A multi-hydraulic-cylinder coordinated lifting program control system for a reclaimer-mounted balance car

Abstract

This invention discloses a multi-hydraulic cylinder coordinated lifting program control system for installing a balance vehicle on a transfer conveyor, relating to the field of industrial control technology. It establishes a correspondence between the height change of the hydraulic cylinder support point and the spatial offset of the connecting pin hole by acquiring the position of the connecting pin hole of the transfer conveyor, the reference point of the balance vehicle, the arrangement position of the hydraulic cylinders, and the target alignment height. It obtains the late-bearing characteristic value through low-speed jogging pre-lifting, identifies abnormal support stiffness points, and determines the hydraulic cylinder compensation sequence. Then, it controls the lifting of each hydraulic cylinder according to the stages of pre-loading, compensation leveling, synchronous lifting, and fine-tuning alignment. When the pressure is abnormal and the displacement is insufficient, it calls subsequent hydraulic cylinders for compensation until the pin hole axis deviation meets the requirements, thereby improving the alignment accuracy and lifting stability of the transfer conveyor installation.

Description

Technical Field

[0001] This invention relates to the field of industrial control technology, specifically to a multi-hydraulic cylinder coordinated lifting program control system for mounting a balance vehicle on a transfer machine. Background Technology

[0002] Transfer conveyors are typically positioned between scraper conveyors and belt conveyors. During the installation or retraction of equipment in a fully mechanized mining face, the head section, bridge section, or connecting section of the transfer conveyor needs to be transported to a predetermined position, ensuring that its connecting pin holes are coaxial with the connecting lugs and pin holes of adjacent equipment to complete the pin connection. Due to the large volume, concentrated weight, and high rigidity of the connecting parts of the transfer conveyor section to be installed, a balance vehicle is usually required for support and lifting during installation, and multiple hydraulic cylinders are used to adjust the spatial posture of the transfer conveyor.

[0003] Existing multi-hydraulic cylinder lifting control systems for self-balancing scooters mostly employ synchronous lifting or manual jogging leveling methods. This involves controlling the simultaneous lifting of each hydraulic cylinder based on its displacement or pressure value, or having the operator repeatedly jog individual cylinders to correct the position by observing the connection holes. While these methods can meet the lifting requirements of ordinary planar supports, in underground transfer machine installation scenarios, the roadway floor often suffers from uneven compaction of loose coal, localized water accumulation and softening, track indentations, floor undulations, and sinking of support point pads under pressure. These issues cause significant differences in the load-bearing stiffness of different support positions at the bottom of the self-balancing scooter.

[0004] When a support point of the self-balancing vehicle is located in an area of ​​abnormal stiffness, the corresponding hydraulic cylinder may experience phenomena such as a long idle stroke, delayed pressure application, instantaneous settlement after pressure application, or abnormal unloading return stroke during the low-position lifting phase. Even if multiple hydraulic cylinders have the same displacement command, the actual supporting effect of each support point on the transfer conveyor will not be consistent, easily causing slight torsion or swaying in the section of the transfer conveyor to be installed. Especially during the short-stroke fine-tuning phase when the connecting pin holes are about to be aligned, even a small deviation in support height can be amplified into a deviation in the pin hole axis, leading to pin insertion failure, deformation of the connecting lugs, and uneven loading and pressure buildup in the hydraulic cylinder. In severe cases, re-unloading, shimming, and secondary alignment are required, affecting downhole installation efficiency and increasing operational risks.

[0005] Therefore, existing multi-hydraulic cylinder lifting control methods mainly focus on displacement synchronization or pressure equalization among the hydraulic cylinders. They fail to identify the delayed bearing characteristics of each support point before lifting, nor do they establish a correspondence between changes in the height of the hydraulic cylinder support points and the spatial offset of the connecting pin holes of the transfer conveyor. Furthermore, they struggle to automatically adjust the sequence of hydraulic cylinders involved in compensation when abnormal pressure increments occur and displacement compensation is insufficient. How to achieve phased, sequential, and hole-guided coordinated lifting control of multiple hydraulic cylinders during the lifting process of the balance vehicle on the transfer conveyor, addressing the issues of delayed bearing and pin hole axis deviation caused by abnormal base plate support stiffness, has become an urgent technical problem to be solved. Summary of the Invention

[0006] The purpose of this invention is to provide a multi-hydraulic cylinder coordinated lifting program control system for mounting a balance vehicle on a transfer machine, so as to overcome the shortcomings in the prior art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a multi-hydraulic cylinder coordinated lifting program control system for a transfer machine mounting a balance vehicle, comprising:

[0008] The data acquisition module acquires the positions of the two connecting pin holes of the section to be installed on the transfer machine, the reference point position of the load-bearing beam of the balance vehicle, the arrangement position of each hydraulic cylinder, and the target hole height data, and establishes a preset correspondence between the change in the height of the hydraulic cylinder support point and the spatial offset of the connecting pin hole.

[0009] The delayed bearing pressure analysis module controls each hydraulic cylinder to pre-lift at low speed by jogging, and collects the pressure change rate, displacement change, unloading return amount and no-load stroke amount of each hydraulic cylinder when it is from no-load to bearing, and obtains the delayed bearing pressure characteristic value of the corresponding support point of each hydraulic cylinder.

[0010] The compensation sequence determination module identifies abnormal support stiffness points at the bottom of the balance vehicle based on the delayed bearing characteristic value, and calculates the order in which each hydraulic cylinder is allowed to participate in synchronous correction during the lifting process, based on the preset correspondence, to obtain the hydraulic cylinder compensation sequence.

[0011] The target correction height determination module divides the lifting process into a preloading stage, a compensation and leveling stage, a synchronous lifting stage, and a fine-tuning and alignment stage according to the hydraulic cylinder compensation sequence, and configures different pressure upper limits and displacement increments for each stage; at the same time, it drives the hydraulic cylinders to lift according to each stage, and collects the pressure, displacement, and axial deviation of the connecting pin hole of each hydraulic cylinder in real time, and calculates the axial deviation as the target correction height of each hydraulic cylinder.

[0012] The sequential compensation control module prevents the hydraulic cylinder from continuing to supply oil when the hydraulic cylinder pressure increment exceeds the preset limit and the displacement increment does not reach the corresponding corrected displacement. It then calls the next hydraulic cylinder in the hydraulic cylinder compensation sequence to perform compensation until the deviation of the connecting pin hole axis is less than the preset value, at which point the lifting stops.

[0013] Preferably, establishing a preset correspondence includes the following steps:

[0014] A local coordinate system is established using the load-bearing beam reference point of the balance vehicle to obtain the position coordinates of the first connecting pin hole, the second connecting pin hole, and the support points of each hydraulic cylinder in the local coordinate system.

[0015] Treating the section of the transfer machine to be installed as a rigid component, calculate the vertical translation, rotation angle around the length direction, and rotation angle around the width direction of the section of the transfer machine to be installed based on the height change of each hydraulic cylinder support point.

[0016] Based on the vertical translation, the rotation angle around the length direction, and the rotation angle around the width direction, the spatial offset of the first connecting pin hole and the second connecting pin hole is calculated, forming a preset correspondence between the change in the height of the hydraulic cylinder support point and the spatial offset of the connecting pin hole.

[0017] Preferably, obtaining the late bearing characteristic value includes the following steps:

[0018] Issue a first low-speed jog pre-lift command to the i-th hydraulic cylinder and maintain pressure in the remaining hydraulic cylinders. When the pressure change rate of the i-th hydraulic cylinder continuously reaches the preset contact condition, stop oil supply and record the corresponding displacement as the load-bearing start displacement.

[0019] A quantitative depressurization is performed on the i-th hydraulic cylinder, the unloading return stroke when it exits the effective load is collected, and the first idle stroke is obtained based on the load start displacement and the unloading return stroke.

[0020] Perform low-speed jogging pre-lifting on the i-th hydraulic cylinder again to obtain the second free stroke amount, and generate the corrected free stroke amount based on the first and second free stroke amounts.

[0021] Preferably, the corrected idle stroke, unloading return stroke, pressure change rate peak value, and displacement change are normalized respectively; the normalized idle stroke, unloading return stroke, and displacement change are used as positive late bearing pressure parameters, and the normalized pressure change rate peak value is used as a negative correction parameter; the positive late bearing pressure parameter and the negative correction parameter are weighted and calculated to obtain the late bearing pressure characteristic value of the support point corresponding to the i-th hydraulic cylinder.

[0022] Preferably, identifying points of abnormal support stiffness includes the following steps:

[0023] Calculate the average and standard deviation of all hydraulic cylinder delayed pressure characteristic values, and determine the anomaly judgment factor based on the average and standard deviation;

[0024] The support points of hydraulic cylinders whose delayed bearing characteristic values ​​are greater than the product of the average value and the anomaly determination multiple are marked as support stiffness anomaly points.

[0025] Preferably, obtaining the hydraulic cylinder compensation sequence includes the following steps:

[0026] Based on the preset correspondence, the difference in the deviation of the connecting pin hole axis before and after the unit height change of each hydraulic cylinder is calculated, and the contribution value of each hydraulic cylinder to the hole is obtained.

[0027] The ratio of the hole contribution value to the delayed bearing characteristic value is calculated to obtain the allowable synchronous correction value of each hydraulic cylinder, and the allowable synchronous correction value of the hydraulic cylinder corresponding to the abnormal support stiffness point is reduced in the opposite direction.

[0028] The hydraulic cylinders are arranged from largest to smallest according to the allowable synchronous correction value, and the hydraulic cylinders corresponding to the abnormal support stiffness points are extended to the adjacent non-abnormal hydraulic cylinders in the hydraulic cylinder compensation sequence to obtain the hydraulic cylinder compensation sequence.

[0029] Preferably, configuring the pressure upper limit and displacement increment for each stage includes the following steps:

[0030] According to the hydraulic cylinder compensation sequence, the hydraulic cylinders that are ranked first are used as the leading support cylinders, and the hydraulic cylinders that are ranked last are used as the hysteresis compensation cylinders. The preload displacement increment of each hydraulic cylinder is determined based on the late bearing characteristic value.

[0031] During the preloading phase, the pilot support cylinder is first controlled to reach the corresponding preload displacement increment, and then the hysteresis compensation cylinder is controlled to follow and preload at a pressure lower than the upper limit of the pilot support cylinder, so as to obtain the initial bearing pressure of each hydraulic cylinder.

[0032] Based on the initial bearing pressure and hydraulic cylinder compensation sequence, configure the pressure upper limit and single displacement increment for the compensation leveling stage, synchronous lifting stage, and fine-tuning alignment stage.

[0033] Preferably, the reverse calculation of the target correction height includes the following steps:

[0034] The current heights of the first and second connecting pin holes are collected, and the axial deviation of the connecting pin holes is decomposed into the same-direction height deviation of the two holes and the relative tilt deviation of the two holes according to the target hole height.

[0035] Based on the preset correspondence, calculate the expected reduction amount of the unit height change of each hydraulic cylinder on the same-direction height deviation and relative tilt deviation of the two holes, and eliminate hydraulic cylinders that increase the deviation of the connecting pin hole axis.

[0036] The hydraulic cylinders that have not been eliminated are assigned correction heights in sequence according to the hydraulic cylinder compensation order. The remaining axis deviation is updated after each assignment until the remaining axis deviation is no longer reduced when the assignment continues, thus obtaining the target correction height for each hydraulic cylinder.

[0037] Preferably, the execution order compensation includes the following steps:

[0038] When the i-th hydraulic cylinder performs the corresponding corrected displacement, the pressure reference value and displacement reference value before the compensation starts are collected, and the pressure increment and displacement increment are calculated in real time.

[0039] When the pressure increment continuously exceeds the preset limit of the pressure increment corresponding to the current stage, and the displacement increment does not reach the corresponding corrected displacement, the oil inlet passage of the i-th hydraulic cylinder is closed, and the deviation of the connecting pin hole axis is updated according to the displacement it has completed.

[0040] Select the hydraulic cylinder that is located after the i-th hydraulic cylinder and can reduce the updated deviation of the connecting pin hole axis according to the hydraulic cylinder compensation sequence, recalculate its additional correction displacement and perform compensation until the deviation of the connecting pin hole axis is less than the preset value and then stop lifting.

[0041] The technical effects and advantages provided by the present invention in the above technical solution are as follows:

[0042] This invention differs from existing multi-hydraulic cylinder synchronous lifting methods that rely solely on displacement consistency or pressure balance for control. Its core technology employs delayed pressure recognition combined with orifice guidance compensation. Specifically, before formal lifting, this invention does not directly drive each hydraulic cylinder to rise synchronously. Instead, it uses low-speed inching pre-lifting, quantitative depressurization, and secondary pre-lifting to collect pressure change rate, displacement change, unloading return stroke, and idle stroke, forming delayed pressure characteristic values ​​for the corresponding support points of each hydraulic cylinder. This identifies abnormal support stiffness points at the bottom of the balance car caused by factors such as coal compaction, floor softening, and pad displacement. This method can detect surface contact but lagging actual load-bearing support positions before the transfer conveyor enters high-load lifting, avoiding the torsion, swaying, and hydraulic cylinder overload caused by continued sinking or delayed force at a certain support point when each hydraulic cylinder operates according to the same command in existing technologies. This improves the stability and safety of the initial support during underground installation.

[0043] This invention does not simply aim for the overall level of the self-balancing vehicle, but rather establishes a preset correspondence between the height change of the hydraulic cylinder support point and the spatial offset of the two connecting pin holes of the transfer mechanism, using the axial deviation of the connecting pin holes as the basis for lifting correction. By calculating the actual reduction effect of each hydraulic cylinder on the same-direction height deviation and relative tilt deviation of the two holes, and combining the delayed pressure characteristic value, the compensation sequence of the hydraulic cylinders is determined, prioritizing the participation of hydraulic cylinders that contribute significantly to the holes and provide reliable support, while hydraulic cylinders corresponding to points with abnormal support stiffness participate later and in limited quantities. During the lifting process, if a hydraulic cylinder experiences a pressure increase exceeding the limit while the displacement does not reach the corrected displacement, this invention does not force that hydraulic cylinder to continue injecting oil, but maintains its current position and calls upon subsequent hydraulic cylinders that can reduce the remaining axial deviation to re-perform compensation. This directly solves the problems of easy misalignment of pin holes, ear plate squeezing, and repeated unloading and readjustment during the short-stroke alignment stage at the end of the transfer mechanism installation, achieving coordinated lifting of multiple hydraulic cylinders around the pin hole alignment target. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0045] Figure 1 This is a flowchart of a multi-hydraulic cylinder coordinated lifting program control system module for a transfer machine equipped with a balance vehicle, according to the present invention.

[0046] Figure 2 This is a schematic diagram illustrating the inverse calculation of the target correction height according to the present invention.

[0047] Figure 3 This is a flowchart of the execution order compensation method of the present invention. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] Example 1, please refer to Figure 1 As shown in this embodiment, a multi-hydraulic cylinder coordinated lifting program control system for mounting a balance vehicle on a transfer machine includes:

[0050] The data acquisition module acquires the positions of the two connecting pin holes of the section to be installed on the transfer machine, the reference point position of the load-bearing beam of the balance vehicle, the arrangement position of each hydraulic cylinder, and the target hole height data, and establishes a preset correspondence between the change in the height of the hydraulic cylinder support point and the spatial offset of the connecting pin hole.

[0051] In this embodiment, the data acquisition module is used to establish a preset correspondence between the height change of the hydraulic cylinder support point and the spatial offset of the connecting pin hole after the section of the transfer machine to be installed is placed on the self-balancing vehicle. Specifically, the data acquisition module uses a fixed reference point on the self-balancing vehicle's load-bearing beam as the coordinate origin O, establishes an X-axis along the length of the load-bearing beam, a Y-axis along the width of the load-bearing beam, and a Z-axis vertically upwards, forming a local coordinate system for the self-balancing vehicle.

[0052] The data acquisition module acquires the coordinates of the center points P1 and P2 of the first and second connecting pin holes on the section of the transfer machine to be installed, respectively, in the local coordinate system, denoted as P1(x1, y1, z1) and P2(x2, y2, z2). The positions of these connecting pin holes can be obtained through a laser rangefinder, a visual recognition component, a wire displacement sensor, or manually input measurement data mounted on the balance vehicle's load-bearing beam. The data acquisition module also acquires the position coordinates of the upper support points of each hydraulic cylinder, denoted as Hi(ai, bi, ci), where i represents the hydraulic cylinder number; simultaneously, it acquires the target hole height H0, which is the target height when the center of the connecting pin hole and the corresponding hole center of the equipment to be connected meet the pin insertion requirements.

[0053] When establishing the preset correspondence, the data acquisition module treats the section of the transfer conveyor to be installed as a rigid component and sets that changes in the height of each hydraulic cylinder support point will cause the section of the transfer conveyor to be installed to undergo vertical translation, rotation around the X-axis, and rotation around the Y-axis. Let the height change of the i-th hydraulic cylinder be Δhi, and the attitude change of the section of the transfer conveyor to be installed be... Where Δz is the vertical translation, θx is the rotation angle around the X-axis, θy is the rotation angle around the Y-axis, and T represents transpose, that is, converting the horizontally arranged parameters into column vector form. The height change of each hydraulic cylinder support point satisfies: Δhi=Δz+θx·bi-θy·ai; where ai represents the X-axis coordinate value of the i-th hydraulic cylinder support point in the local coordinate system of the balance vehicle; bi represents the Y-axis coordinate value of the i-th hydraulic cylinder support point in the local coordinate system of the balance vehicle.

[0054] The coefficient matrix A is composed of the coordinates of the support points of each hydraulic cylinder. The i-th row is represented as [1, bi, -ai], where the number "1" corresponds to the vertical translation Δz of the section to be installed on the transfer machine; and the column vector ΔH is composed of the height changes of each hydraulic cylinder. The data acquisition module is based on... This indicates that, based on the height changes of each hydraulic cylinder support point, the vertical translation Δz, the rotation angle θx around the X-axis, and the rotation angle θy around the Y-axis of the transfer conveyor section to be installed are calculated; where AT represents the transpose of matrix A. ΔH represents the inverse matrix of matrix ATA, and ΔH represents the column vector composed of the height changes of each hydraulic cylinder. When there are three hydraulic cylinders and the support points of the three hydraulic cylinders are not on the same straight line, the attitude change of the section to be installed on the transfer machine can be directly solved. When there are more than three hydraulic cylinders, the formula is used for least squares calculation to reduce the influence of the detection error of a single hydraulic cylinder or the local settlement of the support point on the attitude calculation results.

[0055] Furthermore, the data acquisition module calculates the spatial offset of the connecting pin hole based on the coordinates of the center point and the attitude change. For any connecting pin hole Pj (xj, yj, zj), its vertical offset ΔZj satisfies: ΔZj = Δz + θx·yj - θy·xj; xj represents the X-axis coordinate of the center point of the j-th connecting pin hole in the local coordinate system of the self-balancing vehicle; yj represents the Y-axis coordinate of the center point of the j-th connecting pin hole in the local coordinate system of the self-balancing vehicle. By calculating ΔZ1 and ΔZ2 corresponding to the first and second connecting pin holes, the height deviation of the two connecting pin holes relative to the target hole height and the tilt deviation between the two connecting pin holes can be obtained.

[0056] Simultaneously, based on the offset of the first connecting pin hole P1 and the second connecting pin hole P2, the change in height difference between the two connecting pin holes, the change in the inclination angle of the line connecting the hole centers, and the deviation relative to the target hole height H0 are obtained. Therefore, the data acquisition module establishes a preset correspondence between the change in height of each hydraulic cylinder support point Δhi, the change in the transfer machine's posture Q, and the spatial offset of the connecting pin hole ΔPj.

[0057] In actual control, the data acquisition module can also apply a unit height change, such as 1 mm, to each hydraulic cylinder while keeping the heights of other hydraulic cylinders constant. Based on the above calculation process, the influence coefficient of each hydraulic cylinder on the first and second connecting pin holes is obtained, forming a hydraulic cylinder influence coefficient table. Subsequently, when axial deviation occurs in the connecting pin holes, the control system can determine the hydraulic cylinder that should be adjusted first and its target correction height based on this influence coefficient table. This allows the data output by the data acquisition module to be directly used for subsequent delayed pressure analysis, compensation sequence determination, and coordinated lifting control.

[0058] The delayed bearing pressure analysis module controls each hydraulic cylinder to pre-lift at low speed by jogging, and collects the pressure change rate, displacement change, unloading return amount and no-load stroke amount of each hydraulic cylinder when it is from no load to load, so as to obtain the delayed bearing pressure characteristic value of the corresponding support point of each hydraulic cylinder.

[0059] In this embodiment, when performing the delayed pressure test on the i-th hydraulic cylinder, the section of the transfer machine to be installed is first placed on the load-bearing beam of the balance vehicle, so that each hydraulic cylinder is in a near-supported state with the section of the transfer machine to be installed. The displacement value of the i-th hydraulic cylinder before its first jog is taken as the zero point of displacement of that hydraulic cylinder, and the displacement in the extension direction of subsequent hydraulic cylinders is recorded as a positive value. The pressure value of the i-th hydraulic cylinder is recorded as Pi, and the displacement value is recorded as Li. The sampling period Δt is taken as 20ms to 50ms; when the downhole electromagnetic interference is large, 50ms is taken, and when it is necessary to improve the recognition accuracy of short-term pressure changes, 20ms is taken.

[0060] Step S21: A first low-speed jog pre-lift command is issued to the i-th hydraulic cylinder, while the oil inlet and return passages of the remaining hydraulic cylinders are closed, keeping their displacement constant. The first low-speed jog pre-lift command is an intermittent oil inlet command, with each inlet lasting 0.2s to 0.5s, and an interval of 0.3s to 0.8s between adjacent inlets, controlling the single jog displacement of the i-th hydraulic cylinder to be between 0.5mm and 2mm. This value is based on the following: when the single displacement is less than 0.5mm, pressure changes are difficult to distinguish as oil pulsation; when the single displacement is greater than 2mm, overpressure indentation is easily formed at weak support points.

[0061] The pressure change rate ki is calculated according to the formula ki = (Pi,t - Pi,t-1) / Δt, where Pi,t is the pressure value at the current sampling time and Pi,t-1 is the pressure value at the previous sampling time. When ki is greater than the preset contact threshold Kc for three consecutive sampling periods, it is determined that the i-th hydraulic cylinder has entered the bearing state from no-load, and oil supply is immediately stopped. The displacement value at this moment is recorded as the bearing initial displacement Li0.

[0062] Kc is determined using no-load jogging data: when the i-th hydraulic cylinder is not effectively loaded in the section of the transfer machine to be installed, three consecutive low-speed jogging operations are performed to obtain the average no-load pressure change rate Kavg and the standard deviation σ. Kc is taken as Kavg + 3σ. This value can exclude the normal fluctuations caused by oil pulsation and valve opening impact, so that pressure changes exceeding Kc correspond to the formation of support contact.

[0063] Step S22: After the oil supply to the i-th hydraulic cylinder stops, a quantitative pressure relief is performed. The quantitative pressure relief amount is denoted as Lu, which is 20% to 30% of Li0, and Lu is not less than 1 mm and not more than 5 mm; when Li0 is less than 3 mm, Lu is 1 mm. The basis for this setting is that if the pressure relief amount is too small, it cannot reflect the elastic fall of the support point, and if the pressure relief amount is too large, it will destroy the established support contact. During pressure relief, the return oil passage of the i-th hydraulic cylinder is opened, and the return oil passage is closed when the displacement return amount reaches Lu or the pressure value Pi is lower than the contact pressure Pc.

[0064] The contact pressure Pc is taken as 90% of the pressure value Pi0 corresponding to the first time ki of the i-th hydraulic cylinder exceeds Kc in S21. Since Pi0 represents the pressure when the load is just formed, taking 90% of it can represent the critical state of the hydraulic cylinder exiting the effective load, while avoiding premature stop of pressure relief due to instantaneous pressure fluctuations. The displacement value when unloading is completed is recorded as Li1, and the unloading return stroke Ri is calculated according to the formula Ri = Li0 - Li1; if Ri is less than 0, it indicates that the displacement acquisition direction or data is abnormal, and the data is discarded and S21 is re-executed. The first idle stroke Ei is calculated according to the formula Ei = Li0 - Ri. This formula represents the effective idle stroke after deducting the unloading return stroke from the load-bearing initial displacement, excluding the influence of elastic recoil, and is used to characterize the clearance and clearance amount that the corresponding support point of the i-th hydraulic cylinder needs to eliminate before forming a stable load.

[0065] Step S23: After completing the quantitative pressure relief, a second low-speed jogging pre-lift command is issued to the i-th hydraulic cylinder. The oil inlet duration, oil inlet interval, and single jogging displacement of the second low-speed jogging pre-lift command are the same as those of the first low-speed jogging pre-lift command to ensure consistent detection conditions for the two tests. During the second pre-lift, the pressure change rate ki is continuously calculated. When ki is greater than Kc for three consecutive sampling cycles, the second load-bearing initial displacement Li2 is recorded, and the displacement change ΔLi2 from the start of the second jogging to Li2 and the peak pressure change rate Kimax during this time period are statistically analyzed.

[0066] The second idle stroke amount Ei2 is calculated according to the formula Ei2=Li2-Ri. Ei is compared with Ei2: when |Ei2-Ei|≤2mm, Eic=(Ei+Ei2) / 2 is taken as the corrected idle stroke amount; when |Ei2-Ei|>2mm, Eic=Ei2+0.5×(Ei2-Ei) is taken as the corrected idle stroke amount. The difference of 2mm corresponds to the height correction resolution typically allowed during the fine-tuning stage of the transfer machine connecting pin hole. If the difference is lower than this value, the two results are considered consistent; if the difference is higher, it indicates that the support point still has a tendency to continue compaction after the initial pre-loading. Therefore, a continuation correction amount of 0.5 is used to compensate for delayed bearing pressure in advance without causing excessive lifting.

[0067] Step S24: The corrected idle stroke Eic, unloading return stroke Ri, peak pressure change rate Kimax, and displacement change ΔLi2 are used to generate the delayed bearing characteristic value Ci for the support point corresponding to the i-th hydraulic cylinder. To avoid direct superposition of different dimensions, each parameter is first normalized: e = Eic / Emax, r = Ri / Rmax, k = Kimax / Kmax, d = ΔLi2 / Dmax. Where Emax, Rmax, Kmax, and Dmax are the maximum values ​​of all corresponding parameters of the hydraulic cylinders in this round of testing; when a certain maximum value is 0, it is substituted as 1 in the calculation.

[0068] The delayed bearing characteristic value Ci is calculated using the formula Ci = 0.4e + 0.25r + 0.25d - 0.1k. In this formula, a larger e indicates a longer idle stroke before effective bearing is achieved; a larger r indicates a more pronounced return stroke after unloading; a larger d indicates a longer displacement from the start of jogging to bearing confirmation; and a larger k indicates a faster pressure build-up after contact, thus negatively correcting for delayed bearing. After calculating Ci, the above process is sequentially performed on the 1st to nth hydraulic cylinders to obtain C1 to Cn. A larger Ci value indicates that the corresponding support point is more prone to delayed bearing or support displacement, thus reducing the priority of synchronous correction when determining the subsequent hydraulic cylinder compensation sequence.

[0069] The compensation sequence determination module identifies abnormal support stiffness points at the bottom of the balance vehicle based on the late bearing characteristic value, and calculates the order in which each hydraulic cylinder is allowed to participate in synchronous correction during the lifting process, based on the preset correspondence, to obtain the hydraulic cylinder compensation sequence.

[0070] Step S31: After the delayed bearing pressure test is completed for all hydraulic cylinders from the 1st to the nth, the delayed bearing pressure characteristic value of the support point corresponding to the i-th hydraulic cylinder is denoted as Ci, where i = 1, 2, ..., n, and n is the number of hydraulic cylinders involved in the lifting. Calculate the average value Cavg and standard deviation σC of all delayed bearing pressure characteristic values ​​of the hydraulic cylinders, where Cavg = (C1 + C2 + ... + Cn) / n. To avoid the judgment result being distorted due to Cavg being too small, a corrected average value Cref = max(Cavg, 0.01) is set, where 0.01 is the minimum distinguishing factor after the normalized calculation of the delayed bearing pressure characteristic value; when the delayed bearing pressure characteristic value of all hydraulic cylinders is lower than 0.01, it indicates that the difference in delayed bearing pressure at each support point is insufficient to affect the compensation order.

[0071] The preset multiplier β is determined according to the formula β = min[1.6, max(1.2, 1 + σC / Cref)]. The lower limit of β is 1.2 to exclude small differences caused by sampling errors and oil pressure fluctuations; the upper limit of β is 1.6 to avoid raising the abnormal judgment threshold when the late bearing characteristic value of a single support point is too large. The support points of the hydraulic cylinders that satisfy Ci > β × Cref are marked as support stiffness abnormal points, and the degree of abnormality of each support stiffness abnormal point is recorded in descending order of Ci.

[0072] Step S32: Based on the aforementioned preset correspondence, calculate the impact of the unit height change of each hydraulic cylinder on the deviation of the connecting pin hole axis. Specifically, obtain the current height Z1 of the first connecting pin hole, the current height Z2 of the second connecting pin hole, and the target hole height H0, and calculate the height deviation e1 = H0 - Z1 of the first connecting pin hole and the height deviation e2 = H0 - Z2 of the second connecting pin hole. Define the current axis deviation D0 of the connecting pin hole as D0 = max(|e1|, |e2|, |e1 - e2|), where |e1 - e2| is used to characterize the tilt deviation between the two connecting pin holes.

[0073] When calculating the unit height change for the i-th hydraulic cylinder, it is assumed that the support point height of the i-th hydraulic cylinder increases by 1mm, while the support point height changes by 0mm for the remaining hydraulic cylinders. Based on a preset correspondence, the vertical offset ΔZ1i of the first connecting pin hole and the vertical offset ΔZ2i of the second connecting pin hole are obtained. The corrected height deviation is then e1i = H0 - (Z1 + ΔZ1i), e2i = H0 - (Z2 + ΔZ2i), and the corrected connecting pin hole axis deviation is Di = max(|e1i|, |e2i|, |e1i - e2i|). The contribution value Gi of the i-th hydraulic cylinder to the hole is calculated according to Gi = max(0, D0 - Di). The larger Gi is, the greater the reduction effect of the i-th hydraulic cylinder extending 1mm on the axis deviation of the connecting pin hole; when Gi = 0, it indicates that the hydraulic cylinder does not participate in priority compensation in the current deviation direction.

[0074] Step S33: The ratio of the hole contribution value Gi to the delayed bearing characteristic value Ci is calculated to obtain the basic allowable synchronous correction value Wi for the i-th hydraulic cylinder, Wi = Gi / (1 + Ci). The 1 in the denominator ensures that calculation is still possible even when Ci is 0; the larger Ci is, the smaller Wi is, preventing hydraulic cylinders with significant delayed bearing from being directly ranked higher due to their higher hole contribution value. If the support point corresponding to the i-th hydraulic cylinder is marked as a support stiffness anomaly point, the allowable synchronous correction value is obtained according to the formula Ai = Wi × Cref / Ci; if it is not marked as a support stiffness anomaly point, then Ai = Wi. Since support stiffness anomalies satisfy Ci > β × Cref, Cref / Ci is less than 1, which can reverse the reduction of hydraulic cylinders with significant delayed bearing, lowering the risk of premature compensation causing the connecting pin hole to deviate again.

[0075] Step S34: Arrange the first to nth hydraulic cylinders in descending order of the allowable synchronization correction value Ai to obtain the initial compensation arrangement. In this embodiment, adjacent non-abnormal hydraulic cylinders refer to the hydraulic cylinders that are closest to the current support stiffness abnormal point in the initial compensation arrangement and are not marked as support stiffness abnormal points. Starting from the first position of the initial compensation arrangement, check each cylinder one by one. If the current position corresponds to a support stiffness abnormal point and there is an adjacent non-abnormal hydraulic cylinder after it, then extend the hydraulic cylinder corresponding to the support stiffness abnormal point to after the adjacent non-abnormal hydraulic cylinder; if there is no adjacent non-abnormal hydraulic cylinder after it, then keep the current position unchanged. After completing all checks, the hydraulic cylinder compensation sequence is obtained. This hydraulic cylinder compensation sequence prioritizes the participation of hydraulic cylinders that have a greater effect on reducing the deviation of the connecting pin hole axis, and allows the hydraulic cylinder corresponding to the support stiffness abnormal point to participate in lifting after forming compensation support at a relatively stable support point.

[0076] Please see Figure 2As shown, the target correction height determination module divides the lifting process into a preloading stage, a compensation and leveling stage, a synchronous lifting stage, and a fine-tuning and alignment stage according to the hydraulic cylinder compensation sequence, and configures different pressure upper limits and displacement increments for each stage; at the same time, it drives the hydraulic cylinders to lift according to each stage, and collects the pressure, displacement, and axial deviation of the connecting pin hole of each hydraulic cylinder in real time, and calculates the axial deviation as the target correction height of each hydraulic cylinder.

[0077] In this embodiment, after obtaining the hydraulic cylinder compensation sequence, the number of hydraulic cylinders participating in the lifting is denoted as n, where n is not less than 3. According to the hydraulic cylinder compensation sequence from front to back, the first m hydraulic cylinders are designated as the leading support cylinders, where m = ceil(n / 2), and ceil represents rounding up; the remaining hydraulic cylinders are designated as hysteresis compensation cylinders. The delayed bearing pressure characteristic value of the i-th hydraulic cylinder is denoted as Ci, and the maximum value of the delayed bearing pressure characteristic values ​​of all hydraulic cylinders is denoted as Cmax. When Cmax is less than 0.01, Cmax is calculated as 0.01, where 0.01 is the minimum distinguishing factor after normalization of the delayed bearing pressure characteristic value, used to avoid division by zero or excessive amplification when the difference in delayed bearing pressure among the hydraulic cylinders is extremely small.

[0078] The preload displacement increment ΔLpi of the i-th hydraulic cylinder is calculated using the formula ΔLpi = Lmin + (Lmax - Lmin) × (1 - Ci / Cmax), where Lmin is taken as 1 mm and Lmax as 5 mm. When the calculated result is less than 1 mm, 1 mm is used; when it is greater than 5 mm, 5 mm is used. Taking Lmin as 1 mm ensures a detectable change in bearing pressure for the hydraulic cylinder; taking Lmax as 5 mm limits single-stage attitude disturbances during the preload phase, preventing significant swaying of the transfer machine's installation section before the pin holes are nearly aligned. A larger Ci results in a smaller ΔLpi, reducing the active lifting amount of the hydraulic cylinder with a high degree of delayed bearing pressure during the preload phase.

[0079] During the preloading phase, the pilot support cylinders are driven to extend sequentially according to the hydraulic cylinder compensation sequence until each pilot support cylinder reaches its corresponding preload displacement increment ΔLpi. The upper limit of the pressure of the pilot support cylinder is denoted as PF, where PF = 0.45Pr, and Pr is the rated working pressure of the hydraulic cylinder, which is the smaller value between the rated pressure on the hydraulic cylinder nameplate and the maximum allowable working pressure of the hydraulic circuit. PF is set to 0.45Pr to form stable contact without entering the formal lifting force state.

[0080] In this embodiment, after the leading support cylinder reaches the corresponding ΔLpi, the pressure value of each leading support cylinder is recorded. Subsequently, the hysteresis compensation cylinder is driven to perform follow-up preload. The upper limit of the pressure of the hysteresis compensation cylinder is denoted as PD, where PD = 0.75PF, and the displacement of the hysteresis compensation cylinder does not exceed its corresponding ΔLpi. PD is lower than PF, which is used to ensure that the hysteresis compensation cylinder mainly eliminates idle stroke and support clearance, rather than controlling the attitude change of the transfer conveyor section to be installed. The pressure value of each hydraulic cylinder after preloading is recorded as the initial bearing pressure P0i.

[0081] During the compensation and leveling phase, the initial bearing pressure P0i is used as the benchmark for the effective bearing of the i-th hydraulic cylinder. Following the hydraulic cylinder compensation sequence, the displacement increment of each corresponding hydraulic cylinder is increased sequentially, starting from the first cylinder. Before each increase, the current pressure Pi of the i-th hydraulic cylinder is collected; when Pi is lower than 0.9P0i, the hydraulic cylinder is first controlled to extend further, with a single extension not exceeding 1mm, until Pi is not lower than 0.9P0i before participating in the leveling process.

[0082] It should be noted that 0.9P0i is used to determine whether the support contact is weakened. A value lower than this indicates that the hydraulic cylinder is currently under insufficient load, and direct leveling may easily cause the cylinder to be unloaded.

[0083] For the hydraulic cylinder corresponding to the abnormal support stiffness point, its single displacement increment is denoted as ΔLai; for the non-abnormal hydraulic cylinder that is closest to the abnormal support stiffness point in the hydraulic cylinder compensation sequence, its single displacement increment is denoted as ΔLni. ΔLai is determined according to the formula ΔLai=ρ×ΔLni, where ρ=max(0.4,min(0.7,Cref / Ci)), and Cref is the corrected average value of the late bearing characteristic value.

[0084] It should be noted that ρ is limited to between 0.4 and 0.7 in order to retain the necessary compensation for abnormal support points, while limiting its excessive extension at one time, which could cause the base plate to continue to sink.

[0085] After the compensation and leveling phase, the total displacement increment actually obtained by each hydraulic cylinder during this phase is calculated, and the maximum value is recorded as ΔLmax. The pressure value of each hydraulic cylinder at the end of this phase is also calculated, and the maximum value is recorded as Pmax. The uniform pressure upper limit Ps during the synchronous lifting phase is determined according to Ps = min(0.8Pr, Pmax + 0.1Pr); the single displacement increment ΔLs during the synchronous lifting phase is determined according to ΔLs = max(1mm, 0.5ΔLmax). This value ensures that the synchronous lifting phase inherits the stress state formed during the compensation and leveling phase, avoiding a sudden increase in the pressure upper limit.

[0086] When entering the fine-tuning alignment stage, the upper limit of the fine-tuning pressure Pm is determined according to Pm = 0.6Ps, and the single displacement increment ΔLm is determined according to ΔLm = max(0.5mm, 0.3ΔLs). 0.5mm is the minimum executable displacement resolution when aligning the connecting pin hole in this embodiment; if it is lower than this value, the hydraulic cylinder displacement feedback error and oil compression deformation may be greater than the executed amount, which can easily cause repeated corrections.

[0087] During the preloading, compensation leveling, synchronous lifting, and fine-tuning alignment stages, the current heights Z1 and Z2 of the first and second connecting pin holes are collected. These heights are then combined with the target hole height H0 to calculate the height deviations e1 (H0 - Z1) and e2 (H0 - Z2) of the first and second connecting pin holes. In this embodiment, the axis deviation of the connecting pin holes refers to the alignment deviation characterized by the center height deviation of the two connecting pin holes and the tilt deviation of the two holes.

[0088] The deviation of the connecting pin hole axis is decomposed into the same-direction height deviation Ea and the relative tilt deviation Et, where Ea = (e1 + e2) / 2 and Et = (e1 - e2) / 2. Ea represents the degree to which the two connecting pin holes deviate from the target hole height as a whole, and Et represents the degree of tilt between the two connecting pin holes. Through this decomposition, the overall rise and fall and tilt correction can be considered simultaneously when calculating the target correction height later.

[0089] Based on the preset correspondence, the unit height change is calculated for each hydraulic cylinder. The support point height of the i-th hydraulic cylinder is increased by 1mm, while the support point heights of the remaining hydraulic cylinders change by 0mm, yielding the vertical offset ΔZ1i of the first connecting pin hole and the vertical offset ΔZ2i of the second connecting pin hole. The expected reduction Rai for the same-direction height deviation of the i-th hydraulic cylinder is calculated using the formula Rai = |Ea| - |Ea - (ΔZ1i + ΔZ2i) / 2|; the expected reduction Rti for the relative tilt deviation of the two holes is calculated using the formula Rti = |Et| - |Et - (ΔZ1i - ΔZ2i) / 2|.

[0090] If Rai≤0 and Rti≤0, it means that the unit height change of the i-th hydraulic cylinder will not reduce the current connecting pin hole axis deviation, and the hydraulic cylinder is excluded from the target correction height allocation in this round; if at least one of Rai and Rti is greater than 0, the hydraulic cylinder is retained to participate in the allocation in this round.

[0091] According to the hydraulic cylinder compensation sequence, the correction height is sequentially assigned to the hydraulic cylinders that have not been eliminated. The single-time allocable displacement increment of the current stage is denoted as ΔLstage: ΔLpi of the i-th hydraulic cylinder is taken in the preloading stage, ΔLai of the i-th hydraulic cylinder or the single-time displacement increment of the corresponding non-abnormal hydraulic cylinder is taken in the compensation and leveling stage, ΔLs is taken in the synchronous lifting stage, and ΔLm is taken in the fine-tuning and alignment stage.

[0092] When assigning a correction height qi to the i-th hydraulic cylinder, qi is not greater than ΔLstage, and the assigned double-hole unidirectional height deviation Ea' and double-hole relative tilt deviation Et' are calculated according to a preset correspondence. If max(|Ea'|, |Et'|) is less than max(|Ea|, |Et|) before assignment, the assignment is retained, and Ea' and Et' are used as the new remaining axis deviation; if max(|Ea'|, |Et'|) is not less than max(|Ea|, |Et|) before assignment, qi is 0, and the process jumps to the next hydraulic cylinder in the hydraulic cylinder compensation sequence. Thus, each assignment is based on the remaining axis deviation after the previous assignment.

[0093] When the remaining axis deviation satisfies max(|Ea|, |Et|) ≤ 0.5mm, it is determined that the remaining axis deviation has reached the minimum executable range. 0.5mm corresponds to the minimum single displacement increment in the fine-tuning alignment stage; further allocation may cause reverse overshoot. If max(|Ea|, |Et|) is greater than 0.5mm, but further allocation of all remaining hydraulic cylinders fails to reduce max(|Ea|, |Et|), it is determined that further allocation will increase the axis deviation. In this case, the sum of the cumulative correction heights retained by each hydraulic cylinder is determined as the target correction height for each hydraulic cylinder.

[0094] Please see Figure 3 As shown, the sequential compensation control module prohibits the hydraulic cylinder from continuing to supply oil when the hydraulic cylinder pressure increment exceeds the preset limit and the displacement increment does not reach the corresponding corrected displacement. It then calls the next hydraulic cylinder in the hydraulic cylinder compensation sequence to perform compensation until the deviation of the connecting pin hole axis is less than the preset value, at which point the lifting stops.

[0095] In this embodiment, during sequential compensation, the aforementioned hydraulic cylinder compensation sequence, the target correction height of each hydraulic cylinder, and the single displacement increment corresponding to the current stage are first obtained. The hydraulic cylinder to be executed is denoted as the i-th hydraulic cylinder, the average pressure value collected within 1 second before the start of this round of compensation is denoted as Pi0, and the displacement value before the start of this round of compensation is denoted as Li0. During the compensation process, the pressure value Pi and the displacement value Li are collected in real time. The pressure increment ΔPi is calculated according to ΔPi = Pi - Pi0, and the displacement increment ΔLi is calculated according to ΔLi = Li - Li0.

[0096] It should be noted that the average pressure within 1 second before the compensation begins is used as Pi0 in order to eliminate the influence of hydraulic oil pulsation and pressure fluctuation at the moment the valve opens on the judgment of pressure increment.

[0097] In this process, the corrected displacement of the i-th hydraulic cylinder in this round is denoted as qi, which is obtained from the aforementioned target correction height back-calculation step. During execution, the i-th hydraulic cylinder extends and inlets according to the single displacement increment of the current stage, and continuously compares ΔPi and ΔLi. When ΔPi is greater than the preset limit of pressure increment ΔPth for three consecutive sampling cycles, and ΔLi < qi - δ, it is determined that the i-th hydraulic cylinder has not completed the corresponding corrected displacement. δ is the displacement judgment tolerance, and δ is set to 0.2mm. The basis for setting δ to 0.2mm is that the displacement feedback of the downhole hydraulic cylinder is affected by vibration, oil compression, and sensor installation gap. Differences within 0.2mm are not considered as compensation failures, in order to avoid frequent switching of the hydraulic cylinder.

[0098] The preset limit for pressure increment, ΔPth, is determined based on the current stage's pressure upper limit. In the preloading stage, ΔPth = 0.15PF, where PF is the upper limit of the pressure of the pilot support cylinder; in the compensation and leveling stage, ΔPth = 0.12PB, where PB = min(0.65Pr, P0max + 0.15Pr), where Pr is the rated working pressure of the hydraulic cylinder, and P0max is the maximum value among all the initial bearing pressures of the hydraulic cylinders; in the synchronous lifting stage, ΔPth = 0.10Ps, where Ps is the unified pressure upper limit for the synchronous lifting stage; and in the fine-tuning alignment stage, ΔPth = 0.08Pm, where Pm is the upper limit of the fine-tuning pressure. These values ​​ensure that the closer to the alignment stage of the connecting pin hole, the more sensitive the pressure surge detection, thereby reducing ear plate compression and pin hole misalignment.

[0099] When ΔPi > ΔPth and ΔLi < qi - δ, the oil inlet passage of the i-th hydraulic cylinder is immediately closed, while its return passage remains closed, keeping the i-th hydraulic cylinder in its current position. Subsequently, based on the displacement increment ΔLi already completed by the i-th hydraulic cylinder, the current heights of the first and second connecting pin holes are recalculated according to a preset correspondence, and the unidirectional height deviation Ea and relative tilt deviation Et of the two holes are updated. This is because although the i-th hydraulic cylinder has not completed qi, the ΔLi it has already generated will still change the axial deviation of the connecting pin hole; subsequent compensation should be based on the updated remaining axial deviation.

[0100] When calling the next hydraulic cylinder, following the hydraulic cylinder compensation sequence, the first hydraulic cylinder that is not maintained and can reduce the remaining axial deviation is selected from the i-th hydraulic cylinder; this is denoted as the j-th hydraulic cylinder. The judgment method is as follows: calculate Ea' and Et' after the unit height change of the j-th hydraulic cylinder according to the preset correspondence. If max(|Ea'|, |Et'|) is less than the current max(|Ea|, |Et|), then the j-th hydraulic cylinder meets the compensation condition; otherwise, continue searching for the next hydraulic cylinder in the hydraulic cylinder compensation sequence. This avoids assigning the compensation action to a hydraulic cylinder that would increase the pin hole deviation.

[0101] In this embodiment, after determining the j-th hydraulic cylinder, the incomplete displacement of the i-th hydraulic cylinder is not directly used as the compensation amount for the j-th hydraulic cylinder. Instead, the additional correction displacement qj of the j-th hydraulic cylinder is recalculated using the current Ea and Et as inputs, according to the aforementioned target correction height back-calculation method. qj is not greater than the single displacement increment corresponding to the current stage, and after executing qj, max(|Ea|, |Et|) should decrease. If the calculated qj is less than 0.5mm, the compensation is not executed again; 0.5mm is the minimum single displacement increment in the fine-tuning alignment stage. Below this value, it is easily affected by displacement feedback error and reverse overshoot occurs.

[0102] After each hydraulic cylinder compensation action is completed, the current height Z1 of the first connecting pin hole and the current height Z2 of the second connecting pin hole are re-acquired, and e1 = H0 - Z1, e2 = H0 - Z2, Ea = (e1 + e2) / 2, and Et = (e1 - e2) / 2 are calculated, where H0 is the target hole height. The deviation E of the connecting pin hole axis is determined according to E = max(|Ea|, |Et|).

[0103] When E ≤ Eth, the lifting stops, and the inlet and outlet oil passages of all hydraulic cylinders are closed. Eth is a preset value for the axial deviation, taken as 60% of the single-sided assembly clearance between the pin to be inserted and the connecting pin hole, and Eth is not greater than 0.5mm; when assembly clearance data is not available, Eth is taken as 0.5mm. Taking 60% of the single-sided assembly clearance is to retain a 40% assembly allowance while ensuring the pin can be inserted, to compensate for the elastic rebound after the hydraulic cylinder stops and the slight drop caused by the weight of the section to be installed on the transfer machine. If the remaining hydraulic cylinders in the hydraulic cylinder compensation sequence cannot reduce E, the current round of lifting stops, Z1 and Z2 are re-acquired, and the target correction height of each hydraulic cylinder is recalculated before the next round of compensation is executed.

[0104] This invention establishes a positional reference by using the balance vehicle's load-bearing beam as the reference point after the transfer machine's installation section is supported by a balance vehicle. This involves obtaining the positions of two connecting pin holes, the arrangement positions of each hydraulic cylinder, and the target alignment height. A pre-defined correspondence is established between the height change of the hydraulic cylinder support points and the spatial offset of the connecting pin holes. Subsequently, through low-speed jogging pre-lifting, the pressure change rate, displacement change, unloading return stroke, and idle stroke of each hydraulic cylinder during the transition from no-load to load-bearing process are detected. This yields the delayed-bearing characteristic value of each support point, identifying abnormal support stiffness points. The compensation sequence of the hydraulic cylinders is determined by combining the correction contribution of each hydraulic cylinder to the axis deviation of the connecting pin holes. During the formal lifting, the lifting process is divided into pre-loading, compensation leveling, synchronous lifting, and fine-tuning alignment stages according to this compensation sequence. Different stages are then addressed. The system sets corresponding pressure limits and displacement increments for each stage, prioritizing the formation of stable supports by hydraulic cylinders with reliable bearing and significant contribution to the hole, while delaying or limiting the participation of hydraulic cylinders with obvious delayed pressure bearing in compensation. During the lifting process, the system collects real-time data on the pressure, displacement, and axis deviation of each hydraulic cylinder, and calculates the target correction height for each hydraulic cylinder based on a preset correspondence. When a hydraulic cylinder experiences an excessive pressure increment but its displacement does not meet the correction requirements, the system stops supplying oil to that cylinder, and the subsequent hydraulic cylinders in the compensation sequence take over the remaining deviation correction until the axis deviation of the connecting pin hole is less than the preset value. This achieves hole-guided coordinated lifting of multiple hydraulic cylinders during the installation of the transfer machine, avoiding pin hole misalignment, uneven load pressure, and repeated unloading and readjustment caused by uneven base plate support stiffness or delayed pressure bearing of hydraulic cylinders.

[0105] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A multi-hydraulic cylinder coordinated lifting program control system for mounting a balance vehicle on a transfer machine, characterized in that, include: The data acquisition module acquires the positions of the two connecting pin holes of the section to be installed on the transfer machine, the reference point position of the load-bearing beam of the balance vehicle, the arrangement position of each hydraulic cylinder, and the target hole height data, and establishes a preset correspondence between the change in the height of the hydraulic cylinder support point and the spatial offset of the connecting pin hole. The delayed bearing pressure analysis module controls each hydraulic cylinder to pre-lift at low speed by jogging, and collects the pressure change rate, displacement change, unloading return amount and no-load stroke amount of each hydraulic cylinder when it is from no-load to bearing, and obtains the delayed bearing pressure characteristic value of the corresponding support point of each hydraulic cylinder. The compensation sequence determination module identifies abnormal support stiffness points at the bottom of the balance vehicle based on the delayed bearing characteristic value, and calculates the order in which each hydraulic cylinder is allowed to participate in synchronous correction during the lifting process, based on the preset correspondence, to obtain the hydraulic cylinder compensation sequence. The target correction height determination module divides the lifting process into a preloading stage, a compensation and leveling stage, a synchronous lifting stage, and a fine-tuning and alignment stage according to the hydraulic cylinder compensation sequence, and configures different pressure upper limits and displacement increments for each stage; at the same time, it drives the hydraulic cylinders to lift according to each stage, and collects the pressure, displacement, and axial deviation of the connecting pin hole of each hydraulic cylinder in real time, and calculates the axial deviation as the target correction height of each hydraulic cylinder. The sequential compensation control module prevents the hydraulic cylinder from continuing to supply oil when the hydraulic cylinder pressure increment exceeds the preset limit and the displacement increment does not reach the corresponding corrected displacement. It then calls the next hydraulic cylinder in the hydraulic cylinder compensation sequence to perform compensation until the deviation of the connecting pin hole axis is less than the preset value, at which point the lifting stops.

2. The multi-hydraulic cylinder coordinated lifting program control system for a transfer machine mounting a balance vehicle according to claim 1, characterized in that, Establishing a pre-defined correspondence includes the following steps: A local coordinate system is established using the load-bearing beam reference point of the balance vehicle to obtain the position coordinates of the first connecting pin hole, the second connecting pin hole, and the support points of each hydraulic cylinder in the local coordinate system. Treating the section of the transfer machine to be installed as a rigid component, calculate the vertical translation, rotation angle around the length direction, and rotation angle around the width direction of the section of the transfer machine to be installed based on the height change of each hydraulic cylinder support point. Based on the vertical translation, the rotation angle around the length direction, and the rotation angle around the width direction, the spatial offset of the first connecting pin hole and the second connecting pin hole is calculated, forming a preset correspondence between the change in the height of the hydraulic cylinder support point and the spatial offset of the connecting pin hole.

3. The multi-hydraulic cylinder coordinated lifting program control system for installing a balance vehicle on a transfer machine according to claim 1, characterized in that, Obtaining the late bearing characteristic value includes the following steps: Issue a first low-speed jog pre-lift command to the i-th hydraulic cylinder and maintain pressure in the remaining hydraulic cylinders. When the pressure change rate of the i-th hydraulic cylinder continuously reaches the preset contact condition, stop oil supply and record the corresponding displacement as the load-bearing start displacement. A quantitative depressurization is performed on the i-th hydraulic cylinder, the unloading return stroke when it exits the effective load is collected, and the first idle stroke is obtained based on the load start displacement and the unloading return stroke. Perform low-speed jogging pre-lifting on the i-th hydraulic cylinder again to obtain the second free stroke amount, and generate the corrected free stroke amount based on the first and second free stroke amounts.

4. The multi-hydraulic cylinder coordinated lifting program control system for mounting a balance vehicle on a transfer machine according to claim 3, characterized in that, The corrected empty stroke, unloading return stroke, pressure change rate peak value and displacement change value are normalized respectively; the normalized empty stroke, unloading return stroke and displacement change value are used as positive late bearing pressure parameters, and the normalized pressure change rate peak value is used as negative correction parameter. The weighted calculation of the forward late bearing parameter and the reverse correction parameter yields the late bearing characteristic value of the support point corresponding to the i-th hydraulic cylinder.

5. A multi-hydraulic cylinder coordinated lifting program control system for mounting a balance vehicle on a transfer machine according to claim 4, characterized in that, Identifying anomalous points in support stiffness includes the following steps: Calculate the average and standard deviation of all hydraulic cylinder delayed pressure characteristic values, and determine the anomaly judgment factor based on the average and standard deviation; The support points of hydraulic cylinders whose delayed bearing characteristic values ​​are greater than the product of the average value and the anomaly determination multiple are marked as support stiffness anomaly points.

6. The multi-hydraulic cylinder coordinated lifting program control system for a transfer machine mounting a balance vehicle according to claim 1, characterized in that, Obtaining the hydraulic cylinder compensation sequence includes the following steps: Based on the preset correspondence, the difference in the deviation of the connecting pin hole axis before and after the unit height change of each hydraulic cylinder is calculated, and the contribution value of each hydraulic cylinder to the hole is obtained. The ratio of the hole contribution value to the delayed bearing characteristic value is calculated to obtain the allowable synchronous correction value of each hydraulic cylinder, and the allowable synchronous correction value of the hydraulic cylinder corresponding to the abnormal support stiffness point is reduced in the opposite direction. The hydraulic cylinders are arranged from largest to smallest according to the allowable synchronous correction value, and the hydraulic cylinders corresponding to the abnormal support stiffness points are extended to the adjacent non-abnormal hydraulic cylinders in the hydraulic cylinder compensation sequence to obtain the hydraulic cylinder compensation sequence.

7. A multi-hydraulic cylinder coordinated lifting program control system for mounting a balance vehicle on a transfer machine according to claim 6, characterized in that, Configuring the pressure upper limit and displacement increment for each stage includes the following steps: According to the hydraulic cylinder compensation sequence, the hydraulic cylinders that are ranked first are used as the leading support cylinders, and the hydraulic cylinders that are ranked last are used as the hysteresis compensation cylinders. The preload displacement increment of each hydraulic cylinder is determined based on the late bearing characteristic value. During the preloading phase, the pilot support cylinder is first controlled to reach the corresponding preload displacement increment, and then the hysteresis compensation cylinder is controlled to follow and preload at a pressure lower than the upper limit of the pilot support cylinder, so as to obtain the initial bearing pressure of each hydraulic cylinder. Based on the initial bearing pressure and hydraulic cylinder compensation sequence, configure the pressure upper limit and single displacement increment for the compensation leveling stage, synchronous lifting stage, and fine-tuning alignment stage.

8. A multi-hydraulic cylinder coordinated lifting program control system for mounting a balance vehicle on a transfer machine according to claim 7, characterized in that, The reverse calculation of the target correction height includes the following steps: The current heights of the first and second connecting pin holes are collected, and the axial deviation of the connecting pin holes is decomposed into the same-direction height deviation of the two holes and the relative tilt deviation of the two holes according to the target hole height. Based on the preset correspondence, calculate the expected reduction amount of the unit height change of each hydraulic cylinder on the same-direction height deviation and relative tilt deviation of the two holes, and eliminate hydraulic cylinders that increase the deviation of the connecting pin hole axis. The hydraulic cylinders that have not been eliminated are assigned correction heights in sequence according to the hydraulic cylinder compensation order. The remaining axis deviation is updated after each assignment until the remaining axis deviation is no longer reduced when the assignment continues, thus obtaining the target correction height for each hydraulic cylinder.

9. A multi-hydraulic cylinder coordinated lifting program control system for a transfer machine mounting a balance vehicle according to claim 8, characterized in that, The execution order compensation includes the following steps: When the i-th hydraulic cylinder performs the corresponding corrected displacement, the pressure reference value and displacement reference value before the compensation starts are collected, and the pressure increment and displacement increment are calculated in real time. When the pressure increment continuously exceeds the preset limit of the pressure increment corresponding to the current stage, and the displacement increment does not reach the corresponding corrected displacement, the oil inlet passage of the i-th hydraulic cylinder is closed, and the deviation of the connecting pin hole axis is updated according to the displacement it has completed. Select the hydraulic cylinder that is located after the i-th hydraulic cylinder and can reduce the updated deviation of the connecting pin hole axis according to the hydraulic cylinder compensation sequence, recalculate its additional correction displacement and perform compensation until the deviation of the connecting pin hole axis is less than the preset value and then stop lifting.

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