits the pushing speed of the lateral hydraulic cylinder to 0.7m / min to avoid excessive speed impacting the ground and causing additional sinking.

[0068] Results: The vehicle moves smoothly, the depth of the slipper sinking is controlled within 45mm (below the safety threshold of 50mm), there is no stagnation during the movement, and energy consumption is reduced by about 35% compared with the traditional manual adjustment mode.

[0069] Example 2: Side Slope Turnaround and Sudden Gusts Initial state: The crane is located on an 8° side slope during bridge construction and needs to be turned around in place.

[0070] Problem trigger: When the turn began, the anemometer suddenly detected that the gust speed increased from 5 m / s to 15 m / s (level 7 wind), posing a great risk of overturning.

[0071] System response: 1. Adaptive center of gravity adjustment; Based on the side slope posture (8° to the right) and the boom rotation angle, the central controller calculates that the vehicle's center of gravity shifts to the right and automatically generates pressure commands: the pressure of the vertical cylinder on the downhill side (right side) is increased to 16MPa to provide additional support, and the pressure on the uphill side (left side) is reduced to 10MPa to prevent the slipper boot from leaving the ground.

[0072] 2. Wind load coordination; When the wind speed exceeds the limit (15m / s>12m / s), the over-limit protection function of the safety protection module 5 is immediately triggered: the pressure of the vertical cylinder is uniformly reduced to 80% of the safety threshold (i.e., reduced to 12.8MPa on the right and 8MPa on the left) to reduce the wind load arm.

[0073] Limit the lateral cylinder pushing speed to 0.5 m / min to reduce the impact of dynamic inertia on stability.

[0074] At the same time, an audible and visual alarm is activated (volume 85dB, flashing frequency 2 times / second) to alert the operator.

[0075] 3. Safety redundancy; During this period, the pressure sensor signal of the right front vertical cylinder experienced momentary fluctuations. The redundant backup unit switched to the backup sensor within 0.1 seconds, ensuring the continuity of control.

[0076] Results: In the event of a sudden strong wind, the system stabilized the vehicle by automatically reducing the load and limiting the speed. The maximum tilt angle was only 2.5° (below the safety threshold of 3°), successfully avoiding a possible rollover accident and completing the turnaround maneuver.

[0077] Example 3: Precision movement under heavy-load hoisting conditions Initial state: The crane is lifting a bridge component weighing 80t, with the load concentrated on the front left side of the crane.

[0078] Problem trigger: A slight movement (0.5 meters) to the left is required for precise positioning. Traditional systems, unable to detect sudden changes in the center of gravity, are prone to causing the right slip shoe to lift off the ground or the left hydraulic cylinder to overload.

[0079] System response: 1. Torque balance; The load sensor detected an 80t load, and the boom parameters and rotary encoder data were used by the central controller to calculate the center of gravity coordinates in real time. The calculation results showed that the center of gravity was severely offset to the left.

[0080] 2. Differential pressure control; The central controller no longer outputs symmetrical pressure. Instead, it generates asymmetrical commands based on database matching and real-time correction: the pressure of the left vertical cylinder is 18 MPa, and the right cylinder is 9 MPa. The reaction torque generated by this pressure difference effectively balances the overturning torque generated by the suspended load.

[0081] 3. Micro-motion coordination; To ensure precise positioning, the central controller 1 sets the pushing speed of the horizontal hydraulic cylinder to a low speed of 0.3 m / min, and ensures that the pressure of the vertical hydraulic cylinder remains stable during the movement, with pressure fluctuations less than ±0.1 MPa.

[0082] Results: The vehicle achieves smooth and precise micro-movements under heavy loads, with all sliding shoes maintaining a critical contact state with the ground without any lifting or excessive sinking, fundamentally improving operational accuracy and safety.

[0083] Example 4: Continuous System Operation Under Sensor Failure Initial state: The crane is moving normally on the gravel road.

[0084] Problem trigger: The main displacement sensor malfunctioned due to vibration, resulting in signal loss.

[0085] System response: 1. Redundancy switching; The sensor redundancy backup unit of the safety protection module immediately detects the failure of the main sensor and seamlessly switches to the backup displacement sensor within 0.05 seconds.

[0086] 2. Seamless transition; The generation and execution of control commands were uninterrupted, and the stroke control of the hydraulic cylinder remained continuous and precise.

[0087] 3. Alarm notification; The control panel pop-up window displays "Main displacement sensor malfunction, switched to standby" and records the fault log, prompting maintenance personnel to perform subsequent repairs.

[0088] Results: In the event of a critical sensor failure, the system achieved continuous "fail-safe" operation through redundant design, greatly improving equipment uptime and reliability.

[0089] The present invention has been described in detail above with reference to the embodiments, but the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A hydraulic cylinder control system for a slipper crane, characterized in that, include: The central controller is configured to dynamically match real-time acquired operating parameters with a pre-stored operating database, and generate control commands for the vertical and horizontal hydraulic cylinders through intelligent calculations. A multi-dimensional sensor network is configured to collect real-time operating parameters of the slipper crane, including wind load, boom parameters, vehicle posture, load, cylinder displacement, hydraulic pressure and lateral cylinder action data, forming a 10-dimensional data acquisition network. The working condition database contains the coordinates of the vehicle's center of gravity and the theoretical values ​​of the vertical hydraulic cylinder pressure under multiple working conditions calculated through multibody dynamics simulation. The working conditions include different ground types, wind load levels, boom parameters, and vehicle body posture. The hydraulic actuator is configured to adjust the pressure and speed of the vertical hydraulic cylinder and the horizontal hydraulic cylinder according to the control command. The safety protection module is configured to automatically trigger triple protection actions when abnormal operating conditions are detected.

2. The hydraulic cylinder control system for the slipper crane according to claim 1, characterized in that, The multi-dimensional sensor network includes an anemometer, arm length measuring instrument, rotary position encoder, level, load sensor, displacement sensor, pressure sensor, attitude sensor, and motion sensor, wherein: The anemometer has a measurement range of 0-60 m / s and an accuracy of ±0.1 m / s; The arm length measuring instrument has a measuring range of 5-50m and an accuracy of ±0.05m; The rotary position encoder has a measurement range of 0-360° and an accuracy of ±0.1°. The level has a measuring range of -15° to 15° and an accuracy of ±0.05°.

3. The hydraulic cylinder control system for the slipper crane according to claim 1, characterized in that, The working condition database is constructed using multibody dynamics simulation software and stores the correspondence between ground type, wind speed, boom length, boom angle, vehicle posture, center of gravity coordinates, and theoretical pressure values. The database contains more than 1,200 sets of working condition data, and the matching response time is ≤0.1 seconds.

4. The hydraulic cylinder control system of the slipper crane according to claim 1, characterized in that, The central controller is equipped with a working condition matching algorithm, which compares the real-time collected working condition parameters with the working conditions in the database. When the matching degree is ≥95%, the theoretical pressure value is output, and the ground pressure of the skid collected by the ground pressure sensor is used for correction. The correction deviation is ≤0.3MPa.

5. The hydraulic cylinder control system of the slipper crane according to claim 1, characterized in that, The hydraulic actuator includes a hydraulic pump and a solenoid proportional valve, wherein: The hydraulic pump is configured to dynamically adjust its speed according to the pressure requirement. When the pressure requirement is 8MPa, the speed is 1000r / min, and when the pressure requirement is 15MPa, the speed is 1500r / min. The electromagnetic proportional valve is configured to adjust the opening degree to control the hydraulic oil flow, achieving a cylinder pressure regulation accuracy of ±0.1MPa.

6. The hydraulic cylinder control system of the slipper crane according to claim 1, characterized in that, The central controller is also equipped with collaborative control logic, which adjusts the pushing speed of the horizontal hydraulic cylinder based on the working condition and speed matching relationship in the working condition database, so that the collaborative action error between the vertical and horizontal cylinders is ≤0.2 seconds.

7. The hydraulic cylinder control system for the slipper crane according to claim 1, characterized in that, The security protection module includes: The anomaly monitoring and automatic response unit is configured to trigger the pressure relief valve to release pressure within 0.3 seconds when the oil pressure exceeds 25MPa or the vehicle body tilts more than 3°. A sensor redundancy backup unit is configured to automatically switch to a backup sensor when the primary sensor fails. The over-limit protection unit is configured to automatically trigger load reduction protection and issue an audible and visual alarm when the operating parameters exceed the database range.

8. The hydraulic cylinder control system of the slipper crane according to claim 7, characterized in that, The over-limit protection unit is configured to automatically reduce the vertical cylinder pressure to 80% of the safety threshold and limit the horizontal cylinder pushing speed to ≤0.3m / min when the wind speed exceeds 12m / s or the boom angle exceeds 85°.

9. The hydraulic cylinder control system for the slipper crane according to claim 1, characterized in that, It also includes a control panel, configured as follows: Operators are allowed to set ground load thresholds and safe tilt angles; Real-time display of sensor data, cylinder pressure / stroke, and motion status; Provides a pop-up window displaying fault alarm information.

10. The hydraulic cylinder control system of the slipper crane according to claim 1, characterized in that, The central controller is also configured to upload real-time data to the cloud platform via 4G / 5G network, supporting remote monitoring and dynamic database updates, with more than 50 new sets of operating condition data added annually.

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