Pneumatic mast lifting control method and device

Abstract

The invention discloses a pneumatic mast lifting control method and device, and relates to the technical field of automation and pneumatic control, and the method comprises the steps: carrying out the initialization processing of a pneumatic mast, monitoring the operation state of a calibration button in real time based on the initialization processing result, and calculating the target air supply pressure; a pressure waveform signal corresponding to the target air supply pressure is collected, and analysis and pneumatic variable capacitance resonance shaping processing are conducted on the pressure waveform signal; according to the pneumatic variable-capacitance resonance shaping processing result and the target gas supply pressure, the gas mass increment is obtained through calculation, and a valve port instruction is obtained in combination with the calibration curve of the valve; and according to the obtained valve port instruction, the pneumatic mast is driven to execute lifting operation, online evaluation is conducted on the real-time operation performance of the valve, and a corresponding maintenance early warning signal is triggered based on the online evaluation result. The hovering stability and track consistency can be improved, free gliding and tail end impact are avoided, and therefore the dynamic response and lifting stability of the system are improved.

Description

Technical Field

[0001] This invention relates to the field of automation and pneumatic control technology, and more specifically, to a pneumatic mast lifting control method and device. Background Technology

[0002] In high-level operation scenarios such as power, construction, and maintenance of large industrial equipment, the operation execution unit usually needs to achieve smooth and controllable lifting and lowering movements in the vertical direction, and maintain a small, stable, and adjustable contact pressure during contact with the target component. These performance characteristics are the core technical foundation for ensuring the quality of operation process and on-site operation safety.

[0003] Currently, the control methods for lifting mechanisms used in the aforementioned high-level operation scenarios mainly include electric actuator control methods and traditional pneumatic actuator control methods, but all of them have technical shortcomings that make it difficult to meet the requirements of the scenarios: Electric linear actuator control method: The linear motion is output through a motor and a reduction mechanism. Relying on a rigid transmission structure, its low-speed micro-motion performance is limited due to the inherent characteristics of transmission chain backlash and transmission friction. It cannot stably achieve small displacement output and stable control with low contact pressure. Moreover, the high reduction ratio configuration will increase the back drive resistance, and impact loads are easily generated at the end of the stroke. In addition, when different working accessories are changed according to the working process requirements or the working load changes, it is often necessary to replace the motor / reducer hardware or readjust the control parameters to maintain control performance. This results in poor equipment versatility and quick adaptability, and high time and cost for equipment maintenance and parameter tuning.

[0004] Traditional pneumatic rod control method: This type of structure uses a switch-type solenoid valve to control the inflation and deflation of the air chamber to achieve lifting drive. Because it adopts a switch control mode, it cannot continuously adjust the lifting speed and lifting position in a closed loop, resulting in low control accuracy. It is difficult to achieve precise alignment between the work execution unit and the target component, and it cannot meet the requirements for stable control of contact pressure.

[0005] In summary, existing technologies still have significant shortcomings in handling dynamic load changes, achieving continuously adjustable lifting speed and position control, and ensuring contact force compliance. Although electric actuators have some application value in certain fixed load scenarios, their adaptability to load changes is limited. Pneumatic masts, on the other hand, have better load adaptability and response speed, and have application potential in applications requiring frequent adjustments to lifting speed and position. However, existing technologies lack adaptable lifting control methods for pneumatic masts, thus failing to fully leverage their technological advantages.

[0006] No effective solutions have yet been proposed to address the problems in the relevant technologies. Summary of the Invention

[0007] In view of the problems in the related technologies, the present invention proposes a pneumatic mast lifting control method and device to overcome the above-mentioned technical problems existing in the existing related technologies.

[0008] Therefore, the specific technical solution adopted by the present invention is as follows: According to one aspect of the present invention, a pneumatic mast lifting control method is provided, the method comprising: S1. Perform initialization processing on the pneumatic mast, monitor the operation status of the calibration button in real time based on the initialization processing results, and calculate the target air supply pressure; S2. Collect the pressure waveform signal corresponding to the target air supply pressure, and analyze and perform aerodynamic variable capacitance resonance shaping on the pressure waveform signal. S3. Based on the pneumatic variable capacitance resonance shaping process and the target gas supply pressure, calculate the gas mass increment and obtain the valve port command by combining the calibration curve of the valve. S4. Based on the obtained valve port command, drive the pneumatic mast to perform lifting and lowering operations, and conduct online evaluation of the real-time operating performance of the valve components. Based on the online evaluation results, trigger the corresponding maintenance warning signal.

[0009] Furthermore, an initialization process is performed on the pneumatic mast. Based on the initialization results, the operating status of the calibration buttons is monitored in real time, and the target air supply pressure is calculated, including: S11. Perform initialization processing on the pneumatic mast. Initialization processing includes electronic barometer calibration, valve stroke self-test, air supply readiness judgment, and setting the exhaust side back pressure threshold to a predetermined range. S12. Based on the initialization process results, the controller monitors the operation status of the calibration button in real time; S13. Based on the real-time monitoring results of the calibration button, if the calibration button is not detected to be pressed, the target gas supply pressure is calculated using the preset load; if the calibration button is detected to be pressed, the initial load is collected, and the target gas supply pressure is calculated based on the initial load.

[0010] Furthermore, if the calibration button is detected to be pressed, the initial load is collected, and the target gas supply pressure is calculated based on the initial load, including: When the calibration button is pressed, it is confirmed that the pneumatic lifting rod is in a stationary hovering state, and the weight of the end of the lifting rod body is collected as the initial load using the pressure-type weighing sensor at the end of the lifting rod body. Based on the collected initial load, the controller calculates the corresponding equivalent mass and stores the equivalent mass in a preset database. After storage, it automatically triggers the static balancing standby state. Maintaining the preset threshold of exhaust side back pressure, the real-time reading of the electronic barometer is used as feedback of the air supply pressure. When a motion request to reach the target position is received, the controller plans the motion trajectory based on the static balance standby state and calculates the corresponding target air supply pressure.

[0011] Furthermore, the formula for calculating the target gas supply pressure is as follows: ; In the formula, P S ( t () indicates the target gas supply pressure; m Indicates equivalent mass; g Represents gravitational acceleration; a ( t () represents the acceleration trajectory; P b This indicates that the exhaust side maintains the preset back pressure value; A 2 represents the effective area of ​​the rod cavity; F f Indicates equivalent friction compensation; A 1 represents the effective area of ​​the rodless cavity.

[0012] Furthermore, the pressure waveform signal corresponding to the target air supply pressure is acquired, and the pressure waveform signal is analyzed and subjected to aerodynamic variable capacitance resonant shaping processing, including: S21. Based on the calculated target gas supply pressure, acquire the corresponding pressure waveform signal and perform short-time Fourier transform processing on the pressure waveform signal. S22. Based on the short-time Fourier transform processing results, extract the airflow pulsation and obtain the corresponding main frequency component and amplitude index. The airflow pulsation includes high-frequency airflow pulsation and low-frequency airflow pulsation. S23. When the amplitude of the high-frequency airflow pulsation exceeds the preset threshold, the controller outputs a high-frequency suppression command and uses the high-frequency suppression command to drive the bypass valve in the pneumatic variable capacitance resonant shaping module to close, so as to ensure that the tunable Helmholtz resonant cavity maintains the minimum effective volume state. S24. When the amplitude of low-frequency airflow pulsation is detected to fluctuate, the controller outputs a low-frequency balance command and uses the low-frequency balance command to drive the bypass valve in the pneumatic variable capacitance resonant shaping module to open, ensuring that the tunable Helmholtz resonant cavity is connected to the additional air storage cavity to form the target effective volume state.

[0013] Furthermore, based on the pneumatic variable capacitance resonance shaping results and the target gas supply pressure, the gas mass increment is calculated, and combined with the valve calibration curve, the valve port commands are obtained, including: S31. Based on the working chamber currently involved in intake and exhaust, calculate the gas mass and corresponding volume of the working chamber using the ideal gas state formula; S32. Collect the working chamber pressure after pneumatic variable capacitance resonance shaping, and combine it with the calculated target gas supply pressure to obtain the pressure change within the same control cycle. S33. Based on the gas mass, the corresponding volume and pressure change, the gas mass increment during the control cycle is calculated using the approximate formula for the change in working chamber volume. S34. Calculate the target mass flow rate based on the gas mass increment, and combine it with the calibration curves of the valve's flow rate, opening degree, and pressure difference to obtain the valve port commands of the intake proportional valve and exhaust throttle valve through inverse solution.

[0014] Furthermore, based on the acquired valve port commands, the pneumatic mast is driven to perform lifting operations, and the real-time operating performance of the valve is evaluated online. Based on the online evaluation results, corresponding maintenance early warning signals are triggered, including: S41. Based on the acquired valve port command, perform air supply and exhaust regulation, and drive the pneumatic mast to perform lifting and lowering operations based on the regulation result; S42. Based on the same control cycle of gas supply and exhaust regulation, construct a dynamic coupling relationship model based on BP neural network, and use the dynamic coupling relationship model to evaluate the real-time operating performance of valves online, and trigger corresponding maintenance warning signals based on the evaluation results.

[0015] Furthermore, based on the acquired valve port commands, air supply and exhaust are regulated, and the pneumatic mast is driven to perform lifting operations based on the regulation results, including: During the ascent phase, the controller increases the target air supply pressure based on the static balance pressure and controls the exhaust side throttle valve to maintain the flow-limited venting state. The net thrust is generated by the pressure difference between the rodless chamber and the rod chamber, which drives the pneumatic mast to rise. During the descent phase, the controller uses the static balance pressure as a reference to reduce the target air supply pressure and maintain the exhaust back pressure at or above the preset threshold, so that the net thrust is gradually less than the initial load, thereby achieving the descent of the pneumatic mast. When the lifting mast body moves to the end position, the controller reduces the adjustment intensity of the air supply pressure change rate, controls the end running speed to converge to the preset threshold, and after the lifting mast body completes the end position docking, the air supply pressure is restored to the static balance standby state.

[0016] Furthermore, based on the same control cycle of gas supply and exhaust regulation, a dynamic coupling relationship model based on a BP neural network is constructed. This model is then used to perform online evaluation of the real-time operating performance of the valves. Based on the evaluation results, corresponding maintenance warning signals are triggered, including: S421. During the same control cycle of gas supply and exhaust regulation, characteristic data are collected synchronously. The characteristic data includes valve port command, valve port change rate, actual gas pressure feedback and gas pressure change rate. S422. Normalize and filter the collected feature data, and obtain standardized feature data based on the processing results; S423. Input the standardized feature data into the preset BP neural network, perform nonlinear mapping calculation through the hidden layer activation function, and use the output layer activation function to calculate and output the predicted air pressure value in the current control cycle. S424. Based on the output air pressure prediction value, construct a dynamic coupling relationship model between valve port command and pressure response, and use the dynamic coupling relationship model to calculate the deviation between the measured air pressure value and the air pressure prediction value in the current cycle. S425. The deviations calculated in each control cycle are used as training signals for the backpropagation algorithm. Backpropagation calculations are performed periodically to update the weights and biases of the dynamic coupling relationship model, so as to realize online self-learning and adaptive correction of the dynamic coupling relationship model. S426. Based on the obtained deviation and the preset health function, calculate the real-time health of the valve. Based on the real-time health, determine the operating status of the valve according to the preset threshold range. Based on the determination result, the controller automatically generates the corresponding maintenance warning signal.

[0017] According to another aspect of the present invention, a pneumatic mast lifting control device is also provided, the device comprising: a lifting base; The top of the lifting platform is equipped with a lifting rod body and a valve assembly. A pneumatic variable capacitance resonant shaping module is installed on one side of the valve assembly. An electronic barometer is installed between the lifting rod body and the valve assembly, and the electronic barometer works in conjunction with the controller. A load acquisition module is installed at the top of the lifting rod body.

[0018] The beneficial effects of this invention are as follows: This invention achieves load balancing, stable up / down speed, and soft landing at the mast end through integrated control of pressure, flow, and valve orifices, significantly improving hovering stability and trajectory consistency. It restricts airflow on the exhaust side to maintain minimum top pressure and limits descent acceleration and pressure change rate to avoid freefall and end-of-flight impact. Based on air volume calculation and valve orifice inverse kinematics, it accurately maps the target pressure / differential pressure trajectory to valve orifice commands, shortening calibration time and improving repeatability and anti-disturbance capability. It provides a manually activated load calibration and maintenance mode for rapid adaptation after changing mast end tools. A pneumatic variable-capacity resonant shaping module is introduced to suppress airflow fluctuations and stabilize supply pressure, thereby improving system dynamic response and lifting smoothness. The controller has a built-in online valve performance evaluation unit that uses electronic barometer signals and a BP neural network algorithm to perform real-time diagnosis and health assessment of valve operating status, enabling early identification of jamming or wear trends and predictive maintenance. The valve assembly adopts a standardized architecture of proportional intake and throttling exhaust, resulting in a simple structure and low maintenance and expansion costs. 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 embodiments 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 is a flowchart of a pneumatic mast lifting control method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the overall structure of a pneumatic mast lifting control device according to an embodiment of the present invention; Figure 3 A control flowchart of a pneumatic mast lifting control method according to an embodiment of the present invention.

[0021] In the picture: 1. Lifting base; 2. Lifting rod body; 21. Rodless chamber; 22. Rod chamber; 3. Valve assembly; 31. Intake proportional valve; 32. Exhaust throttle valve; 33. Intake passage; 34. Exhaust passage; 4. Pneumatic variable capacitance resonant shaping module; 41. Tunable Helmholtz resonant cavity; 42. Bypass valve; 43. Additional air storage chamber; 5. Electronic barometer; 6. Controller; 7. Load acquisition module. Detailed Implementation

[0022] To further illustrate the various embodiments, the present invention provides accompanying drawings, which are part of the disclosure of the present invention. These drawings are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these drawings, those skilled in the art should be able to understand other possible implementation methods and the advantages of the present invention.

[0023] According to an embodiment of the present invention, a pneumatic mast lifting control method and apparatus are provided.

[0024] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments, such as... Figure 1 As shown, according to an embodiment of the present invention, a pneumatic mast lifting control method includes: S1. Perform initialization processing on the pneumatic mast, monitor the operation status of the calibration button in real time based on the initialization processing results, and calculate the target air supply pressure.

[0025] In this optional embodiment, initialization processing is performed on the pneumatic mast, and the operation status of the calibration button is monitored in real time based on the initialization processing results. The target air supply pressure is calculated, including: S11. Perform initialization processing on the pneumatic mast. Initialization processing includes calibration of electronic barometer 5, valve stroke self-test, air supply readiness judgment and setting the exhaust side back pressure threshold to a predetermined range. S12. Based on the initialization processing results, the controller 6 monitors the operation status of the calibration button in real time. S13. Based on the real-time monitoring results of the calibration button, if the calibration button is not detected to be pressed, the target gas supply pressure is calculated using the preset load; if the calibration button is detected to be pressed, the initial load is collected, and the target gas supply pressure is calculated based on the initial load.

[0026] In this optional embodiment, if the calibration button is detected to be pressed, the initial load is collected, and the target gas supply pressure is calculated based on the initial load, including: When the calibration button is pressed, it is confirmed that the pneumatic lifting rod is in a stationary hovering state, and the weight of the end of the lifting rod body 2 is collected as the initial load using the pressure-type weighing sensor at the end of the lifting rod body 2. Based on the collected initial load, the controller 6 calculates the corresponding equivalent mass and stores the equivalent mass in a preset database. After storage, it automatically triggers the static balancing standby state. Maintaining the preset threshold of exhaust side back pressure, the real-time reading of electronic barometer 5 is used as feedback of supply pressure. When a motion request to reach the target position is received, controller 6 plans the motion trajectory based on the static balance standby state and calculates the corresponding target supply pressure.

[0027] In this optional embodiment, the formula for calculating the target gas supply pressure is: ; In the formula, P S ( t () indicates the target gas supply pressure; m Indicates equivalent mass; g Represents gravitational acceleration; a ( t () represents the acceleration trajectory; P b This indicates that the exhaust side maintains the preset back pressure value; A 2 represents the effective area of ​​the rod cavity 22; F f Indicates equivalent friction compensation; A 1 represents the effective area of ​​the rodless cavity 21.

[0028] It should be noted that after the system is powered on, it completes the zero-point calibration of the electronic barometer 5, valve stroke self-test, and air supply readiness judgment, and sets the exhaust side back pressure threshold to a predetermined range; then it performs initial load acquisition: a pressure-type load cell is installed at the end of the piston rod, and the end weight is acquired in a stationary hovering state.W Controller 6 calculates the equivalent mass m=W / g And store; if the operating tools are changed later, the operator can press the calibration button to collect and automatically update the load parameters again; after entering the static balancing standby state, in the vertical lifting scenario, the static balancing meets the requirements. A 1 P 1- A 2 P 2≈ mg + F f The controller 6 employs a division of labor strategy between supply setting and back pressure setting: the exhaust side maintains a preset back pressure. P b The reading of the electronic barometer 5 is used as the supply pressure. P s The only feedback; for reaching the target location z Upon receiving a motion request, controller 6 first plans an S-curve or cubic polynomial velocity / acceleration trajectory based on the balancing parameters. v ( t ), a ( t Based on this, the target gas supply pressure is calculated: ; In the formula, P S ( t () indicates the target gas supply pressure; m Indicates equivalent mass; g Represents gravitational acceleration; a ( t () represents the acceleration trajectory; P b This indicates that the exhaust side maintains the preset back pressure value; A 2 represents the effective area of ​​the rod cavity 22; F f Indicates equivalent friction compensation; A 1 represents the effective area of ​​the rodless cavity 21.

[0029] The target gas supply pressure is approximated by the closed-loop reading of the electronic barometer. P s ( t ), and compare the valve opening with the actual pressure value. P s Applying slope limiting and a small error dead zone, where the small error dead zone is a control strategy that keeps the valve command unchanged when the error amplitude is below a threshold δ, is used to suppress valve vibration and air consumption caused by minor disturbances. Simultaneously, it restores normal adjustment after the error exceeds the threshold to ensure positioning accuracy and stable changes in air supply pressure. a ( t When )≈0, the gas supply level is balanced, achieving hovering.

[0030] S2. Collect the pressure waveform signal corresponding to the target air supply pressure, and analyze and perform aerodynamic variable capacitance resonant shaping on the pressure waveform signal.

[0031] In this optional embodiment, acquiring the pressure waveform signal corresponding to the target air supply pressure and performing analysis and aerodynamic variable capacitance resonant shaping on the pressure waveform signal includes: S21. Based on the calculated target gas supply pressure, acquire the corresponding pressure waveform signal and perform short-time Fourier transform processing on the pressure waveform signal. S22. Based on the short-time Fourier transform processing results, extract the airflow pulsation and obtain the corresponding main frequency component and amplitude index. The airflow pulsation includes high-frequency airflow pulsation and low-frequency airflow pulsation. S23. When the amplitude of the high-frequency airflow pulsation exceeds the preset threshold, the controller 6 outputs a high-frequency suppression command and uses the high-frequency suppression command to drive the bypass valve 42 in the pneumatic variable capacitance resonant shaping module 4 to close, so as to ensure that the tunable Helmholtz resonant cavity 41 maintains the minimum effective volume state. S24. When the amplitude of low-frequency airflow pulsation is detected to fluctuate, the controller 6 outputs a low-frequency balance command and uses the low-frequency balance command to drive the bypass valve 42 in the aerodynamic variable capacitance resonant shaping module 4 to open, ensuring that the tunable Helmholtz resonant cavity 41 is connected to the additional air storage cavity 43 to form the target effective volume state.

[0032] It should be further explained that during the air supply and exhaust control process, the controller 6 collects the pressure waveform signal in the intake channel 33 in real time and performs frequency domain and time domain characteristic analysis on it. The controller 6 is equipped with a fast spectrum calculation unit to perform short-time Fourier transform on the sampled signal and extract the main frequency component and amplitude index of the airflow pulsation. When the amplitude of the high-frequency airflow pulsation component exceeds the set threshold, the controller 6 outputs a high-frequency suppression command to drive the bypass valve 42 in the pneumatic variable capacitance resonant shaping module 4 to close, so that the tunable Helmholtz resonant cavity 41 maintains the minimum effective volume state. When low-frequency air pressure fluctuation or slow flow oscillation is detected, the controller 6 outputs a low-frequency balance command to drive the bypass valve 42 to gradually open, so that the resonant cavity and the additional air storage cavity 43 are connected to form a larger equivalent volume, thereby smoothing pressure changes and delaying the pressure gradient. The controller 6 continuously adjusts the opening of the bypass valve 42 to make the system equivalent volume V eq ( t ) and the dominant frequency of airflow pulsation f p ( t )satisfy: ; In the formula, c For the speed of sound,A n Let be the cross-sectional area of ​​the cavity neck. L n The equivalent length of the air neck; through this adaptive matching mechanism, the resonant cavity can maintain energy absorption or buffering characteristics at different frequency bands, and realize active shaping of airflow pulsation across the entire frequency domain.

[0033] S3. Based on the pneumatic variable capacitance resonance shaping process and the target gas supply pressure, calculate the gas mass increment and obtain the valve port command by combining the calibration curve of the valve.

[0034] In this optional embodiment, based on the pneumatic variable capacitance resonant shaping processing results and the target gas supply pressure, the gas mass increment is calculated, and combined with the valve calibration curve, the valve port command is obtained, including: S31. Based on the working chamber currently involved in intake and exhaust, calculate the gas mass and corresponding volume of the working chamber using the ideal gas state formula; S32. Collect the working chamber pressure after pneumatic variable capacitance resonance shaping, and combine it with the calculated target gas supply pressure to obtain the pressure change within the same control cycle. S33. Based on the gas mass, the corresponding volume and pressure change, the gas mass increment during the control cycle is calculated using the approximate formula for the change in working chamber volume. S34. Calculate the target mass flow rate based on the gas mass increment, and combine the calibration curves of the valve's flow rate, opening degree, and pressure difference to obtain the valve port commands of the intake proportional valve 31 and the exhaust throttle valve 32 by inverse solution.

[0035] It should be further explained that, in order to convert the target pressure into valve orifice commands, this embodiment performs gas volume calculation and valve orifice inverse solution according to the control cycle; for the working chamber currently participating in intake and exhaust, an ideal gas approximation is used: ; In the formula, m Indicates the mass of gas inside the working chamber; P Indicates the working chamber pressure; V This indicates the volume of the cavity corresponding to the current stroke; R Represents the ideal gas constant; T Represents the absolute temperature of a gas; V ( z () indicates the cavity volume corresponding to the current stroke; V 0 represents the initial volume of the working chamber; A Indicates the effective piston area of ​​the working chamber: 21 is taken from the rodless chamber. A 1. Take the rod cavity 22 A 2; z This indicates the piston stroke displacement; the sign rule for ± is: take + when the stroke increases and the volume of the cavity increases, and take − when the volume decreases.

[0036] In this embodiment P s This refers to the pressure in the measured working chamber. The pressure change within the same control cycle is defined as follows: ; In the formula, P s This is the actual pressure value. P s ( t () is the target gas supply pressure.

[0037] In the cycle Δt Inside, the gas mass increment is: ; In the formula, Δm This indicates the mass increment during the control cycle (positive for inflation, negative for deflation). V This indicates the volume of the cavity corresponding to the current stroke; R Represents the ideal gas constant; T Represents the absolute temperature of a gas; ΔP Indicates the change in pressure; P Indicates the working chamber pressure; ΔV Represents the change in volume, approximately ΔV≈±A Δz ; A Indicates the effective piston area of ​​the working chamber; Δz This indicates the change in displacement during travel.

[0038] The target mass flow rate is obtained accordingly. m'=Δm / Δt By combining the calibration curves of valve flow rate, opening degree and pressure difference, the opening commands of intake proportional valve 31 and exhaust throttle valve 32 are solved, and upper and lower limits and change rate constraints are set for the opening degree. The exhaust direction adopts unidirectional throttling to ensure smooth intake and controlled exhaust, thereby stabilizing the damping and maintaining the minimum top pressure.

[0039] S4. Based on the obtained valve port command, drive the pneumatic mast to perform lifting and lowering operations, and conduct online evaluation of the real-time operating performance of the valve components. Based on the online evaluation results, trigger the corresponding maintenance warning signal.

[0040] In this optional embodiment, based on the acquired valve port command, the pneumatic mast is driven to perform a lifting operation, and the real-time operating performance of the valve is evaluated online. Based on the online evaluation results, corresponding maintenance early warning signals are triggered, including: S41. Based on the acquired valve port command, perform air supply and exhaust regulation, and drive the pneumatic mast to perform lifting and lowering operations based on the regulation result.

[0041] In this optional embodiment, based on the acquired valve port command, the air supply and exhaust are regulated, and based on the regulation result, the pneumatic mast is driven to perform lifting and lowering operations, including: During the ascent phase, the controller 6 increases the target air supply pressure based on the static balance pressure and controls the exhaust side throttle valve to maintain the flow-limited venting state. The net thrust is generated by the pressure difference between the rodless chamber 21 and the rod chamber 22, which drives the pneumatic mast to rise. During the descent phase, controller 6 uses the static trim pressure as a reference to reduce the target air supply pressure and maintain the exhaust back pressure at or above the preset threshold, so that the net thrust is gradually less than the initial load, thereby achieving the descent of the pneumatic mast. When the lifting rod body 2 moves to the end position, the controller 6 reduces the adjustment intensity of the gas supply pressure change rate, controls the end running speed to converge to the preset threshold, and after the lifting rod body 2 completes the end position docking, the gas supply pressure is restored to the static balance standby state.

[0042] It should be noted that during the ascent, the target gas supply pressure should be appropriately increased based on the balancing baseline. P s The exhaust side is vented through a throttle valve, resulting in net thrust. A 1 P s −A 2 P b Generate the desired velocity and acceleration response; during descent, controller 6 reduces... P s and maintain P b The net thrust is gradually reduced to less than the gravity and the descent is controlled, while the acceleration and the rate of change of the gas supply pressure are limited to suppress free slide and overshoot. When approaching the end position (e.g., 30-60 mm from the end position), the rate of change of the gas supply pressure is reduced so that the end velocity converges to no more than 5 mm / s, and the docking is completed with low impact. After docking, the gas supply is returned to the trim level and the hovering is maintained.

[0043] S42. Based on the same control cycle of gas supply and exhaust regulation, construct a dynamic coupling relationship model based on BP neural network, and use the dynamic coupling relationship model to evaluate the real-time operating performance of valves online, and trigger corresponding maintenance warning signals based on the evaluation results.

[0044] In this optional embodiment, a dynamic coupling relationship model based on a BP neural network is constructed according to the same control cycle of gas supply and exhaust regulation. This model is then used to perform online evaluation of the valve's real-time operating performance. Based on the evaluation results, corresponding maintenance warning signals are triggered, including: S421. During the same control cycle of gas supply and exhaust regulation, characteristic data are collected synchronously. The characteristic data includes valve port command, valve port change rate, actual gas pressure feedback and gas pressure change rate. S422. Normalize and filter the collected feature data, and obtain standardized feature data based on the processing results; S423. Input the standardized feature data into the preset BP neural network, perform nonlinear mapping calculation through the hidden layer activation function, and use the output layer activation function to calculate and output the predicted air pressure value in the current control cycle. S424. Based on the output air pressure prediction value, construct a dynamic coupling relationship model between valve port command and pressure response, and use the dynamic coupling relationship model to calculate the deviation between the measured air pressure value and the air pressure prediction value in the current cycle. S425. The deviations calculated in each control cycle are used as training signals for the backpropagation algorithm. Backpropagation calculations are performed periodically to update the weights and biases of the dynamic coupling relationship model, so as to realize online self-learning and adaptive correction of the dynamic coupling relationship model. S426. Based on the obtained deviation and the preset health function, calculate the real-time health of the valve. Based on the real-time health, determine the operating status of the valve according to the preset threshold range. Based on the determination result, the controller 6 automatically generates the corresponding maintenance warning signal.

[0045] It should be further explained that, while performing air supply and exhaust regulation, controller 6 integrates an online valve performance evaluation algorithm based on a BP neural network, used to identify the working response characteristics and health status of the intake proportional valve 31 and the exhaust throttle valve 32 in real time; the neural network uses valve opening commands... u ( t ), valve orifice change rate Actual air pressure feedback P s ( t and rate of change of air pressure Using the input characteristic quantities, a nonlinear mapping model of the valve's dynamic input and output is constructed to characterize the dynamic coupling relationship between control commands and pressure response.

[0046] Controller 6 acquires the aforementioned characteristic signals in each control cycle, and after normalizing and filtering the data, inputs it into the neural network. This neural network employs a multi-layer feedforward structure, including four nodes in the input layer and one node in the output layer. The hidden layer uses the ReLU activation function, and the output layer uses the Sigmoid activation function to output the valve health status. H ( t The value ranges from 0 to 1 and is used to indicate the degree to which the current performance of the valve remains relative to its normal state.

[0047] Health H ( t The calculation is based on the definition of dynamic response error of the control system; controller 6 calculates the predicted air pressure value in each control cycle. Compared with the measured air pressure P s ( t deviation ε ( t ): ; And based on this, the health function is defined as follows: ; Where λ is the network adaptive weight decay coefficient, used to adjust the sensitivity of the error to changes in health status; this expression reflects the degree of deviation between the actual response and the predicted response: the smaller the deviation, the closer the health status is to 1; the larger the deviation, the closer the health status is to 0.

[0048] During the initial system operation phase, controller 6 performs offline pre-training of the neural network based on historical operation datasets; after model deployment, it continues to collect online data and calculate real-time errors during real-time operation. ε ( t This signal is used as the training signal for the backpropagation algorithm to periodically update the network weights. W With bias b This enables the model to learn and adapt online; during algorithm execution, controller 6 continuously tracks... H ( t The absolute value and trend of change of ) ; when H ( t When the value is close to 1, the valve response is sensitive and the dynamic characteristics are stable; when... H ( t When the gain drops to the 0.6–0.3 range, it indicates a slight hysteresis or gain decay in the valve response; when… H ( t When the value is below 0.3 and the rate of decrease exceeds the set threshold, it is determined that the valve is at risk of jamming, wear, or malfunction; the controller 6 automatically generates a maintenance warning signal and records it in the diagnostic log for early maintenance and performance tracking.

[0049] like Figure 3 As shown, the control method flow of this embodiment includes: calibration of electronic barometer 5, self-test of valve stroke and judgment of air supply readiness; initial load acquisition; calculation of target air supply pressure under air supply setting and back pressure setting conditions and conversion into valve port command; controller 6 adjusts the working state of pneumatic variable capacitance resonant shaping module 4 in real time according to the pressure waveform of intake channel 33 to suppress airflow pulsation and stabilize air supply quality; at the same time, online evaluation of the response characteristics of intake proportional valve 31 and exhaust throttle valve 32 is performed to determine whether there is jamming or wear trend; soft landing control is performed when approaching the end position, and the vehicle returns to trim hover after docking.

[0050] like Figure 2As shown, according to another embodiment of the present invention, a pneumatic mast lifting control device is also provided, the device comprising: a lifting base 1; The top of the lifting seat 1 is provided with a lifting rod body 2 and a valve assembly 3. A pneumatic variable capacitance resonant shaping module 4 is provided on one side of the top of the valve assembly 3. An electronic barometer 5 is provided in the middle of the lifting rod body 2 and the valve assembly 3. The electronic barometer 5 cooperates with the controller 6. A load acquisition module 7 is provided at the top of the lifting rod body 2.

[0051] like Figure 2 As shown, the device for implementing the present invention includes a lifting base 1, on which a lifting rod body 2, a valve assembly 3, a pneumatic variable capacitance resonant shaping module 4, an electronic barometer 5, and a controller 6 are mounted. The lifting rod body 2 adopts a single piston rod double-acting cylinder, having two working chambers: a rodless chamber 21 and a rod chamber 22. The end of the piston rod is used to connect to the working tool. The valve assembly 3 includes an intake proportional valve 31, an exhaust throttle valve 32, an intake channel 33, and an exhaust channel 34. The intake proportional valve 31 is connected to a compressed air source, introducing compressed air into the working chamber. The exhaust throttle valve 32 is located on the exhaust path, and is switched on and off by a solenoid valve, forming a controlled venting channel on the exhaust side to maintain minimum reverse pressure. The pneumatic variable capacitance resonant shaping module 4 includes an adjustable Helmholtz resonant cavity 41, a bypass valve 42, and an additional air storage chamber 43. The pneumatic variable capacitance resonant shaping module 4 is connected in parallel with the intake channel 33 through a three-way connector, preferably located downstream of the intake proportional valve 31. The inlet of the Helmholtz resonant cavity 41 is connected to the intake channel 33, and the neck of the cavity is connected to the auxiliary gas storage cavity 43 via the bypass valve 42. The controller 6 outputs an adjustment signal according to the frequency characteristics of the intake pressure waveform to control the opening of the bypass valve 42, thereby dynamically changing the degree of connection between the cavity and the gas storage cavity to form a variable equivalent volume. The electronic barometer 5 is installed in the gas supply manifold, and its digital bus signal is directly connected to the controller 6 for electronic pressure reading and balance setting. The controller 6 is connected to the valve assembly 3 and the electronic barometer 5 via cables. Based on the barometer reading and the preset back pressure, it generates a valve opening command to complete the on / off and continuous adjustment of inflation or deflation, and executes a two-stage flow soft landing strategy in the end position area. The controller 6 has a built-in valve performance online evaluation function unit for real-time evaluation of the dynamic characteristics of the intake proportional valve 31 and the exhaust throttle valve 32. This function unit takes the valve opening command, opening change rate, air pressure feedback and air pressure change rate as inputs and outputs the valve health status. H ( tThe value ranges from 0 to 1 and is used to characterize the performance level of the valve. The controller 6 is trained using historical operating data and continuously corrects the network parameters through a backpropagation algorithm during operation to achieve intelligent identification and early warning of valve response lag, jamming, or wear trends. In addition, a load acquisition module 7 is provided, which consists of a pressure-type weighing sensor and a calibration button. The weighing sensor is installed at the connection interface between the piston rod end and the working execution component to collect the axial load weight at the end. When the calibration button is pressed, the maintenance mode is entered. The controller 6 reads the weighing signal in a static or slightly lifting state and combines it with the reading of the electronic barometer 5 to automatically update the equivalent load and balancing parameters, completing the rapid adaptation after tool replacement.

[0052] It should be further explained that the lifting rod body 2 has at least one controlled intake and exhaust working chamber; the valve assembly 3 is connected to the working chamber, forming an intake passage and a controlled exhaust passage 34 respectively (the exhaust side is limited by a throttling element and retains a minimum top pressure); the pneumatic variable capacitance resonant shaping module 4 is connected in parallel between the intake passage and the intake proportional valve 31 through a three-way connector, which is used to suppress airflow fluctuations during the air supply process and improve pressure stability; the electronic barometer 5 is installed in the air supply manifold, and its signal is directly connected to the controller 6 for pressure electronic reading and balance setting; the controller 6 is used to generate valve opening commands based on the reading of the electronic barometer 5, the preset back pressure and the target position to drive the lifting rod to move.

[0053] The valve assembly 3 includes an intake proportional valve 31 connected to the air source and an exhaust throttle valve 32 connected to the atmosphere or a circuit. The exhaust throttle valve 32 is disposed on the exhaust side to form the controlled exhaust channel 34. The intake proportional valve 31, the exhaust throttle valve 32 and the working chamber form a switchable inflation and deflation circuit through pipelines.

[0054] The pneumatic variable capacitance resonant shaping module 4 includes a tunable Helmholtz resonant cavity 41, a bypass valve 42, and an additional gas storage chamber 43. One end of the tunable Helmholtz resonant cavity 41 is connected to a three-way connector through a cavity neck tube, forming a gas coupling channel with the air intake passage. The bypass valve 42 is located on the connection channel between the resonant cavity and the additional gas storage chamber 43, and is used to control the connection or disconnection between the two. When the bypass valve 42 is closed, the resonant cavity works independently, forming a small-volume high-frequency resonant structure to absorb high-frequency airflow pulsations. When the bypass valve 42 is open, the resonant cavity is connected to the additional gas storage chamber 43, and the additional gas storage chamber 43 participates in volume regulation as a gas buffer unit, absorbing some gas during the pressure rise phase and releasing gas during the pressure drop phase, thereby forming a large-volume low-frequency buffer structure.

[0055] The controller 6 integrates a trim setting module, a target generation module, a gas volume calculation module, a valve port reverse solution module, a valve performance online evaluation function unit, and a descent safety and soft landing module. The trim setting module is used to automatically determine the trim gas supply level that can support the load and maintain hovering during the stationary or low-speed phase of the boom, based on the gas supply pressure reading of the electronic barometer 5 and the preset back pressure, and generate corresponding valve port preset commands and pressure change rate limits. The target generation module is used to generate an executable differential pressure target trajectory and its change rate limit on the trim reference based on the desired altitude, speed, and acceleration, and implements the maximum allowable acceleration and minimum top pressure constraints during the descent phase, automatically reducing the target intensity when entering the soft landing zone at the end position.

[0056] The gas volume calculation module is used to combine the relationship between gas compressibility and the change of working chamber volume with stroke to estimate the mass flow rate and cumulative gas volume to be filled or released in each working chamber according to the control cycle, so as to obtain the filling and releasing volume required to reach the designated position; the valve port reverse resolution module is used to convert the mass flow rate into the corresponding valve port opening or guide command according to the standard flow characteristics of the valve and send it to the valve assembly 3 for execution.

[0057] The online valve performance evaluation unit monitors and models the dynamic response characteristics of the intake proportional valve 31 and the exhaust throttle valve 32 based on the real-time pressure measurement signal from the electronic barometer 5 and the valve opening and rate of change of the control command. It calculates valve health parameters using a back propagation (BP) neural network algorithm to reflect the valve's response sensitivity and execution accuracy. When pressure response delay, amplitude deviation, or dynamic error continuously exceeds limits, the controller 6 determines that the valve is stuck, lags, or shows signs of wear, and outputs a maintenance warning signal, achieving real-time evaluation and predictive maintenance of the valve status.

[0058] The descent safety and soft landing module is used to enable controlled exhaust pressure holding, acceleration limiting and air supply pressure slope limiting during descent, and automatically switch to a low flow path or reduce the valve command intensity in the soft landing zone near the end position to control the lifting boom to complete docking in a low-impact manner.

[0059] The load acquisition module 7 is manually activated and is used to enter maintenance mode to perform load calibration and parameter updates when the load changes due to the change of tools at the mast end by the staff; when it is not activated, it does not affect the automatic operation of the system.

[0060] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A pneumatic mast lifting control method, characterized in that, The method includes: S1. Perform initialization processing on the pneumatic mast, monitor the operation status of the calibration button in real time based on the initialization processing results, and calculate the target air supply pressure; S2. Collect the pressure waveform signal corresponding to the target air supply pressure, and analyze and perform aerodynamic variable capacitance resonance shaping on the pressure waveform signal. S3. Based on the pneumatic variable capacitance resonance shaping process and the target gas supply pressure, calculate the gas mass increment and obtain the valve port command by combining the calibration curve of the valve. S4. Based on the obtained valve port command, drive the pneumatic mast to perform lifting and lowering operations, and conduct online evaluation of the real-time operating performance of the valve components. Based on the online evaluation results, trigger the corresponding maintenance warning signal.

2. The pneumatic mast lifting control method according to claim 1, characterized in that, The initialization process for the pneumatic mast, including real-time monitoring of the calibration button's operating status based on the initialization results and calculation of the target air supply pressure, includes: S11. Perform initialization processing on the pneumatic mast. The initialization processing includes electronic barometer calibration, valve stroke self-test, air supply readiness judgment, and setting the exhaust side back pressure threshold to a predetermined range. S12. Based on the initialization process results, the controller monitors the operation status of the calibration button in real time; S13. Based on the real-time monitoring results of the calibration button, if the calibration button is not detected to be pressed, the target gas supply pressure is calculated using the preset load; if the calibration button is detected to be pressed, the initial load is collected, and the target gas supply pressure is calculated based on the initial load.

3. The pneumatic mast lifting control method according to claim 2, characterized in that, The process of detecting that the calibration button is pressed, acquiring the initial load, and calculating the target gas supply pressure based on the initial load includes: When the calibration button is pressed, it is confirmed that the pneumatic lifting rod is in a stationary hovering state, and the weight of the end of the lifting rod body is collected as the initial load using the pressure-type weighing sensor at the end of the lifting rod body. Based on the collected initial load, the controller calculates the corresponding equivalent mass and stores the equivalent mass in a preset database. After storage, it automatically triggers the static balancing standby state. Maintaining the preset threshold of exhaust side back pressure, the real-time reading of the electronic barometer is used as feedback of the air supply pressure. When a motion request to reach the target position is received, the controller plans the motion trajectory based on the static balance standby state and calculates the corresponding target air supply pressure.

4. The pneumatic mast lifting control method according to claim 3, characterized in that, The formula for calculating the target gas supply pressure is as follows: ； In the formula, P S ( t () indicates the target gas supply pressure; m Indicates equivalent mass; g Represents gravitational acceleration; a ( t () represents the acceleration trajectory; P b This indicates that the exhaust side maintains the preset back pressure value; A 2 represents the effective area of ​​the rod cavity; F f Indicates equivalent friction compensation; A 1 represents the effective area of ​​the rodless cavity.

5. The pneumatic mast lifting control method according to claim 1, characterized in that, The process of acquiring the pressure waveform signal corresponding to the target air supply pressure and analyzing and shaping the pressure waveform signal using a pneumatic variable capacitance resonance includes: S21. Based on the calculated target gas supply pressure, acquire the corresponding pressure waveform signal and perform short-time Fourier transform processing on the pressure waveform signal. S22. Based on the short-time Fourier transform processing results, extract the airflow pulsation and obtain the corresponding main frequency component and amplitude index. The airflow pulsation includes high-frequency airflow pulsation and low-frequency airflow pulsation. S23. When the amplitude of the high-frequency airflow pulsation exceeds the preset threshold, the controller outputs a high-frequency suppression command and uses the high-frequency suppression command to drive the bypass valve in the pneumatic variable capacitance resonant shaping module to close, so as to ensure that the tunable Helmholtz resonant cavity maintains the minimum effective volume state. S24. When the amplitude of low-frequency airflow pulsation is detected to fluctuate, the controller outputs a low-frequency balance command and uses the low-frequency balance command to drive the bypass valve in the pneumatic variable capacitance resonant shaping module to open, ensuring that the tunable Helmholtz resonant cavity is connected to the additional air storage cavity to form the target effective volume state.

6. The pneumatic mast lifting control method according to claim 1, characterized in that, The process of calculating the gas mass increment based on the pneumatic variable capacitance resonance shaping result and the target gas supply pressure, and obtaining the valve port command by combining it with the valve calibration curve, includes: S31. Based on the working chamber currently involved in intake and exhaust, calculate the gas mass and corresponding volume of the working chamber using the ideal gas state formula; S32. Collect the working chamber pressure after pneumatic variable capacitance resonance shaping, and combine it with the calculated target gas supply pressure to obtain the pressure change within the same control cycle. S33. Based on the gas mass, the corresponding volume and pressure change, the gas mass increment during the control cycle is calculated using the approximate formula for the change in working chamber volume. S34. Calculate the target mass flow rate based on the gas mass increment, and combine it with the calibration curves of the valve's flow rate, opening degree, and pressure difference to obtain the valve port commands of the intake proportional valve and exhaust throttle valve through inverse solution.

7. The pneumatic mast lifting control method according to claim 1, characterized in that, Based on the acquired valve port command, the pneumatic mast is driven to perform lifting operations, and the real-time operating performance of the valve is evaluated online. Based on the online evaluation results, corresponding maintenance early warning signals are triggered, including: S41. Based on the acquired valve port command, perform air supply and exhaust regulation, and drive the pneumatic mast to perform lifting and lowering operations based on the regulation result; S42. Based on the same control cycle of gas supply and exhaust regulation, construct a dynamic coupling relationship model based on BP neural network, and use the dynamic coupling relationship model to evaluate the real-time operating performance of valves online, and trigger corresponding maintenance warning signals based on the evaluation results.

8. The pneumatic mast lifting control method according to claim 7, characterized in that, The process of adjusting air supply and exhaust based on the acquired valve port command, and driving the pneumatic mast to perform lifting operations based on the adjustment results, includes: During the ascent phase, the controller increases the target air supply pressure based on the static balance pressure and controls the exhaust side throttle valve to maintain the flow-limited venting state. The net thrust is generated by the pressure difference between the rodless chamber and the rod chamber, which drives the pneumatic mast to rise. During the descent phase, the controller uses the static balance pressure as a reference to reduce the target air supply pressure and maintain the exhaust back pressure at or above the preset threshold, so that the net thrust is gradually less than the initial load, thereby achieving the descent of the pneumatic mast. When the lifting mast body moves to the end position, the controller reduces the adjustment intensity of the air supply pressure change rate, controls the end running speed to converge to the preset threshold, and after the lifting mast body completes the end position docking, the air supply pressure is restored to the static balance standby state.

9. A pneumatic mast lifting control method according to claim 8, characterized in that, The process involves constructing a dynamic coupling model based on a BP neural network, utilizing the same control cycle for gas supply and exhaust regulation. This model is then used to perform online evaluation of the valve's real-time operating performance. Based on the evaluation results, corresponding maintenance warning signals are triggered, including: S421. During the same control cycle of gas supply and exhaust regulation, characteristic data are collected synchronously, including valve port command, valve port change rate, actual gas pressure feedback and gas pressure change rate. S422. Normalize and filter the collected feature data, and obtain standardized feature data based on the processing results; S423. Input the standardized feature data into the preset BP neural network, perform nonlinear mapping calculation through the hidden layer activation function, and use the output layer activation function to calculate and output the predicted air pressure value in the current control cycle. S424. Based on the output air pressure prediction value, construct a dynamic coupling relationship model between valve port command and pressure response, and use the dynamic coupling relationship model to calculate the deviation between the measured air pressure value and the air pressure prediction value in the current cycle. S425. The deviations calculated in each control cycle are used as training signals for the backpropagation algorithm. Backpropagation calculations are performed periodically to update the weights and biases of the dynamic coupling relationship model, so as to realize online self-learning and adaptive correction of the dynamic coupling relationship model. S426. Based on the obtained deviation and the preset health function, calculate the real-time health of the valve. Based on the real-time health, determine the operating status of the valve according to the preset threshold range. Based on the determination result, the controller automatically generates the corresponding maintenance warning signal.

10. A pneumatic mast lifting control device for implementing the pneumatic mast lifting control method according to any one of claims 1-9, characterized in that, The device includes: a lifting platform; The top of the lifting seat is provided with a lifting rod body and a valve assembly. A pneumatic variable capacitance resonant shaping module is provided on one side of the valve assembly. An electronic barometer is provided between the lifting rod body and the valve assembly, and the electronic barometer cooperates with the controller. A load acquisition module is provided at the top of the lifting rod body.

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