A simple force-position control method for electrically controlled lifters

Abstract

The application discloses a simple force-position control method of an electric control lifter and relates to the technical field of agricultural machinery control. The method comprises the following steps: collecting the engine load rate in real time, taking the current engine speed as the reference speed when the engine load rate is greater than or equal to the preset load rate threshold; continuing to collect the current engine speed in real time, and determining the speed difference value according to the current engine speed and the reference speed; and determining the virtual force signal according to the speed difference value when the speed difference value is greater than or equal to the preset drop speed threshold, and adjusting the electric control lifter according to the virtual force signal. The application can prevent the stop phenomenon caused by the hardening of a field in a low-cost manner and achieve a control effect close to that of a force-position lifter.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery control technology, and in particular to a simple force-position control method for an electrically controlled lifting device. Background Technology

[0002] With the increasing pursuit of intensive farming, the installation volume of electronically controlled lifting devices has been rising year by year. Currently, most small and medium horsepower vehicles are equipped with electronically controlled high-pressure lifting devices, but these devices lack tension sensors. In actual operation, engine stalling frequently occurs due to hardening of the field, seriously affecting work efficiency and driving experience.

[0003] To address these issues, existing technologies attempt to incorporate various sensing parameters for control, such as slip ratio detection, vehicle speed comparison, or additional force sensors, to adjust the height of the lift. These solutions typically require additional hardware such as precision positioning devices, wheel speed sensors, or tension sensors, and involve processing multiple calculation parameters, resulting in higher system costs and more complex control logic.

[0004] Therefore, how to achieve a control effect similar to that of a force lifter at low cost using a small number of parameters available to the engine itself, without adding extra sensors or introducing too many computational parameters, in order to effectively prevent stalling and improve work efficiency, is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] The technical problem this invention aims to solve is to address the shortcomings of existing technologies, specifically the problem of frequent stalling caused by hardening of the field during operation of electrically controlled high-pressure hoists due to the lack of a tension sensor. The invention provides a simplified force-position control method for electrically controlled hoists, as detailed below: 1) In a first aspect, the present invention provides a simplified force-position control method for an electrically controlled lifting device, the specific technical solution of which is as follows: S1, Real-time acquisition of engine load rate; When the engine load rate is greater than or equal to a preset load rate threshold, the current engine speed is used as the reference speed. S2, continue to collect the current engine speed in real time, and determine the speed difference based on the current engine speed and the reference speed; S3, when the speed difference is greater than or equal to the preset speed drop threshold, determine the virtual force signal based on the speed difference, and adjust the electric control lifter based on the virtual force signal.

[0006] The beneficial effects of the simplified force-position control method for an electrically controlled lifting device provided by this invention are as follows: By collecting engine load rate in real time and recording the reference speed when it exceeds the preset load rate threshold, and determining the virtual force signal based on the speed difference to adjust the electronically controlled lift, the lift height can be automatically and timely adjusted when the engine load is too high and the speed drops, without adding additional hardware such as a tension sensor and using only a few parameters of the engine itself. This effectively prevents stalling caused by hardening of the field and avoids the cost increase and response delay problems caused by introducing too many calculation parameters and complex algorithms. It achieves the control effect of a near-force-position lift in a low-cost manner.

[0007] Based on the above solution, the present invention can be further improved as follows.

[0008] Furthermore, the preset speed drop threshold is set according to the PTO operation mode, which includes light load mode, medium load mode and heavy load mode. The speed reduction threshold for the light load mode is 50 rpm, the speed reduction threshold for the medium load mode is 100 rpm, and the speed reduction threshold for the heavy load mode is 200 rpm.

[0009] Furthermore, the adjustment of the electrically controlled lifting device according to the virtual force signal specifically includes: According to the force-position adjustment algorithm of the electric lifting device, the electric lifting device is controlled to lift to a certain height based on the virtual force signal.

[0010] Furthermore, after adjusting the electrically controlled lifter according to the virtual force signal, the method further includes: Continue to monitor the engine load rate and the current engine speed. When the engine load rate is less than or equal to a preset recovery load rate threshold, or when the speed difference between the current engine speed and the reference speed is less than a preset recovery speed threshold, control the electric hoist to restore it to the working height before adjusting the electric hoist according to the virtual force signal.

[0011] 2) In a second aspect, the present invention also provides a simple force-position control system for an electric hoist, the specific technical solution of which is as follows: a load judgment module, a speed calculation module, and a hoist adjustment module; The load judgment module is used to collect the engine load rate in real time. When the engine load rate is greater than or equal to the preset load rate threshold, the current engine speed is used as the reference speed. The speed calculation module is used to continue to collect the current engine speed in real time and determine the speed difference based on the current engine speed and the reference speed. The lifter adjustment module is used to determine a virtual force signal based on the speed difference when the speed difference is greater than or equal to a preset speed drop threshold, and to adjust the electronically controlled lifter based on the virtual force signal.

[0012] Based on the above solution, the present invention can be further improved as follows.

[0013] Furthermore, the preset speed drop threshold is set according to the PTO operation mode, which includes light load mode, medium load mode and heavy load mode. The speed reduction threshold for the light load mode is 50 rpm, the speed reduction threshold for the medium load mode is 100 rpm, and the speed reduction threshold for the heavy load mode is 200 rpm.

[0014] Furthermore, the adjustment of the electrically controlled lifting device according to the virtual force signal specifically includes: According to the force-position adjustment algorithm of the electric lifting device, the electric lifting device is controlled to lift to a certain height based on the virtual force signal.

[0015] Furthermore, after adjusting the electrically controlled lifter according to the virtual force signal, the method further includes: Continue to monitor the engine load rate and the current engine speed. When the engine load rate is less than or equal to a preset recovery load rate threshold, or when the speed difference between the current engine speed and the reference speed is less than a preset recovery speed threshold, control the electric hoist to restore it to the working height before adjusting the electric hoist according to the virtual force signal.

[0016] 3) In a third aspect, the present invention also provides a computer device, the computer device including a processor coupled to a memory, the memory storing at least one computer program, the at least one computer program being loaded and executed by the processor to enable the computer device to implement any of the above methods.

[0017] 4) In a fourth aspect, the present invention also provides a computer-readable storage medium storing at least one computer program, which is loaded and executed by a processor to enable a computer to implement any of the above methods.

[0018] It should be noted that the beneficial effects of the technical solutions of the second to fourth aspects of the present invention and their corresponding possible implementations can be found in the above description of the technical effects of the first aspect and its corresponding possible implementations, and will not be repeated here. Attached Figure Description

[0019] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram illustrating the steps of a simplified force-position control method for an electrically controlled lifting device according to an embodiment of the present invention; Figure 2 This is a flowchart illustrating a simplified force-position control method for an electrically controlled lifting device according to an embodiment of the present invention. Figure 3 This is a schematic diagram of the structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0021] like Figure 1 as well as Figure 2 As shown in the figure, a simplified force-position control method for an electrically controlled lifting device according to an embodiment of the present invention includes the following steps: S1: Real-time acquisition of engine load rate. When the engine load rate is greater than or equal to a preset load rate threshold, the current engine speed is used as the reference speed. The specific implementation method is as follows.

[0022] After the vehicle is started, the user selects whether to enable the simplified force-position control function based on the operating conditions (operating conditions may include PTO operating conditions, which will be explained in subsequent steps). With the simplified force-position control function enabled, the engine load rate from the engine controller is collected in real time. The engine load rate refers to the percentage of the engine's actual output torque to its maximum output torque under the current operating conditions, used to characterize the engine load level. The value of the engine load rate is continuously monitored. When the engine load rate is detected to be greater than or equal to a preset load rate threshold, the engine speed at this moment is recorded and saved as the reference speed. Engine speed refers to the number of revolutions per minute (rpm) of the engine crankshaft. In one specific embodiment, the preset load rate threshold is set to 100%, meaning that when the engine load rate reaches or exceeds the rated load, the current engine speed is used as the reference speed.

[0023] The beneficial effects of this step are as follows: By collecting the engine load rate in real time and setting a preset load rate threshold as the trigger condition, the reference speed is recorded only when the engine load reaches the rated value, which avoids frequent triggering of subsequent control processes under normal load fluctuations and reduces unnecessary actions of the lifter.

[0024] S2, continue to collect the current engine speed in real time, and determine the speed difference based on the current engine speed and the reference speed. The specific implementation method is as follows.

[0025] After recording the baseline speed, the current engine speed continues to be collected in real time at a preset sampling period. Each collected current engine speed is compared with the baseline speed, and the absolute value of the difference between the two is calculated. This absolute value of the difference is determined as the speed difference. The speed difference is calculated as follows: |EngineSpeed present -EngineSpeed record |;Among them, EngineSpeed present Current engine speed; EngineSpeed record The reference speed is used. The speed difference is used to characterize the degree to which the engine speed decreases relative to the reference time (i.e., the time when the engine load rate is greater than or equal to the preset load rate threshold). It should be noted that since the speed difference is an absolute value, the positions of the subtrahend and minuend can be interchanged in the calculation method of the speed difference.

[0026] The beneficial effects of this step are as follows: By continuously collecting the current engine speed and comparing it with the reference speed, the degree of decrease in engine speed can be quantified in real time and accurately, providing a basis for subsequent judgment on whether to trigger the booster adjustment. At the same time, only one calculation parameter is needed to complete the judgment, reducing the computational burden on the controller.

[0027] S3, when the speed difference is greater than or equal to the preset speed drop threshold, a virtual force signal is determined based on the speed difference, and the electronically controlled lifter is adjusted according to the virtual force signal. The specific implementation method is as follows.

[0028] Compare the speed difference with the preset speed drop threshold (corresponding to) Figure 2The speed drop threshold is compared with "N_thres". In a preferred embodiment, the preset speed drop threshold is set according to the PTO operation mode, which includes light load mode, medium load mode, and heavy load mode; wherein, the speed drop threshold corresponding to light load mode is 50 rpm, the speed drop threshold corresponding to medium load mode is 100 rpm, and the speed drop threshold corresponding to heavy load mode is 200 rpm. Power Take-Off (PTO) refers to the output shaft device on agricultural machinery such as tractors that transmits engine power to the implements. Power Take-Off Operation Mode (PTO) refers to different working modes set according to the load characteristics of the implements. Specifically, the current vehicle's PTO operation mode is obtained. The PTO operation mode is selected by the user according to the type of implements and the degree of load, including light load mode, medium load mode, and heavy load mode. In light-load mode, such as when performing light-load operations like sowing or spraying, the preset speed reduction threshold is set to 50 rpm; in medium-load mode, such as when performing medium-load operations like tilling or mowing, the preset speed reduction threshold is set to 100 rpm; and in heavy-load mode, such as when performing heavy-load operations like rotary tilling or deep loosening, the preset speed reduction threshold is set to 200 rpm.

[0029] When the judgment result is that the speed difference is greater than or equal to the corresponding preset speed drop threshold, that is: |EngineSpeed present EngineSpeed record |≥50 rpm (light load mode); |EngineSpeed present EngineSpeed record |≥100 rpm (medium load mode); |EngineSpeed present EngineSpeed record |≥200 rpm (heavy load mode); Based on the specific value of the speed difference, the corresponding virtual force signal is looked up and determined from a pre-stored mapping table. The virtual force signal is used to simulate the output value of an actual tension sensor in the absence of a tension sensor. In a preferred embodiment, adjusting the electric lift according to the virtual force signal specifically includes: controlling the electric lift to lift to a certain height according to the virtual force signal using the electric lift's force-position adjustment algorithm. Specifically, the virtual force signal obtained from the lookup table is used as an input parameter and processed according to the pre-stored electric lift force-position adjustment algorithm. The force-position adjustment algorithm can calculate and output the corresponding electric lift control current or control voltage based on the input virtual force signal. The force-position adjustment algorithm is existing technology. The electric lift control current or control voltage is sent to the electric lift valve, which drives the three-point suspension mechanism to lift the implement to a certain height. The specific value of "certain height" can be a preset fixed lifting amount or a variable lifting amount dynamically calculated based on the speed difference or the magnitude of the virtual force signal.

[0030] The beneficial effects of this step are as follows: By triggering lift adjustment when the speed difference reaches a preset speed drop threshold, and using a virtual force signal obtained by looking up the speed difference in a table to replace the actual tension sensor signal, the lift height can be automatically and promptly adjusted when the engine speed drops, without the need for additional hardware such as a tension sensor. This effectively prevents stalling caused by hardening of the field. Furthermore, by setting corresponding speed drop thresholds according to different PTO (Pulse Toll Collection) operation modes, the timing of lift adjustment can be more consistent with actual operating conditions, avoiding sluggish response due to excessively large speed drop thresholds during light-load operations, and avoiding frequent lift actuation due to excessively small speed drop thresholds during heavy-load operations. By reusing existing electronically controlled lift force-position adjustment algorithms, there is no need to redevelop the underlying algorithm architecture of the lift controller, reducing software development costs and debugging difficulty.

[0031] After adjusting the electronically controlled lift based on the virtual force signal, the process also includes: S4, continuing to monitor the engine load rate and current engine speed. When the engine load rate is less than or equal to a preset recovery load rate threshold, or when the speed difference between the current engine speed and the reference speed is less than a preset recovery speed threshold, the electronically controlled lift is controlled to return to the working height before the adjustment based on the virtual force signal. The specific implementation method is as follows.

[0032] After adjusting the electronically controlled lift based on the virtual force signal, the engine load rate and current engine speed are monitored in real time. The collected engine load rate is compared with a preset recovery load rate threshold, and the speed difference between the current engine speed and the reference speed is compared with a preset recovery speed threshold. When either of these two conditions is met—that is, when the engine load rate is less than or equal to the preset recovery load rate threshold, or when the speed difference between the current engine speed and the reference speed is less than the preset recovery speed threshold—a corresponding control command is issued to lower the electronically controlled lift back to the working height before adjusting it based on the virtual force signal. The preset recovery load rate threshold is the load rate limit used to determine whether the engine load has returned to normal. The preset recovery speed threshold is the speed difference limit used to determine whether the engine speed has returned to the normal range.

[0033] In one specific embodiment, the preset recovery load rate threshold is set to 95%, meaning that when the engine load rate drops to 95% or below, the engine load is considered to have returned to normal. The preset recovery speed threshold can be set to the same value as or slightly less than the preset speed drop threshold in the current PTO operating mode. For example, in light load mode, when the speed difference is less than 50 rpm, the engine speed is considered to have returned to normal.

[0034] The beneficial effects of this step are as follows: By adding a recovery control step, the lifter can be automatically returned to its original working height after the engine load returns to normal or the speed stabilizes, thus maintaining a stable tillage depth of the implement under normal working conditions and avoiding the problem of decreased work quality caused by the lifter being in a raised state for a long time. At the same time, the recovery control uses a two-condition selection process, ensuring timely return whether the engine load returns to normal first or the engine speed returns to normal first, improving the flexibility and response speed of the control.

[0035] The beneficial effects of the simplified force-position control method for an electrically controlled lifting device provided by this invention are as follows: By collecting engine load rate in real time and recording the reference speed when it exceeds the preset load rate threshold, and determining the virtual force signal based on the speed difference to adjust the electronically controlled lift, the lift height can be automatically and timely adjusted when the engine load is too high and the speed drops, without adding additional hardware such as a tension sensor and using only a few parameters of the engine itself. This effectively prevents stalling caused by hardening of the field and avoids the cost increase and response delay problems caused by introducing too many calculation parameters and complex algorithms. It achieves the control effect of a near-force-position lift in a low-cost manner.

[0036] In summary, the simplified force-position control method for the electronically controlled lift provided by this invention introduces two parameters, engine load rate and engine speed, into the high-pressure lift, achieving a control effect close to that of a force-position lift with extremely low hardware costs and minimal computational parameters. This effectively solves the technical problem of frequent stalling of small and medium horsepower tractors due to hardened fields in the absence of a tension sensor, and has significant industrial practical value and promising prospects for widespread application.

[0037] In the above embodiments, although the steps are numbered S1, S2, etc., they are only specific embodiments given by the present invention. Those skilled in the art can adjust the execution order of S1, S2, etc. according to the actual situation, and these situations are also within the protection scope of the present invention. It can be understood that in some embodiments, some or all of the above embodiments may be included.

[0038] Furthermore, the acquisition process of the data involved in this application follows the principles of legality, legitimacy, and necessity. Based on obtaining the explicit authorization and consent of the user, only the minimum necessary information required to achieve the purpose is collected, and data security protection obligations are fulfilled in accordance with the law.

[0039] The present invention also provides a simple force-position control system for an electric hoist, the specific technical solution of which is as follows: a load judgment module, a speed calculation module, and a hoist adjustment module; The load judgment module is used to collect the engine load rate in real time. When the engine load rate is greater than or equal to the preset load rate threshold, the current engine speed is used as the reference speed. The engine speed calculation module is used to continue to collect the current engine speed in real time and determine the speed difference based on the current engine speed and the reference speed. The lifter adjustment module is used to determine a virtual force signal based on the speed difference when the speed difference is greater than or equal to a preset speed drop threshold, and then adjust the electronically controlled lifter based on the virtual force signal.

[0040] It should be noted that the beneficial effects of the simplified force-position control system for an electrically controlled hoist provided in the above embodiments are the same as those of the simplified force-position control method for an electrically controlled hoist described above, and will not be repeated here. Furthermore, the system provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the system can be divided into different functional modules according to the actual situation to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process is detailed in the method embodiments, and will not be repeated here.

[0041] like Figure 3As shown, an embodiment of the present invention provides a computer device 300, which includes a processor 320 coupled to a memory 310. The memory 310 stores at least one computer program 330, which is loaded and executed by the processor 320 to enable the computer device 300 to implement any of the above-described methods. Specifically: The computer device 300 can vary considerably due to differences in configuration or performance. It may include one or more processors 320 (Central Processing Units, CPUs) and one or more memories 310. The one or more memories 310 store at least one computer program 330, which is loaded and executed by the one or more processors 320 to enable the computer device 300 to implement the simplified force-position control method for an electrically controlled lifter provided in the above embodiments. Of course, the computer device 300 may also have wired or wireless network interfaces, a keyboard, and input / output interfaces for input and output. The computer device 300 may also include other components for implementing device functions, which will not be elaborated upon here.

[0042] An embodiment of the present invention provides a computer-readable storage medium storing at least one computer program, which is loaded and executed by a processor to enable a computer to implement any of the above-described methods.

[0043] Alternatively, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, a floppy disk, and an optical data storage device, etc.

[0044] In an exemplary embodiment, a computer program product or computer program is also provided, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform any of the above-described simplified force-position control methods for an electrically controlled lifter.

[0045] It should be noted that the terms "first," "second," etc., used in the specification of this application are used to distinguish similar objects and do not imply a specific order or sequence. Where appropriate, the order of use for similar objects can be interchanged so that the embodiments of this application described herein can be implemented in an order other than that shown in the figures or description.

[0046] Those skilled in the art will recognize that this invention can be implemented as a system, method, or computer program product. Therefore, this disclosure can be specifically implemented in the following forms: it can be entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, generally referred to herein as a "circuit," "module," or "system." Furthermore, in some embodiments, the invention can also be implemented as a computer program product contained in one or more computer-readable media, which includes computer-readable program code.

[0047] Any combination of one or more computer-readable media may be used. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0048] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A simplified force-position control method for an electrically controlled hoist, characterized in that, include: S1, Real-time acquisition of engine load rate; When the engine load rate is greater than or equal to a preset load rate threshold, the current engine speed is used as the reference speed. S2, continue to collect the current engine speed in real time, and determine the speed difference based on the current engine speed and the reference speed; S3, when the speed difference is greater than or equal to the preset speed drop threshold, determine the virtual force signal based on the speed difference, and adjust the electric control lifter based on the virtual force signal.

2. The simplified force-position control method for an electrically controlled lifting device according to claim 1, characterized in that, The preset speed drop threshold is set according to the PTO operation mode, which includes light load mode, medium load mode and heavy load mode. The speed reduction threshold for the light load mode is 50 rpm, the speed reduction threshold for the medium load mode is 100 rpm, and the speed reduction threshold for the heavy load mode is 200 rpm.

3. The simplified force-position control method for an electrically controlled lifting device according to claim 1, characterized in that, The adjustment of the electrically controlled lifting device according to the virtual force signal specifically includes: According to the force-position adjustment algorithm of the electric lifting device, the electric lifting device is controlled to lift to a certain height based on the virtual force signal.

4. The simplified force-position control method for an electrically controlled lifting device according to claim 1, characterized in that, After adjusting the electrically controlled lifter according to the virtual force signal, the method further includes: Continue to monitor the engine load rate and the current engine speed. When the engine load rate is less than or equal to a preset recovery load rate threshold, or when the speed difference between the current engine speed and the reference speed is less than a preset recovery speed threshold, control the electric hoist to restore it to the working height before adjusting the electric hoist according to the virtual force signal.

5. A simple force-position control system for an electrically controlled hoist, characterized in that, include: Load judgment module, speed calculation module, and elevator adjustment module; The load judgment module is used to collect the engine load rate in real time. When the engine load rate is greater than or equal to the preset load rate threshold, the current engine speed is used as the reference speed. The speed calculation module is used to continue to collect the current engine speed in real time and determine the speed difference based on the current engine speed and the reference speed. The lifter adjustment module is used to determine a virtual force signal based on the speed difference when the speed difference is greater than or equal to a preset speed drop threshold, and to adjust the electronically controlled lifter based on the virtual force signal.

6. A simplified force-position control system for an electrically controlled lifting device according to claim 5, characterized in that, The preset speed drop threshold is set according to the PTO operation mode, which includes light load mode, medium load mode and heavy load mode. The speed reduction threshold for the light load mode is 50 rpm, the speed reduction threshold for the medium load mode is 100 rpm, and the speed reduction threshold for the heavy load mode is 200 rpm.

7. A simplified force-position control system for an electrically controlled lifting device according to claim 5, characterized in that, The adjustment of the electrically controlled lifting device according to the virtual force signal specifically includes: According to the force-position adjustment algorithm of the electric lifting device, the electric lifting device is controlled to lift to a certain height based on the virtual force signal.

8. A simplified force-position control system for an electrically controlled lifting device according to claim 5, characterized in that, After adjusting the electrically controlled lifter according to the virtual force signal, the method further includes: Continue to monitor the engine load rate and the current engine speed. When the engine load rate is less than or equal to a preset recovery load rate threshold, or when the speed difference between the current engine speed and the reference speed is less than a preset recovery speed threshold, control the electric hoist to restore it to the working height before adjusting the electric hoist according to the virtual force signal.

9. A computer device, characterized in that, The computer device includes a processor coupled to a memory, the memory storing at least one computer program, which is loaded and executed by the processor to enable the computer device to implement a simplified force-position control method for an electrically controlled lifting device as described in any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one computer program, which is loaded and executed by a processor to enable the computer to implement a simplified force-position control method for an electrically controlled lift as described in any one of claims 1 to 4.

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