Multi-cylinder synchronous control system

Abstract

The present application relates to the technical field of hydraulic cylinder synchronization, and particularly relates to a multi-hydraulic cylinder synchronization control system, comprising: a hydraulic station, at least two first synchronization modules, at least two second synchronization modules, a hydraulic execution platform and a control module, the hydraulic execution platform comprising at least two hydraulic cylinders, the control module acquiring load forces of the hydraulic cylinders, combining a preset synchronization trajectory and a system dynamics model of the hydraulic cylinders to form a speed feedforward control instruction, controlling flow rates flowing into the first and second synchronization modules according to the speed feedforward control instruction, and then determining whether to perform position closed-loop compensation on the hydraulic cylinders according to displacement information of the hydraulic cylinders, so as to realize synchronized movement of each hydraulic cylinder. The multi-hydraulic cylinder synchronization control system takes load forces of the hydraulic cylinders as a basis for flow rate distribution, realizes rapid driving and high-precision synchronization of the multi-hydraulic cylinders, and improves stability of equipment operation.

Description

Technical Field

[0001] This invention relates to the field of hydraulic cylinder synchronization technology, and more particularly to a multi-hydraulic cylinder synchronization control system. Background Technology

[0002] Synchronous control of multiple hydraulic cylinders is an important application in hydraulic transmission technology. Currently, this technology is widely used in many major engineering projects, such as ship lifting systems, large bridge rotation construction, and wind power pitch control systems. Synchronous control of a hydraulic system ensures that at least two hydraulic cylinders maintain the same displacement during movement. Theoretically, inputting equal amounts of fluid into multiple hydraulic cylinders with equal working areas can guarantee synchronous movement. However, in actual operation, due to the influence of load, manufacturing precision, and friction, it is difficult to guarantee the accuracy of synchronous movement of multiple hydraulic cylinders.

[0003] Currently, most existing multi-hydraulic cylinder synchronous control schemes use position error as the basis for allocation. For example, the offshore platform hydraulic cylinder lifting control method and system disclosed in patent publication number "CN110792649A" can achieve synchronous control of hydraulic cylinders to a certain extent, but it has significant limitations. In actual working conditions, the load borne by each hydraulic cylinder is dynamically changing, and the load differences between different hydraulic cylinders can be significant. Control methods that use position error as the allocation basis cannot rationally allocate power according to the actual load of the cylinders, and cannot truly reflect the load and power demand of the cylinders. This may lead to some hydraulic cylinders operating under excessive load, accelerating wear and reducing service life; while other hydraulic cylinders may have excessive power due to insufficient load, resulting in energy waste. Furthermore, this adjustment method is difficult to quickly and accurately adjust the power output of each hydraulic cylinder when facing complex working conditions, thus affecting the effectiveness of synchronous control and the operational stability of the equipment. Summary of the Invention

[0004] The technical problem to be solved by this invention is: in order to solve the problem that the load and power demand cannot be matched when the existing hydraulic cylinder synchronous control is used, resulting in poor synchronization effect and poor equipment stability, this invention provides a multi-hydraulic cylinder synchronous control system, which uses the load force of the hydraulic cylinder as the basis for flow distribution, realizes rapid driving and high-precision synchronization of multiple hydraulic cylinders, and improves the stability of equipment operation.

[0005] The technical solution adopted by this invention to solve its technical problem is: a multi-hydraulic cylinder synchronous control system, the system comprising: Hydraulic power unit; At least two first synchronization modules, each of which is connected to the hydraulic station; At least two second synchronization modules are provided, each of which is connected to the hydraulic station. Each second synchronization module also corresponds one-to-one with a first synchronization module, and the second synchronization module is connected to the corresponding first synchronization module. The hydraulic execution platform includes at least two hydraulic cylinders, each of which corresponds to one of the first synchronization modules and is connected to the corresponding first synchronization module. The control module acquires the load force of each of the hydraulic cylinders. The system combines a preset synchronization trajectory with the system dynamics model of the hydraulic cylinder to form a speed feedforward control command. Based on this command, the flow rates into the first and second synchronization modules are controlled. Then, based on the displacement information Ln of each hydraulic cylinder, it is determined whether to perform position closed-loop compensation for each cylinder to achieve synchronized movement between them. This invention utilizes the load force of the hydraulic cylinder... P L As a basis for flow distribution, it can not only quickly drive multiple hydraulic cylinders, but also adjust and compensate for flow fluctuations within the cylinders with high precision. This solves the problem of "large flow and high precision being incompatible" in traditional solutions, and also compensates for system leakage under high pressure. While ensuring driving capability, it can reduce energy consumption and improve the accuracy of synchronous movement of multiple cylinders. In addition, it eliminates accumulated position errors based on displacement information, further improving the synchronization accuracy of multiple hydraulic cylinders and ensuring the stability of equipment operation.

[0006] According to one embodiment of the present invention, the first synchronization module includes a control valve group and a pressure detection component, and the hydraulic station is connected to the oil inlet of each of the control valve groups; The second synchronization module includes a regulating valve group, and the hydraulic station is also connected to the oil inlet of each regulating valve group. Each regulating valve group corresponds one-to-one with the control valve group, and the regulating valve group is connected to the corresponding control valve group through a pipeline. The hydraulic cylinder has a built-in displacement sensor to collect the displacement information Ln of the hydraulic cylinder. The control valve group and the pressure detection component are each associated with a hydraulic cylinder. The oil outlet of the control valve group is connected to the corresponding hydraulic cylinder, and the pressure detection component is installed on the cavity of the corresponding hydraulic cylinder to collect the load force of the corresponding hydraulic cylinder. ; The hydraulic station, the regulating valve group, the displacement sensor, and the pressure detection component are all connected to the control module via signal transmission.

[0007] According to one embodiment of the present invention, the hydraulic actuation platform further includes: The transmission component, wherein the hydraulic cylinder is located at the bottom of the transmission component; A hydraulic lock electrically connected to the hydraulic cylinder; And at least two tilt sensors are arranged at the bottom of the transmission component, each tilt sensor corresponding to a hydraulic cylinder, and the tilt sensors are arranged close to the corresponding hydraulic cylinder to collect the tilt angle of the transmission component. The tilt sensor is also connected to the control module. The control module acquires the tilt angle and, in conjunction with a preset safety protection mechanism, performs graded protection for the system.

[0008] According to one embodiment of the present invention, the control module acquires the load force of each of the hydraulic cylinders. The process of generating speed feedforward control commands by combining a preset synchronous trajectory and a system dynamics model of the hydraulic cylinder includes the following steps: Construct a system dynamics model for the hydraulic cylinder; The synchronization trajectory is set according to the target motion curve to obtain the target motion parameters; Obtain the load force of each of the hydraulic cylinders ; The target motion parameters and the load force of each of the hydraulic cylinders are combined. The system dynamics model input to the hydraulic cylinder is used to calculate the total flow rate of each hydraulic cylinder. ; The load force of the hydraulic cylinder The comparison results are obtained by comparing with the calibration parameters; Based on the comparison results and the total flow rate of the hydraulic cylinder The traffic of the first synchronization module and the traffic of the second synchronization module are allocated. A speed feedforward control command is generated based on the flow rate of the first synchronization module and the flow rate of the second synchronization module.

[0009] According to an embodiment of the present invention, controlling the flow rate flowing into the first synchronization module and the flow rate flowing into the second synchronization module respectively according to the speed feedforward control command specifically includes the following steps: The control module sends the flow rate of the first synchronization module to the hydraulic station, and the hydraulic station controls the flow rate of the control valve group. The control module sends the flow rate from the second synchronization module to the regulating valve group, and controls the flow rate by controlling the opening size of the regulating valve group.

[0010] According to one embodiment of the present invention, determining whether to perform position closed-loop compensation on each hydraulic cylinder based on the displacement information of each hydraulic cylinder includes the following steps: Obtain the displacement information Ln of the hydraulic cylinder; Calculate the target displacement L based on the target motion parameters, compare the displacement information Ln with the target displacement L. If they are the same, then there is no need to perform position closed-loop compensation on the hydraulic cylinder; otherwise, proceed to the next step. The position deviation Sn is obtained by subtracting the displacement information Ln of the hydraulic cylinder from the target displacement L. Based on the positional deviation Sn and the total flow rate of the hydraulic cylinder Output adjustment commands and transmit the adjustment commands to the regulating valve group, and control the opening size of the regulating valve group according to the adjustment commands.

[0011] According to one embodiment of the present invention, the control module acquires the tilt angle and performs graded protection of the system in conjunction with a preset safety protection mechanism, specifically including the following steps: Set security thresholds, including a first security threshold. i 1. Second safety threshold i 2 and the third safety threshold i 3, of which, i 1< i 2< i 3; Obtain the tilt angle i And compare it with the safety threshold: When | θ| ≤ i If 1 is the operating condition, then the current operating condition is normal. when i 1 ＜ | θ| ≤ i At time 2, the position closed-loop compensation operation automatically exits, the control module controls the first synchronization module to stop working, and enters tilt attitude closed-loop control, based on the tilt angle. i By controlling the opening size of the regulating valve group, the hydraulic cylinder is synchronously controlled to achieve system safety redundancy; when i 2 ＜ | θ| ≤ i When 3 is reached, the control module shuts down the first synchronization module and controls the second synchronization module to enter low-speed adjustment, so as to realize low-speed synchronous movement of each hydraulic cylinder; When | θ|>θ When the time reaches 3, the control module shuts down the first synchronization module and the second synchronization module, and controls the hydraulic lock to seal the oil in both chambers of the hydraulic cylinder for forced locking protection.

[0012] According to one embodiment of the present invention, based on the comparison results and the total flow rate of the hydraulic cylinder The specific steps for allocating traffic between the first synchronization module and the second synchronization module are as follows: Determine the calibration parameters, including: heavy load pressure threshold. Heavy load pressure threshold The first extreme value with the largest proportion The first minimum extreme value The second largest extreme value The second minimum extreme value ,in, + =1, + =1; The proportion coefficient of the first synchronization module is calculated based on the comparison results. The proportion coefficient of the second synchronization module ;include: When the comparison result is At that time, the proportion coefficient of the first synchronization module The proportion coefficient of the second synchronization module They are respectively: , ; When the comparison result is At that time, the proportion coefficient of the first synchronization module The proportion coefficient of the second synchronization module They are respectively: , ; When the comparison result is At that time, the proportion coefficient of the first synchronization module The proportion coefficient of the second synchronization module They are respectively: , ; Based on the total flow rate of the hydraulic cylinder The proportion coefficient of the first synchronization module The proportion coefficient of the second synchronization module The traffic of the first synchronization module and the traffic of the second synchronization module are calculated respectively, using the following formula: , .

[0013] According to one embodiment of the present invention, based on the tilt angle i Controlling the opening size of the regulating valve assembly to synchronously control the hydraulic cylinder specifically includes the following steps: Real-time acquisition of the tilt angle i ; Based on the current tilt angle i The tilt angle deviation α between the target attitude and the preset target attitude is calculated; The horizontal distance from the transmission component to the hydraulic cylinder is known. L cd The hydraulic cylinder height deviation is calculated using the tilt angle deviation α. ; Based on hydraulic cylinder height deviation A correction command is generated and sent to the regulating valve group. Based on the correction command, the opening size of the regulating valve group is controlled, and the hydraulic cylinder is controlled to the target posture.

[0014] According to one embodiment of the present invention, the system dynamics model calculation expression of the hydraulic cylinder is as follows:

[0015] in, The effective area of ​​the rodless chamber of the hydraulic cylinder. For the total mass of motion, Acceleration of hydraulic cylinder movement , The viscous damping coefficient is... v For the target speed, This is the external load force.

[0016] According to one embodiment of the present invention, the target motion parameters and the load force of each of the hydraulic cylinders are... The system dynamics model input to the hydraulic cylinder is used to calculate the total flow rate of each hydraulic cylinder. Specifically, the following steps are included: Differentiate both sides of the equation for the system dynamics model of the hydraulic cylinder; According to known , and The derivative of the system dynamics model of the hydraulic cylinder is then broken down into derivative terms. Based on the target motion parameters and the load force of each hydraulic cylinder, the real-time load pressure change rate of each hydraulic cylinder is calculated according to the expression after decomposing and differentiating the terms. ; Based on the real-time load pressure change rate of each hydraulic cylinder and the target speed v Calculate the total flow rate of each of the hydraulic cylinders. The calculation formula is:

[0017] in, This refers to the total volume of the rodless chamber of the hydraulic cylinder and the connecting pipeline. This refers to the effective bulk elastic modulus of hydraulic oil.

[0018] According to one embodiment of the present invention, the target motion curve includes a uniform motion curve and a variable motion curve.

[0019] According to an embodiment of the present invention, the load force acquisition of the hydraulic cylinder includes the following steps: In the initial state of the system, the motor of the regulating valve group is started. The control module inputs a first flow control command to the regulating valve group and adjusts the opening size of the regulating valve group based on the first flow control command, controlling the pressure in the working chamber of each hydraulic cylinder to rise slowly. The pressure of the corresponding hydraulic cylinder is collected by the pressure detection component. When the pressure remains constant, this pressure is the load force of the hydraulic cylinder in the initial state. ; During normal system operation, the pressure of the corresponding hydraulic cylinder is collected in real time by the pressure detection component to obtain the load force of the hydraulic cylinder during normal operation. .

[0020] According to one embodiment of the present invention, the control valve group includes a motor, a first filter, a second check valve, and a reversing valve. The oil inlet of the motor is connected to the oil outlet of the hydraulic station. The oil outlet of the motor is connected to one end of the first filter. One end of the first filter is connected to the oil inlet of the second check valve. The oil outlet of the second check valve is connected to the P port of the reversing valve. The A port and B port of the reversing valve are respectively connected to the corresponding cavities of the hydraulic cylinder. The pressure detection assembly includes a first pressure sensor and a second pressure sensor. The first pressure sensor is connected to the rod chamber of the hydraulic cylinder, and the second pressure sensor is connected to the rodless chamber of the hydraulic cylinder.

[0021] According to one embodiment of the present invention, the second synchronization module further includes: a second motor and a second hydraulic pump connected to the second motor; The regulating valve assembly includes: a third check valve, a second filter, and a servo valve; The inlet of the second hydraulic pump is connected to the hydraulic station, the outlet of the second hydraulic pump is connected to the inlet of the second filter via the third check valve, the outlet of the second filter is connected to the P port of the servo valve, and the A port of the servo valve is connected to the P port of the corresponding directional valve of the control valve group via a pipeline.

[0022] The beneficial effects of this invention are: 1. This invention utilizes the load force of a hydraulic cylinder. P L As a basis for flow distribution, it can not only drive multiple hydraulic cylinders quickly, but also adjust and compensate for flow fluctuations within the cylinders with high precision. This solves the problem of "large flow and high precision cannot be achieved simultaneously" in traditional solutions, and also compensates for system leakage under high pressure. While ensuring driving capability, it can reduce energy consumption and improve the accuracy of synchronous movement of multiple cylinders. In addition, it eliminates position accumulation errors based on displacement information, further improving the synchronization accuracy of multiple hydraulic cylinders and further ensuring the stability of equipment operation. 2. This invention, through a preset safety protection mechanism, iteratively upgrades system control from a "passive shutdown" mode to attitude and tilt angle closed-loop control, then enters a low-speed synchronous operation phase, and finally completes the forced locking and position-holding operation. In this way, problems such as off-center loading, tilting, instability, and overturning can be eliminated at their source, greatly improving the safety and stability of the system. Attached Figure Description

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0024] Figure 1 This is a schematic diagram of the system structure of the preferred embodiment of the present invention.

[0025] Figure 2 This is a schematic diagram of the first synchronization module structure in the preferred embodiment of the present invention.

[0026] Figure 3 This is a schematic diagram of the second synchronization module structure in the preferred embodiment of the present invention.

[0027] Figure 4 This is a schematic diagram of the velocity and acceleration of the uniform motion curve in the preferred embodiment of the present invention.

[0028] Figure 5 This is a schematic diagram of the velocity and acceleration of the trapezoidal motion curve in the preferred embodiment of the present invention.

[0029] Figure 6 This is a schematic diagram of the velocity and acceleration of the S-curve of the preferred embodiment of the present invention.

[0030] In the diagram: 1. Hydraulic station; 11. First butterfly valve; 12. First vibration damper; 13. First hydraulic pump; 14. First motor; 15. First check valve; 16. First relief valve; 17. Liquid level and temperature sensor; 18. Liquid level relay; 19. Heater; 171. Air filter; 172. Water chiller; 2. First synchronization module; 21. Control valve assembly; 211. Motor; 212. First filter; 213. Second check valve; 214. Directional control valve; 22. Pressure detection assembly; 221. First pressure sensor; 222. Second pressure sensor; 3. Second synchronization module; 31. Control valve group; 311. Third check valve; 312. Second filter; 313. Servo valve; 32. Second motor; 33. Second hydraulic pump; 34. Proportional valve; 35. Second butterfly valve; 36. Second vibration damper; 4. Hydraulic actuator platform; 41. Hydraulic cylinder; 42. Displacement sensor; 43. Transmission component; 44. Hydraulic lock; 45. Tilt sensor; 5. Control module; 51. Host computer; 52. Servo valve controller. Detailed Implementation

[0031] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0032] Example 1: Figure 1 This is a schematic diagram of a multi-hydraulic cylinder synchronous control system according to an embodiment of the present invention, as shown below. Figure 1 As shown, the system includes: a hydraulic station 1, at least two first synchronization modules 2, at least two second synchronization modules 3, a hydraulic execution platform 4, and a control module 5.

[0033] Each of the first synchronization module 2 and each of the second synchronization module 3 is connected to the hydraulic station; the second synchronization module 3 also corresponds one-to-one with the first synchronization module 2, and the second synchronization module 3 is connected to the corresponding first synchronization module 2; the hydraulic execution platform 4 includes at least two hydraulic cylinders 41, each hydraulic cylinder 41 corresponds one-to-one with the first synchronization module 2, and the hydraulic cylinder 41 is connected to the corresponding first synchronization module 2; the control module 5 acquires the load force of each hydraulic cylinder 41, combines the preset synchronization trajectory and the system dynamic model of the hydraulic cylinder to form a speed feedforward control command, controls the flow rate flowing into the first synchronization module 2 and the flow rate flowing into the second synchronization module 3 according to the speed feedforward control command, and then determines whether to perform position closed-loop compensation on each hydraulic cylinder 41 according to the displacement information Ln of each hydraulic cylinder 41, so as to realize the synchronous movement between each hydraulic cylinder 41.

[0034] In other words, hydraulic oil is supplied to the first synchronization module 2 and the second synchronization module 3 through the hydraulic station 1, and the control module 5 adjusts the hydraulic oil supply according to the load force of each hydraulic cylinder 41. The system generates speed feedforward control commands by combining a preset synchronization trajectory and the system dynamics model of the hydraulic cylinders. Based on this, the flow rate into the first synchronization module 2 is controlled by the hydraulic station 1, thereby controlling the flow rate into the hydraulic cylinders 41 to achieve rapid drive of multiple hydraulic cylinders 41. Simultaneously, by controlling the flow rate into the first synchronization module 2, flow fluctuations within the hydraulic cylinders 41 are compensated, allowing for high-precision adjustment of the hydraulic cylinders 41 and ensuring the synchronous motion performance and dynamic response capability of the multiple hydraulic cylinders 41. Furthermore, the control module 5 can also determine whether to perform position compensation on the hydraulic cylinders 41 based on the displacement information Ln of the hydraulic cylinders 41 monitored in real time by the displacement sensor 42. This eliminates accumulated position errors, further improving the synchronization accuracy between multiple hydraulic cylinders 41 and ensuring the stability of equipment operation.

[0035] In one embodiment of the present invention, the first synchronization module 2 includes a control valve group 21 and a pressure detection component 22, and the hydraulic station 1 is connected to the oil inlet of each control valve group 21; the second synchronization module 3 includes a regulating valve group 31, and the hydraulic station 1 is also connected to the oil inlet of each regulating valve group 31. The regulating valve group 31 corresponds one-to-one with the control valve group 21, and the regulating valve group 31 is connected to the corresponding control valve group 21 through a pipeline; the hydraulic cylinder 41 has a built-in displacement sensor 42 for collecting the displacement information Ln of the hydraulic cylinder 41. The control valve group 21 corresponds one-to-one with the hydraulic cylinder 41, and the pressure detection component 22 also corresponds one-to-one with the hydraulic cylinder 41. The oil outlet of the control valve group 21 is connected to the corresponding hydraulic cylinder 41, and the pressure detection component 22 is set on the cavity of the corresponding hydraulic cylinder 41 for collecting the load force of the corresponding hydraulic cylinder 41. Hydraulic station 1, regulating valve group 31, displacement sensor 42, and pressure detection component 22 are all connected to control module 5 via signal transmission. The control module monitors the displacement information Ln transmitted by displacement sensor 42 and the load force of each hydraulic cylinder 41 in pressure detection component 22. The process is performed to control the hydraulic station 1 and the regulating valve group 31 respectively, so as to achieve the synchronization accuracy between multiple hydraulic cylinders 41.

[0036] In one embodiment of the present invention, such as Figure 1As shown, the hydraulic station 1 includes a first butterfly valve 11, a first shock absorber 12, a first hydraulic pump 13, a first motor 14, a first check valve 15, a first relief valve 16, a liquid level and temperature sensor 17, a liquid level relay 18, a heater 19, an air filter 171, and a water chiller 172. One end of the first butterfly valve 11 is connected to the oil tank, and the other end of the first butterfly valve 11 is connected to one end of the first shock absorber 12. The other end of the first shock absorber 12 is connected to the oil inlet of the first hydraulic pump 13. The first hydraulic pump 13 is also connected to the first motor 14. The oil outlet of the first hydraulic pump 13 is connected to the oil inlet of the first check valve 15. The oil outlet of the first check valve 15 is the oil outlet of the hydraulic station 1. The oil outlet of the first check valve 15 is also connected to the oil inlet of the first relief valve 16. The oil outlet of the first relief valve 16 is connected to the oil tank.

[0037] Specifically, the first motor 14 drives the first hydraulic pump 13 to work. Hydraulic oil in the tank enters the first hydraulic pump 13 through the first butterfly valve 11 and the first shock absorber 12. After flowing out of the first hydraulic pump 13, it passes through the inlet of the first check valve 15 and then through the outlet of the first check valve 15 to be transmitted to the first synchronization module 2. When the hydraulic oil is transmitted to the first synchronization module 2, the first relief valve 16 acts as a safety valve. The heater 19 and water chiller 172 equipped inside the tank are configured to control the oil temperature in the tank; the liquid level and temperature sensor 17 is configured to monitor the liquid level and temperature status of the oil in real time; the liquid level relay 18 is configured to automatically control the start and stop of the hydraulic station 1 according to the liquid level; and the air filter 171 is configured to filter the air entering the tank to prevent contaminants from entering the system, while balancing the pressure inside and outside the tank to ensure the stable operation of the hydraulic station.

[0038] In one embodiment of the present invention, such as Figure 2 As shown, the control valve assembly 21 includes a motor 211, a first filter 212, a second check valve 213, and a directional valve 214. The oil inlet of the motor 211 is connected to the oil outlet of the hydraulic station 1. The oil outlet of the motor 211 is connected to one end of the first filter 212. One end of the first filter 212 is connected to the oil inlet of the second check valve 213. The oil outlet of the second check valve 213 is connected to the P port of the directional valve 214. The A and B ports of the directional valve 214 are connected to the corresponding chambers of the hydraulic cylinder 41. The pressure detection assembly 22 includes a first pressure sensor 221 and a second pressure sensor 222. The first pressure sensor 221 is connected to the rod chamber of the hydraulic cylinder 41, and the second pressure sensor 222 is connected to the rodless chamber of the hydraulic cylinder 41.

[0039] Specifically, when the flow transmission of the first hydraulic pump 13 is controlled by the control module 5 and delivered to the first synchronization module 2, the motor 211 outputs oil evenly. The oil output by the motor 211 flows through the first filter 212, the first check valve 15 and the reversing valve 214 and is output to the hydraulic cylinder 41, thereby realizing the rapid driving of multiple hydraulic cylinders 41.

[0040] In one embodiment of the present invention, such as Figure 3 As shown, the second synchronization module 3 also includes: a second motor 32 and a second hydraulic pump 33 connected to the second motor 32; the regulating valve group 31 includes: a third check valve 311, a second filter 312 and a servo valve 313; the oil inlet of the second hydraulic pump 33 is connected to the hydraulic station 1, the oil outlet of the second hydraulic pump 33 is connected to the oil inlet of the second filter 312 via the third check valve 311, the oil outlet of the second filter 312 is connected to the P port of the servo valve 313, and the A port of the servo valve 313 is connected to the P port of the directional valve 214 of the corresponding control valve group 21.

[0041] Specifically, the second synchronization module 3 also includes a second butterfly valve 35 and a second shock absorber 36. The regulating valve group 31 also includes a proportional valve 34. One end of the second butterfly valve 35 is connected to the oil tank of the hydraulic station 1, and the other end is connected to one end of the second shock absorber 36. The other end of the second shock absorber 36 is connected to the oil inlet of the second hydraulic pump 33. The second motor 32 drives the second hydraulic pump 33 to work. Hydraulic oil enters the oil inlet of the second hydraulic pump 33 through the second butterfly valve 35 and the second shock absorber 36, and exits through the oil outlet of the second hydraulic pump 33 before entering the third check valve 311 and... The inlet of the second filter 312, the proportional valve 34, and the P port of the servo valve 313 are all connected to the outlet of the second filter 312. The A port of the servo valve 313 is connected to the P port of the directional valve 214 of the corresponding control valve group 21 via a pipeline. By controlling the opening size of the servo valve 313, the flow rate into the corresponding directional valve 214 is controlled. By adjusting the valve group 31, the flow rate into the hydraulic cylinder 41 can be adjusted in real time and as needed, avoiding the problem of asynchronous movement of the hydraulic cylinder 41 due to pipeline pressure loss, system leakage, and different output flow rates of the motor 211. Furthermore, this embodiment also uses the proportional valve 34 to achieve safety protection for the second synchronization module 3.

[0042] In one embodiment of the present invention, the control module 5 includes a host computer 51 and a servo valve controller 52. Both the servo valve controller 52 and the hydraulic station 1 are connected to the host computer 51. The servo valve 313 is also connected to the servo valve controller 52. The hydraulic station 1 controls the flow rate of the first hydraulic pump 13 according to the instructions issued by the host computer 51. The servo controller 52 controls the opening size of the servo valve 313 according to the instructions issued by the host computer 51. The displacement sensor 42, the first pressure sensor 221, and the second pressure sensor 222 are all signal-connected to the host computer 51 to obtain the displacement information Ln of the hydraulic cylinder 41 and the load force of the hydraulic cylinder 41. .

[0043] Specifically, load capacity It is the pressure when the hydraulic cylinder 41 is working, which applies load force to the hydraulic cylinder 41. The data collection specifically includes the following steps: In the initial state of the system, the motor of the regulating valve assembly 31 is started, and the control module 5 inputs a first flow control command to the regulating valve assembly 31. Based on the first flow control command, the opening size of the regulating valve assembly 31 is adjusted to control the pressure in the working chamber of each hydraulic cylinder 41 to rise slowly. The pressure of the corresponding hydraulic cylinder 41 is collected by the pressure detection component 22. When the pressure remains constant, the pressure is the load force of the hydraulic cylinder 41 in the initial state. During normal system operation, the pressure of the corresponding hydraulic cylinder 41 is collected in real time by the pressure detection component 22 to obtain the load force of the hydraulic cylinder 41 during normal operation. Furthermore, depending on the type of transmission component 43, the pressure of the corresponding hydraulic cylinder 41 is collected by the first pressure sensor 221 or the second pressure sensor 222. For example, if the rod chamber of the hydraulic cylinder 41 is connected to the transmission component 43, the first pressure sensor 221 is used to collect the pressure of the hydraulic cylinder 41 when it is working. If the rodless chamber of the hydraulic cylinder 41 is connected to the transmission component 43, the second pressure sensor 222 is used to collect the pressure of the hydraulic cylinder 41 when it is working.

[0044] It should be noted that the first flow control command is a minimum flow control command. By driving the hydraulic cylinder 41 with a small flow, the transmission component 43 of the hydraulic actuator platform 4 will not move, improving system safety and allowing for precise detection of the load force on the hydraulic cylinder 41. If a high-flow-rate drive is used, the transmission component 43 of the hydraulic actuator platform 4 may suddenly rise without knowing the load force, causing an accident. Furthermore, with a high-flow-rate drive, the transmission component 43 of the hydraulic actuator platform 4 may move too quickly, failing to collect the load force in time, resulting in inaccurate data.

[0045] In one embodiment of the present invention, the control module 5 acquires the load force of each hydraulic cylinder 41 and combines the preset synchronization trajectory and the system dynamics model of the hydraulic cylinder to form a speed feedforward control command, including the following steps: Step S11, construct the system dynamics model of the hydraulic cylinder, and calculate the expression as follows:

[0046] in, , All are known items. In actual calculations, the engineering value is small and can be ignored. The effective area of ​​the rodless chamber of the hydraulic cylinder. For the total mass of motion, Acceleration of hydraulic cylinder 41 , The viscous damping coefficient is... v For the target speed, For external load force, if it is a constant load condition (such as a static heavy-load platform), =0, if it is a variable load condition. .

[0047] Step S12: Set the synchronization trajectory according to the target motion curve and obtain the target motion parameters.

[0048] Step S13: Obtain the load force of each hydraulic cylinder 41. .

[0049] Step S14: Set the target motion parameters and the load force of each hydraulic cylinder 41. P L The system dynamics model input to the hydraulic cylinders is used to calculate the total flow rate of each hydraulic cylinder 41. ; by the load force of hydraulic cylinder 41 P L Based on the target motion parameters, the load flow distribution is fully matched with the actual force and power requirements of the hydraulic cylinder 41, thus enabling it to adapt to heavy load, variable load, and large inertia working conditions.

[0050] Step S15, the load force of hydraulic cylinder 41 is... P L The comparison results are obtained by comparing with the calibration parameters.

[0051] Step S16, based on the comparison results and the total flow rate of hydraulic cylinder 41 The flow rate of the first synchronization module 2 and the flow rate of the second synchronization module 3 are distributed; by the load force of the hydraulic cylinder 41 P L As the allocation of traffic between the first synchronization module 2 and the second synchronization module 3, it is related to the total traffic calculated by the former. By performing collaborative calculations, the allocation chaos caused by multi-parameter coupling is avoided, and the accuracy of flow allocation is improved. For example, under heavy load, it can ensure high flow drive capability and achieve fast response. Under light load, it can ensure high-precision adjustment, avoid system overshoot, and improve the synchronization accuracy of multi-cylinder.

[0052] Step S17: Generate a speed feedforward control command based on the flow rate of the first synchronization module 2 and the flow rate of the second synchronization module 3. Specifically, the target motion parameters and the load force of each hydraulic cylinder 41 are... P L The system dynamics model input to the hydraulic cylinders is used to calculate the total flow rate of each hydraulic cylinder 41. Specifically, the following steps are included: S141, Differentiating both sides of the equation for the system dynamics model of the hydraulic cylinder, the calculation formula is: .

[0053] S142, , and All terms are known. The calculation formula in step S141 is broken down and differentiated, resulting in the following expression: .

[0054] S143, combining the target motion parameters and the load force of the hydraulic cylinder 41, calculate the real-time load pressure change rate of each hydraulic cylinder 41 according to the expression in step S143. The calculation formula is: ; in, and All of these are target motion parameters. To accelerate the piston movement of hydraulic cylinder 41 The acceleration of the piston movement in hydraulic cylinder 41. This represents the rate of change of external load force. If it is a constant load condition, =0, if it is a variable load condition, for Taking the derivative yields Furthermore, data collected in real time by pressure sensors The sequence is then calculated using the difference method, with the following formula: , This is the data acquisition cycle of the pressure sensor.

[0055] It should be noted that, After simplification, for a constant load condition, we can obtain: ; If it is a variable load condition, then: .

[0056] The target motion curve includes curves of uniform motion and curves of variable motion. Curves of variable motion include, but are not limited to, trapezoidal or S-curves.

[0057] See Figure 4 As shown, when the target motion curve is a uniform motion curve, the velocity during uniform motion is... For a constant value, , Real-time load pressure change rate .

[0058] See Figure 5 As shown, when the target motion curve is a trapezoidal motion curve, the acceleration during the acceleration phase is... For a constant value, accelerometer The real-time load pressure change rate During the acceleration / deceleration transition, the acceleration changes from a constant value to 0, and the jerk... Assuming a fixed value (the corner of the trapezoidal curve), substitute it into the corresponding formula to calculate the fixed real-time load pressure change rate. .

[0059] See Figure 6 As shown, when the target motion curve is an S-curve, the acceleration changes smoothly, and the jerk... For a continuous curve, the host computer calculates in real time according to the curve's analytical expression, and then substitutes the results into the corresponding formula to solve for the curve. .

[0060] S144, based on the real-time load pressure change rate of hydraulic cylinder 41 and target speed v Calculate the total flow rate of each hydraulic cylinder 41. The calculation formula is:

[0061] in, This refers to the total volume of the rodless chamber of the hydraulic cylinder and the connecting pipeline. This refers to the effective bulk elastic modulus of hydraulic oil.

[0062] Furthermore, if the target motion curve is a uniform motion curve, the formula for calculating the total flow rate is: ; If the target motion curve is a variable speed motion curve, the formula for calculating the total flow rate is: .

[0063] Based on the comparison results and the total flow rate of hydraulic cylinder 41 The specific steps for allocating traffic between the first synchronization module 2 and the second synchronization module 3 are as follows: Step S160: Determine the calibration parameters, including the heavy-load pressure threshold. Light load pressure threshold The first extreme value with the largest proportion The first minimum extreme value The second largest extreme value The second minimum extreme value ,in, + =1, + =1, heavy load pressure threshold Light load pressure threshold , For the system's rated voltage, , , Calibration should be performed based on the actual operating conditions of the equipment, such as different load types and synchronization accuracy requirements. , , The values ​​of are all different.

[0064] Step S161: Calculate the proportion coefficient of the first synchronization module 2 based on the comparison results. The proportion coefficient of the second synchronization module 3 ;include: When the comparison result is (In the light load range) the proportion coefficient of the first synchronization module 2 The proportion coefficient of the second synchronization module 3 They are respectively: , ; in, from Decrease linearly, from It increases linearly.

[0065] When the comparison result is During (heavy load interval), the proportion coefficient of the first synchronization module 2 The proportion coefficient of the second synchronization module 3 They are respectively: , ; Among them, the proportion coefficient through the first synchronization module 2 We directly take the maximum value of the first proportion to ensure high-volume driving and improve response speed.

[0066] When the comparison result is (No-load / Minor-load interval), the proportion coefficient of the first synchronization module 2 The proportion coefficient of the second synchronization module 3 They are respectively: , ; Among them, the proportion coefficient through the second synchronization module 3 We directly take the second largest extreme value to ensure the synchronization accuracy of multiple cylinders.

[0067] Step S162, based on the total flow rate of hydraulic cylinder 41 The proportion coefficient of the first synchronization module 2 The proportion coefficient of the second synchronization module 3 Calculate the traffic of the first synchronization module 2 and the traffic of the second synchronization module 3 respectively. The calculation formula is as follows: , .

[0068] In other words, the load force of hydraulic cylinder 41 The proportion coefficient with the first synchronization module 2 It shows a positive correlation with the proportion coefficient of the second synchronization module 3. The flow rate of the first synchronization module 2 and the flow rate of the second synchronization module 3 are negatively correlated. Continuous dynamic adjustment is used to adapt to varying load conditions. Under heavy load, the first synchronization module 2 undertakes the main driving task, while under light load, the second synchronization module 3 undertakes the main precision task. This solves the problem of the traditional solution's inability to balance high flow rate and high precision, and also compensates for system leakage under high pressure. While ensuring driving capability, it can improve the accuracy of multi-cylinder synchronous movement. Furthermore, this embodiment uses the load force of hydraulic cylinder 41... This allows for the allocation of traffic while reducing energy consumption and avoiding resource waste.

[0069] In one embodiment of the present invention, determining whether to perform position closed-loop compensation on each hydraulic cylinder 41 based on the displacement information of each hydraulic cylinder 41 includes the following steps: S21, obtain the displacement information Ln of hydraulic cylinder 41; S22, calculate the target displacement L based on the target motion parameters, compare the displacement information Ln with the target displacement L. If they are the same, there is no need to perform position closed-loop compensation on the hydraulic cylinder 41; otherwise, proceed to the next step. S23, the position deviation Sn is obtained by subtracting the displacement information Ln of the hydraulic cylinder 41 from the target displacement L; S24, based on the position deviation Sn and the total flow rate of hydraulic cylinder 41 Output adjustment command and transmit the adjustment command to the control valve group 31, and control the opening size of the control valve group 31 based on the adjustment command.

[0070] By superimposing speed feedforward control with position closed-loop compensation, the response speed of hydraulic cylinder 41 is guaranteed, while position feedback is used to eliminate residual errors and external disturbances, thereby further improving the accuracy of multi-cylinder synchronous motion.

[0071] In summary, according to the embodiments of the present invention, the load force of the hydraulic cylinder 41 is... P L As a basis for flow distribution, it can not only quickly drive multiple hydraulic cylinders 41, but also adjust and compensate for flow fluctuations within the cylinders with high precision. This solves the problem of "large flow and high precision cannot be achieved simultaneously" in traditional solutions, and also compensates for system leakage under high pressure. While ensuring driving capability, it can reduce energy consumption and improve the accuracy of synchronous movement of multiple cylinders. In addition, it eliminates position accumulation errors based on displacement information, further improving the synchronization accuracy of multiple hydraulic cylinders 41 and ensuring the stability of equipment operation.

[0072] Example 2: Existing multi-cylinder 41 synchronous control schemes often resort to simple speed reduction or direct equipment shutdown to avoid accidents when abnormal conditions are detected. However, under heavy load, off-center load, and high inertia conditions, this safety protection method often fails to effectively correct the equipment's posture in a timely manner if tilting or instability occurs. This can lead to continued tilting or even overturning, causing serious personal injury and equipment damage, posing a significant safety hazard.

[0073] To address the aforementioned issues, another embodiment of the multi-hydraulic cylinder synchronous control system of the present invention further includes a hydraulic execution platform 4 comprising: a transmission component 43, at least two hydraulic locks 44, and at least two tilt sensors 45.

[0074] Hydraulic cylinders 41 are located at the bottom of the transmission component 43. Hydraulic locks 44 and tilt sensors 45 correspond one-to-one with each hydraulic cylinder 41. The hydraulic locks 44 are electrically connected to their respective hydraulic cylinders 41. The tilt sensors 45 are located at the bottom of the transmission component 43, close to their respective hydraulic cylinders 41, to collect the tilt angle of the transmission component 43. The tilt sensors 45 are also connected to the control module 5. The control module 5 acquires the tilt angle and, in conjunction with a preset safety protection mechanism, performs graded protection of the system, specifically including the following steps: S31, Set a security threshold, the security threshold includes a first security threshold. i1. Second safety threshold i 2 and the third safety threshold i 3, of which, i 1< i 2< i 3.

[0075] S32, obtain tilt angle i And compare it with the safety threshold: When | θ| ≤ i When 1, the current working condition is the normal working condition. It should be noted that, in this embodiment, the "normal working condition" specifically refers to the working condition when the technical solution described in Embodiment 1 is executed. when i 1 ＜ | θ| ≤ i 2. Then, the position closed-loop compensation operation will automatically exit, the control module 5 will control the first synchronization module 2 to stop working, and enter the tilt angle attitude closed-loop control, based on the tilt angle. i The opening size of the regulating valve group 31 is controlled to synchronously control the hydraulic cylinder 41, thereby achieving system safety redundancy. when i 2 ＜ | θ| ≤ i 3. Then the control module 5 shuts down the first synchronization module 2 and controls the second synchronization module 3 to enter low-speed adjustment, so as to realize the low-speed synchronous movement of each hydraulic cylinder 41. When | θ|>θ 3. Then, the control module 5 shuts down the first synchronization module 2 and the second synchronization module 3, and controls the hydraulic lock 44 to seal the oil in both chambers of the hydraulic cylinder 41 for forced locking protection.

[0076] In one embodiment of the present invention, based on the tilt angle i The process of controlling the opening size of the regulating valve assembly 31 to synchronously control the hydraulic cylinder 41 includes the following steps: A1, Real-time acquisition of tilt angle i ; A2, based on the current tilt angle i The tilt angle deviation α between the target attitude and the preset target attitude is calculated; A3, Given the horizontal distance from transmission component 43 to hydraulic cylinder 41 L cd Calculate the height deviation of hydraulic cylinder 41 based on the tilt angle deviation α. The calculation formula is: ; A4, based on the height deviation of hydraulic cylinder 41 A correction command is generated and sent to the regulating valve group 31. Based on the correction command, the opening size of the regulating valve group 31 is controlled, and the hydraulic cylinder 41 is controlled to the target posture.

[0077] In one embodiment of the present invention, when the second synchronization module 3 is controlled to enter low-speed adjustment, the speed movement range V1~V2 is controlled according to the specifications of the oil cylinder, preferably (1 mm / s~3 mm / s), and then the flow rate is distributed according to the currently controlled speed, and the opening size of the servo valve 313 is controlled according to the distributed flow rate.

[0078] In summary, according to the embodiments of the present invention, the system control is iteratively upgraded from a "passive shutdown" mode to attitude and tilt angle closed-loop control through a preset safety protection mechanism, followed by a low-speed synchronous operation phase, and finally a forced locking and position-holding operation. In this way, problems such as off-center loading, tilting, instability, and overturning can be eliminated at their source, greatly improving the safety and stability of the system.

[0079] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A multi-hydraulic cylinder synchronous control system, characterized in that, The system includes: Hydraulic station (1); At least two first synchronization modules (2), each of which is connected to the hydraulic station; At least two second synchronization modules (3) are connected to the hydraulic station. Each second synchronization module (3) is also connected to the first synchronization module (2) in a one-to-one correspondence. The second synchronization module (3) is connected to the corresponding first synchronization module (2). The hydraulic execution platform (4) includes at least two hydraulic cylinders (41), each of which corresponds to one of the first synchronization modules (2), and each hydraulic cylinder (41) is connected to the corresponding first synchronization module (2). Control module (5), which acquires the load force of each of the hydraulic cylinders (41) Combined with the preset synchronization trajectory and the system dynamics model of the hydraulic cylinder, a speed feedforward control command is formed. The flow rate flowing into the first synchronization module (2) and the flow rate flowing into the second synchronization module (3) are controlled according to the speed feedforward control command. Then, based on the displacement information Ln of each hydraulic cylinder (41), it is determined whether to perform position closed-loop compensation on each hydraulic cylinder (41) to achieve synchronous movement between each hydraulic cylinder (41).

2. The multi-hydraulic cylinder synchronous control system according to claim 1, characterized in that, The first synchronization module (2) includes a control valve group (21) and a pressure detection component (22), and the hydraulic station (1) is connected to the oil inlet of each of the control valve groups (21); The second synchronization module (3) includes a regulating valve group (31). The hydraulic station (1) is also connected to the oil inlet of each regulating valve group (31). Each regulating valve group (31) corresponds to the control valve group (21) one by one. The regulating valve group (31) is connected to the corresponding control valve group (21) through a pipeline. The hydraulic cylinder (41) has a built-in displacement sensor (42) to collect the displacement information Ln of the hydraulic cylinder (41). The control valve group (21) and the pressure detection component (22) are each corresponding to a hydraulic cylinder (41). The oil outlet of the control valve group (21) is connected to the corresponding hydraulic cylinder (41). The pressure detection component (22) is set on the cavity of the corresponding hydraulic cylinder (41) to collect the load force of the corresponding hydraulic cylinder (41). ; The hydraulic station (1), the regulating valve group (31), the displacement sensor (42) and the pressure detection component (22) are all connected to the control module (5) via signal.

3. The multi-hydraulic cylinder synchronous control system according to claim 2, characterized in that, The hydraulic actuation platform (4) also includes: The transmission component (43) has the hydraulic cylinder (41) located at the bottom of the transmission component (43); A hydraulic lock (44) electrically connected to the hydraulic cylinder (41). And at least two tilt sensors (45) are arranged at the bottom of the transmission component (43), the tilt sensors (45) correspond one-to-one with the hydraulic cylinders (41), and the tilt sensors (45) are arranged close to the corresponding hydraulic cylinders (41) to collect the tilt angle of the transmission component (43); The tilt sensor (45) is also connected to the control module (5) via a signal. The control module (5) acquires the tilt angle and, in conjunction with a preset safety protection mechanism, performs graded protection for the system.

4. The multi-hydraulic cylinder synchronous control system according to claim 2, characterized in that, The control module (5) acquires the load force of each of the hydraulic cylinders (41). The process of generating speed feedforward control commands by combining a preset synchronous trajectory and a system dynamics model of the hydraulic cylinder includes the following steps: Construct a system dynamics model for the hydraulic cylinder; The synchronization trajectory is set according to the target motion curve to obtain the target motion parameters; Obtain the load force of each of the hydraulic cylinders (41) ; The target motion parameters and the load force of each of the hydraulic cylinders (41) are combined. The system dynamics model input to the hydraulic cylinder is used to calculate the total flow rate of each hydraulic cylinder (41). ; The load force of the hydraulic cylinder (41) The comparison results are obtained by comparing with the calibration parameters; Based on the comparison results and the total flow rate of the hydraulic cylinder (41) The traffic of the first synchronization module (2) and the traffic of the second synchronization module (3) are allocated; A speed feedforward control command is generated based on the flow rate of the first synchronization module (2) and the flow rate of the second synchronization module (3).

5. The multi-hydraulic cylinder synchronous control system according to claim 4, characterized in that, The specific steps for controlling the flow rate into the first synchronization module (2) and the flow rate into the second synchronization module (3) according to the speed feedforward control command are as follows: The control module (5) sends the flow rate of the first synchronization module (2) to the hydraulic station (1), and controls the flow rate of the control valve group (21) through the hydraulic station (1); The control module (5) sends the flow rate of the second synchronization module (3) to the regulating valve group (31) and controls the flow rate by controlling the opening size of the regulating valve group (31).

6. The multi-hydraulic cylinder synchronous control system according to claim 4, characterized in that, Based on the displacement information of each hydraulic cylinder (41), determining whether to perform position closed-loop compensation for each hydraulic cylinder (41) includes the following steps: Obtain the displacement information Ln of the hydraulic cylinder (41); Calculate the target displacement L based on the target motion parameters, compare the displacement information Ln with the target displacement L. If they are the same, then there is no need to perform position closed-loop compensation on the hydraulic cylinder (41). Otherwise, proceed to the next step. The position deviation Sn is obtained by subtracting the displacement information Ln of the hydraulic cylinder (41) from the target displacement L. Based on the position deviation Sn and the total flow rate of the hydraulic cylinder (41) Output adjustment command and transmit the adjustment command to the regulating valve group (31), and control the opening size of the regulating valve group (31) according to the adjustment command.

7. The multi-hydraulic cylinder synchronous control system according to claim 3, characterized in that, The control module (5) acquires the tilt angle and performs graded protection of the system in conjunction with the preset safety protection mechanism, specifically including the following steps: Set security thresholds, including a first security threshold. θ 1. Second safety threshold θ 2 and the third safety threshold θ 3, of which, θ 1< θ 2< θ 3; Obtain the tilt angle θ And compare it with the safety threshold: When | θ| ≤ θ If 1 is the operating condition, then the current operating condition is normal. when θ 1 ＜ | θ| ≤ θ When the position closed-loop compensation operation is completed at time 2, the control module (5) controls the first synchronization module (2) to stop working and enters the tilt angle attitude closed-loop control based on the tilt angle. θ By controlling the opening size of the regulating valve group (31), the hydraulic cylinder (41) is synchronously controlled to achieve system safety redundancy; when θ 2 ＜ | θ| ≤ θ When 3, the control module (5) shuts down the first synchronization module (2) and controls the second synchronization module (3) to enter low-speed adjustment, so as to realize low-speed synchronous movement of each hydraulic cylinder (41); When | θ|>θ When 3, the control module (5) shuts down the first synchronization module (2) and the second synchronization module (3), and controls the hydraulic lock (44) to seal the oil in both chambers of the hydraulic cylinder (41) for forced locking protection.

8. The multi-hydraulic cylinder synchronous control system according to claim 4, characterized in that, Based on the comparison results and the total flow rate of the hydraulic cylinder (41) The specific steps for allocating the traffic of the first synchronization module (2) and the traffic of the second synchronization module (3) are as follows: Determine the calibration parameters, including: heavy load pressure threshold. Heavy load pressure threshold The first extreme value with the largest proportion The first minimum extreme value The second largest extreme value The second minimum extreme value ,in, + =1, + =1; The proportion coefficient of the first synchronization module (2) is calculated based on the comparison results. The proportion coefficient of the second synchronization module (3) ;include: When the comparison result is At that time, the proportion coefficient of the first synchronization module (2) The proportion coefficient of the second synchronization module (3) They are respectively: ， ； When the comparison result is At that time, the proportion coefficient of the first synchronization module (2) The proportion coefficient of the second synchronization module (3) They are respectively: ， ； When the comparison result is At that time, the proportion coefficient of the first synchronization module (2) The proportion coefficient of the second synchronization module (3) They are respectively: ， ； According to the total flow rate of the hydraulic cylinder (41) The proportion coefficient of the first synchronization module (2) The proportion coefficient of the second synchronization module (3) The flow rates of the first synchronization module (2) and the second synchronization module (3) are calculated respectively, using the following formulas: ， 。 9. The multi-hydraulic cylinder synchronous control system according to claim 7, characterized in that, Based on the tilt angle θ Controlling the opening size of the regulating valve assembly (31) to synchronously control the hydraulic cylinder (41) specifically includes the following steps: Real-time acquisition of the tilt angle θ ; Based on the current tilt angle θ The tilt angle deviation α between the target attitude and the preset target attitude is calculated; The horizontal distance between the transmission component (43) and the hydraulic cylinder (41) is known. L cd The tilt angle deviation α is used to calculate the height deviation of the hydraulic cylinder (41). ; According to the height deviation of hydraulic cylinder (41) A correction command is generated and sent to the regulating valve group (31). Based on the correction command, the opening size of the regulating valve group (31) is controlled, and the hydraulic cylinder (41) is controlled to the target posture.

10. The multi-hydraulic cylinder synchronous control system according to claim 4, characterized in that, The system dynamics model calculation expression for the hydraulic cylinder is as follows: in, The effective area of ​​the rodless chamber of the hydraulic cylinder. For the total mass of motion, For the acceleration of the hydraulic cylinder (41) , The viscous damping coefficient is... v For the target speed, This is the external load force.

11. The multi-hydraulic cylinder synchronous control system according to claim 10, characterized in that, The target motion parameters and the load force of each of the hydraulic cylinders (41) are combined. The system dynamics model input to the hydraulic cylinder is used to calculate the total flow rate of each hydraulic cylinder (41). Specifically, the following steps are included: Differentiate both sides of the equation for the system dynamics model of the hydraulic cylinder; According to known , and The derivative of the system dynamics model of the hydraulic cylinder is then broken down into derivative terms. Combining the target motion parameters and the load force of each hydraulic cylinder (41), the real-time load pressure change rate of each hydraulic cylinder (41) is calculated according to the expression after decomposing and differentiating the terms. ; According to the real-time load pressure change rate of each of the hydraulic cylinders (41) and the target speed v Calculate the total flow rate of each of the hydraulic cylinders (41). The calculation formula is: in, This refers to the total volume of the rodless chamber of the hydraulic cylinder and the connecting pipeline. This refers to the effective bulk elastic modulus of hydraulic oil.

12. The multi-hydraulic cylinder synchronous control system according to claim 4, characterized in that, The target motion curve includes uniform motion curves and variable motion curves.

13. The multi-hydraulic cylinder synchronous control system according to claim 2, characterized in that, The load force acquisition of the hydraulic cylinder (41) includes the following steps: In the initial state of the system, the motor of the regulating valve group (31) is started, the control module (5) inputs a first flow control command to the regulating valve group (31), and adjusts the opening size of the regulating valve group (31) based on the first flow control command, controlling the pressure of the working chamber of each hydraulic cylinder (41) to rise slowly. The pressure of the corresponding hydraulic cylinder (41) is collected by the pressure detection component (22). When the pressure remains unchanged, the pressure is the load force of the hydraulic cylinder (41) in the initial state. ; During normal operation, the pressure of the corresponding hydraulic cylinder (41) is collected in real time by the pressure detection component (22) to obtain the load force of the hydraulic cylinder (41) during normal operation. .

14. The multi-hydraulic cylinder synchronous control system according to claim 2, characterized in that, The control valve group (21) includes a motor (211), a first filter (212), a second check valve (213), and a reversing valve (214). The oil inlet of the motor (211) is connected to the oil outlet of the hydraulic station (1). The oil outlet of the motor (211) is connected to one end of the first filter (212). One end of the first filter (212) is connected to the oil inlet of the second check valve (213). The oil outlet of the second check valve (213) is connected to the P port of the reversing valve (214). The A port and B port of the reversing valve (214) are respectively connected to the corresponding cavities of the hydraulic cylinder (41). The pressure detection assembly (22) includes a first pressure sensor (221) and a second pressure sensor (222). The first pressure sensor (221) is connected to the rod chamber of the hydraulic cylinder (41), and the second pressure sensor (222) is connected to the rodless chamber of the hydraulic cylinder (41).

15. The multi-hydraulic cylinder synchronous control system according to claim 2, characterized in that, The second synchronization module (3) further includes: a second motor (32) and a second hydraulic pump (33) connected to the second motor (32); The regulating valve assembly (31) includes: a third check valve (311), a second filter (312), and a servo valve (313). The inlet of the second hydraulic pump (33) is connected to the hydraulic station (1), the outlet of the second hydraulic pump (33) is connected to the inlet of the second filter (312) via the third check valve (311), the outlet of the second filter (312) is connected to the P port of the servo valve (313), and the A port of the servo valve (313) is connected to the P port of the directional valve (214) of the corresponding control valve group (21) via a pipeline.

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