Dual-cylinder synchronous driving control method and device, electronic equipment and storage medium

Abstract

The application provides a double-liquid-cylinder synchronous driving control method and device, electronic equipment and storage medium. The double-liquid-cylinder comprises a driving cylinder and a driven cylinder. The control method comprises the following steps: obtaining a target motion stroke of the driving cylinder, and controlling the driving cylinder to move by a first driving member according to a preconfigured speed planning algorithm and the target motion stroke; obtaining position data of the driving cylinder and the driven cylinder and an original duty cycle of a second driving member, and determining a real-time duty cycle of the second driving member based on the position data and the original duty cycle; obtaining current data of the first driving member and the second driving member; outputting a first instruction in the case that any driving member meets a first preset condition, the first instruction being used to control a target duty cycle of the corresponding driving member, so that the driving cylinder and the driven cylinder are synchronously lifted and lowered; or outputting a second instruction in the case that any driving member meets a second preset condition, the second instruction being used to cut off the output of the two driving members and control the driving members to reversely operate a preset stroke.

Description

Technical Field

[0001] This application relates to the field of mechanical control technology, and in particular to a method, device, electronic equipment and storage medium for synchronous drive control of dual hydraulic cylinders. Background Technology

[0002] In applications requiring synchronous drive of dual hydraulic cylinders, such as double-column hydraulic lifting height limiters, the driving and driven cylinders often experience positional deviations during operation due to factors such as uneven load, external disturbances, or differences in internal leakage of the hydraulic components. This can lead to beam tilting, affecting the safety and stability of the equipment. Furthermore, hydraulic cylinders may jam. If a sudden jamming failure occurs and protective measures are not taken in time, excessive positional deviation may cause mechanical structural damage and increase the difficulty of subsequent maintenance. Summary of the Invention

[0003] In view of this, this application provides a method, device, electronic device and storage medium for synchronous drive control of dual hydraulic cylinders, which realizes synchronous lifting of dual hydraulic cylinders. At the same time, it can distinguish the situation of dual hydraulic cylinders being resisted by the environment or getting stuck, and output different control commands respectively, thereby improving the synchronization of the operation of dual hydraulic cylinders and ensuring that dual hydraulic cylinders can operate stably for a long time.

[0004] In a first aspect, embodiments of this application provide a method for synchronous drive control of dual hydraulic cylinders, wherein the dual hydraulic cylinders include a driving cylinder and a driven cylinder, and the control method includes: The target stroke of the active cylinder is obtained, and the movement of the active cylinder is controlled by the first driving component according to the pre-configured speed planning algorithm and the target stroke. The position data of the active cylinder and the driven cylinder and the original duty cycle of the second driving member driving the driven cylinder are obtained, and the real-time duty cycle of the second driving member is determined based on the position data and the original duty cycle. Acquire the current data of the first driving component and the second driving component; When any of the driving components meets a first preset condition, a first command is output. The first command is used to control the target duty cycle of the corresponding driving component so that the driving cylinder and the driven cylinder rise and fall synchronously; or If any of the driving components meets the second preset condition, a second instruction is output. The second instruction is used to cut off the output of both driving components and control the driving components to run in reverse for a preset distance.

[0005] Secondly, embodiments of this application provide a dual-cylinder synchronous drive control device, wherein the dual-cylinder includes a driving cylinder and a driven cylinder, and the dual-cylinder synchronous drive control device includes: An active cylinder control module is used to acquire the target motion stroke of the active cylinder and control the movement of the active cylinder through a first drive component according to a pre-configured speed planning algorithm and the target motion stroke. The driven cylinder control module is used to acquire the position data of the driving cylinder and the driven cylinder and the original duty cycle of the second driving member that drives the driven cylinder, and to determine the real-time duty cycle of the second driving member based on the position data and the original duty cycle. The data acquisition module is used to acquire the current data of the first driving component and the second driving component; The judgment execution module is configured to output a first instruction when any of the driving components meets a first preset condition. The first instruction controls the target duty cycle of the corresponding driving component to synchronize the lifting and lowering of the driving cylinder and the driven cylinder. If any of the driving components meets the second preset condition, a second instruction is output. The second instruction is used to cut off the output of both driving components and control the driving components to run in reverse for a preset distance.

[0006] Thirdly, embodiments of this application provide an electronic device including a processor and a memory, the memory storing a program or instructions that can run on the processor, the program or instructions implementing the steps of the method as described in the first aspect when executed by the processor.

[0007] Fourthly, embodiments of this application provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method as described in the first aspect.

[0008] Fifthly, embodiments of this application provide a chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the method as described in the first aspect.

[0009] In a sixth aspect, embodiments of this application provide a computer program product stored in a storage medium, which is executed by at least one processor to implement the method as described in the first aspect.

[0010] Thus, this embodiment of the application achieves smooth start-stop control of the active cylinder by introducing a speed planning algorithm into the controller, and dynamically adjusts the real-time duty cycle of the second drive component based on the position data of the active and driven cylinders and the duty cycle of the second drive component. At the same time, combined with real-time monitoring of the drive component current data, it can perform gain compensation on the corresponding drive component through the first command when external resistance such as wind load is detected, ensuring that the dual hydraulic cylinders can maintain precise synchronous lifting and lowering under high load or disturbance environment. In addition, when the current data meets the second preset condition, the controller determines that the hydraulic cylinder is stuck, and immediately cuts off the drive component output and controls the reverse operation of the preset stroke, thereby effectively preventing the position deviation of the active and driven cylinders from being too large due to the stuck, which would damage the height limit frame. It also reduces the difficulty of subsequent maintenance through the force relief design, improves the reliability and safety of the dual hydraulic cylinder synchronous drive control method under complex working conditions, and indirectly reduces the maintenance cost and service life of the dual-column hydraulic lifting height limit frame.

[0011] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0012] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This paper illustrates one of the flowcharts of a dual-cylinder synchronous drive control method according to an embodiment of this application. Figure 2 A comparison diagram of the velocity planning curve and the trapezoidal velocity planning curve of an embodiment of this application is shown; Figure 3 The second schematic flowchart of a dual-cylinder synchronous drive control method according to an embodiment of this application is shown; Figure 4 A structural block diagram of a dual-cylinder synchronous drive control device according to an embodiment of this application is shown; Figure 5 A structural block diagram of an electronic device according to an embodiment of this application is shown. Detailed Implementation

[0013] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0014] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0015] The dual-cylinder synchronous drive control method provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0016] This application provides a dual-cylinder synchronous drive control method. The dual-cylinder system includes an active cylinder and a driven cylinder. This dual-cylinder system can be applied to a double-column hydraulic lifting height limiter, achieving vertical movement of the crossbeam by controlling the synchronous lifting of the two columns. In this application embodiment, the controller, which is communicatively connected to the active cylinder, the driven cylinder, and the two drive components, will be used as the execution subject for explanation. Please refer to... Figure 1 The dual-cylinder synchronous control method can be implemented through steps 101 to 105: Step 101: The controller obtains the target motion stroke of the active cylinder and controls the movement of the active cylinder through the first drive component according to the pre-configured speed planning algorithm and the target motion stroke.

[0017] The controller can receive the target motion stroke of the active cylinder from the operator. A speed planning algorithm is pre-configured in the controller. Based on the acquired target motion stroke and the speed planning algorithm, the controller drives the active cylinder by controlling the first driving component. In this embodiment, the speed planning algorithm can be a seven-segment S-shaped speed planning algorithm. The speed change trend of the S-shaped speed planning curve is similar to that of the trapezoidal speed planning curve. Figure 2 As shown, a general introduction to the S-shaped velocity planning algorithm is as follows: Let the maximum speed of the active cylinder be v. max The maximum acceleration is a max The jerk is J, and the time is t. This is the initial speed of the active cylinder. During the acceleration phase... The speed of the active cylinder movement The function expression is as follows:

[0018] During the constant acceleration phase, i.e. At that time, speed The function expression is as follows:

[0019] in, for The speed at which the active cylinder moves at all times.

[0020] During the deceleration phase, the jerk J is controlled to be negative by the controller, so that the acceleration curve smoothly returns to zero, avoiding [further issues]. This design ensures continuous acceleration during start-up and shutdown of the drive components, eliminating the source of vibration that causes beam vibration.

[0021] Step 102: The controller obtains the position data of the active cylinder and the driven cylinder and the original duty cycle of the second driving component that drives the driven cylinder, and determines the real-time duty cycle of the second driving component based on the position data and the original duty cycle.

[0022] After the controller starts controlling the active cylinder to move, it acquires the position data of the active cylinder and the driven cylinder to determine the position deviation between the active cylinder and the driven cylinder. The controller acquires the original duty cycle of the second drive component in the current state, and then determines the real-time duty cycle of the second drive component based on the position deviation and the original duty cycle.

[0023] Step 103: The controller acquires the current data of the first driving element and the second driving element.

[0024] The first driving component that drives the active cylinder and the second driving component that drives the driven cylinder can be two motors. The controller can acquire the current data of the two driving components when they drive the corresponding hydraulic cylinders.

[0025] Step 104: When any drive component meets the first preset condition, the controller outputs a first instruction. The first instruction is used to control the target duty cycle of the corresponding drive component so that the active cylinder and the driven cylinder rise and fall synchronously.

[0026] If the current data of any drive component obtained by the controller meets the first preset condition, the controller determines that there is resistance in the external environment, such as wind load, that affects the normal lifting and lowering of the active cylinder or the driven cylinder. Therefore, the controller outputs the first command to control the drive component corresponding to the hydraulic cylinder that is subjected to resistance, so as to perform gain compensation on the drive component corresponding to the hydraulic cylinder that is subjected to resistance, thereby enabling the active cylinder and the driven cylinder to maintain synchronous lifting and lowering.

[0027] Following step 103, the dual-cylinder synchronous control method further includes step 105: Step 105: When any drive unit meets the second preset condition, the controller outputs a second instruction. The second instruction is used to cut off the output of the two drive units and control the drive units to run in reverse for a preset distance.

[0028] After acquiring the current data of the driving cylinder and the driven cylinder, the controller can also determine whether the current data of the driving component that drives the driving cylinder meets a second preset condition. When the current data of any driving component meets the second preset condition, it indicates that the hydraulic cylinder has jammed. To protect other components, the controller immediately outputs a second command to cut off the operation of the two driving components, preventing excessive positional deviation between the driving and driven cylinders. Subsequently, the controller controls the two driving components to reverse a preset stroke to relieve the force on the jammed hydraulic cylinder. Taking a motor as an example where the two driving components drive a double hydraulic cylinder to rise, the second command can control the two motors to stop running. Then, the controller controls the two motors to reverse, causing the driving and driven cylinders to descend a preset stroke, preventing the jammed hydraulic cylinder from completely jamming, thereby reducing the difficulty of subsequent maintenance.

[0029] Thus, this embodiment of the application achieves smooth start-stop control of the active cylinder by introducing a speed planning algorithm into the controller, and dynamically adjusts the real-time duty cycle of the second drive component based on the position data of the active and driven cylinders and the duty cycle of the second drive component. At the same time, combined with real-time monitoring of the drive component current data, it can perform gain compensation on the corresponding drive component through the first command when external resistance such as wind load is detected, ensuring that the dual hydraulic cylinders can maintain precise synchronous lifting and lowering under high load or disturbance environment. In addition, when the current data meets the second preset condition, the controller determines that the hydraulic cylinder is stuck, and immediately cuts off the drive component output and controls the reverse operation of the preset stroke, thereby effectively preventing the position deviation of the active and driven cylinders from being too large due to the stuck, which would damage the height limit frame. It also reduces the difficulty of subsequent maintenance through the force relief design, improves the reliability and safety of the dual hydraulic cylinder synchronous drive control method under complex working conditions, and indirectly reduces the maintenance cost and service life of the dual-column hydraulic lifting height limit frame.

[0030] In some embodiments, such as Figure 3 As shown, step 102 can be achieved through steps 1021 to 1023: Step 1021: The controller acquires the first position data of the active cylinder and the second position data of the driven cylinder at the same time.

[0031] Specifically, a position sensing element can be installed on both the driving cylinder and the driven cylinder to obtain the first position data of the driving cylinder and the second position data of the driven cylinder. The position sensing element can be a wire encoder to provide real-time feedback on the specific positions of the driving cylinder and the driven cylinder.

[0032] Step 1022: The controller determines the position deviation between the driving cylinder and the driven cylinder based on the first position data and the second position data.

[0033] Positional deviation can be determined using the first formula, which is:

[0034] in, This represents the positional deviation at time t. This represents the first position data of the active cylinder at time t. This represents the second position data of the driven cylinder at time t.

[0035] Step 1023: The controller determines the real-time duty cycle of the second drive unit based on the position deviation and the original duty cycle.

[0036] The controller converts the positional deviation between the active and passive cylinders into the duty cycle that the second drive should increase, and adds it to the original duty cycle of the passive cylinder to obtain the real-time duty cycle of the second drive.

[0037] The above embodiments introduce position sensing elements to collect position data of the driving and driven cylinders in real time. This allows the controller to calculate the position deviation between the driving and driven cylinders using a first formula. This deviation is then quantified as the duty cycle increment requiring compensation and superimposed on the original duty cycle of the second drive component to generate a real-time target duty cycle. In these embodiments, the controller can dynamically adjust the driving force of the second drive component based on the actual operating deviation of the dual hydraulic cylinders, ensuring that the driven cylinder can move in a timely and accurate manner following the movement of the driving cylinder. This effectively eliminates accumulated errors caused by load disturbances or internal leakage, thereby improving the accuracy and dynamic response performance of the dual hydraulic cylinder synchronous control.

[0038] In some embodiments, step 1023 can be implemented through steps 1023a to 1023b: Step 1023a: The controller determines the output increment based on the position deviation of the driving cylinder and the driven cylinder at different times using an incremental PID algorithm.

[0039] Specifically, the output increment can be calculated using the second formula, which is:

[0040] in, This represents the output increment at time t. K represents the output increment at time t-1. p Represents the proportionality coefficient. This represents the positional deviation between the driving cylinder and the driven cylinder at time t. K represents the positional deviation between the driving cylinder and the driven cylinder at time t-1. i K represents the integral coefficient. d Represents the differential coefficient, This represents the positional deviation between the driving cylinder and the driven cylinder at time t-2.

[0041] Step 1023b: The controller adds the original duty cycle of the second drive unit to the output increment to obtain the real-time duty cycle of the second drive unit.

[0042] The controller adds the original duty cycle of the second drive unit to the output increment, as shown in the third formula, to obtain the real-time target duty cycle of the second drive unit. The third formula is:

[0043] in, This indicates the real-time target duty cycle of the second drive component. Indicates the initial duty cycle of the second drive component. This indicates the output increment.

[0044] The above embodiments introduce an incremental PID algorithm into the controller, enabling the controller to dynamically calculate the output increment based on the position deviation sequence of the driving and driven cylinders at different times. This output increment is then superimposed in real time with the original duty cycle of the second driving component, thereby generating a precise real-time duty cycle. The method used in these embodiments to calculate the real-time duty cycle not only fully utilizes historical deviation information for smoother and more precise adjustment of the driven cylinder, effectively suppressing system overshoot and oscillation, but also reduces the consumption of controller computing resources and the risk of malfunction due to its incremental output characteristics. This ensures the accuracy of dual-cylinder synchronous control while also improving the stability and robustness of the control process.

[0045] In some embodiments, the first preset condition is: the current data of any driving device is higher than the rated current and the rate of change of the current data is lower than a first preset threshold, and the rated currents of the first driving device and the second driving device are pre-configured. In this embodiment, a current data sensing element can be connected in series between the first driving device and the power supply, and between the second driving device and the power supply, respectively. The current data sensing element can be a Hall current sensor, thereby acquiring the first current data through the first driving device and the second current data through the second driving device, respectively.

[0046] Specifically, the rate of change of the current data can be determined by the fourth formula, which is:

[0047] Among them, K curr This indicates the rate of change of the current data. This represents the current data at time t. Indicates time difference, express Current data at any given time.

[0048] Step 104 can be achieved through step 1041: Step 1041: When the first drive unit meets the first preset condition, the controller outputs a first active cylinder command for controlling the first drive unit.

[0049] When the first driving element meets the first preset condition, that is, when the current data of the first driving element is higher than the rated current and the rate of change of the current data of the first driving element is lower than the first preset threshold, the controller determines that the active cylinder is subjected to the resistance of the external environment, and then outputs the first active cylinder command that can increase the duty cycle of the first driving element.

[0050] Step 104 can also be achieved through step 1042: Step 1042: When the second drive unit meets the first preset condition, the controller outputs a first driven cylinder command for controlling the second drive unit.

[0051] When the second drive unit meets the first preset condition, that is, when the current data of the second drive unit is higher than the rated current and the rate of change of the current data of the second drive unit is lower than the first preset threshold, the controller determines that the active cylinder is subject to the resistance of the external environment, and then outputs the first driven cylinder command that can increase the duty cycle of the second drive unit.

[0052] Among them, the first preset threshold satisfy: .

[0053] In the above embodiments, the controller monitors the current data of the first and second driving components in real time and sets a condition where the current data is higher than the rated current and the rate of change of the current is lower than a first preset threshold to determine whether the hydraulic cylinder is experiencing external resistance or jamming. When either driving component meets this condition, the controller immediately outputs a corresponding gain compensation command to specifically increase the target duty cycle of the hydraulic cylinder on the side of the obstruction, thereby effectively offsetting the motion lag caused by external resistance. This ensures that the driving cylinder and the driven cylinder can maintain synchronous lifting and lowering when encountering asymmetrical loads, enhancing the dual hydraulic cylinder's ability to resist external disturbances and the reliability of synchronous control.

[0054] In some embodiments, the current data includes first current data regarding the first driving element, and step 1041 can be implemented through steps 1041a to 1041b: Step 1041a: The controller determines the first target duty cycle based on the first driving element meeting the first preset condition, using the first current data, the pre-configured feedforward gain coefficient, the real-time duty cycle of the first driving element, and the rated current of the first driving element.

[0055] When the first current data is less than the rated current of the first drive unit and the first rate of change of the first current data is less than the first preset threshold, the controller determines that the active cylinder is affected by external resistance. Then, based on the first current data, the pre-configured feedforward gain coefficient, the real-time duty cycle of the first drive unit, and the rated current of the first drive unit, the controller determines the first target duty cycle of the first drive unit using the fifth formula. The fifth formula is:

[0056] Among them, D new1 D represents the first target duty cycle of the first drive component. slave1 G represents the real-time duty cycle of the first driving component. comp This represents the pre-configured feedforward gain coefficient. I represents the first current data of the first driving device obtained. rated1 This represents the rated current of the first driving component.

[0057] Step 1041b: The controller outputs the first target duty cycle and configures the first target duty cycle to the first drive unit.

[0058] After calculating the first target duty cycle, the controller configures the first target duty cycle into the first drive unit so that the first drive unit can still drive the active cylinder to reach the expected stroke in the same amount of time even when subjected to external resistance.

[0059] The real-time duty cycle of the first driving component is obtained based on a pre-configured speed planning algorithm.

[0060] The pre-configured speed planning algorithm plans the movement speed of the active cylinder. Based on the speed of the active cylinder, the controller can calculate the real-time duty cycle that the first drive component should output. Then, based on the resistance in the external environment, the real-time duty cycle of the first drive component is corrected to obtain the first target duty cycle.

[0061] The above embodiment introduces a feedforward compensation mechanism based on current feedback. When the controller determines that the current of the first driving component is lower than the rated current and the rate of change of the first current data is lower than the first preset threshold, it uses pre-configured feedforward gain coefficients, the real-time duty cycle of the first driving component, and rated current, etc., to accurately calculate the corrected first target duty cycle through the fifth formula. Based on the real-time duty cycle generated by the speed planning algorithm, the above embodiment can actively compensate for insufficient driving force caused by external resistance, enabling the first driving component to quickly adjust its output to overcome additional loads. This ensures that the active cylinder can still strictly follow the preset speed curve and complete the expected stroke within the same time when encountering disturbances. Therefore, without changing the original motion plan, it improves the adaptive capability of the dual-column hydraulic lifting height limiter to unknown resistance and the accuracy of synchronous control.

[0062] In some embodiments, the current data further includes second current data regarding the second driving element, and step 1042 can be implemented through steps 1042a to 1042b: Step 1042a: Based on the second drive unit meeting the first preset condition, the controller determines the second target duty cycle using the second current data, the pre-configured feedforward gain coefficient, the real-time duty cycle of the second drive unit, and the rated current of the second drive unit.

[0063] Similarly, when the second current data is less than the rated current of the second drive unit and the second rate of change of the second current data is lower than the first preset threshold, the controller determines that the driven cylinder is affected by external resistance. Similar to the calculation method for the first target duty cycle, the second target duty cycle of the second drive unit can be calculated using the sixth formula, which is:

[0064] Among them, D new2 D represents the second target duty cycle of the second drive component. slave2 G represents the real-time duty cycle of the second drive component. comp This represents the pre-configured feedforward gain coefficient. I represents the first current data of the acquired second driving device. rated2 This represents the rated current of the second driving component.

[0065] Since the driving cylinder and the driven cylinder need to lift and lower synchronously, the first driving component and the second driving component can use the same type of motor, and thus the rated current of the first driving component and the second driving component can be the same.

[0066] Step 1042b: The controller outputs the second target duty cycle and configures the second target duty cycle to the second drive unit.

[0067] After calculating the second target duty cycle, the controller configures the second target duty cycle into the second drive unit so that the second drive unit can still drive the driven cylinder to rise and fall synchronously with the active cylinder when subjected to external resistance.

[0068] In the above embodiment, when the controller determines the second current data and the rate of change of the second current data of the second drive component and meets the first preset condition, it also calculates the second target duty cycle based on the second current data, the feedforward gain coefficient, the real-time duty cycle of the second drive component, and the rated current using the sixth formula, and controls the second drive component to operate at the second target duty cycle. This ensures that regardless of whether external resistance acts on the active cylinder or the driven cylinder, the controller can provide certain compensation to the drive component corresponding to the affected hydraulic cylinder. The first drive component and the second drive component can use the same type of motor with the same rated current. This selection not only simplifies the control logic but also ensures that the active cylinder and the driven cylinder can obtain the same magnitude of driving force enhancement when encountering asymmetrical loads, thereby effectively maintaining the synchronous movement of the two hydraulic cylinders and improving the balanced adjustment capability of the dual-column hydraulic lifting height limiter to cope with unilateral disturbances and the overall control coordination.

[0069] In some embodiments, the second preset condition is: the current data is higher than the upper limit value of the current of the driving device or the rate of change of the current data is higher than a second preset threshold. The second preset threshold... satisfy: The current limit is pre-configured in the controller. When the first drive unit and the second drive unit are the same type of motor, their current limit is also the same. The current limit is the maximum current allowed to pass through the first drive unit and the second drive unit.

[0070] Step 105 can be achieved through step 1051: Step 1051: Based on the first current data being higher than the upper limit of the current of the first driving device or the first rate of change being higher than the second preset threshold, the controller controls the duty cycle of the first driving device and the second driving device to be set to zero. The first rate of change is the rate of change of the first current value of the first driving device.

[0071] When the first current data received by the controller is higher than the upper limit of the current of the first drive unit or the first rate of change of the first current data is higher than the second preset threshold, the controller immediately sets the duty cycle of the first drive unit and the second drive unit to zero so that the first drive unit and the second drive unit stop working.

[0072] Step 105 can also be achieved through step 1052: Step 1052: Based on the second current data being higher than the upper limit of the current of the second driving device or the second change rate being higher than the second preset threshold, the controller controls the duty cycle of the first driving device and the second driving device to be set to zero. The second change rate is the rate of change of the second current value of the second driving device.

[0073] When the second current data received by the controller is higher than the upper limit of the current of the second drive unit or the second rate of change of the second current data is higher than the second preset threshold, the controller immediately sets the duty cycle of the first drive unit and the second drive unit to zero so that the first drive unit and the second drive unit stop working.

[0074] In the above embodiments, the controller uses the current data exceeding the upper limit of the drive component current or the current change rate exceeding the second preset threshold as the fault criterion to construct a dual hardware-level safety protection mechanism for the dual hydraulic cylinder drive system. When the current data of any drive component triggers this condition, the controller will immediately set the duty cycle of both drive components to zero simultaneously to cut off the power output, thereby preventing mechanical structure distortion or motor overload burnout caused by single cylinder jamming, and avoiding excessive position deviation of the dual hydraulic cylinders due to asynchronous faults. This maximizes the protection of the mechanical integrity and electrical safety of the dual-column hydraulic lifting height limit frame, providing reliable safety assurance for fault handling and equipment maintenance.

[0075] Furthermore, as a specific implementation of the above-mentioned dual-cylinder synchronous drive control method, this application embodiment provides a dual-cylinder synchronous drive control device 400. For example... Figure 4 As shown, the dual-cylinder synchronous drive control device includes: an active cylinder control module 401, a driven cylinder control module 402, a data acquisition module 403, and a judgment and execution module 404.

[0076] The active cylinder control module 401 is used to obtain the target motion stroke of the active cylinder and control the movement of the active cylinder through the first driving component according to the pre-configured speed planning algorithm and the target motion stroke. The driven cylinder control module 402 is used to acquire the position data of the driving cylinder and the driven cylinder and the original duty cycle of the driven cylinder, and to determine the real-time duty cycle of the second driving member based on the position data and the original duty cycle of the driven cylinder. The data acquisition module 403 is used to acquire the current data of the first driving element and the second driving element; The judgment execution module 404 is used to output a first instruction when any driving component meets a first preset condition. The first instruction is used to control the target duty cycle of the corresponding driving component so that the driving cylinder and the driven cylinder rise and fall synchronously; or The judgment execution module 404 is also used to output a second instruction when either drive meets the second preset condition. The second instruction is used to cut off the output of the two drive components and control the drive components to run in reverse for a preset distance.

[0077] In some embodiments, the driven cylinder control module 402 is specifically used for: Acquire the first position data of the driving cylinder and the second position data of the driven cylinder at the same time; The position deviation between the driving cylinder and the driven cylinder is determined based on the first position data and the second position data. The real-time duty cycle of the second drive component is determined based on the position deviation and the original duty cycle.

[0078] In some embodiments, the driven cylinder control module 402 is further configured to: Based on the position deviation of the driving cylinder and the driven cylinder at different times, the output increment is determined by an incremental PID algorithm. The original duty cycle is added to the output increment to obtain the real-time duty cycle of the second drive unit.

[0079] In some embodiments, the first preset condition is: the current data of any driving device is higher than the rated current and the rate of change of the current data is lower than a first preset threshold, and the rated currents of the first and second driving devices are pre-configured. The discrimination execution module 404 is specifically used for: When the first driving component meets the first preset condition, a first active cylinder command for controlling the first driving component is output; and / or When the second driving component meets the first preset condition, a first driven cylinder command for controlling the second driving component is output.

[0080] In some embodiments, the current data includes first current data regarding the first driving element, and the determination execution module 404 is further configured to: Based on the first driving component meeting the first preset condition, the first target duty cycle is determined by the first current data, the pre-configured feedforward gain coefficient, the real-time duty cycle of the first driving component, and the rated current of the first driving component. Output the first target duty cycle and configure the first target duty cycle to the first drive unit; The real-time duty cycle of the first driving component is obtained based on a pre-configured speed planning algorithm.

[0081] In some embodiments, the current data further includes second current data regarding the second driving element, and the determination execution module 404 is specifically used for: Based on the second driving component meeting the first preset condition, the second target duty cycle is determined by the second current data, the pre-configured feedforward gain coefficient, the real-time duty cycle of the second driving component, and the rated current of the second driving component. Output the second target duty cycle and configure the second target duty cycle to the second drive unit.

[0082] In some embodiments, the second preset condition is: the current data is higher than the upper limit of the current of the driving device or the rate of change of the current data is higher than the second preset threshold. The rate of change of the current data includes: a first rate of change determined based on the first current data of the first driving device, and a second rate of change determined based on the second current data of the second driving device. The determination and execution module 404 is further configured to: Based on the first current data being higher than the upper limit value of the current of the first driving element or the first rate of change being higher than the second preset threshold, the duty cycle of the first driving element and the second driving element is controlled to be set to zero, and the first rate of change is the rate of change of the first current value of the first driving element; and / or Based on the fact that the second current data is higher than the upper limit value of the current of the second driving element or the second change rate is higher than the second preset threshold, the duty cycle of the first driving element and the second driving element is controlled to be set to zero, and the second change rate is the change rate of the second current value of the second driving element. The upper limit values ​​of the current for the first and second driving components are pre-configured.

[0083] The dual-cylinder synchronous drive control device 400 in this application embodiment can be an electronic device or a component within an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices besides a terminal. For example, the electronic device can be a mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. It can also be a server, network attached storage (NAS), personal computer (PC), television (TV), ATM, or self-service machine, etc. This application embodiment does not specifically limit the specific type of device.

[0084] The dual-cylinder synchronous drive control device 300 provided in this application embodiment can achieve... Figures 1 to 3 The various processes implemented in the method implementation examples will not be described again here to avoid repetition.

[0085] This application also provides an electronic device, such as... Figure 5As shown, the electronic device 500 includes a processor 501 and a memory 502. The memory 502 stores a program or instruction that can run on the processor 501. When the program or instruction is executed by the processor 501, it implements the various steps of the above-described embodiment of the dual-cylinder synchronous drive control method and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0086] The memory 502 can be used to store software programs and various data. The memory 502 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.). Furthermore, the memory 502 may include volatile memory or non-volatile memory, or both. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory 502 in this embodiment includes, but is not limited to, these and any other suitable types of memory.

[0087] Processor 501 may include one or more processing units; optionally, processor 501 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into processor 501.

[0088] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described dual-cylinder synchronous drive control method embodiments and achieve the same technical effects. To avoid repetition, they will not be described again here.

[0089] This application also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the above-described dual-cylinder synchronous drive control method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0090] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0091] This application also provides a computer program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the above-described dual-cylinder synchronous drive control method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0092] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0093] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A method for synchronous drive control of dual hydraulic cylinders, characterized in that, The dual-cylinder includes a driving cylinder and a driven cylinder, and the control method includes: The target stroke of the active cylinder is obtained, and the movement of the active cylinder is controlled by the first driving component according to the pre-configured speed planning algorithm and the target stroke. The position data of the active cylinder and the driven cylinder and the original duty cycle of the second driving member driving the driven cylinder are obtained, and the real-time duty cycle of the second driving member is determined based on the position data and the original duty cycle. Acquire the current data of the first driving component and the second driving component; When any of the driving components meets a first preset condition, a first command is output. The first command is used to control the target duty cycle of the corresponding driving component so that the driving cylinder and the driven cylinder rise and fall synchronously; or If any of the driving components meets the second preset condition, a second instruction is output. The second instruction is used to cut off the output of both driving components and control the driving components to run in reverse for a preset distance.

2. The dual-cylinder synchronous drive control method according to claim 1, characterized in that, The step of acquiring the position data of the driving cylinder and the driven cylinder, and the original duty cycle of the second driving component driving the driven cylinder, and determining the real-time duty cycle of the second driving component based on the position data and the original duty cycle, includes: Acquire the first position data of the active cylinder and the second position data of the driven cylinder at the same time; The positional deviation between the driving cylinder and the driven cylinder is determined based on the first position data and the second position data; The real-time duty cycle of the second drive unit is determined based on the position deviation and the original duty cycle.

3. The dual-cylinder synchronous drive control method according to claim 2, characterized in that, Determining the real-time duty cycle of the second drive component based on the position deviation and the original duty cycle includes: Based on the position deviation of the driving cylinder and the driven cylinder at different times, the output increment is determined by an incremental PID algorithm. The original duty cycle is added to the output increment to obtain the real-time duty cycle of the second drive unit.

4. The dual-cylinder synchronous drive control method according to claim 1, characterized in that, The first preset condition is: the current data of any of the driving components is higher than the rated current and the rate of change of the current data is lower than the first preset threshold, and the rated current of the first driving component and the second driving component is pre-configured; The step of outputting a first instruction when any of the driving components meets a first preset condition includes: When the first driving component meets the first preset condition, a first active cylinder command for controlling the first driving component is output. and / or When the second drive component meets the first preset condition, a first driven cylinder command for controlling the second drive component is output.

5. The dual-cylinder synchronous drive control method according to claim 4, characterized in that, The current data includes first current data about the first driving component. The step of outputting a first active cylinder command to control the first driving component when the first driving component meets a first preset condition includes: Based on the first driving component meeting the first preset condition, the first target duty cycle is determined by the first current data, the pre-configured feedforward gain coefficient, the real-time duty cycle of the first driving component, and the rated current of the first driving component. Output the first target duty cycle and configure the first target duty cycle to the first drive unit; The real-time duty cycle of the first drive unit is obtained based on the pre-configured speed planning algorithm.

6. The dual-cylinder synchronous drive control method according to claim 5, characterized in that, The current data also includes second current data regarding the second driving component. The step of outputting a first driven cylinder command to control the second driving component when the second driving component meets a first preset condition includes: Based on the fact that the second driving component meets the first preset condition, the second target duty cycle is determined by the second current data, the pre-configured feedforward gain coefficient, the real-time duty cycle of the second driving component, and the rated current of the second driving component. Output the second target duty cycle and configure the second target duty cycle to the second drive.

7. The dual-cylinder synchronous drive control method according to claim 6, characterized in that, The second preset condition is: the current data is higher than the upper limit of the current of the driving device or the rate of change of the current data is higher than the second preset threshold. The step of outputting a second instruction when either of the driving devices meets the second preset condition includes: Based on the first current data being higher than the upper limit of the current of the first driving device or the first rate of change being higher than the second preset threshold, the duty cycle of the first driving device and the second driving device is controlled to be set to zero, and the first rate of change is the rate of change of the first current value of the first driving device; and / or Based on the fact that the second current data is higher than the upper limit of the current of the second driving device or the second change rate is higher than the second preset threshold, the duty cycle of the first driving device and the second driving device is controlled to be set to zero, and the second change rate is the change rate of the second current value of the second driving device. The upper limit of the current of the first driving element and the second driving element is pre-configured.

8. A dual-cylinder synchronous drive control device, characterized in that, The dual-cylinder system includes a driving cylinder and a driven cylinder, and the dual-cylinder synchronous drive control device includes: An active cylinder control module is used to acquire the target motion stroke of the active cylinder and control the movement of the active cylinder through a first drive component according to a pre-configured speed planning algorithm and the target motion stroke. The driven cylinder control module is used to acquire the position data of the driving cylinder and the driven cylinder and the original duty cycle of the second driving member that drives the driven cylinder, and to determine the real-time duty cycle of the second driving member based on the position data and the original duty cycle. The data acquisition module is used to acquire the current data of the first driving component and the second driving component; The judgment execution module is configured to output a first instruction when any of the driving components meets a first preset condition. The first instruction controls the target duty cycle of the corresponding driving component to synchronize the lifting and lowering of the driving cylinder and the driven cylinder. If any of the driving components meets the second preset condition, a second instruction is output. The second instruction is used to cut off the output of both driving components and control the driving components to run in reverse for a preset distance.

9. An electronic device, characterized in that, It includes a processor and a memory, the memory storing a program or instructions that run on the processor, the program or instructions being executed by the processor to implement the steps of the dual-cylinder synchronous drive control method as described in any one of claims 1 to 7.

10. A readable storage medium having a program or instructions stored thereon, characterized in that, When the program or instructions are executed by the processor, they implement the steps of the dual-cylinder synchronous drive control method as described in any one of claims 1 to 7.

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