Jack-up platform motor steering control method, system and electronic device

Abstract

The application provides a self-elevating platform motor steering control method, system and electronic equipment, and relates to the technical field of ocean engineering equipment. In the self-elevating platform motor steering control method, a first control signal and a second control signal are generated based on the same lifting control instruction, so that the first power supply unit and the second power supply unit output different voltage parameters. The phases of the two-phase voltage in the first voltage parameter and the corresponding two-phase voltage in the second voltage parameter are opposite. Finally, the steering output by the first motor is opposite to the steering output by the second motor. When the first motor and the second motor are powered based on a unified wiring relationship under the same lifting control instruction, the first motor and the second motor output opposite steering. While greatly reducing the complexity and difficulty of field wiring, the probability of wiring errors is effectively reduced, the probability of accidents is reduced, and the safety factor is improved.

Description

Technical Field

[0001] This application relates to the field of marine engineering equipment technology, and in particular to a method, system and electronic equipment for controlling the steering of a self-elevating platform motor. Background Technology

[0002] A jack-up platform is a mobile marine engineering equipment that operates on the seabed supported by retractable legs. The legs support the main body of the platform. A rack is fixed to the surface of each leg, and a motor drives gears meshing with the rack, causing the legs to move up and down relative to the platform body. Due to the large overall mass of a jack-up platform, multiple gears are typically installed on both sides of the rack to distribute the load. Each gear is driven by a motor, ensuring that the load borne by each gear and motor is within a reasonable range. When the gears on both sides of the rack drive the rack and legs in one direction, the rotation directions of the gears on both sides must be opposite; that is, the motors driving the gears on both sides must rotate in opposite directions.

[0003] In existing technology, the method to ensure that the motors corresponding to the gears on both sides rotate in opposite directions is to reverse any two phases of the three-phase power cables for the motors corresponding to the gears on both sides of the pile leg during wiring. However, in the field installation environment, due to the large number of motors, the need for three-phase power wiring for each motor, and the lack of standardized wiring methods for each motor, on-site wiring becomes chaotic, easily leading to incorrect phase sequence connections. This, in turn, causes individual motors to rotate in the wrong direction. Incorrect rotation of individual motors can cause cumulative damage to the structure of the self-elevating platform, ultimately resulting in serious consequences such as structural damage or personal injury. Summary of the Invention

[0004] In view of this, this application provides a method, system, electronic device, computer-readable storage medium, and computer program product for controlling the steering of motors on self-elevating platforms. This avoids the situation where existing self-elevating platforms rely on manual reversal of two phases of the three-phase power supply when controlling the steering of motors corresponding to the gears on both sides. This solves the problem that wiring errors can easily occur on-site, leading to structural damage or personal injury.

[0005] This application provides a method, system, electronic device, computer-readable storage medium, and computer program product for controlling the steering of a self-elevating platform motor. The application is described below from multiple perspectives, and the embodiments and beneficial effects described below can be referenced interchangeably.

[0006] In a first aspect, this application provides a self-elevating platform motor steering control method, which is applied to a self-elevating platform motor steering control system. The self-elevating platform motor steering control system includes a control device, a first power supply unit, a second power supply unit, a first motor, and a second motor. The three-phase output terminal of the first power supply unit is connected to the three-phase input terminal of the first motor according to a unified wiring relationship, and the three-phase output terminal of the second power supply unit is connected to the three-phase input terminal of the second motor according to a unified wiring relationship.

[0007] The method includes:

[0008] The control device acquires lifting control commands, which include lifting direction information and lifting speed information of the support legs;

[0009] The first power supply unit outputs the first voltage parameter based on the rise and fall control command;

[0010] The first motor outputs the first direction of rotation based on the first voltage parameter;

[0011] The second power supply unit outputs a second voltage parameter based on the rise and fall control command. The two-phase voltages in the first voltage parameter are out of phase with the corresponding two-phase voltages in the second voltage parameter.

[0012] The second motor outputs a second direction of rotation based on the second voltage parameters, and the second direction of rotation is opposite to the first direction of rotation.

[0013] According to the embodiments of this application, the above-described technical solution of this application has at least the following beneficial effects:

[0014] The self-elevating platform motor steering control method provided in this application generates a first control signal and a second control signal based on the same lifting control command, causing the first power supply unit and the second power supply unit to output different voltage parameters. Specifically, the two-phase voltages in the first voltage parameter and the corresponding two-phase voltages in the second voltage parameter are out of phase. This causes the direction of the rotating magnetic field generated in the first motor to be opposite to the direction of the rotating magnetic field generated in the second motor, ultimately resulting in the first motor outputting a steering direction opposite to that of the second motor. Therefore, under the same lifting control command and with power supplied to the first and second motors based on a unified wiring relationship, the first and second motors can produce opposite steering directions. Based on this control method, the complexity and difficulty of on-site wiring are significantly reduced, while effectively reducing the probability of wiring errors, lowering the probability of accidents, and improving the safety factor.

[0015] In one possible implementation of the first aspect above, both the first power supply unit and the second power supply unit include an inverter, and the first voltage parameters include the voltage amplitude, voltage frequency and voltage phase output by the three-phase output terminals of the first power supply unit respectively; the second voltage parameters include the voltage amplitude, voltage frequency and voltage phase output by the three-phase output terminals of the second power supply unit respectively.

[0016] According to the embodiments of this application, by controlling the fully controlled or semi-controlled devices inside the inverter, the voltage amplitude, voltage frequency and voltage phase in the first voltage parameter and the second voltage parameter can be flexibly adjusted to meet the flexible control requirements of the direction and speed of the output of the first motor and the second motor.

[0017] In one possible implementation of the first aspect above, the first power supply unit outputs a first voltage parameter based on a lift control command, including: a first program of the first power supply unit outputs a first control signal based on the lift control command, so that the first power supply unit outputs the first voltage parameter based on the first control signal;

[0018] The second power supply unit outputs a second voltage parameter based on the lifting control command, including: the second program of the second power supply unit outputs a second control signal based on the lifting control command, so that the second power supply unit outputs the second voltage parameter based on the second control signal.

[0019] In one possible implementation of the first aspect described above, the self-elevating platform motor steering control method further includes:

[0020] The control device verifies the first program based on a reference program to ensure that the first control signal generated by the first program is correct.

[0021] The control device verifies the second program based on the reference program to ensure that the second control signal generated by the second program is correct.

[0022] According to the embodiments of this application, verifying the first program and the second program can effectively avoid using an incorrect first program or the second program to process the lifting control command, which would lead to errors in the first voltage parameter or the second voltage parameter, thereby avoiding errors in the direction of the first motor or the second motor. This can reliably ensure the stable and reliable operation of the self-elevating platform motor steering control method and system.

[0023] In one possible implementation of the first aspect above, the reference program is a first correct program, which is the correct program that the first power supply unit should use. The control device verifies the first program based on the reference program and the control device verifies the second program based on the reference program, including:

[0024] The control device acquires the number of the first power supply unit or the second power supply unit, the number including a field used to distinguish the first power supply unit from the second power supply unit;

[0025] The control device acquires the first program corresponding to the first power supply unit or the second program corresponding to the second power supply unit;

[0026] The control device determines whether the power supply unit corresponding to the number is the first power supply unit;

[0027] The control device confirms that the power supply unit corresponding to the number is the first power supply unit, and confirms that the first program is different from the reference program, and outputs an abnormal notification.

[0028] The control device confirms that the power supply unit corresponding to the number is the second power supply unit, and confirms that the second program is the same as the reference program, and outputs an abnormal notification.

[0029] In one possible implementation of the first aspect described above, the control device controls the support leg to stop lifting and lowering when it confirms that the first program is different from the reference program, and / or when it confirms that the second program is the same as the reference program.

[0030] Secondly, this application provides a self-elevating platform motor steering control system, including support legs, multiple first motors, multiple second motors, a first power supply unit, a second power supply unit, and a control device.

[0031] The support leg is radially equipped with a rack, and the two sides of the support leg are respectively equipped with a plurality of first gears and a plurality of second gears that mesh with the rack; each first motor drives at least one corresponding first gear; each second motor drives at least one corresponding second gear.

[0032] The first power supply unit includes a three-phase output terminal, and the three-phase output terminal of the first power supply unit is connected to the three-phase input terminal of the corresponding first motor according to a unified wiring relationship; the second power supply unit includes a three-phase output terminal, and the three-phase output terminal of the second power supply unit is connected to the three-phase input terminal of the corresponding second motor according to a unified wiring relationship.

[0033] The control device is used to acquire lifting control commands, which include lifting direction information and lifting speed information of the support leg. The lifting control commands are transmitted to the first power supply unit to make the first power supply unit output a first voltage parameter, and to the second power supply unit to make the second power supply unit output a second voltage parameter. The two phase voltages in the first voltage parameter and the corresponding two phase voltages in the second voltage parameter are out of phase, so as to keep the first motor and the second motor in opposite directions under the same wiring relationship.

[0034] Thirdly, this application provides an electronic device including a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the self-elevating platform motor steering control method disclosed in the first aspect and any possible implementation thereof.

[0035] Fourthly, this application provides a computer-readable storage medium storing at least one instruction or at least one program, wherein the at least one instruction or at least one program is loaded and executed by a processor to implement the self-elevating platform motor steering control method disclosed in the first aspect and any possible implementation thereof.

[0036] Fifthly, this application provides a computer program product comprising: computer instructions that, when executed on an electronic device, cause the electronic device to perform the self-elevating platform motor steering control method disclosed in the first aspect and any possible implementation thereof.

[0037] The beneficial effects of the second to fifth aspects can be found in the first aspect and the beneficial effects of any possible implementation of the first aspect, and will not be repeated here. Attached Figure Description

[0038] Figure 1 This is a top view of the pile leg structure according to an embodiment of this application;

[0039] Figure 2 This is a schematic diagram of the transmission structure of the self-elevating platform motor steering control system according to an embodiment of this application;

[0040] Figure 3 This is a schematic diagram of the electrical principle of the self-elevating platform motor steering control system according to an embodiment of this application;

[0041] Figure 4 is a schematic diagram of the three-phase input terminal wiring of the two-layer motors of the first support leg of the first pile leg of the self-elevating platform according to an embodiment of this application. Figure 4-a This is a wiring diagram of the three-phase input terminals of the first and second motors on the first floor. Figure 4-b This is a wiring diagram of the three-phase input terminals of the first and second motors on the second layer.

[0042] Figure 5 The above are waveform diagrams of the first and second voltage parameters according to an embodiment of this application.

[0043] Figure 6 This is a schematic diagram of the electrical principle of the lifting control cabinet and the pile-side control cabinet of the self-elevating platform motor steering control system according to an embodiment of this application;

[0044] Figure 7 This is a schematic diagram of the electrical principle of the central control console of the self-elevating platform motor steering control system according to an embodiment of this application;

[0045] Figure 8 This is a flowchart of a self-elevating platform motor steering control method according to an embodiment of this application;

[0046] Figure 9 This is a flowchart illustrating the verification of the first and second programs in the self-elevating platform motor steering control method according to an embodiment of this application.

[0047] Figure 10 This is a block diagram of the electronic device in the embodiments of this application;

[0048] Figure 11 This is a block diagram of a system-on-chip (SoC) in the embodiments of this application.

[0049] Figure label:

[0050] 1. Support leg; 2. Connecting rod; 3. Rack; 4. First gear; 5. Second gear; 6. First motor; 7. Second motor; 8. First power supply unit; 9. Second power supply unit; 10. Control device; 11. Rectifier transformer; 111. Transformer; 112. Rectifier; 12. Energy consumption unit; 121. Chopper; 122. Energy consumption resistor; 13. Braking unit; 131. Contactor; 132. Brake. Detailed Implementation

[0051] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0052] As described in the background technology section above, the self-elevating platform uses two sets of motors to drive gears located on both sides of the rack, thereby raising and lowering the rack and legs. During the raising and lowering of the legs, the gears on both sides of the rack always rotate in opposite directions, meaning that the output directions of the two sets of motors need to remain opposite.

[0053] In existing self-elevating platforms, two sets of frequency converters supply three-phase AC power to two sets of motors, with the three-phase AC power outputs from the two sets of frequency converters being in phase. In practice, it has been found that for a motor, changing its direction of rotation depends on changing the phase sequence of its connected three-phase power supply. When the phase sequence changes, the direction of the rotating magnetic field that attracts the rotor in the motor also changes. Since the three-phase AC power outputs from the two sets of frequency converters in the existing technology are in phase, to ensure that the two sets of motors rotate in opposite directions, it is necessary to ensure that the wiring sequence of two phases in the three-phase power supply lines of one set of motors is opposite to that of the corresponding two phases in the other set of motors. However, because self-elevating platforms use a large number of motors, each with three power lines, wiring errors are prone to occur during on-site wiring. Incorrectly wired motors, upon startup, can cause incorrect gear rotation, resulting in structural damage to the rack and legs, and further causing the self-elevating platform to tilt, leading to serious consequences such as platform damage or personal injury.

[0054] Therefore, to solve the above problems, this application provides a self-elevating platform motor steering control method. Based on the same lifting control command, a first control signal and a second control signal are generated, causing the first and second power supply units to output different voltage parameters. Specifically, the two-phase voltages in the first voltage parameter and the corresponding two-phase voltages in the second voltage parameter are out of phase. This causes the direction of the rotating magnetic field generated in the first motor to be opposite to the direction of the rotating magnetic field generated in the second motor, ultimately resulting in the first motor outputting a steering direction opposite to the second motor outputting a steering direction. Thus, under the same lifting control command and with power supplied to the first and second motors based on a unified wiring relationship, the first and second motors can output opposite steering directions. Based on this control method, the complexity and difficulty of on-site wiring are significantly reduced, while effectively reducing the probability of wiring errors, lowering the probability of accidents, and improving the safety factor.

[0055] The following is combined Figures 1-5 The self-elevating platform motor steering control system of the present application embodiment will be described in detail.

[0056] refer to Figures 1-5 , Figure 1 The top view of the pile leg according to an embodiment of this application is shown. Figure 2 This paper illustrates a schematic diagram of the transmission structure in the self-elevating platform motor steering control system according to an embodiment of this application. Figure 3 Figure 4 illustrates the electrical principle of the self-elevating platform motor steering control system according to an embodiment of this application. Figure 4 shows the wiring method of the three-phase input terminals of the two-layer motors of the first support leg of the first leg of the self-elevating platform according to an embodiment of this application. Figure 5 The schematic waveforms of the first voltage parameter and the second voltage parameter in the embodiments of this application are shown.

[0057] A self-elevating platform includes at least three legs. In this embodiment, the first leg of the self-elevating platform is used as an example for illustration.

[0058] like Figure 1 As shown, the legs of the self-elevating platform are truss structures, each leg consisting of three supporting legs 1 arranged in a triangular three-point configuration. The three supporting legs are the first supporting leg, the second supporting leg, and the third supporting leg. Adjacent supporting legs 1 are connected by connecting rods 2.

[0059] In the embodiments of this application, such as Figure 2 As shown, the self-elevating platform motor steering control system may include support legs 1, rack 3, first gear 4, second gear 5, first motor 6, and second motor 7, and may also include, for example, support legs 1, rack 3, first gear 4, second gear 5, first motor 6, and second motor 7. Figure 3 The first power supply unit 8, the second power supply unit 9, and the control device 10 are shown.

[0060] like Figure 2 As shown, the rack 3 is radially arranged on the surface of each support leg 1. A plurality of first gears 4 are provided on one side of the rack 3, and a plurality of second gears 5 are provided on the other side of the rack 3. The plurality of first gears 4 and the plurality of second gears 5 are distributed in multiple layers along the radial direction of the rack 3.

[0061] In this embodiment, the number of first motors 6 is the same as the number of first gears 4, and each first motor 6 drives one first gear 4; the number of second motors 7 is the same as the number of second gears 5, and each second motor 7 drives one second gear 5.

[0062] In some other embodiments of this application, the number of first motors 6 may be less than the number of first gears 4, and the output end of the first motor 6 drives at least two first gears 4 to rotate synchronously in the same direction through a transmission structure; similarly, the number of second motors 7 may be less than the number of second gears 5, and the output end of the second motor 7 drives at least two second gears 5 to rotate synchronously in the same direction through a transmission structure.

[0063] This application does not limit the specific structure of the transmission structure. For example, the transmission structure can be a chain drive structure, an idler wheel splitter structure, etc.

[0064] like Figure 3 As shown, Figure 3 Taking the first motor 6 and the second motor 7, corresponding to the first layer of gears used to drive the two legs of the self-elevating platform, as an example, the electrical principle of the self-elevating platform motor steering control system in this embodiment is shown. The first power supply unit 8 is connected to the first motor 6, and the second power supply unit 9 is connected to the second motor 7.

[0065] In this embodiment, the first power supply unit 8 includes a three-phase output terminal, which is connected to the three-phase input terminal of the corresponding first motor 6 according to a unified wiring relationship. The second power supply unit 9 includes a three-phase output terminal, which is also connected to the three-phase input terminal of the corresponding second motor 7 according to a unified wiring relationship.

[0066] Specifically, refer to Figure 4-a and Figure 4-b , Figure 4-a The wiring diagram shows the three-phase input terminals of the first motor and the second motor of the first layer of the first support leg in the first pile leg. Figure 4-b The wiring method of the three-phase input terminals of the first motor and the second motor of the second layer of the first support leg in the first pile leg is shown.

[0067] like Figure 4-a and Figure 4-b As shown, the three-phase output terminals of the first power supply unit 8 and the second power supply unit 9 each include a first output terminal U, a second output terminal V, and a third output terminal W, and the three-phase input terminals of the first motor 6 and the second motor 7 each include a first input terminal U1, a second input terminal V1, and a third input terminal W1.

[0068] like Figure 3 As shown, when the first power supply unit 8 and the first motor 6 are connected, and the second power supply unit 9 and the second motor 7 are connected, it can be done as follows: Figure 4-a and Figure 4-b As shown, the connections are made according to the unified wiring relationship of connecting the first output terminal U to the first input terminal U1, the second output terminal V to the second input terminal V1, and the third output terminal W to the third input terminal W1. At this time, the cable colors of the three-phase output terminals and the three-phase input terminals are used to achieve clear matching and effectively avoid wiring errors.

[0069] This application does not limit the specific connection method for the unified wiring relationship. For example, while ensuring that the first power supply unit 8 and the first motor 6 are connected, and the second power supply unit 9 and the second motor 7 are connected, the connection can also be made according to the unified wiring relationship of the first output terminal U connected to the second input terminal V1, the second output terminal V connected to the third input terminal W1, and the third output terminal W connected to the first input terminal U1.

[0070] like Figure 2 and Figure 3 As shown in the embodiment of this application, the control device 10 is used to acquire lifting control commands, which include lifting direction information and lifting speed information of the support leg 1, and transmit the lifting control commands to the first power supply unit 8 so that the first power supply unit 8 outputs a first voltage parameter, and transmit them to the second power supply unit 9 so that the second power supply unit 9 outputs a second voltage parameter.

[0071] like Figure 5 As shown in the waveform diagram of the first voltage parameter and the second voltage parameter, the two-phase voltage in the first voltage parameter is out of phase with the corresponding two-phase voltage in the second voltage parameter, which is used to keep the first motor 6 and the second motor 7 in opposite directions under the same wiring relationship.

[0072] This application does not specify which two phases of the first and second voltage parameters are out of phase. For example, it could be as follows: Figure 5 The diagram shows the second and third output terminals as the corresponding two-phase output terminals mentioned above.

[0073] like Figures 1-5 As shown, the self-elevating platform motor steering control system provided in this application embodiment processes the same lifting control command through a first power supply unit 8 and a second power supply unit 9, and outputs a first voltage parameter and a second voltage parameter respectively. When the first power supply unit 8 is connected to the first motor 6 with a unified wiring relationship, and the second power supply unit 9 is also connected to the second motor 7 with a unified wiring relationship, the two-phase voltages in the first voltage parameter and the two-phase voltages in the second voltage parameter are always out of phase, thereby driving the first motor 6 and the second motor 7 to output opposite directions. This effectively simplifies the complexity of wiring work, avoids wiring errors, and thus effectively reduces the probability of accidents caused by incorrect steering of the first motor 6 or the second motor 7, improving the safety factor of the self-elevating platform.

[0074] like Figure 3 As shown in the embodiment of this application, the self-elevating platform motor steering control system further includes a rectifier transformer 11, which includes a transformer 111 and a rectifier 112.

[0075] The transformer 111 includes a primary winding and at least two secondary windings. The primary winding of the transformer 111 is connected to the three-phase AC power supply of the self-elevating platform. There is a phase difference between the output voltages of the different secondary windings. The phase difference is used to increase the pulse number, thereby enabling the low-order characteristic harmonics to achieve electromagnetic balance inside the transformer 111 and be canceled out. This suppresses harmonic pollution of the three-phase power supply of the self-elevating platform and maintains the stability of the three-phase power supply of the self-elevating platform.

[0076] The rectifier 112 is used to convert the three-phase AC power output from the secondary winding of the transformer 111 into DC power. The AC input side of the rectifier 112 is connected to the secondary winding of the transformer 111, and the DC output side of the rectifier 112 is connected to a DC bus.

[0077] When both the first power supply unit 8 and the second power supply unit 9 are inverters, the DC input terminals of the first power supply unit 8 and the second power supply unit 9 are connected to the DC bus.

[0078] In the embodiments of this application, such as Figure 3 As shown, the self-elevating platform motor steering control system may also include an energy consumption unit 12. Each leg is equipped with at least one energy consumption unit 12, which is connected to the DC bus and is used to turn on and consume electrical energy when the voltage of the DC bus rises, so as to stabilize the voltage of the DC bus.

[0079] Specifically, in this embodiment, the energy consumption unit 12 may include a chopper 121 and an energy consumption resistor 122. The DC side of the chopper 121 is connected to the DC bus, and the energy consumption resistor 122 is connected to the AC side of the chopper 121. When the lifting leg decelerates or brakes, mechanical energy is converted into electrical energy. This electrical energy is fed back to the DC bus through the first power supply unit 8 and the second power supply unit 9, causing the DC bus voltage to rise rapidly. When the DC bus voltage rises to the conduction threshold of the chopper 121, the chopper 121 conducts, and the electrical energy on the DC bus flows through the chopper 121 to the energy consumption resistor 122, where it is consumed, thus preventing large fluctuations in the DC bus voltage.

[0080] The above text passed Figures 1-5 The main structure of the self-elevating platform motor steering control system in the embodiments of this application is introduced below. Figure 6 The self-elevating platform motor steering control system in the embodiments of this application will be further described. Figure 6 The electrical principles of the lifting control cabinet and pile-side control cabinet of the self-elevating platform motor steering control system according to an embodiment of this application are shown.

[0081] like Figure 6 As shown, the self-elevating platform motor steering control system also includes a braking unit 13, which includes a contactor 131 and a brake 132.

[0082] Among them, the control device (reference) Figure 3 The control device 10 shown can remotely close or open the contactor 131 by sending a control signal. The brake 132 is connected to the contactor 131 and includes a brake disc. When the contactor 131 is opened, the brake 132 is de-energized. At this time, the brake disc of the brake 132 will contact the drive shaft of the gear, thereby enabling frictional deceleration of the drive shaft of the gear.

[0083] The following is combined Figures 1-3 , Figure 6 and Figure 7 This paper briefly describes the installation layout design of the self-elevating platform motor steering control system in the embodiments of this application. Figure 7 The electrical structure of the lifting control console is shown in the diagram.

[0084] like Figure 3 , Figure 6 and Figure 7 As shown in the embodiment of this application, in order to facilitate the wiring and lifting control of the pile legs by the staff, a device such as... is set on the self-elevating platform. Figure 3 The motor power supply cabinet shown, such as Figure 6 The lifting control cabinet and pile-side control cabinet shown, as well as... Figure 7 The lifting control console is shown. The motor power supply cabinet and lifting control cabinet communicate with the lifting control console and pile-side control cabinet to exchange control signals and sensor signals.

[0085] This application does not limit the communication connection method, and there can be multiple communication connection methods. For example, the communication connection method can be a wireless communication connection method such as Wi-Fi or Bluetooth, or a wired communication connection method such as fiber optic or power line.

[0086] like Figure 3 As shown in the embodiment of this application, the motor power supply cabinet is used to house the first power supply unit 8, the second power supply unit 9, the rectifier 112 and the chopper 121. One side of the motor power supply cabinet is connected to the secondary winding of the transformer 111, and the other side of the motor power supply cabinet is connected to the three-phase input terminals of the first motor 6 and the second motor 7.

[0087] refer to Figure 1 The pile leg structure shown and Figure 2 The transmission structure of the self-elevating platform motor steering control system is shown, and combined with... Figure 6 The electrical principle of the lifting control cabinet shown will be further explained for the braking unit 13 in the embodiments of this application.

[0088] like Figure 6 As shown, the contactor 131 of the braking unit 13 is placed in the lifting control cabinet.

[0089] In the embodiments of this application, Figure 2 All first gears 4 and all second gears 5 shown need to be configured with one Figure 6 The braking unit 13 shown is... Figure 1 Taking the pile leg shown as an example, the pile leg has three support legs 1, and each support leg 1 has six layers of first gears 4 and second gears 5 meshing on it. Therefore, for one pile leg, thirty-six braking units 13 are required. Correspondingly, the lifting control cabinet contains thirty-six contactors 131. Through the control device (see reference...) Figure 3 The control device 10 controls the contactor 131, ultimately achieving lifting and braking control of the support leg 1. It should be noted that in some embodiments, a pile leg may include more support legs 1, and each support leg 1 may correspond to more or fewer braking units; this application is not limited in this respect.

[0090] like Figure 6 As shown, the pile-side control cabinet may also include a touch screen and be connected to various sensors, such as limit sensors and torque sensors. In this embodiment, the pile-side control cabinet supplies power to at least two limit sensors, both of which are installed near the brake 132.

[0091] Return to reference Figure 2 and combined Figure 6 As shown, one limit sensor is used to monitor the position of the brake disc of brake 132, thereby determining whether brake 132 has been properly released. Once it is confirmed that brake 132 has been properly released, the first motor 6 and the second motor 7 can then accelerate and output normally. At this time, the corresponding first gear 4 or second gear 5 can also be inspected. The other limit sensor is used to monitor the thickness of the brake disc of brake 132 to prevent the brake disc from becoming too thin, which would lead to a decrease in braking performance.

[0092] The torque sensor monitors the torque borne by the drive shafts of the first gear 4 and the second gear 5, thereby monitoring the load borne by the first gear 4 and the second gear 5 to prevent excessive load from causing structural damage.

[0093] Through the touch screen, staff can input control requirements for support leg 1, including lifting direction control, lifting speed control, braking control, etc. Based on the communication connection, the control requirements are transmitted to the control device, which can ultimately realize the lifting or braking control of support leg 1 at the pile side, facilitating the operation and maintenance of the pile leg.

[0094] like Figure 7 As shown, the lifting control console can include a display screen and an industrial computer. The lifting control console is installed in the cab of the self-elevating platform. Through the display screen and industrial computer on the lifting control console, the lifting and braking control of the pile legs can be realized.

[0095] The following is for reference. Figures 1-7 and combined Figure 8 This application provides a detailed description of the self-elevating platform motor steering control method according to embodiments of the present application. Figure 8 The flowchart of the self-elevating platform motor steering control method according to an embodiment of this application is shown.

[0096] In this embodiment of the application, the self-elevating platform motor steering control method is applied to, for example... Figures 1-7 The self-elevating platform motor steering control system shown includes a control device 10, a first power supply unit 8, a second power supply unit 9, a first motor 6, and a second motor 7. The three-phase output terminal of the first power supply unit 8 is connected to the three-phase input terminal of the first motor 6 according to a unified wiring relationship, and the three-phase output terminal of the second power supply unit 9 is connected to the three-phase input terminal of the second motor 7 according to a unified wiring relationship.

[0097] Combination Figure 3 and refer to Figure 8 As shown, the self-elevating platform motor steering control method in this application embodiment includes the following steps S100-S300:

[0098] Step S100: The control device 10 acquires a lifting control command, which includes the support legs (see reference). Figure 2 The lifting direction and lifting speed information of the supporting leg 1).

[0099] In this step, the lifting control command is input through the human-machine interface and transmitted to the control device 10.

[0100] Step S200: The first power supply unit 8 outputs the first voltage parameter based on the rise and fall control command; at the same time, the second power supply unit 9 outputs the second voltage parameter based on the rise and fall control command, wherein the two-phase voltages in the first voltage parameter are out of phase with the corresponding two-phase voltages in the second voltage parameter.

[0101] Step S300: The first motor 6 outputs a first direction of rotation based on the first voltage parameter; at the same time, the second motor 7 outputs a second direction of rotation based on the second voltage parameter, the second direction of rotation being opposite to the first direction of rotation.

[0102] In this embodiment, the first voltage parameters output by the first power supply unit 8 include the voltage amplitude, voltage frequency, and voltage phase output by the three-phase output terminal of the first power supply unit 8, and the second voltage parameters output by the second power supply unit 9 include the voltage amplitude, voltage frequency, and voltage phase output by the three-phase output terminal of the second power supply unit 9.

[0103] In this embodiment, the first power supply unit 8 and the second power supply unit 9 may include an inverter. Through precise control of the fully or partially controlled devices within the inverter, and using pulse width modulation (PWM) or sinusoidal pulse width modulation (SPWM) technology, the voltage amplitude, voltage frequency, and voltage phase output from the three-phase output terminals of the inverter can be flexibly adjusted. Therefore, the voltage amplitude, voltage frequency, and voltage phase in the first and second voltage parameters are all adjustable.

[0104] In some other embodiments of this application, the first power supply unit 8 and the second power supply unit 9 may also include a three-phase phase shifter. By precisely controlling the switching of the power electronic switches (such as thyristors, insulated gate bipolar transistors, etc.) in the three-phase phase shifter, and in conjunction with an appropriate modulation strategy, the phase of the three-phase AC voltage output by the three-phase phase shifter can be flexibly adjusted.

[0105] The self-elevating platform motor steering control method provided in this application generates a first control signal and a second control signal based on the same lifting control command, causing the first power supply unit 8 and the second power supply unit 9 to output different voltage parameters. Specifically, the two-phase voltages in the first voltage parameter and the corresponding two-phase voltages in the second voltage parameter are out of phase. This causes the direction of the rotating magnetic field generated in the first motor 6 to be opposite to the direction of the rotating magnetic field generated in the second motor 7, ultimately resulting in the first motor 6 outputting a steering direction opposite to that of the second motor 7. Therefore, under the same lifting control command and with power supplied to the first motor 6 and the second motor 7 based on a unified wiring relationship, the first motor 6 and the second motor 7 can output opposite steering directions. Based on this control method, the complexity and difficulty of on-site wiring are significantly reduced, while effectively reducing the probability of wiring errors, lowering the probability of accidents, and improving the safety factor.

[0106] Combination Figure 3 and Figure 8 In this embodiment of the application, the first power supply unit 8 in step S200 outputs a first voltage parameter based on the lifting control command, including: the first program of the first power supply unit 8 outputs a first control signal based on the lifting control command, so that the first power supply unit 8 outputs the first voltage parameter based on the first control signal.

[0107] In this embodiment of the application, the second power supply unit 9 in step S200 outputs a second voltage parameter based on the lifting control command, including: the second program of the second power supply unit 9 outputs a second control signal based on the lifting control command, so that the second power supply unit 9 outputs a second voltage parameter based on the second control signal.

[0108] In this embodiment of the application, the first program is stored in the first power supply unit 8, and the second program is stored in the second power supply unit 9.

[0109] Specifically, for the first power supply unit 8, when it receives a lifting control command, its first program analyzes the lifting direction and speed information in the lifting control command and outputs a first control signal, so that the first power supply unit 8 outputs a first voltage parameter based on the first control signal. Depending on different lifting control commands, the voltage phase, voltage frequency, and voltage amplitude of the output first voltage parameter can be flexibly changed. When the voltage phase changes, the direction of rotation of the first motor 6 changes; when the voltage frequency and voltage amplitude change, the rotational speed of the first motor changes.

[0110] Specifically, for the second power supply unit 9, when it receives a lifting control command, its second program analyzes the lifting direction and speed information in the command and outputs a second control signal, enabling it to output a second voltage parameter. Based on different lifting control commands, the voltage phase, frequency, and amplitude of the output second voltage parameter can be flexibly changed. Changing the voltage phase alters the direction of rotation of the second motor 7, while changing the voltage frequency and amplitude alters the rotational speed of the second motor 7.

[0111] Under the action of the first and second procedures, regardless of whether the pile legs are raised or lowered, it can be ensured that the voltage phases of two phases in the three-phase output terminal of the first power supply unit 8 and the corresponding two phases in the three-phase output terminal of the second power supply unit 9 are always opposite.

[0112] In this embodiment of the application, the self-elevating platform motor steering control method further includes: verifying the first program and the second program before outputting the first control signal and the second control signal.

[0113] In this embodiment, the first program is a program manually injected into the first power supply unit 8, the second program is a program manually injected into the second power supply unit 9, the first correct program is the correct program that the first power supply unit 8 should use, and the second correct program is the correct program that the second power supply unit 9 should use.

[0114] Because the first program and the second program corresponding to the first power supply unit 8 and the second power supply unit 9 are different, and the first program and the second program used to process the lifting control command are manually injected beforehand, manual injection means that injection errors may occur. For example, injecting the second correct program as the first program may cause the first program to output the second control signal when it should output the first control signal; or injecting the first correct program as the second program may cause the second program to output the first control signal when it should output the second control signal. This could lead to incorrect direction output by the first motor 6 or the second motor 7. Therefore, it is necessary to verify the injected first program and the second program to avoid incorrect direction output by the first motor 6 or the second motor 7.

[0115] In this embodiment of the application, the verification results obtained by verifying the first program and the second program can be displayed on the touch screen and the display screen.

[0116] In this embodiment of the application, the self-elevating platform motor steering control method further includes:

[0117] Step S400: The control device 10 verifies the first program based on the reference program to ensure that the first control signal generated by the first program is correct; the control device 10 verifies the second program based on the reference program to ensure that the second control signal generated by the second program is correct.

[0118] Combination Figure 3 and refer to Figure 9 The illustrated process shows the specific procedure by which the control device 10 executes step S400 when the reference program is the first correct program. This process includes:

[0119] Step S410: The control device 10 obtains the number of the first power supply unit 8 or the second power supply unit 9, the number including a field used to distinguish the first power supply unit 8 and the second power supply unit 9.

[0120] Step S420: The control device 10 acquires the first program corresponding to the first power supply unit 8 or the second program corresponding to the second power supply unit 9.

[0121] Step S430: Control device 10 determines whether the power supply unit corresponding to the number is the first power supply unit 8.

[0122] Step S440: Control device 10 confirms that the power supply unit corresponding to the number is the first power supply unit 8, and confirms that the first program is different from the reference program, and outputs an abnormal notification; Control device 10 confirms that the power supply unit corresponding to the number is the second power supply unit 9, and confirms that the second program is the same as the reference program, and outputs an abnormal notification.

[0123] This application does not impose restrictions on the numbering rules and fields. For example, it can be formatted as "Leg Number - Chord Number - Corresponding First Gear" (see reference). Figure 2 The first gear 4) or the second gear (refer to) Figure 2 The rule for setting the layer number of the second gear 5 in the system - the identification field of the first power supply unit 8 / the identification field of the second power supply unit 9 is used. (Return to reference) Figure 3 The first power supply unit 8 and the first motor 6, numbered 1A1L, are shown on the first pile leg. The first character 1 represents the first pile leg, the second character A represents the first support leg of the first pile leg, the third character 1 indicates that the first power supply unit 8 and the first motor 6 are located on the first layer, and the fourth character L indicates that the power supply unit is the first power supply unit 8 and the motor is the first motor 6. Correspondingly, when the fourth character is R, it represents that the power supply unit is the second power supply unit 9 and the motor is the second motor 7. The first motor 6 has the same number as its corresponding first power supply unit 8, and the second motor 7 has the same number as its corresponding second power supply unit 9.

[0124] In some other embodiments of this application, the reference program in step S440 may also be a second correct program, or the reference program may include both a first correct program and a second correct program.

[0125] Specifically, when the reference program is the second correct program, step S440 can be: the control device 10 confirms that the power supply unit corresponding to the number is the first power supply unit 8, and confirms that the first program is the same as the reference program, and outputs an abnormal notification; the control device 10 confirms that the power supply unit corresponding to the number is the second power supply unit 9, and confirms that the second program is different from the reference program, and outputs an abnormal notification.

[0126] Specifically, when the reference procedure includes both a first correct procedure and a second correct procedure, step S440 may include:

[0127] The control device 10 confirms that the power supply unit corresponding to the number is the first power supply unit 8, and confirms that the first program is different from the first correct program in the reference program, and outputs an abnormal notification; the control device 10 confirms that the power supply unit corresponding to the number is the second power supply unit 9, and confirms that the second program is different from the second correct program in the reference program, and outputs an abnormal notification.

[0128] In this embodiment of the application, when an abnormal notification is output in step S440, the control device 10 controls the support leg (see reference). Figure 2 1) Stop raising and lowering the support leg in the middle.

[0129] Specifically, in combination Figure 3 and Figure 6 As shown, the control device 10 controls the first power supply unit 8 and the second power supply unit 9 to stop outputting the first voltage parameter and the second voltage parameter, so as to prevent the first motor 6 and the second motor 7 from continuing to drive the first gear (see reference). Figure 2 The first gear 4) and the second gear (reference) Figure 2 The second gear 5 rotates, and at the same time the control device 10 sends a signal to the braking unit 13, causing the contactor 131 to disconnect. The brake 132 decelerates the first gear 4 and the second gear 5, and finally achieves rapid braking of the support leg 1 in motion, thereby reducing structural damage caused by the malfunction of the first motor 6 and / or the second motor 7, and improving the safety factor of the self-elevating platform.

[0130] In summary, the self-elevating platform motor steering control method and system provided in this application generate a first control signal and a second control signal based on the same lifting control command, correspondingly causing the first power supply unit 8 and the second power supply unit 9 to output different voltage parameters. Specifically, the two-phase voltages in the first voltage parameter and the corresponding two-phase voltages in the second voltage parameter are out of phase. This causes the direction of the rotating magnetic field generated in the first motor 6 to be opposite to the direction of the rotating magnetic field generated in the second motor 7, ultimately resulting in the steering output of the first motor 6 being opposite to that of the second motor 7. Furthermore, under the same lifting control command and with power supplied to the first motor 6 and the second motor 7 based on a unified wiring relationship, the first motor 6 and the second motor 7 can output opposite steering directions. Based on this control method and system, the complexity and difficulty of on-site wiring are significantly reduced, while effectively reducing the probability of wiring errors, lowering the probability of accidents, and improving the safety factor.

[0131] This application provides an electronic device, which includes a processor and a memory. The memory stores at least one instruction or at least one program segment. When the processor loads and executes the instruction or program segment, the electronic device performs the self-elevating platform motor steering control method described in the above embodiments. Its specific functions and corresponding technical effects can be found in the above embodiments. Figures 1-9 The self-elevating platform motor steering control method explained earlier will not be repeated here. The following section will combine... Figure 8 The electronic devices described in the embodiments of this application will be described in detail.

[0132] refer to Figure 10 The diagram shows a block diagram of an electronic device 1200 according to one embodiment of this application. The electronic device 1200 may include one or more processors 1201 coupled to a controller hub 1203. In at least one embodiment, the controller hub 1203 communicates with the processor 1201 via a multi-branch bus such as a front side bus (FSB) 1210, a point-to-point interface such as a quick path interconnect (QPI), or a similar connection. The processor 1201 executes instructions controlling general types of data processing operations. In one embodiment, the controller hub 1203 includes, but is not limited to, a graphics memory controller hub (GMCH) (not shown) and an input / output hub (IOH) (which may be on a separate chip) (not shown), wherein the GMCH includes memory and a graphics controller and is coupled to the IOH.

[0133] Electronic device 1200 may also include a coprocessor 1202 and a memory 1204 coupled to a controller hub 1203. Alternatively, one or both of the memory and the GMCH may be integrated within the processor (as described in this application), with memory 1204 and coprocessor 1202 directly coupled to processor 1201 and controller hub 1203, which resides on a single chip with the IOH. Memory 1204 may be, for example, dynamic random access memory (DRAM), phase change memory (PCM), or a combination of both. In one embodiment, coprocessor 1202 is a dedicated processor, such as, for example, a high-throughput MIC (many integerized core) processor, a network or communication processor, a compression engine, a graphics processor, a general-purpose computing on GPU (GPGPU), or an embedded processor, etc. Optional properties of coprocessor 1202 are indicated by dashed lines. Figure 10 middle.

[0134] As a computer-readable storage medium, memory 1204 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. For example, memory 1204 may include any suitable non-volatile memory such as flash memory and / or any suitable non-volatile storage device such as one or more hard-disk drives (HDDs), one or more compact disc (CD) drives, and / or one or more digital versatile disc (DVD) drives.

[0135] In one embodiment, electronic device 1200 may further include a network interface controller (NIC) 1206. Network interface 1206 may include a transceiver for providing a radio interface for electronic device 1200 to communicate with any other suitable device, such as a front-end module, antenna, etc. In various embodiments, network interface 1206 may be integrated with other components of electronic device 1200. Network interface 1206 can implement the functions of the communication unit in the above embodiments.

[0136] Electronic device 1200 may further include input / output (I / O) device 1205. I / O device 1205 may include: a user interface designed to enable a user to interact with electronic device 1200; a peripheral component interface designed to enable peripheral components to also interact with electronic device 1200; and / or sensors designed to determine environmental conditions and / or location information related to electronic device 1200.

[0137] It is worth noting that, Figure 10 This is merely an example. That is, although... Figure 10 The electronic device 1200 shown includes multiple devices such as a processor 1201, a coprocessor 1202, a controller hub 1203, and a memory 1204. However, in practical applications, devices using the methods of this application may include only a portion of the devices in the electronic device 1200. For example, it may include only the processor 1201 and the network interface 1206. Figure 10 The properties of the optional devices are shown in dashed lines. According to some embodiments of this application, the memory 1204, which is a computer-readable storage medium, stores instructions or programs that, when executed on a computer, perform the self-elevating platform motor steering control method described in the above embodiments. Specific details can be found in the methods described in the above embodiments, and will not be repeated here.

[0138] Now for reference Figure 11 The diagram shown is a block diagram of a system-on-chip (SoC) 1300 according to an embodiment of this application. Figure 11 In the diagram, similar components share the same reference numerals. Additionally, dashed boxes are an optional feature for more advanced SoCs. Figure 11 In this SoC 1300, the following are included: an interconnect unit 1350 coupled to an application processor 1310; a system proxy unit 1380; a bus controller unit 1390; an integrated memory controller unit 1340; a group or one or more coprocessors 1320, which may include integrated graphics logic, an image processor, an audio processor, and a video processor; a static random access memory (SRAM) unit 1330; and a direct memory access (DMA) unit 1360. In one embodiment, the coprocessor 1320 includes a dedicated processor, such as, for example, a network or communication processor, a compression engine, a GPGPU, a high-throughput MIC processor, or an embedded processor.

[0139] The static random access memory (SRAM) cell 1330 may include one or more computer-readable media for storing data and / or instructions. The computer-readable storage medium may store instructions, specifically, temporary and permanent copies of those instructions. These instructions may include, when executed by at least one unit in the processor, causing the SoC 1300 to perform the self-elevating platform motor steering control method according to the above embodiments, as detailed in the methods described above, which will not be repeated here.

[0140] This application provides a computer-readable storage medium storing at least one instruction or at least one program segment. The at least one instruction or at least one program segment is loaded and executed by a processor to implement the self-elevating platform motor steering control method described in the above embodiments. Its specific functions and corresponding technical effects can be referred to the above embodiments. Figures 1-9 The self-elevating platform motor steering control method explained herein will not be elaborated upon here.

[0141] This application provides a computer program product, including computer instructions. When the computer instructions are executed on an electronic device, the electronic device causes the electronic device to implement the self-elevating platform motor steering control method described in the above embodiments. Its specific functions and corresponding technical effects can be found in the above embodiments. Figures 1-9 The self-elevating platform motor steering control method explained herein will not be elaborated upon here.

[0142] Various embodiments of the mechanisms disclosed in this application can be implemented in hardware, software, firmware, or combinations of these implementation methods. Embodiments of this application can be implemented as computer programs or program code executable on a programmable system, the programmable system including at least one processor, a storage system (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device.

[0143] Program code can be applied to input instructions to execute the functions described in this application and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of this application, the processing system includes any system having a processor such as, for example, a digital signal processor (DSP), a microcontroller, an application-specific integrated circuit (ASIC), or a microprocessor.

[0144] The program code can be implemented using a high-level procedural language or an object-oriented programming language to communicate with the processing system. Assembly language or machine language can also be used when needed. In fact, the mechanisms described in this application are not limited to any particular programming language. In either case, the language can be a compiled language or an interpreted language.

[0145] In some cases, the disclosed embodiments may be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments may also be implemented as instructions carried or stored thereon on one or more temporary or non-temporary machine-readable (e.g., computer-readable) storage media, which may be read and executed by one or more processors. For example, the instructions may be distributed via a network or through other computer-readable media. Therefore, machine-readable media may include any mechanism for storing or transmitting information in a machine-readable (e.g., computer-readable) form, including but not limited to floppy disks, optical disks, CD-ROMs, compact disc read-only memory (CD-ROMs), magneto-optical disks, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic cards or optical cards, flash memory, or tangible machine-readable storage for transmitting information (e.g., carrier waves, infrared signals, digital signals, etc.) using the Internet in the form of electrical, optical, acoustic, or other forms of propagated signals. Therefore, machine-readable media include any type of machine-readable medium suitable for storing or transmitting electronic instructions or information in a machine-readable (e.g., computer-readable) form.

[0146] In the accompanying drawings, some structural or methodological features may be shown in a specific arrangement and / or order. However, it should be understood that such a specific arrangement and / or order may not be necessary. Rather, in some embodiments, these features may be arranged in a manner and / or order different from that shown in the accompanying drawings. Furthermore, including structural or methodological features in a particular figure does not imply that such features are required in all embodiments, and in some embodiments, these features may be omitted or may be combined with other features.

[0147] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, specific embodiments have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that shown in the embodiments and still achieve the desired result. Additionally, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0148] It should be noted that all units / modules mentioned in the device embodiments of this application are logical units / modules. Physically, a logical unit / module can be a physical unit / module, a part of a physical unit / module, or a combination of multiple physical units / modules. The physical implementation of these logical units / modules themselves is not the most important factor; the combination of functions implemented by these logical units / modules is the key to solving the technical problems proposed in this application. Furthermore, to highlight the innovative aspects of this application, the above-described device embodiments of this application have not introduced units / modules that are not closely related to solving the technical problems proposed in this application. This does not mean that the above-described device embodiments do not contain other units / modules.

[0149] It should be noted that in the examples and description of this application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0150] Although this application has been illustrated and described with reference to certain preferred embodiments thereof, those skilled in the art should understand that various changes in form and detail may be made thereto without departing from the spirit and scope of this application.

Claims

1. A method for controlling the steering of a self-elevating platform motor, characterized in that, This invention relates to a self-elevating platform motor steering control system, which includes a control device, a first power supply unit, a second power supply unit, a first motor, and a second motor. The three-phase output terminal of the first power supply unit is connected to the three-phase input terminal of the first motor according to a unified wiring relationship, and the three-phase output terminal of the second power supply unit is connected to the three-phase input terminal of the second motor according to the unified wiring relationship. The method includes: The control device acquires lifting control commands, which include lifting direction information and lifting speed information of the support leg; The first power supply unit outputs a first voltage parameter based on the lifting control command; The first motor outputs a first direction of rotation based on the first voltage parameter; The second power supply unit outputs a second voltage parameter based on the lifting control command, wherein the two-phase voltages in the first voltage parameter are out of phase with the corresponding two-phase voltages in the second voltage parameter; The second motor outputs a second direction of rotation based on the second voltage parameter, and the second direction of rotation is opposite to the first direction of rotation.

2. The self-elevating platform motor steering control method according to claim 1, characterized in that, Both the first power supply unit and the second power supply unit include an inverter. The first voltage parameter includes the voltage amplitude, voltage frequency and voltage phase output by the three-phase output terminals of the first power supply unit, respectively. The second voltage parameter includes the voltage amplitude, voltage frequency and voltage phase output by the three-phase output terminals of the second power supply unit, respectively.

3. The self-elevating platform motor steering control method according to claim 1 or 2, characterized in that, The first power supply unit outputs a first voltage parameter based on the lifting control command, including: The first program of the first power supply unit outputs a first control signal based on the lifting control command, so that the first power supply unit outputs the first voltage parameter based on the first control signal; The second power supply unit outputs a second voltage parameter based on the lifting control command, including: The second program of the second power supply unit outputs a second control signal based on the lifting control command, so that the second power supply unit outputs the second voltage parameter based on the second control signal.

4. The self-elevating platform motor steering control method according to claim 3, characterized in that, Also includes: The control device verifies the first program based on a reference program to ensure that the first control signal generated by the first program is correct. The control device verifies the second program based on the reference program to ensure that the second control signal generated by the second program is correct.

5. The self-elevating platform motor steering control method according to claim 4, characterized in that, The reference program is a first correct program, which is the correct program that the first power supply unit should use. The control device verifies the first program based on the reference program and verifies the second program based on the reference program, including: The control device acquires the number of the first power supply unit or the second power supply unit, the number including a field for distinguishing the first power supply unit and the second power supply unit; The control device acquires a first program corresponding to the first power supply unit or a second program corresponding to the second power supply unit; The control device determines whether the power supply unit corresponding to the number is the first power supply unit; The control device confirms that the power supply unit corresponding to the number is the first power supply unit, and confirms that the first program is different from the reference program, and outputs an abnormal notification. The control device confirms that the power supply unit corresponding to the number is the second power supply unit, and confirms that the second program is the same as the reference program, and outputs an abnormal notification.

6. The self-elevating platform motor steering control method according to claim 5, characterized in that, Also includes: When the control device confirms that the first program is different from the reference program, and / or confirms that the second program is the same as the reference program, it controls the support leg to stop rising and falling.

7. A self-elevating platform motor steering control system, characterized in that, include: The support leg has a rack radially arranged on it, and multiple first gears and multiple second gears that mesh with the rack are respectively provided on both sides of the support leg; Multiple first motors, each first motor driving at least one corresponding first gear; Multiple second motors, each second motor driving at least one corresponding second gear; The first power supply unit includes a three-phase output terminal, and the three-phase output terminal of the first power supply unit is connected to the three-phase input terminal of the corresponding first motor according to a unified wiring relationship. The second power supply unit includes the three-phase output terminal, and the three-phase output terminal of the second power supply unit is connected to the three-phase input terminal of the corresponding second motor according to the unified wiring relationship. A control device is used to acquire lifting control commands, the lifting control commands including lifting direction information and lifting speed information of the support leg, and to transmit the lifting control commands to the first power supply unit to make the first power supply unit output a first voltage parameter, and to transmit them to the second power supply unit to make the second power supply unit output a second voltage parameter. The two phase voltages in the first voltage parameter and the corresponding two phase voltages in the second voltage parameter are out of phase, so as to keep the first motor and the second motor in opposite directions under the unified wiring relationship.

8. An electronic device, characterized in that, The electronic device includes a processor and a memory, the memory storing at least one instruction or at least one program segment, the at least one instruction or the at least one program segment being loaded and executed by the processor to implement the self-elevating platform motor steering control method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one instruction or at least one program, which is loaded and executed by a processor to implement the self-elevating platform motor steering control method as described in any one of claims 1 to 6.

10. A computer program product, characterized in that, include: Computer instructions, when executed on an electronic device, cause the electronic device to perform the self-elevating platform motor steering control method as described in any one of claims 1 to 6.

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