A liquid automatic balance control system for a pole dolly

Abstract

The application discloses a liquid automatic balance control system for a holding pole and relates to the field of holding pole balance control. The system comprises a first flow rate calculation module, a maximum load identification module, a time marking module, a second flow rate calculation module and a balance control module. The first flow rate calculation module is used for calculating a first counterweight flow rate. The maximum load identification module is used for identifying a maximum load. The time marking module is used for defining a starting time stamp of a lifting stage. The second flow rate calculation module is used for calculating a second counterweight flow rate. The balance control module is used for balancing an A-side rocker arm load and a B-side counterweight load. The lifting stop module is used for repeatedly balancing the A-side rocker arm load and the B-side rocker arm load at a next sampling time stamp until the A-side cross arm is lifted to a target position and the lifting is stopped. The liquid automatic balance control system is closely connected through two-stage balance control, ensures that the counterweight adjustment is completed before the next sampling time stamp arrives, significantly reduces the adjustment lag, prevents imbalance accumulation and thus guarantees stable operation of the holding pole from the initial hoisting to the lifting in place.

Description

Technical Field

[0001] This invention relates to a pole balancing control system, specifically a liquid automatic balancing control system for poles. Background Technology

[0002] In the erection of transmission line towers, double-arm gantry cranes achieve stable lifting of the crossarm through the coordinated action of the two arms. In single-sided lifting, one arm (A-side) suspends and lifts the crossarm, while the other arm (B-side) is equipped with a counterweight system to balance the overturning effect of the load on side A. Traditional solutions often use fixed-mass solid counterweights (such as concrete blocks or steel ingots), whose weight cannot be adjusted once set. However, the load on side A exhibits significant dynamic characteristics during actual lifting: in the lift-off phase, the crossarm gradually detaches from ground support, and the load on the hook on side A continuously changes due to ground reaction forces and friction; after entering the lifting phase, the arm on side A rotates upwards around the gantry's pivot axis, and its effect on the pivot axis changes from simple weight to a torque related to the tilt angle, evolving continuously with the angle.

[0003] A hook balancing system for a double-arm electric boom, patent publication number CN119038386A, enables balance control of the boom. However, a fixed counterweight cannot adapt to the shift from weight-dominated to torque-dominated operation, easily leading to initial boom swaying or imbalance during lifting. Furthermore, existing technologies have introduced dynamic balance adjustment based on counterweight fluid, but current liquid systems generally lack phased monitoring of the lifting process. They cannot accurately identify the critical switching moment when the crossarm is completely off the ground, nor do they establish differentiated balance control for imbalances at different stages. This further causes adjustment actions to lag behind changes in load or torque, resulting in accumulated imbalance and affecting lifting stability. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a liquid automatic balancing control system for pole erection, which solves the technical problems mentioned in the background art by constructing a phased identification and control system for the lift-off stage and the lifting stage.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A liquid automatic balancing control system for a boom, the system comprising the following execution module:

[0007] The first flow rate calculation module is used to calculate the first flow rate of the counterweight liquid between each sampling time stamp during the lift-off phase.

[0008] The maximum load identification module is used to balance the load of the hook on side A and the load of the counterweight on side B on a time-stamp basis based on the first counterweight flow rate, and to identify the maximum load of the hook on side A.

[0009] The time stamp module is used to mark the time when the hook on side A reaches its maximum load, and is defined as the start time stamp of the lifting phase;

[0010] The second flow rate calculation module is used to calculate the second counterweight flow rate of the counterweight liquid between each sampling time stamp during the lifting phase.

[0011] The balance control module is used to inject counterweight liquid into the water tank of the rocker arm on side B based on the second counterweight flow rate, so as to balance the load of the rocker arm on side A and the counterweight load on side B before the next sampling timestamp.

[0012] The lifting stop module is used to balance the load of the rocker arm on side A and the load of the rocker arm on side B on a time-stamp basis until the crossarm on side A is lifted to the target position and then the lifting stops.

[0013] In some specific embodiments, the first flow rate calculation module is specifically used for:

[0014] S1-1. Based on the predefined first sampling step size, determine the instantaneous load difference of each sampling timestamp in the off-ground phase in sequence;

[0015] S1-2. Based on the instantaneous load difference of each sampling time stamp, calculate the first counterweight flow rate of the counterweight liquid between the corresponding sampling time stamps.

[0016] In some specific embodiments, determining the instantaneous load difference at each sampling timestamp during the off-ground phase includes:

[0017] S1-1-1: Obtain the lifting command and drive the A-side hook of the boom to lift the crossbeam;

[0018] S1-1-2, Mark the time stamp of the first time the hook on side A is subjected to force during the lifting of the crossbeam, and define it as the start time stamp of the off-ground stage;

[0019] S1-1-3. Starting from the beginning timestamp of the above-ground stage, collect the A-side hook load and B-side counterweight load at each sampling timestamp with a first sampling step size.

[0020] S1-1-4. Calculate the difference between the hook load on side A and the counterweight load on side B to obtain the instantaneous load difference at each sampling timestamp during the lift-off stage.

[0021] In some specific embodiments, the calculation of the first counterweight flow rate of the counterweight liquid within the corresponding first sampling step includes:

[0022] S1-2-1. Compare the instantaneous load difference with the set load difference threshold;

[0023] S1-2-2. If the absolute value of the instantaneous load difference is greater than the load difference threshold, then mark the instantaneous load difference as the first adjusting counterweight of the rocker arm water tank on side B; otherwise, reset the first adjusting counterweight to zero.

[0024] S1-2-3. Based on the first adjustment counterweight and the first sampling step size, calculate the first counterweight flow rate for injecting an equal weight of counterweight liquid into the water tank of the rocker arm on side B.

[0025] In some specific embodiments, the maximum load identification module is specifically used for:

[0026] S2-1. Anchor the latest sampling timestamp and establish a time window containing N sampling timestamps with the latest sampling timestamp as the endpoint;

[0027] S2-2, Real-time update of the hook load on side A within N sampling timestamps in the time window;

[0028] S2-3. Based on the hook load on side A with N sampling timestamps, calculate the standard deviation of the load change within the time window;

[0029] S2-4. If the standard deviation of the load change is less than the set standard deviation threshold, then it is determined that the load on the hook on side A has reached the maximum load.

[0030] In some specific embodiments, the second flow rate calculation module is specifically used for:

[0031] S4-1. Based on the starting timestamp of the lifting phase, determine the instantaneous torque difference of each sampling timestamp during the lifting phase in sequence;

[0032] S4-2. Based on the instantaneous torque difference of each sampling time stamp, calculate the second counterweight flow rate of the counterweight liquid between the corresponding sampling time stamps.

[0033] In some specific embodiments, determining the instantaneous torque difference at each sampling timestamp during the lifting phase includes:

[0034] S4-1-1. At the start time of the lifting phase, a rocker arm lifting command is issued, driving the rocker arm on side A to rotate upward around the gantry shaft to lift the crossarm.

[0035] S4-1-2. Starting from the beginning timestamp of the lifting phase, collect the tilt angles of the rocker arm on side A and side B corresponding to each sampling timestamp in the lifting phase with a second sampling step size.

[0036] S4-1-3. Based on the tilt angles of the rocker arm on side A and side B corresponding to each sampling timestamp, calculate the torques generated by the rocker arm on side A and side B on the shaft of the mast respectively.

[0037] S4-1-4. Based on the torques generated by the rocker arms on side A and side B on the pivot shaft of the lifting rod, calculate the instantaneous torque difference at each sampling timestamp during the lifting phase.

[0038] In some specific embodiments, the calculation of the second counterweight flow rate of the counterweight liquid between corresponding sampling time stamps includes:

[0039] S4-2-1. Compare the instantaneous torque difference with the set torque difference threshold;

[0040] S4-2-2. If the absolute value of the instantaneous torque difference is greater than the set torque difference threshold, the second adjusting counterweight of the B-side rocker arm water tank is calculated based on the instantaneous torque difference, and the current angular velocity of the A-side rocker arm is obtained; otherwise, the second adjusting counterweight is reset to zero.

[0041] S4-2-3. Based on the second adjusting counterweight of the B-side rocker arm water tank and the current angular velocity of the A-side rocker arm, calculate the second counterweight flow rate that will result in the injection or discharge of an equal weight of counterweight liquid into the B-side rocker arm water tank.

[0042] In some specific embodiments, the calculation of the second adjusting counterweight of the B-side rocker arm water tank based on the instantaneous torque difference includes:

[0043] D1. Obtain the preset effective length of the rocker arm on side B, and the tilt angle of the rocker arm on side B at the current sampling timestamp;

[0044] D2. Determine the inclination cosine of the rocker arm on side B based on the inclination angle at the current sampling timestamp, and calculate the product of the inclination cosine and the effective length to generate the effective lever arm of the rocker arm on side B relative to the shaft of the support rod.

[0045] D3. Divide the instantaneous torque difference by the effective lever arm to obtain the second adjustment weight that needs to be added or subtracted on side B to balance the instantaneous torque difference.

[0046] This invention provides a liquid automatic balancing control system for a boom, which has the following advantages:

[0047] The liquid automatic balancing control system described in this invention calculates the instantaneous load difference between the hook load on side A and the counterweight load on side B during the lift-off phase, and determines the first counterweight flow rate accordingly. This ensures that the counterweight liquid is injected or discharged within the sampling period, effectively suppressing the initial swaying caused by continuous load changes during the lift-off process. By determining whether the standard deviation of the hook load on side A is lower than a threshold, the system identifies the moment when the crossarm is completely lifted off the ground and marks it as the start time stamp of the lifting phase, avoiding switching errors caused by fixed delays. After entering the lifting phase, the system calculates the instantaneous torque difference based on the tilt angles of the rocker arms on sides A and B and their respective loads, and generates a second counterweight flow rate by combining it with the angular velocity of the rocker arm on side A. This allows the adjustment of the counterweight liquid on side B to compensate for torque changes caused by the rotation of the rocker arm. The balancing control of the two phases is closely linked, ensuring that the counterweight adjustment is completed before the next sampling time stamp arrives, significantly reducing adjustment lag, preventing the accumulation of imbalance, and thus ensuring stable operation of the boom from the initial lifting to the final lifting position. Attached Figure Description

[0048] Figure 1 This is a structural block diagram of a liquid automatic balancing control system for a pole-mounted device according to the present invention.

[0049] Figure 2 This is a schematic diagram of the control flow of a liquid automatic balancing control system for a pole erector according to the present invention.

[0050] Figure 3 This is a schematic diagram of the calculation process for the first counterweight flow rate of the present invention;

[0051] Figure 4 This is a schematic diagram of the maximum load identification process described in this invention;

[0052] Figure 5 This is a schematic diagram of the calculation process for the instantaneous torque difference described in this invention. Detailed Implementation

[0053] 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.

[0054] It should be noted that during the construction of double-rocker jib towers in cold, high-altitude mountainous areas, the ambient temperature is often below -20°C. Traditional water-based counterweight systems face the risk of freezing and failure, making liquid balance control impossible. Therefore, this system preferentially uses calcium chloride solution as the counterweight fluid: by preparing an appropriate concentration (e.g., 30%), the freezing point can be lowered to below -48°C, ensuring fluidity even at extreme low temperatures; simultaneously, its density is higher than water (approximately 1.29 g / cm³), providing a larger counterweight mass for the same volume and improving the system's adjustability.

[0055] Example 1: Please refer to Figures 1 to 2 This invention provides a liquid automatic balancing control system for a boom, the system comprising the following execution modules:

[0056] The first flow rate calculation module is used to calculate the first flow rate of the counterweight liquid between each sampling time stamp during the lift-off phase.

[0057] The first counterweight flow rate is used to balance the weight between the hook load on side A and the counterweight load on side B within the first sampling step.

[0058] The maximum load identification module is used to balance the load of the hook on side A and the load of the counterweight on side B on a time-stamp basis based on the first counterweight flow rate, and to identify the maximum load of the hook on side A.

[0059] The time stamp module is used to mark the time when the hook on side A reaches its maximum load, and is defined as the start time stamp of the lifting phase;

[0060] The second flow rate calculation module is used to calculate the second counterweight flow rate of the counterweight liquid between each sampling time stamp during the lifting phase.

[0061] The balance control module is used to inject counterweight liquid into the water tank of the rocker arm on side B based on the second counterweight flow rate, so as to balance the load of the rocker arm on side A and the counterweight load on side B before the next sampling timestamp.

[0062] The lifting stop module is used to balance the load of the rocker arm on side A and the load of the rocker arm on side B on a time-stamp basis until the crossarm on side A is lifted to the target position and then the lifting stops.

[0063] The control system described in this invention achieves automatic balancing throughout the entire boom lifting process by seamlessly connecting the lift-off and lifting phases. During the lift-off phase, the first flow rate calculation module drives the adjustment of the counterweight fluid to maintain weight balance between the hook on side A and the counterweight on side B. When the maximum load identification module determines that the crossarm is completely off the ground, the time stamp module locks the lifting start time, and the system switches to the lifting phase. The second flow rate calculation module and the balance control module then work together to continuously adjust the counterweight fluid on side B to balance the load on both rocker arms. Finally, the lifting stop module terminates its operation when the crossarm reaches the target position. This phased control architecture ensures that the boom remains in a controlled and balanced state throughout the entire process from the initial lifting to the final lifting position, effectively preventing overall instability caused by sudden load changes or phase transitions.

[0064] Example 2: See Figures 3 to 5 The technical solution of this embodiment 2 differs from that of embodiment 1 in that it discloses the specific execution steps of several execution modules in embodiment 1.

[0065] Specifically, in this embodiment, the first flow velocity calculation module is used for:

[0066] S1-1. Based on the predefined first sampling step size, determine the instantaneous load difference of each sampling timestamp in the off-ground phase in sequence;

[0067] S1-2. Based on the instantaneous load difference of each sampling time stamp, calculate the first counterweight flow rate of the counterweight liquid between the corresponding sampling time stamps in sequence;

[0068] The first counterweight flow rate represents the volumetric flow rate of the counterweight liquid injected from the storage tank to the rocker arm tank on side B within each first sampling step. This flow rate is dynamically adjusted according to the instantaneous load difference to ensure that the weight of the counterweight liquid in the rocker arm tank on side B is adjusted accordingly before the next sampling time. After calculating the first counterweight flow rate, counterweight liquid is injected into the rocker arm tank on side B to balance the load of the hook on side A and the counterweight load on side B before the next sampling time stamp.

[0069] It should be noted that the balanced hook load on side A and counterweight load on side B actually refer to the hook load on side A and counterweight load on side B collected at the previous sampling timestamp. When the next sampling timestamp arrives, the hook load on side A changes due to the continuous rise of the crossarm. The system corrects the imbalance at the previous moment by adjusting the counterweight completed in the previous sampling period, thereby ensuring dynamic stability throughout the lifting process.

[0070] In this embodiment, by compensating for the imbalance of the previous moment in each sampling cycle, the system continuously maintains the dynamic balance of the weight on both sides as the crossarm gradually lifts off the ground, effectively suppressing the swaying and tilting of the boom caused by load changes in the early stage of lifting.

[0071] Furthermore, in this embodiment, step S1-1 specifically includes:

[0072] S1-1-1: Obtain the lifting command and drive the A-side hook of the boom to lift the crossbeam;

[0073] S1-1-2, Mark the time stamp of the first time the hook on side A is subjected to force during the lifting of the crossbeam, and define it as the start time stamp of the off-ground stage;

[0074] S1-1-3. Starting from the beginning timestamp of the above-ground stage, collect the A-side hook load and B-side counterweight load at each sampling timestamp with a first sampling step size.

[0075] Among them, the load on hook A represents the weight of the crossarm currently borne by hook A, which is obtained in real time by hook scale; the load on counterweight B represents the current weight of counterweight liquid in the water tank of rocker arm B, which is obtained in real time by liquid level sensor.

[0076] S1-1-4. Calculate the difference between the hook load on side A and the counterweight load on side B to obtain the instantaneous load difference at each sampling timestamp during the lift-off stage.

[0077] In this embodiment, the instantaneous load difference serves as the direct driving force for counterweight adjustment during the lift-off phase. When the load on the hook on side A is greater than the load on the counterweight on side B, the volume of counterweight liquid to be injected into the water tank of the rocker arm on side B is calculated based on this difference; otherwise, discharge is controlled. Since the weight transfer of the crossarm changes continuously during the lift-off process, the instantaneous load difference at each sampling point truly reflects the current imbalance. The first counterweight flow rate generated accordingly ensures that compensation is completed before the start of the next sampling cycle, thereby keeping the weight deviation on both sides of the pole within the allowable range and avoiding pole tilting or lifting vibration due to accumulated imbalance.

[0078] Furthermore, in this embodiment, step S1-2 specifically includes:

[0079] S1-2-1. Compare the instantaneous load difference with the set load difference threshold;

[0080] S1-2-2. If the absolute value of the instantaneous load difference is greater than the load difference threshold, then mark the instantaneous load difference as the first adjusting counterweight of the rocker arm water tank on side B; otherwise, reset the first adjusting counterweight to zero.

[0081] S1-2-3. Based on the first adjustment counterweight and the first sampling step, calculate the first counterweight flow rate for injecting an equal weight of counterweight liquid into the water tank of the rocker arm on side B, so that the balance control of the counterweight liquid with the same mass as the first counterweight to be adjusted is completed within the first sampling step.

[0082] For example, the formula for calculating the flow rate of the first counterweight is:

[0083] ;

[0084] in, Indicates the first counterweight flow rate. This indicates the first adjustment of the counterweight. The density of the counterweight liquid, Indicates the first sampling step size;

[0085] The injection direction is determined by the sign of the first adjusting counterweight. When the first adjusting counterweight is positive, the counterweight liquid is injected into the water tank of the rocker arm on side B; otherwise, the counterweight liquid is discharged from the water tank of the rocker arm on side B.

[0086] In this embodiment, the flow rate of the first counterweight is determined by dividing the first adjusting counterweight by the product of the counterweight liquid density and the first sampling step size, ensuring that the volume of counterweight liquid injected or discharged within the current sampling period is equivalent to the mass to be adjusted; the flow direction is dynamically determined by the positive or negative of the first adjusting counterweight, realizing balanced control of replenishing when there is a shortage and draining when there is a surplus.

[0087] Specifically, in this embodiment, the maximum load identification module is used for:

[0088] S2-1. Anchor the latest sampling timestamp and establish a time window containing N sampling timestamps with the latest sampling timestamp as the endpoint;

[0089] S2-2, Real-time update of the hook load on side A within N sampling timestamps in the time window;

[0090] S2-3. Based on the hook load on side A with N sampling timestamps, calculate the standard deviation of the load change within the time window;

[0091] The standard deviation of the load variation is calculated as follows:

[0092] ;

[0093] in, The standard deviation of load variation This represents the load on the hook on side A at the i-th sampling timestamp within the time window. This represents the average load of N hooks on side A within the time window;

[0094] S2-4. If the standard deviation of the load change is less than the set standard deviation threshold, then it is determined that the load on the hook on side A has reached the maximum load.

[0095] It should be noted that when the standard deviation is less than the standard deviation threshold, it indicates that the fluctuation range of the load on the hook on side A is very small and tends to be stable within the current time window. At this time, the crossarm has completely left the ground support and is no longer subject to the dynamic interference of ground reaction force or friction. The load borne by the hook is the constant gravity of the crossarm. Therefore, it can be determined that the crossarm on side A has completely left the ground and the load on the hook on side A has reached the maximum load.

[0096] In this embodiment, because the load on the hook on side A fluctuates during the lifting process of the crossarm, once the crossarm is completely off the ground, the load will stabilize at the crossarm's own weight, and the fluctuation will be significantly reduced. Therefore, the standard deviation of the load change can quantify the dispersion of the load within a time window, and compared with a single peak or mean, it can more objectively reflect whether the load has entered a stable state. Based on this, the system determines the moment when the standard deviation is lower than the threshold as the moment when the load on the hook on side A reaches its maximum load, and uses this as the switching mark between the end of the lifting stage and the beginning of the lifting stage; this identification result directly triggers the time stamp module to record the lifting start timestamp and starts the second flow rate calculation module to achieve precise connection between the two stages of control.

[0097] Specifically, in this embodiment, the second flow velocity calculation module is used for:

[0098] S4-1. Based on the starting timestamp of the lifting phase, determine the instantaneous torque difference of each sampling timestamp during the lifting phase in sequence;

[0099] S4-2. Based on the instantaneous torque difference of each sampling time stamp, calculate the second counterweight flow rate of the counterweight liquid between the corresponding sampling time stamps.

[0100] In this embodiment, during the lifting phase, the rocker arm on side A rotates around the pivot, and its effect on the pole is determined by torque rather than simply weight. If the counterweight is still adjusted based on the weight difference, it will be unable to compensate for the torque imbalance caused by the change in tilt angle. Therefore, the flow rate of the second counterweight is calculated based on the instantaneous torque difference, so that the reverse torque generated by the counterweight liquid on side B can promptly counteract the disturbance on side A, thereby maintaining torque balance during dynamic lifting and effectively suppressing pole swaying and instability.

[0101] Furthermore, in this embodiment, step S4-1 specifically includes:

[0102] S4-1-1. At the start time of the lifting phase, a rocker arm lifting command is issued, driving the rocker arm on side A to rotate upward around the gantry shaft to lift the crossarm.

[0103] S4-1-2. Starting from the beginning timestamp of the lifting phase, collect the tilt angles of the rocker arm on side A and side B corresponding to each sampling timestamp in the lifting phase with a second sampling step size.

[0104] In this embodiment, the tilt angle of the B-side rocker arm is usually kept horizontal, that is, the tilt angle of the B-side rocker arm is approximately 0°, but a small deviation is allowed due to structural fine-tuning.

[0105] S4-1-3. Based on the tilt angles of the rocker arm on side A and side B corresponding to each sampling timestamp, calculate the torques generated by the rocker arm on side A and side B on the shaft of the mast respectively.

[0106] For example, the torque calculation formula is:

[0107] ;

[0108] in, This represents the torque of a rocker arm on one side at the i-th sampling timestamp. This indicates the effective weight carried by the rocker arm on that side, and L represents the effective standard length of the rocker arm. This indicates the tilt angle of the rocker arm relative to the vertical direction;

[0109] For side A =W max This refers to the maximum load identified during the off-ground phase.

[0110] For side B =W B,i That is, the weight of the counterweight liquid in the B-side rocker arm water tank at the i-th sampling time stamp;

[0111] S4-1-4. Based on the torques generated by the rocker arms on side A and side B on the pivot shaft of the lifting rod, calculate the instantaneous torque difference at each sampling timestamp during the lifting phase.

[0112] In this embodiment, the rotational effect of the rocker arms on side A and side B on the boom shaft during the lifting process is determined by their respective effective weights, rocker arm lengths, and tilt angles. Comparing weights alone cannot reflect the true balance state. The system collects the tilt angles on both sides in real time and combines them with the preset effective rocker arm lengths. It fixes side A at the maximum load and updates side B to the current counterweight liquid weight, calculating the torque on both sides respectively. The instantaneous torque difference obtained thereby accurately represents the net rotational force on the boom at the current moment, providing a basis for the generation of the second counterweight flow rate and ensuring that the counterweight adjustment is always based on torque imbalance compensation.

[0113] Furthermore, in this embodiment, step S4-2 specifically includes:

[0114] S4-2-1. Compare the instantaneous torque difference with the set torque difference threshold;

[0115] S4-2-2. If the absolute value of the instantaneous torque difference is greater than the set torque difference threshold, the second adjusting counterweight of the B-side rocker arm water tank is calculated based on the instantaneous torque difference, and the current angular velocity of the A-side rocker arm is obtained; otherwise, the second adjusting counterweight is reset to zero.

[0116] S4-2-3. Based on the second adjusting counterweight of the B-side rocker arm water tank and the current angular velocity of the A-side rocker arm, calculate the second counterweight flow rate that will result in the injection or discharge of an equal weight of counterweight liquid into the B-side rocker arm water tank.

[0117] For example, the formula for calculating the flow rate of the second counterweight is:

[0118] ;

[0119] in, This indicates the flow rate of the second counterweight. The second adjusting weight is represented by the equivalent mass of the counterweight liquid that needs to be added or removed on side B to balance the current instantaneous torque difference; This represents the angular velocity of the rocker arm on side A at the i-th sampling time difference; This represents the preset dynamic step size coefficient, which takes a value greater than 0 and is used to enhance the response capability to dynamic disturbances during the lifting phase. This indicates the second sampling step size.

[0120] In this embodiment, when the rocker arm lifts at a high speed, the system anticipates that inertial disturbances will exacerbate the imbalance trend, thus requiring an increase in the adjustment intensity of the counterweight fluid; conversely, it appropriately reduces the intensity. By superimposing a compensation term proportional to the angular velocity, the system enables the injection or discharge rate of the counterweight fluid to proactively match the lifting dynamics, mitigating the torque lag response caused by motion acceleration. This maintains the balance of the boom under high-speed or variable-acceleration lifting conditions, avoiding the adjustment lag or overshoot that easily occurs with static compensation.

[0121] Specifically, in this embodiment, the calculation steps for the second adjusting weight include:

[0122] D1. Obtain the preset effective length of the rocker arm on side B, and the tilt angle of the rocker arm on side B at the current sampling timestamp;

[0123] D2. Determine the inclination cosine of the rocker arm on side B based on the inclination angle at the current sampling timestamp, and calculate the product of the inclination cosine and the effective length to generate the effective lever arm of the rocker arm on side B relative to the shaft of the support rod.

[0124] D3. Divide the instantaneous torque difference by the effective lever arm to obtain the second adjustment weight that needs to be added or subtracted on side B to balance the instantaneous torque difference.

[0125] In this embodiment, the second adjustment weight to be added or removed is calculated by dividing the instantaneous torque difference by the effective lever arm of the rocker arm on side B. This is used to determine the weight of the adjustment liquid required to achieve torque offset, and further calculates the corresponding second adjustment weight flow rate.

[0126] In summary, during the lifting phase, this invention calculates the first counterweight flow rate based on the instantaneous load difference at each sampling timestamp, dynamically adjusting the counterweight liquid in the B-side rocker arm water tank to make the load on the A-side hook and the counterweight load on the B-side approximately equal. When the load on the A-side hook stabilizes and the standard deviation is below a threshold, the maximum load is determined, and the system switches to the lifting phase accordingly. During the lifting phase, the instantaneous torque difference is calculated based on the tilt angles of the A-side and B-side rocker arms and their respective loads, and a second counterweight flow rate is generated by combining the angular velocity of the A-side rocker arm. This allows the adjustment of the counterweight liquid on the B-side to compensate for torque imbalance caused by changes in tilt angle and motion state. The two phases are connected by the maximum load identification and time stamping module to ensure that the balance control matches the crossarm state, ultimately completing a stable operation from lifting to the target position.

[0127] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., infrared, wireless, microwave, etc.) means.

[0128] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Furthermore, the mutual couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0129] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A liquid automatic balancing control system for a boom, characterized in that, include: The first flow rate calculation module is used to calculate the first flow rate of the counterweight liquid between each sampling time stamp during the lift-off phase. The maximum load identification module is used to balance the load of the hook on side A and the load of the counterweight on side B on a time-stamp basis based on the first counterweight flow rate, and to identify the maximum load of the hook on side A. The time stamp module is used to mark the time when the hook on side A reaches its maximum load, and is defined as the start time stamp of the lifting phase; The second flow rate calculation module is used to calculate the second counterweight flow rate of the counterweight liquid between each sampling time stamp during the lifting phase. The balance control module is used to inject counterweight liquid into the water tank of the rocker arm on side B based on the second counterweight flow rate, so as to balance the load of the rocker arm on side A and the counterweight load on side B before the next sampling timestamp. The lifting stop module is used to balance the load of the rocker arm on side A and the load of the rocker arm on side B on a time-stamp basis until the crossarm on side A is lifted to the target position and then the lifting stops.

2. The liquid automatic balancing control system for a pole according to claim 1, characterized in that, The first flow velocity calculation module is specifically used for: S1-1. Based on the predefined first sampling step size, determine the instantaneous load difference of each sampling timestamp in the off-ground phase in sequence; S1-2. Based on the instantaneous load difference of each sampling time stamp, calculate the first counterweight flow rate of the counterweight liquid between the corresponding sampling time stamps.

3. A liquid automatic balancing control system for a pole according to claim 2, characterized in that, Determine the instantaneous load difference at each sampling timestamp during the off-ground phase, including: S1-1-1: Obtain the lifting command and drive the A-side hook of the boom to lift the crossbeam; S1-1-2, Mark the time stamp of the first time the hook on side A is subjected to force during the lifting of the crossbeam, and define it as the start time stamp of the off-ground stage; S1-1-3. Starting from the beginning timestamp of the above-ground stage, collect the A-side hook load and B-side counterweight load at each sampling timestamp with a first sampling step size. S1-1-4. Calculate the difference between the hook load on side A and the counterweight load on side B to obtain the instantaneous load difference at each sampling timestamp during the lift-off stage.

4. A liquid automatic balancing control system for a pole according to claim 2, characterized in that, The first counterweight flow rate of the counterweight liquid within the corresponding first sampling step is calculated, including: S1-2-1. Compare the instantaneous load difference with the set load difference threshold; S1-2-2. If the absolute value of the instantaneous load difference is greater than the load difference threshold, then mark the instantaneous load difference as the first adjusting counterweight of the rocker arm water tank on side B; otherwise, reset the first adjusting counterweight to zero. S1-2-3. Based on the first adjustment counterweight and the first sampling step size, calculate the first counterweight flow rate for injecting an equal weight of counterweight liquid into the water tank of the rocker arm on side B.

5. A liquid automatic balancing control system for a pole according to claim 1, characterized in that, The maximum load identification module is specifically used for: S2-1. Anchor the latest sampling timestamp and establish a time window containing N sampling timestamps with the latest sampling timestamp as the endpoint; S2-2, Real-time update of the hook load on side A within N sampling timestamps in the time window; S2-3. Based on the hook load on side A with N sampling timestamps, calculate the standard deviation of the load change within the time window; S2-4. If the standard deviation of the load change is less than the set standard deviation threshold, then it is determined that the load on the hook on side A has reached the maximum load.

6. A liquid automatic balancing control system for a pole according to claim 5, characterized in that, The second flow velocity calculation module is specifically used for: S4-1. Based on the starting timestamp of the lifting phase, determine the instantaneous torque difference of each sampling timestamp during the lifting phase in sequence; S4-2. Based on the instantaneous torque difference of each sampling time stamp, calculate the second counterweight flow rate of the counterweight liquid between the corresponding sampling time stamps.

7. A liquid automatic balancing control system for a pole according to claim 6, characterized in that, Determine the instantaneous torque difference at each sampling timestamp during the lifting phase, including: S4-1-1. At the start time of the lifting phase, a rocker arm lifting command is issued, driving the rocker arm on side A to rotate upward around the gantry shaft to lift the crossarm. S4-1-2. Starting from the beginning timestamp of the lifting phase, collect the tilt angles of the rocker arm on side A and side B corresponding to each sampling timestamp in the lifting phase with a second sampling step size. S4-1-3. Based on the tilt angles of the rocker arm on side A and side B corresponding to each sampling timestamp, calculate the torques generated by the rocker arm on side A and side B on the shaft of the mast respectively. S4-1-4. Based on the torques generated by the rocker arms on side A and side B on the pivot shaft of the lifting rod, calculate the instantaneous torque difference at each sampling timestamp during the lifting phase.

8. A liquid automatic balancing control system for a pole according to claim 6, characterized in that, Calculate the second counterweight flow rate of the counterweight liquid between the corresponding sampling time stamps, including: S4-2-1. Compare the instantaneous torque difference with the set torque difference threshold; S4-2-2. If the absolute value of the instantaneous torque difference is greater than the set torque difference threshold, the second adjusting counterweight of the B-side rocker arm water tank is calculated based on the instantaneous torque difference, and the current angular velocity of the A-side rocker arm is obtained; otherwise, the second adjusting counterweight is reset to zero. S4-2-3. Based on the second adjusting counterweight of the B-side rocker arm water tank and the current angular velocity of the A-side rocker arm, calculate the second counterweight flow rate that will result in the injection or discharge of an equal weight of counterweight liquid into the B-side rocker arm water tank.

9. A liquid automatic balancing control system for a pole according to claim 8, characterized in that, The second adjusting counterweight of the B-side rocker arm water tank is calculated based on the instantaneous torque difference, including: D1. Obtain the preset effective length of the rocker arm on side B, and the tilt angle of the rocker arm on side B at the current sampling timestamp; D2. Determine the inclination cosine of the rocker arm on side B based on the inclination angle at the current sampling timestamp, and calculate the product of the inclination cosine and the effective length to generate the effective lever arm of the rocker arm on side B relative to the shaft of the support rod. D3. Divide the instantaneous torque difference by the effective lever arm to obtain the second adjustment weight that needs to be added or subtracted on side B to balance the instantaneous torque difference.

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