A method and system for balance adjustment and control of a multi-power unit attached lifting platform

Abstract

This invention relates to the field of automation control technology and discloses a balance adjustment and control method and system for a multi-power unit attached lifting platform. The method uses tilt sensors to acquire real-time angle data between the guide frame and the platform truss beams. Upon startup, it performs a single-unit leveling operation to ensure that the height difference between each power unit is within a preset range before synchronous lifting. During synchronization, an adaptive control algorithm is used to dynamically adjust the motor speed based on parameters such as motor losses, load distribution, and lifting speed to maintain platform balance. The system incorporates multiple safety protections, such as angle tolerance monitoring, audible and visual alarms, and emergency stop, enhancing the platform's operational safety and stability.

Description

Technical Field

[0001] This invention relates to the field of automation control technology, specifically to a method and system for balancing and adjusting a multi-power unit attached lifting platform. Background Technology

[0002] In traditional lifting platform technology, when multiple power units are used for driving, the differences in motor performance between the power units, uneven load distribution, and mechanical losses can easily lead to asynchronous phenomena during the lifting process, which can cause the platform to tilt or even cause safety accidents.

[0003] Existing technologies mostly rely on fixed parameter control or simple proportional adjustment, which are difficult to adapt to complex and ever-changing working conditions. In particular, for multi-power unit attached lifting platforms, the synchronization accuracy and platform stability are difficult to guarantee when the motor performance degrades under heavy load, high speed or long-term operation.

[0004] Therefore, it is particularly important to develop a regulation and control method and system that can sense the platform status in real time, dynamically adjust the output of each power unit, and ensure the platform's synchronous lifting and good balance. Summary of the Invention

[0005] To address the aforementioned technical shortcomings, the purpose of this invention is to provide a balance adjustment and control method and system for a multi-power unit attached lifting platform, thereby solving the problems of poor synchronization and difficulty in balance adjustment of existing multi-power unit attached lifting platforms.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: In a first aspect, the present invention provides a balance adjustment and control method for a multi-power unit attached lifting platform, the method comprising: The angle data between the guide frame and the platform truss beam corresponding to each power unit is obtained in real time by tilt sensors. When the lifting platform is started, a single-unit leveling operation is performed according to the current position of each power unit; During the ascent, the lowest-positioned power unit is first controlled to rise independently until the height difference between its position and the second-lowest-positioned power unit is less than the preset position tolerance threshold. Then, the two power units are controlled to rise synchronously until the height difference between all power units is less than the position tolerance threshold. During the descent, the highest-positioned power unit is first controlled to descend alone until the height difference between its position and the second-highest-positioned power unit is less than the position tolerance threshold. Then, the two power units are controlled to descend synchronously until the height difference between all power units is less than the position tolerance threshold. When the height difference between all power units is less than the position tolerance threshold, all power units are controlled to lift and lower synchronously. Based on the real-time motor loss parameters, load distribution data, current lifting speed, motor speed and angle data, an adaptive control algorithm is used to dynamically adjust the motor speed of each power unit. Throughout the lifting process, angle data is continuously monitored. If any angle data is detected to exceed the preset angle range, the operation of all power units will be automatically stopped.

[0007] Preferably, in one possible implementation of the first aspect, the platform truss beam between the power units and the power units are hinged, and tilt sensors are installed at the hinge points to measure the relative tilt angle between the guide frame and the platform truss beam in real time. The angle data is transmitted to the control unit in the form of digital signals, and the control unit calculates the overall balance state of the platform based on the angle data.

[0008] Preferably, in one possible implementation of the first aspect, during the single-machine leveling operation, the current position is obtained in real time by the vertical height data of the position encoder integrated on each power unit; During the ascent, the control unit first identifies the lowest-positioned power unit, controls its motor to start independently and ascends at a preset speed, and calculates the height difference between it and the second-lowest-positioned power unit. When the height difference drops to within the position tolerance threshold, the control unit controls the two power units to ascend synchronously and continues to monitor the position of the third power unit until the height difference of all power units is less than the position tolerance threshold. During the descent, the control unit first identifies the highest-positioned power unit, controls its motor to start independently and descend at a preset speed, and calculates the height difference between it and the second-highest-positioned power unit. When the height difference falls within the position tolerance threshold, the control unit controls the two power units to descend synchronously and continues to monitor the position of the third power unit until the height difference of all power units is less than the position tolerance threshold.

[0009] Preferably, in one possible implementation of the first aspect, the adaptive control algorithm is an adaptive PID control algorithm; The control unit calculates the speed correction amount for each motor based on real-time motor loss parameters, load distribution data, current lifting speed, motor speed and angle data, and adjusts the motor output through the frequency converter to keep the platform lifting synchronously and with minimal tilt angle.

[0010] Preferably, in one possible implementation of the first aspect, the motor loss parameter is an efficiency attenuation coefficient calculated by real-time monitoring of the operating current, winding temperature and cumulative working time of each motor, combined with the rated parameters of the motor. The control unit compensates for the motor speed command based on the efficiency attenuation coefficient to offset the impact of losses on synchronization accuracy.

[0011] Preferably, in one possible implementation of the first aspect, the load distribution data is collected in real time by multiple load sensors distributed on the platform truss beam; Each load sensor independently monitors the load value at its corresponding point. The data is then aggregated to form a load distribution map. The control unit analyzes the uniformity of the platform load based on the load distribution map and dynamically adjusts the motor speed.

[0012] Preferably, in one possible implementation of the first aspect, the preset angle range is based on the maximum permissible tilt angle set according to safety regulations; When any angle data exceeds this range, the control unit cuts off the power to all power units and triggers an independent audible and visual alarm device. Each power unit has its own independently configured alarm circuit.

[0013] Preferably, in one possible implementation of the first aspect, the method further includes performing a platform stability self-check before controlling all power units to perform synchronous lifting; The self-test process includes verifying the validity of all sensor data, checking the motor communication status, and verifying that the load distribution is within a safe range. Synchronous lifting can only be started after the self-test passes.

[0014] Secondly, the present invention provides a balance adjustment and control system for a multi-power unit attached lifting platform, the system being used to implement a balance adjustment and control method for a multi-power unit attached lifting platform as described in the first aspect, comprising: Multiple power units, each power unit including a motor, a position encoder and a tilt sensor; Multiple platform truss beams are used, with the platform truss beams on both sides fixedly connected to the power unit, and the platform truss beams between the power units are connected to the power unit by hinges. A distributed load sensor network is distributed across the platform truss beams; The control unit integrates a processor, a memory, and a communication module. The memory stores a control program that executes to implement the method. Alarm module: Each power unit is equipped with an audible and visual alarm.

[0015] The beneficial effects of this invention are as follows: This invention achieves balanced adjustment of a multi-power unit attached lifting platform by integrating tilt sensors, position encoders and a distributed load sensor network, combined with an adaptive PID control algorithm.

[0016] This method can sense the platform tilt angle, the position of each power unit and the load distribution in real time, and dynamically adjust the motor speed, effectively solving the problems of poor synchronization and adjustment lag in traditional methods.

[0017] Meanwhile, the system's built-in multiple security protection mechanisms, such as angle tolerance monitoring, audible and visual alarms, and emergency shutdown functions, greatly enhance the platform's operational security.

[0018] This invention not only improves the working efficiency and stability of the lifting platform, but also reduces maintenance costs and safety risks. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This application provides a flowchart of a balance adjustment and control method for a multi-power unit attached lifting platform.

[0021] Figure 2 This application provides a structural diagram of a multi-power unit attached lifting platform.

[0022] Figure 3 This application provides a hinged structure diagram of a multi-power unit attached lifting platform.

[0023] Reference numerals: 1-Power unit, 2-Guide frame, 3-Platform truss beam, 4-Control unit, 5-Tilt sensor. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] Example 1: As Figure 1 As shown, this invention provides a balance adjustment and control method for a multi-power unit attached lifting platform. This embodiment uses a lifting platform with three independent power units as an example for illustration. The lifting platform with three independent power units 1 is as follows: Figure 2As shown. Each power unit 1 corresponds to a guide frame 2, namely the left guide frame, the middle guide frame, and the right guide frame. There are a total of four platform truss beams 3. The platform truss beams 3 on both sides are fixedly connected to the power unit 1, while the platform truss beams 3 between power units 1 are connected to the power unit 1 by hinges, as shown at the hinge points. Figure 3 As shown.

[0026] Inclination sensors 5 are installed at each hinge point, measuring the relative tilt angle between the guide frame 2 and the platform truss beam 3 in real time. The angle data is transmitted to the central control unit 4 as a digital signal. The control unit 4 integrates a multi-core processor and memory, enabling parallel processing of data from multiple sensors and dynamic calculation of the platform's overall balance based on the angle data. The control unit 4 incorporates a digital filtering algorithm, including sliding window averaging filtering, to eliminate the influence of random noise on the angle data and ensure the stability of the calculation results.

[0027] During the startup phase of the lifting platform, a single-unit leveling operation is first performed, based on the current position of each power unit 1 and the angle data fed back by the tilt sensor 5. The current position is acquired in real time by the position encoder integrated on each power unit 1. The position encoder uses absolute encoding technology to measure the vertical height data of the power unit 1 relative to the guide frame 2. The encoder data is uploaded to the control unit 4 in real time via the bus. The control unit 4 uses differential algorithms and timestamp compensation technology to calculate the height difference, eliminating errors caused by communication delays.

[0028] During the ascent, control unit 4 first identifies the lowest-positioned power unit, such as the left power unit. Control unit 4 sends a separate start command to the motor of this power unit, and the motor ascends at a preset safe speed. This preset speed is dynamically adjusted based on platform load and operating conditions; in this embodiment, it is set at 0.2 m / s. Simultaneously, control unit 4 continuously calculates the height difference between the next lowest-positioned power units, such as the height difference between the middle and left power units, updating the height difference data every millisecond. When the height difference falls within a preset position tolerance threshold (set based on platform structural strength and safety factor), control unit 4 switches control mode to simultaneously control the left and middle power units to ascend synchronously. During synchronous ascent, control unit 4 continues to monitor the position data of the third power unit (right power unit), using the same logic until the height difference between all three power units is less than the position tolerance threshold. After the single-unit leveling operation is completed, the platform reaches its initial equilibrium state.

[0029] The single-unit leveling operation during the descent process employs the reverse logic. Control unit 4 first identifies the highest-positioned power unit, such as the right power unit. Control unit 4 independently controls the motor of this power unit to descend at a preset speed, consistent with the ascent process. Simultaneously, it calculates the height difference between this power unit and the second-highest-positioned power unit, such as the middle power unit, using the same algorithm and tolerance threshold. When the height difference decreases to within the position tolerance threshold range, control unit 4 synchronously controls both power units to descend, continuously monitoring the position of the left power unit. This descent and leveling is completed when the height differences of all three power units 1 meet the tolerance requirements. Throughout the single-unit leveling process, tilt sensor 5 continuously monitors the platform's tilt status. If abnormal angle data is detected, control unit 4 interrupts the leveling operation and triggers an alarm.

[0030] After completing the individual unit leveling, the system enters the synchronous overall lifting phase. Control unit 4 simultaneously sends lifting commands to all power units 1 and dynamically adjusts the speed of each motor using an adaptive PID control algorithm. The adaptive PID algorithm is based on real-time feedback of multiple parameters, including motor loss parameters, load distribution data, current lifting speed, motor speed, and tilt sensor data.

[0031] Motor loss parameters are calculated by real-time monitoring of the operating current, winding temperature, and cumulative working time of each motor. Control unit 4 has a built-in motor efficiency model, which calculates the efficiency attenuation coefficient based on rated parameters such as rated current and temperature limits. This efficiency attenuation coefficient compensates for speed commands, offsetting the decrease in synchronization accuracy caused by motor aging or overheating. Load distribution data is acquired through a distributed load sensor network consisting of multiple load sensors evenly distributed at key locations on the platform truss beam 3. Each load sensor independently monitors the load value at its corresponding point. Load data is collected every 100ms and aggregated to form a load distribution map. Control unit 4 analyzes the platform's load uniformity based on finite element theory and dynamically adjusts the motor speed output. The current lifting speed and motor speed are obtained through encoder and frequency converter feedback. Control unit 4 calculates the speed correction amount and adjusts the motor output torque via the frequency converter to ensure the platform maintains synchronous lifting and lowering with minimal tilt angle.

[0032] The adaptive PID control algorithm dynamically adjusts the control parameters of the proportional, integral, and derivative stages by continuously monitoring motor loss parameters, load distribution data, operating speed, and tilt angle information. The proportional stage adjusts its sensitivity based on real-time load distribution and motor efficiency attenuation coefficient to ensure the system's response to weight changes and mechanical losses; the integral stage performs cumulative compensation for speed deviations during different lifting and lowering stages to eliminate static errors; and the derivative stage predicts tilt angle changes to suppress platform sway in advance.

[0033] The control algorithm employs a strategy combining fuzzy logic and model reference adaptation, enabling PID parameters to automatically optimize as operating conditions change. When uneven load or differences in motor performance are detected, the algorithm prioritizes strengthening the integral action to maintain synchronization accuracy; during acceleration and deceleration phases, it enhances derivative control to improve stability.

[0034] During synchronous lifting and lowering, the safety monitoring system operates continuously. The tilt sensor 5 provides real-time angle data, and the control unit 4 sets an angle tolerance threshold; in this embodiment, the maximum allowable angle tolerance is 3°. If any tilt sensor data exceeds the preset range, the control unit 4 cuts off the power to all power units 1 and triggers an independent audible and visual alarm. The alarm circuit of each power unit 1 employs a redundant design, including a backup power supply and self-test function, ensuring normal operation even in the event of a main power failure. Alarm signals are multi-level, such as warning and emergency stop, corresponding to different audible and visual modes.

[0035] In addition, the system performs a platform stability self-check before synchronous lifting. The self-check process includes verifying the validity of all sensor data, checking the motor communication status, and verifying that the load distribution is within a safe range. If the self-check passes, the system allows the synchronous lifting operation to start; otherwise, the equipment is locked and a fault code is displayed.

[0036] In specific operation, the ascent process during the single-unit leveling phase is as follows: After initialization, control unit 4 scans all position encoder data and sorts the positions of power unit 1. Assuming the left power unit is at the lowest position, control unit 4 sends a command to start the left motor independently. During the acceleration phase, an S-curve acceleration curve is used to avoid impact, and the speed remains constant during the uniform ascent phase. Control unit 4 compares the height difference between the left and middle power units in real time. When the difference is positive and greater than the tolerance threshold, it continues to ascend independently; when the difference falls within the threshold, control unit 4 smoothly transitions to synchronization mode, using PID control to match the speeds of the two units. Similarly, during the descent process, the highest unit is processed first, and the descent speed is also controlled to avoid the risk of free fall. Throughout the leveling process, tilt sensor data is used as an auxiliary verification; if the angle change exceeds the limit, the leveling is terminated early.

[0037] In this embodiment, the safety mechanism also integrates overload protection, short-circuit protection, and overtravel protection. If the load sensor data indicates an overload, the control unit 4 automatically reduces speed or stops the machine. Each power unit 1 has an independent alarm circuit, isolated by relays to prevent fault propagation. The self-test function runs at each startup, including sensor zero-point calibration, communication baud rate testing, and load threshold verification.

[0038] Example 2: This invention provides a balance adjustment and control system for a multi-power unit attached lifting platform. This system is used to implement the balance adjustment and control method for a multi-power unit attached lifting platform in Example 1. It is a complete mechatronic system integrating mechanical structure, sensing and detection, intelligent control and safety protection.

[0039] The system consists of multiple independently controlled power units 1 forming the actuator. Each power unit 1 includes a drive motor, a position encoder, and an angle sensor 5 installed at the hinge point. The main structure of the platform is composed of platform truss beams 3, with the truss beams on both sides being fixedly connected to the power units, and the truss beams located between the power units 1 being connected to the power units 1 via hinges. A distributed load sensor network is arranged on the platform truss beams 3 to collect load distribution data of the platform in real time.

[0040] The system's control unit 4 integrates a high-performance processor, memory, and multiple communication modules. Control unit 4 maintains real-time data interaction with all power units 1 and the sensor network via an industrial network. The control program stored in its memory is responsible for executing all algorithmic logic, including single-unit leveling, synchronous lifting adaptive control, and safety monitoring. Before the lifting platform is started, control unit 4 performs a platform stability self-check, verifying the validity of all sensor data, checking the communication status with each power unit 1, and verifying that the load distribution is within a safe range. Lifting operation is only permitted after the self-check passes.

[0041] During the lifting process, the control unit 4 continuously receives multi-source data from the position encoder, tilt sensor 5, load sensor, and motor operating parameters (such as current and temperature). Based on this real-time information, the control unit 4 uses an adaptive control algorithm to dynamically calculate and issue speed adjustment commands, and precisely controls the output of the motor of each power unit 1 through the frequency converter to maintain the synchronous lifting and overall balance of the platform.

[0042] The safety protection system incorporates multiple safety safeguards, including preset angle tolerance ranges according to safety regulations. Throughout the lifting process, the control unit 4 continuously monitors the data from all tilt sensors 5. If any angle data exceeds the safe range, the power supply to all power units 1 is cut off, and operation automatically stops. Simultaneously, the system triggers independent audible and visual alarm devices, and each power unit is equipped with an independent alarm circuit.

[0043] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for balancing and adjusting a multi-power unit attached lifting platform, characterized in that, The method includes: The angle data between the guide frame and the platform truss beam corresponding to each power unit is obtained in real time by tilt sensors; The platform truss beam between the power units is hinged to the power units, and tilt sensors are installed at the hinge points to measure the relative tilt angle between the guide frame and the platform truss beam in real time. The angle data is transmitted to the control unit in the form of a digital signal, and the control unit calculates the overall balance state of the platform based on the angle data. When the lifting platform is started, a single-unit leveling operation is performed according to the current position of each power unit; During the ascent, the lowest-positioned power unit is first controlled to rise independently until the height difference between its position and the second-lowest-positioned power unit is less than the preset position tolerance threshold. Then, the two power units are controlled to rise synchronously until the height difference between all power units is less than the position tolerance threshold. The lifting platform has three independent power units. Specifically, during the lifting process, the control unit 4 first identifies the power unit with the lowest position. When it is the left power unit, the control unit 4 sends a separate start command to the motor of the left power unit. The motor rises at a preset safe speed. At the same time, the control unit 4 continuously calculates the height difference between the second lowest power unit. When it is the height difference between the middle power unit and the left power unit, the height difference data is updated every millisecond. When the height difference drops to within the preset position tolerance threshold, the control unit 4 switches the control mode to simultaneously control the left and middle power units to rise synchronously. During the synchronous rise, the control unit 4 continues to monitor the position data of the third power unit, which is the right power unit. The same logic is used until the height difference between the three independent power units is less than the position tolerance threshold. During the descent, the highest-positioned power unit is first controlled to descend alone until the height difference between its position and the second-highest-positioned power unit is less than the position tolerance threshold. Then, the two power units are controlled to descend synchronously until the height difference between all power units is less than the position tolerance threshold. When the height difference between all power units is less than the position tolerance threshold, all power units are controlled to lift and lower synchronously. Based on the real-time motor loss parameters, load distribution data, current lifting speed, motor speed and angle data, an adaptive control algorithm is used to dynamically adjust the motor speed of each power unit. The adaptive control algorithm is an adaptive PID control algorithm; The control unit calculates the speed correction amount for each motor based on real-time motor loss parameters, load distribution data, current lifting speed, motor speed and angle data, and adjusts the motor output through the frequency converter to keep the platform lifting synchronously and with the smallest tilt angle. The motor loss parameters are calculated by real-time monitoring of the operating current, winding temperature and cumulative working time of each motor, combined with the rated parameters of the motor, which is the efficiency attenuation coefficient. By continuously monitoring motor loss parameters, load distribution data, current lifting speed, motor speed and angle data, the control parameters of the adaptive PID control algorithm are dynamically adjusted. The control unit compensates for the motor speed command based on the efficiency attenuation coefficient to offset the impact of losses on synchronization accuracy. The load distribution data is collected in real time by multiple load sensors distributed on the platform truss beams. Each load sensor independently monitors the load value at its corresponding point. The data is then aggregated to form a load distribution map. The control unit analyzes the uniformity of the platform load based on the load distribution map and dynamically adjusts the motor speed accordingly. Throughout the lifting process, angle data is continuously monitored. If any angle data is detected to exceed the preset angle range, the operation of all power units will be automatically stopped. The preset angle range is based on the maximum permissible tilt angle set according to safety regulations; When any angle data exceeds this range, the control unit cuts off the power to all power units and triggers an independent audible and visual alarm device. Each power unit has its own independently configured alarm circuit.

2. The method for balancing and adjusting a multi-power unit attached lifting platform as described in claim 1, characterized in that, In the single-machine leveling operation, the current position is obtained in real time by the vertical height data of the position encoder integrated on each power unit; During the ascent, the control unit first identifies the lowest-positioned power unit, controls its motor to start independently and ascends at a preset speed, and calculates the height difference between it and the second-lowest-positioned power unit. When the height difference drops to within the position tolerance threshold, the control unit controls the two power units to ascend synchronously and continues to monitor the position of the third power unit until the height difference of all power units is less than the position tolerance threshold. During the descent, the control unit first identifies the highest-positioned power unit, controls its motor to start independently and descend at a preset speed, and calculates the height difference between it and the second-highest-positioned power unit. When the height difference falls within the position tolerance threshold, the control unit controls the two power units to descend synchronously and continues to monitor the position of the third power unit until the height difference of all power units is less than the position tolerance threshold.

3. The method for balancing and adjusting a multi-power unit attached lifting platform as described in claim 1, characterized in that, The method also includes performing a platform stability self-check before controlling all power units to lift synchronously; The self-test process includes verifying the validity of all sensor data, checking the motor communication status, and verifying that the load distribution is within a safe range. Synchronous lifting can only be started after the self-test passes.

4. A balance adjustment and control system for a multi-power unit attached lifting platform, characterized in that, The system is used to implement the balance adjustment and control method for a multi-power unit attached lifting platform as described in any one of claims 1 to 3, including: Multiple power units, each power unit including a motor, a position encoder and a tilt sensor; Multiple platform truss beams are used, with the platform truss beams on both sides fixedly connected to the power unit, and the platform truss beams between the power units are connected to the power unit by hinges. A distributed load sensor network is distributed across the platform truss beams; The control unit integrates a processor, a memory, and a communication module. The memory stores a control program that executes to implement the method. Alarm module: Each power unit is equipped with an audible and visual alarm.

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