A method for smooth lifting control of a hydraulic lifting wine cabinet

Abstract

This invention discloses a smooth lifting control method for a hydraulic lifting wine cabinet, specifically relating to the field of hydraulic lifting control technology. It addresses the problem that in existing hydraulic lifting wine cabinets, the load and eccentricity of the shelf change after wine bottles are removed or placed, making it difficult for fixed hydraulic control parameters to adapt to the actual load conditions. This leads to problems such as initial creep, off-center swaying, and end-position impact during shelf lifting. By collecting data on the pressure in both chambers of the hydraulic cylinder, shelf position, shelf tilt, and the previous round's end-position residual before shelf lifting, and applying a micro-pressure detection pulse less than the formal starting pressure threshold, the current load eccentricity is determined based on the micro-pressure response data. This allows for the division of the lifting stroke and the generation of pump and valve control parameters for each lifting control segment. Consequently, the hydraulic lifting control parameters are adapted to the actual load conditions after wine bottles are removed or placed, reducing initial creep, off-center swaying, and end-position impact.

Description

Technical Field

[0001] This invention relates to the field of hydraulic lifting control technology, specifically a method for smooth lifting control of a hydraulic lifting wine cabinet. Background Technology

[0002] Hydraulic lift wine cabinets typically use a hydraulic pump, proportional valve, hydraulic cylinder, and position detection components to raise and lower the shelves between storage and display positions. Existing control methods mostly rely on preset lifting speeds, fixed valve opening variations, end-position deceleration control, or closed-loop position control. During factory testing, hydraulic control parameters are set based on rated or typical load conditions to ensure the shelves can complete the lifting motion according to a predetermined stroke. For general lifting mechanisms, these methods can meet basic lifting control requirements and, to some extent, reduce the impact of the shelves reaching their final position.

[0003] However, the load-bearing capacity of wine cabinet shelves changes frequently with the loading and unloading of bottles. The number of bottles, their placement, and the degree of eccentric load can all change between adjacent lifting and lowering operations. When the actual load on the shelf differs from the load-bearing capacity corresponding to the factory settings or the previous control parameters, the fixed starting pressure supply, flow control, valve orifice change rate, and end-position deceleration position can easily become mismatched with the current stress state of the shelf. This can lead to short-term creeping during the initial stage, localized swaying or amplified tilting under eccentric load conditions, and insufficient deceleration or end-position impact when approaching the target stopping position. This is especially true in short-stroke, embedded wine cabinet structures where the adjustable stroke of the shelf is limited, and the transition distance between starting, stable lifting and lowering, and end-position holding is short, making the impact of load eccentricity changes on hydraulic control parameters more pronounced.

[0004] While existing technologies can correct lifting actions through pressure, position, or speed feedback, they typically focus on adjusting a single variable during the lifting process. They fail to confirm the load eccentricity state before the actual lifting operation by considering the pressure in both chambers of the hydraulic cylinder, the shelf position, the shelf tilt, and the residual value from the previous cycle. Furthermore, they do not establish a continuous correlation between different load eccentricity states and segmented hydraulic control parameters, in-process corrections, and post-position residual records. Therefore, in scenarios where bottles are lifted or lowered again after being removed, the hydraulic lifting control parameters still struggle to adapt to the actual load-bearing state of the shelf in a timely manner, thus affecting the smoothness of the shelf's lifting and the consistency of its end position. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a method for smooth lifting and lowering control of a hydraulic lifting wine cabinet, thereby solving the problems mentioned in the background section.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a method for smooth lifting and lowering control of a hydraulic lifting wine cabinet, comprising: S1. After receiving the shelf lifting command, the wine cabinet hydraulic lifting controller collects the pressure in the two chambers of the hydraulic cylinder, the shelf position, the shelf tilt, and the previous round end position residual record. It then applies a micro-pressure detection pulse to the hydraulic cylinder that is less than the formal starting pressure threshold and obtains the micro-pressure response data. S2. Determine the load eccentricity state based on the pressure difference between the two chambers, pressure settling time, micro-displacement response amount, and tilt change direction in the micro-pressure response data. S3. Based on the current load eccentricity and target lifting position, the lifting stroke is divided into the starting static friction release section, the eccentric load suppression acceleration section, the stable lifting section, the end position pre-deceleration section, and the end position hydraulic holding section. S4. Based on the current load eccentricity, generate the pump output flow, proportional valve opening change rate, return oil back pressure, starting compensation pressure, and end position deceleration advance for each lifting control section. S5. During the lifting process, the pressure in both chambers of the hydraulic cylinder, the speed of the shelf, and the tilt of the shelf are collected to determine the starting crawling state, the off-center load amplification state, and the end position impact trend, and the pump valve control parameters of the corresponding lifting control section are corrected. S6. After the shelf is in place, calculate the end position deviation, pressure oscillation residual, pressure fall time, speed fluctuation residual, and tilt residual, and write the residuals back to the control parameter record of the corresponding load eccentricity state.

[0007] Furthermore, S1 includes: After receiving the shelf lifting command, the wine cabinet hydraulic lifting controller establishes the current round of data collection records based on the shelf number, lifting command time, and target lifting position; Within the static reference acquisition interval, the pressure of the two chambers of the hydraulic cylinder, the position of the shelf, and the tilt of the shelf are acquired, and the end position residual record of the previous round is read. Based on the cabinet-type hydraulic control parameter table, determine the formal starting pressure threshold and micro-pressure detection pulse parameters, and apply a micro-pressure detection pulse smaller than the formal starting pressure threshold to the hydraulic cylinder; The micro-pressure response data, including the pressure of the two chambers before the pulse, the pressure of the two chambers during the pulse holding interval, the pressure of the two chambers after the pressure is released, the pressure settling time, the pressure falling back time, the micro-displacement response amount, and the tilt change direction, are generated in the micro-pressure response acquisition interval.

[0008] Furthermore, S2 includes: The wine cabinet hydraulic lifting controller retrieves the pressure difference between the two chambers, pressure set-up time, micro-displacement response amount, and tilt change direction from the same micro-pressure response acquisition interval in the current round of data acquisition records according to the shelf number and lifting command time. The pressure difference between the two chambers is the pressure difference formed by subtracting the pressure in the rodless chamber of the hydraulic cylinder from the pressure in the rod chamber of the hydraulic cylinder.

[0009] Furthermore, the hydraulic lifting controller for the wine cabinet first excludes records of pressure loss, pressure failure, micro-displacement response reaching the micro-displacement limit, continuous tilt drift, and parameter version unrecognizable. When the tilt change direction forms a clear off-center load direction, it is determined to be one of the following states: composite off-center load state, front off-center load state, rear off-center load state, left off-center load state, and right off-center load state. When the direction of tilt change does not form a clear off-center load direction, the state is determined as either an overall unbalanced state or an approximately balanced state based on the change in the pressure difference between the two chambers.

[0010] Furthermore, S3 includes: The hydraulic lifting controller for the wine cabinet determines the boundaries of each lifting control segment based on the current load eccentricity state, current shelf position, target lifting position, and cabinet type stroke segment parameter table recorded in this round of judgment. The lifting stroke from the current shelf position to the target lifting position is continuously divided along the actual movement direction of the shelf into the starting static friction release section, the off-center load suppression acceleration section, the stable lifting section, the end position pre-deceleration section, and the end position hydraulic holding section. Adjacent lifting control sections share the same boundary point, and the end hydraulic holding section's termination boundary is the target lifting position.

[0011] Furthermore, S4 includes: The wine cabinet hydraulic lifting controller generates the control parameter record for this round of lifting based on the current lifting stroke division record, the current load eccentricity state, the target lifting position, the lifting direction, and the cabinet type pump valve control parameter table, in the following stages: the initial static friction release stage, the eccentric load suppression acceleration stage, the stable lifting stage, the end position pre-deceleration stage, and the end position hydraulic holding stage. The control parameters recorded in this round include pump output flow rate, proportional valve opening change rate, return oil back pressure, starting compensation pressure, and end-position deceleration advance.

[0012] Furthermore, S5 includes: The wine cabinet hydraulic lifting controller collects the pressure of the two chambers of the hydraulic cylinder, the speed of the shelf, and the tilt of the shelf within the current lifting control segment based on the control parameter records and lifting stroke division records of the current cycle. Within the observation window locked in the cabinet-type operation monitoring parameter table, the starting crawling state is determined in the static friction release stage, the off-center load amplification state is determined in the off-center load suppression acceleration stage and the stable lifting stage, and the end-position impact trend is determined in the end-position pre-deceleration stage.

[0013] Furthermore, the hydraulic lifting controller for the wine cabinet corrects the pump and valve control parameters of the static friction release section after determining the starting crawling state. After determining the off-center load amplification state, correct the pump and valve control parameters of the current lifting control section; After determining the impact trend at the end position, the pump and valve control parameters of the pre-deceleration section at the end position are adjusted. Pump and valve control parameters include pump output flow rate, proportional valve opening change rate, and return oil back pressure.

[0014] Furthermore, S6 includes: After the shelf enters the hydraulic holding section corresponding to the target lifting position, the wine cabinet hydraulic lifting controller confirms the shelf position after it is in place within the end position confirmation interval based on the continuous effective shelf positions. Based on the target lifting position, the pressure in both chambers of the hydraulic cylinder, the shelf speed, the shelf tilt, and the current round control parameter records, a current round end position residual record is generated, which includes end position deviation, pressure oscillation residual, pressure fall time, speed fluctuation residual, and tilt residual. The end position residual record of this round is added to the control parameter record corresponding to the current load eccentricity state in the current round judgment record.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. By collecting the pressure of the two chambers of the hydraulic cylinder, the position of the shelf, the tilt of the shelf, and the residual value of the previous end position before the shelf is lifted and lowered, and applying a micro-pressure detection pulse less than the formal starting pressure threshold to the hydraulic cylinder, the load eccentricity state is determined based on the micro-pressure response data. Then, the lifting stroke is divided according to the load eccentricity state and the pump output flow, proportional valve opening change rate, return oil back pressure, starting compensation pressure, and end position deceleration advance amount of each lifting control segment are generated. In this way, when the load size and eccentricity position change after the wine bottle is picked up or placed, the hydraulic lifting control parameters can still match the actual load state of the shelf, reducing the starting crawl, off-center sway, and end position impact caused by the mismatch of fixed control parameters.

[0016] 2. By collecting the pressure in both chambers of the hydraulic cylinder, the speed of the shelf, and the tilt of the shelf during the lifting process, the starting crawl state, the off-center load amplification state, and the end position impact trend are determined, and the pump and valve control parameters of the corresponding lifting control section are corrected. At the same time, after the shelf is in place, the end position deviation, pressure oscillation residual, pressure fall time, speed fluctuation residual, and tilt residual are calculated, and the residuals are written back to the control parameter record of the corresponding load eccentricity state. In this way, the running deviation in this round of lifting process is used as the basis for parameter correction in subsequent similar load eccentricity states, thereby improving the stability and end position consistency of the shelf in multiple lifting processes. Attached Figure Description

[0017] Figure 1 A flowchart illustrating the overall control process for the smooth lifting of a hydraulic wine cabinet; Figure 2 This is a schematic diagram of the hydraulic lifting mechanism and its data acquisition connection. Figure 3 This is a schematic diagram of micro-pressure detection and micro-pressure response data generation; Figure 4Determine the logic diagram for load eccentricity state; Figure 5 A schematic diagram is generated for segmenting the lifting stroke and generating control parameters; Figure 6 A schematic diagram for determining the state of the lifting process and correcting pump and valve control parameters; Figure 7 A schematic diagram for calculating end-position residuals and recording and writing back control parameters; Figure 8 This is an illustration of the actual operation of the shelf being raised to the display position under front-side off-center loading. Detailed Implementation

[0018] 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, and 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.

[0019] Example: Combined with Appendix Figures 1-8 This embodiment provides a method for smooth lifting control of a hydraulic lifting wine cabinet, including: S1. After receiving the shelf lifting command, the wine cabinet hydraulic lifting controller collects the pressure in both chambers of the hydraulic cylinder, the shelf position, the shelf tilt, and the previous round end position residual record. It then applies a micro-pressure detection pulse, less than the formal starting pressure threshold, to the hydraulic cylinder to obtain micro-pressure response data. The specific implementation is as follows: The wine cabinet hydraulic lifting controller is connected to the hydraulic cylinder two-chamber oil circuit pressure sensor, shelf position measurement unit, shelf tilt measurement unit, hydraulic pump and proportional valve. It is used to execute shelf lifting command confirmation, data acquisition, parameter calling, pump and valve control parameter generation, pump and valve control parameter correction and end position residual record writing. After the lifting command is confirmed by the wine cabinet hydraulic lifting controller, the wine cabinet hydraulic lifting controller limits the command to a single start request for the same shelf to move from the current parking position to the target parking position. It establishes the current round of data acquisition record with shelf number, lifting command time and target parking position. The on-site execution object is the short-stroke hydraulic lifting mechanism composed of the wine cabinet shelf, hydraulic cylinder, hydraulic pump, proportional valve and corresponding sensors. The action period is limited to before the formal drive of shelf lifting.

[0020] The hydraulic lifting controller for the wine cabinet first collects the pressure of the two chambers of the hydraulic cylinder. The pressure of the two chambers of the hydraulic cylinder consists of the pressure of the rodless chamber and the pressure of the rod chamber. These pressures are read by pressure sensors arranged in the oil circuits of the rodless chamber and the rod chamber, respectively. The unit is megapascal. During recording, the chamber name, sensor number, calibration version, acquisition time, and pressure value are saved simultaneously. After the lifting command is confirmed, a static reference acquisition interval is formed before the micro-pressure detection pulse begins. The pressure readings within this interval are used to form the pressure reference before the micro-pressure detection and do not form a load eccentricity state in this step.

[0021] Subsequently, the shelf position is collected. The shelf position is the lifting stroke position of the shelf bearing surface relative to the fixed reference surface of the cabinet, in millimeters. The zero point is calibrated and recorded using the storage position mechanical reference. The measurement method can be a magnetostrictive displacement sensor, a pull-wire displacement sensor, or a coded position conversion. The current position should fall within the measurable stroke range specified by the cabinet type stroke parameter version. If the position reading exceeds the measurable stroke range, the wine cabinet hydraulic lifting controller stops the current round of micro-pressure detection and marks the current round of data collection as pending verification.

[0022] Then, the shelf tilt is collected. The shelf tilt consists of longitudinal tilt and lateral tilt, with the unit being degrees. The longitudinal tilt corresponds to the angular deviation from the cabinet door side to the inside of the cabinet, and the lateral tilt corresponds to the angular deviation from the left side to the right side of the shelf. The measurement method is to read the tilt sensor fixed on the shelf support frame. In adjacent readings of the same sensor, if a single reading deviates from the previous reading and exceeds the allowable jump variable of the sensor calibration, the single reading is marked as invalid. Continuous deviations in readings are not removed as noise, but are retained as the shelf's on-site state. If a continuous and valid tilt reading that meets the allowable fluctuation range of the calibration cannot be obtained within the static reference acquisition interval, the current lifting start remains in an inactive state and is recorded as a reason to be investigated.

[0023] Next, the previous round of end position residual records are read. The previous round of end position residual records are a collection of records of end position deviation, pressure oscillation residual, pressure fall time, speed fluctuation residual, and tilt residual saved after the same shelf reached the display or storage position in the previous round. The source is the machine operation record area in the hydraulic lifting controller of the wine cabinet. When reading, the most recent valid record is located according to the shelf number, the target parking position in the previous round, and the residual record version. This record is only archived with the current round of collected records in this step and no parameter correction is performed in this step. If the machine is running for the first time, the record is missing, or the record version cannot be identified, a missing marker for the previous round of end position residual records is written, and no default residual value is generated.

[0024] After the hydraulic cylinder's two-chamber pressure, shelf position, shelf tilt, and previous round of end position residual records are completed, the wine cabinet hydraulic lifting controller organizes the data according to the acquisition time sequence. First, it confirms that the pressure, position, and tilt all come from the same static reference acquisition interval. Then, it removes isolated readings that have been marked as invalid. Finally, it supplements the shelf number, sensor number, unit, and calibration version that can be uniquely identified by the cabinet type fixed configuration table. The pressure value, position value, tilt value, and the values ​​in the previous round of end position residual records must not be automatically supplemented. If any necessary measured value is missing, the micro-pressure detection pulse will be stopped.

[0025] The formal starting pressure threshold is locked by the cabinet-type hydraulic control parameter table. This threshold is derived from the minimum supply pressure record required to make the shelf move from static to continuous displacement under rated load, specified oil temperature range and normal power supply conditions in the factory calibration or maintenance calibration. The pressure, duration, establishment slope and depressurization time of the micro-pressure detection pulse are all taken from the same cabinet-type hydraulic control parameter table version, and the pressure of the micro-pressure detection pulse is less than the formal starting pressure threshold.

[0026] Before applying a micro-pressure detection pulse to the hydraulic cylinder, the hydraulic lifting controller of the wine cabinet confirms that the cabinet door is in the allowed lifting state, the shelf has not triggered a jamming signal, and the pressure sensor and tilt sensor are in the effective calibration period. During the application process, the micro-pressure response acquisition interval is defined as the period from the start of the micro-pressure detection pulse to the end of the pressure drop after depressurization. The pressure of the two chambers of the hydraulic cylinder, the shelf position, and the shelf tilt are continuously acquired. If the shelf position change reaches the micro-displacement limit, the pressure of either chamber reaches the protection threshold, or the tilt reaches the protection boundary, the micro-pressure detection pulse is immediately withdrawn, the current shelf position is maintained, and the acquisition record of this round is marked as pending verification.

[0027] After the micro-pressure detection pulse is completed, micro-pressure response data is generated. The micro-pressure response data includes at least the pressure of the two chambers before the pulse, the pressure of the two chambers during the pulse holding interval, the pressure of the two chambers after the pressure is released, the pressure settling time, the pressure fall-off time, the micro-displacement response amount, and the tilt change direction. The pressure settling time is recorded from the moment the pulse starts until the pressure of the two chambers enters the pulse holding interval. The pressure fall-off time is recorded from the moment the pressure is released until the pressure of the two chambers returns to the pressure range corresponding to the static reference acquisition interval. The micro-displacement response amount is recorded as the change in the shelf position within the micro-pressure response acquisition interval relative to the shelf position before the pulse. The tilt change direction is recorded as the change in the longitudinal tilt and lateral tilt within the micro-pressure response acquisition interval relative to the tilt before the pulse.

[0028] The generated micro-pressure response data is stored in the current round of acquisition records. The records include at least the shelf number, lifting command time, target parking position, hydraulic cylinder two-chamber pressure, shelf position, shelf tilt amount, previous round end position residual record index or missing mark, formal starting pressure threshold version, micro-pressure detection pulse parameter version, and micro-pressure response acquisition time. The next step calls this current round of acquisition records according to the shelf number and lifting command time.

[0029] Only one data acquisition record is generated for the same rack on the same floor under the same lifting command time and the same target parking position. Repeated triggering of the same command is associated with the original data acquisition record and does not overwrite the micro-pressure response data already written. Supplementary tests that are re-executed after the verification is lifted generate a new record with the new lifting command time, and the old record remains read-only.

[0030] During on-site inspection, continuous operation records were randomly selected to verify whether each lifting command generated records of hydraulic cylinder two-chamber pressure, shelf position, shelf tilt, previous round end position residual, and micro-pressure response data, and whether the shelf position change within the micro-pressure response acquisition interval did not reach the micro-displacement limit.

[0031] Preferably, in a wine cabinet with a shelf rated load of 20 kg to 60 kg and a hydraulic cylinder stroke of 300 mm to 800 mm, the pressure acquisition rhythm can be set to 20 ms to 50 ms, the pressure sensor allowable error can be set to 0.5% of full scale, the shelf position allowable error can be set to 0.5 mm, the shelf tilt allowable error can be set to 0.1 degrees, the static reference acquisition interval can be set to 300 ms to 800 ms, the formal starting pressure threshold can be set to 2.5 MPa, the micro-pressure detection pulse pressure can be set to 0.4 MPa to 0.8 MPa, the micro-pressure detection pulse duration can be set to 100 ms to 300 ms, the micro-displacement limit can be set to 0.8 mm, and the pressure protection threshold can be set to 90% of the formal starting pressure threshold. Six bottles of 7... In the test after the 50 ml wine bottle, the pressure in the rodless chamber before the pulse was 0.72 MPa and the pressure in the rod chamber was 0.18 MPa. After applying a 0.6 MPa micro-pressure detection pulse for 200 milliseconds, the shelf position changed by 0.3 mm and the longitudinal tilt changed by 0.15 degrees. After the pressure was released, the pressure in both chambers returned to the corresponding pressure range of the static reference acquisition interval within 500 milliseconds, forming the corresponding micro-pressure response data and writing it into the current round of acquisition record. In another embodiment, the micro-pressure detection pulse can also be formed by an electronically controlled throttle valve in conjunction with a metering pump. As long as the pulse is less than the formal starting pressure threshold and can obtain the pressure in both chambers of the hydraulic cylinder, shelf position, shelf tilt, previous round end position residual record and micro-pressure response data in the same static reference acquisition interval and micro-pressure response acquisition interval, it is considered an equivalent implementation of this step.

[0032] S2. Based on the pressure difference between the two chambers, pressure settling time, micro-displacement response, and tilt change direction in the micro-pressure response data, determine the current load eccentricity state. The specific implementation is as follows: After the wine cabinet hydraulic lifting controller obtains the micro-pressure response data from the current collection record, it retrieves the pressure difference between the two chambers, pressure establishment time, micro-displacement response amount, and tilt change direction within the same micro-pressure response collection interval according to the shelf number and lifting command time. The main body for execution on site is the wine cabinet hydraulic lifting controller, and the action period is limited to the period from the completion of the micro-pressure detection pulse to the division of the formal lifting stroke.

[0033] The pressure difference between the two chambers is the pressure difference formed by subtracting the pressure of the rod chamber from the pressure of the rod chamber of the hydraulic cylinder. Positive and negative values ​​and the direction of change are retained, and the unit is megapascals (MPA). The recording sources are the pressure of the two chambers before the pulse, the pressure of the two chambers during the pulse holding interval, and the pressure of the two chambers after pressure release. The wine cabinet hydraulic lifting controller first confirms that the pressures of the two chambers come from the same micro-pressure response acquisition interval, the same pressure sensor calibration version, and the same shelf number. Then, it generates the pressure difference between the two chambers before the pulse, the pressure difference between the two chambers during the pulse holding interval, and the pressure difference between the two chambers after pressure release, respectively. The change in the pressure difference between the two chambers used in this step is the record of the change in the pressure difference between the two chambers during the pulse holding interval relative to the pressure difference between the two chambers before the pulse. If any chamber pressure is missing, the chamber name cannot be matched, the pressure reading exceeds the sensor range, or the calibration version is inconsistent, the pressure value is not supplemented, and this round of judgment is marked as pending verification.

[0034] The pressure set-up time is the duration from the start of the micro-pressure detection pulse to the pressure in both chambers entering the pulse holding interval, measured in milliseconds. The pulse holding interval is determined by the target pressure of the micro-pressure detection pulse and its allowable deviation. The target pressure, allowable deviation, and number of consecutive confirmations are all taken from the cabinet-type load identification parameter table. The wine cabinet hydraulic lifting controller only records the pressure set-up time when the continuous valid readings of the pressure in both chambers enter the pulse holding interval and meet the number of consecutive confirmations. A single sampling point that briefly enters the pulse holding interval and then exits is not considered as a complete pressure set-up. If the pressure in both chambers is not fully set up within the allowable judgment period, the non-set-up flag is retained and the determination of the current load eccentricity state is stopped.

[0035] The micro-displacement response is the change in shelf position relative to the shelf position before the pulse within the micro-pressure response acquisition interval, measured in millimeters, and sourced from shelf position records. The wine cabinet hydraulic lifting controller uses the shelf position before the pulse as a reference, discards isolated position readings marked as invalid in the previous step, and retains continuous position changes as the shelf's on-site response. If the micro-displacement response reaches the micro-displacement limit, it indicates that the micro-pressure detection pulse has caused shelf displacement exceeding the allowable boundary. This step stops determining the current load eccentricity state and records this situation as a cause to be investigated.

[0036] The tilt change direction refers to the change direction of the longitudinal and lateral tilt of the shelf relative to the tilt before the pulse within the micro-pressure response acquisition interval. The longitudinal tilt corresponds to the direction from the cabinet door side to the inside of the cabinet, and the lateral tilt corresponds to the direction from the left side to the right side of the shelf. The wine cabinet hydraulic lifting controller uses the continuous effective tilt within the pulse holding interval as the basis, and sorts the longitudinal tilt as an increase on the cabinet door side, an increase on the inside of the cabinet, or no clear direction, and sorts the lateral tilt as an increase on the left side, an increase on the right side, or no clear direction. A single tilt reading jump is not used as a directional basis. If the tilt continues to drift within the micro-pressure response acquisition interval and cannot be classified into the above directions, the judgment record for this round is marked as pending verification.

[0037] The hydraulic lifting controller of the wine cabinet determines the load eccentricity state after the pressure difference between the two chambers, the pressure settling time, the micro-displacement response, and the tilt change direction all meet the judgment conditions. The load eccentricity state is a control state record formed by the distribution of the load on the shelf before this round of lifting under the action of hydraulic micro-pressure. It does not directly represent the number of wine bottles, the type of wine bottles, or the weight of a single bottle. The state value is limited to the approximate balanced state, the overall unbalanced state, the front unbalanced load state, the rear unbalanced load state, the left unbalanced load state, the right unbalanced load state, and the combined unbalanced load state.

[0038] When determining the current load eccentricity state, the wine cabinet hydraulic lifting controller first performs a check and elimination process. Any situation where there is a lack of pressure, no pressure establishment, micro-displacement response reaching the micro-displacement limit, continuous tilt drift, or unrecognizable parameter version will not generate a current load eccentricity state. After the check and elimination process, if both the longitudinal and lateral tilt amounts form a clear direction, it is determined to be a composite eccentric load state; if only the longitudinal tilt amount increases on the cabinet door side, it is determined to be a front eccentric load state; if only the longitudinal tilt amount increases on the inside of the cabinet, it is determined to be a rear eccentric load state; if only the lateral tilt amount increases on the left side... If the longitudinal and lateral tilt amounts do not form a clear direction, and the change in pressure difference between the two chambers reaches the load-bearing response threshold, the pressure build-up time is within the effective build-up range, and the micro-displacement response does not reach the micro-displacement limit, then it is determined to be an overall unbalanced state. If the longitudinal and lateral tilt amounts do not form a clear direction, and the change in pressure difference between the two chambers does not reach the load-bearing response threshold, the pressure build-up time is within the effective build-up range, and the micro-displacement response does not reach the micro-displacement limit, then it is determined to be an approximately balanced state.

[0039] The load response threshold, effective establishment range, tilt direction identification threshold, micro-displacement limit, pulse holding interval allowable deviation, and number of consecutive confirmations are all locked by the cabinet load identification parameter table. The cabinet load identification parameter table is derived from the micro-pressure response records of different shelf load positions in the factory calibration and maintenance calibration. The version number is saved with the current round of judgment records, and the old version must not overwrite the current load eccentricity state that has been formed.

[0040] The resulting load eccentricity state is recorded in the current judgment record. The record must include at least the shelf number, lifting command time, pressure difference between the two chambers, change in pressure difference between the two chambers, pressure build-up time, micro-displacement response, tilt change direction, current load eccentricity state, cabinet type load identification parameter table version, and judgment completion time. The next step will call this current judgment record according to the shelf number and lifting command time. Only one valid current load eccentricity state is saved for the same shelf and the same lifting command time. If a new judgment is made after verification and resolution, a new judgment completion time record will be generated, and the original record will remain read-only.

[0041] During on-site inspection, continuous lifting records were randomly selected to verify that each load eccentricity state could be traced back to the corresponding two-chamber pressure difference, pressure settling time, micro-displacement response, and tilt change direction, and the state value could only fall into the state set allowed by the cabinet type load identification parameter table.

[0042] Preferably, in a wine cabinet with a shelf rated load of 20 kg to 60 kg and a hydraulic cylinder stroke of 300 mm to 800 mm, the load response threshold can be set to 0.15 MPa to 0.30 MPa, the effective setup range can be set to 80 ms to 400 ms, the tilt direction recognition threshold can be set to 0.08 degrees to 0.20 degrees, the micro-displacement limit can be set to 0.8 mm, the allowable deviation of the pulse holding interval can be set to 10% of the target pressure of the micro-pressure detection pulse, and the number of consecutive confirmations can be set to 3 to 5 times; in a test after placing 6 750 ml wine bottles in the front, the pressure difference between the two chambers changes from 0.54 MPa before the pulse. Within the pulse holding interval, the pressure is 0.86 MPa, the pressure build-up time is 180 milliseconds, the micro-displacement response is 0.3 mm, the longitudinal tilt increases by 0.15 degrees towards the cabinet door, and the lateral tilt does not form a clear direction. The wine cabinet hydraulic lifting controller determines the current load eccentricity state as a front-side eccentric load state. In another embodiment, the displacement difference between the two sides of the shelf support frame can also be converted into the tilt change direction. As long as the conversion result still corresponds one-to-one with the longitudinal tilt and lateral tilt in the physical direction, and determines the current load eccentricity state together with the pressure difference between the two chambers, the pressure build-up time, and the micro-displacement response, it belongs to the equivalent implementation of this step.

[0043] S3. Based on the current load eccentricity and target lifting position, the lifting stroke is divided into the initial static friction release section, the eccentric load suppression acceleration section, the stable lifting section, the end-position pre-deceleration section, and the end-position hydraulic holding section. The specific implementation is as follows: After obtaining the current load eccentricity state from the current judgment record, the wine cabinet hydraulic lifting controller reads the target lifting position according to the same shelf number and the same lifting command time, and forms a lifting stroke division record for this round. The on-site execution object is the short-stroke lifting path of the inner shelf of the wine cabinet moving from the current shelf position to the target lifting position along the hydraulic cylinder drive direction. The action period is limited to the period from the completion of the determination of the current load eccentricity state to the generation of the specific pump valve control parameters of each lifting control section.

[0044] The load eccentricity status in this instance originates from the judgment record written in the previous stage. The status values ​​are limited to approximately balanced state, overall unbalanced state, front unbalanced load state, rear unbalanced load state, left unbalanced load state, right unbalanced load state, and combined unbalanced load state. When the wine cabinet hydraulic lifting controller reads the data, it checks the shelf number, lifting command time, and cabinet type load identification parameter table version. If the status value does not belong to the above status set, or if the status record is marked as pending verification, the lifting stroke division is not performed, and the lifting stroke division record for this round is marked as pending verification.

[0045] The target lifting position is the display or storage position that the shelf is required to reach by this lifting command, in millimeters. It is derived from the lifting command and the cabinet type parking position parameter table. The cabinet type parking position parameter table is formed by the mechanical reference of the display position and the mechanical reference of the storage position in the factory calibration or maintenance calibration. The version number is recorded and saved according to the lifting stroke division of this round. When the wine cabinet hydraulic lifting controller reads the target lifting position, it also reads the current shelf position. The current shelf position uses the shelf position record formed in step one and does not redefine the measurement diameter. If the target lifting position is not in the cabinet type parking position parameter table, the current shelf position is not in the measurable stroke range of the cabinet type, there is no effective stroke between the current shelf position and the target lifting position, or the cabinet type stroke segment parameter table is missing or the version cannot be identified, then the lifting stroke division of this round is stopped and the process is put into pending verification.

[0046] The lifting stroke is a continuous movement path formed along the actual movement direction of the shelf from the current shelf position to the target lifting position, measured in millimeters. The current shelf position is the starting point of the stroke, and the target lifting position is the ending point of the stroke. When the shelf rises from the storage position to the display position, the stroke direction is from the storage position to the display position. When the shelf falls from the display position to the storage position, the stroke direction is from the display position to the storage position. Each lifting control segment is arranged sequentially from the starting point to the ending point of the stroke.

[0047] The hydraulic lifting controller for the wine cabinet divides the lifting stroke into five segments in sequence, based on the current load eccentricity and the target lifting position: the initial static friction release segment, the eccentric load suppression acceleration segment, the stable lifting segment, the end position pre-deceleration segment, and the end position hydraulic holding segment. Each segment is arranged continuously in the stroke direction. The end boundary of the previous segment also serves as the starting boundary of the next segment. This dividing point is saved only once in the record and is not counted repeatedly in adjacent segments. Any two segments must not intersect, and there must be no gaps in the stroke that are not included in the above five segments.

[0048] The initial static friction release section starts from the beginning of the stroke, and its termination boundary is determined by the starting boundary corresponding to the current load eccentricity state in the cabinet stroke segment parameter table. This section covers the initial stroke interval before the covered shelf enters continuous movement from a static state. In this step, only the stroke boundary record is formed, and no starting compensation pressure is generated.

[0049] The eccentric load suppression acceleration section immediately follows the starting static friction release section. Its termination boundary is determined by the acceleration boundary corresponding to the current load eccentricity state. When the current load eccentricity state is a front eccentricity state, rear eccentricity state, left eccentricity state, right eccentricity state, or a combined eccentricity state, this section adopts the eccentricity boundary in the cabinet type stroke segment parameter table. When the current load eccentricity state is an approximately balanced state or an overall unbalanced state, this section adopts the minimum effective boundary in the cabinet type stroke segment parameter table and must not be deleted.

[0050] The stable lifting section is immediately followed by the off-center load suppression acceleration section. Its start and end boundaries are jointly defined by the end boundary of the off-center load suppression acceleration section and the start boundary of the end pre-deceleration section. This section covers the intermediate travel from when the shelf leaves the starting interval to when it enters the interval adjacent to the target lifting position. If the effective travel between the current shelf position and the target lifting position is insufficient to accommodate the reference boundary in the cabinet travel segment parameter table, the wine cabinet hydraulic lifting controller will compress the stable lifting section according to the short travel rule. However, the stable lifting section still retains the minimum effective length. If the minimum effective length of the five lifting control segments cannot be retained simultaneously after compression, the lifting travel segment record for this round will not be generated and will be transferred to pending verification.

[0051] The end-position pre-deceleration section is located before the target lifting position. Its starting boundary is determined by the target lifting position, the current load eccentricity state, and the cabinet type stroke segment parameter table. When the current load eccentricity state is an overall unbalanced state or a compound unbalanced load state, the end-position pre-deceleration section is advanced relative to the starting boundary of the target lifting position. When the current load eccentricity state is an approximately balanced state, the end-position pre-deceleration section adopts the reference boundary in the cabinet type stroke segment parameter table. The aforementioned advancement is only recorded as a stroke boundary and is not used to form the control parameter for the end-position deceleration advance in this step.

[0052] The end-position hydraulic holding section is the last segment of the lifting stroke. Its termination boundary is the target lifting position, and its starting boundary is located before the target lifting position and connects with the termination boundary of the end-position pre-deceleration section. This segment does not cross the target lifting position. The allowable holding range of the target lifting position is recorded and saved as the positioning tolerance with the segment and is not considered as the movement stroke exceeding the target lifting position.

[0053] The cabinet-type stroke segmentation parameter table is formed by on-site debugging records under different shelf strokes, different target lifting positions, and different current load eccentricity states. At least the starting boundary, acceleration boundary, minimum effective length of stable lifting segment, starting boundary of end position pre-deceleration segment, starting boundary of end position hydraulic holding segment, allowable holding range of target lifting position, and short stroke rules should be saved. The version number is saved along with the current round of lifting stroke segmentation records, and the old version should not overwrite the existing lifting stroke segmentation records of the current round.

[0054] The resulting record of the current lifting stroke division includes at least the shelf number, lifting command time, current load eccentricity status, target lifting position, current shelf position, boundary of the initial static friction release section, boundary of the off-center load suppression acceleration section, boundary of the stable lifting section, boundary of the end position pre-deceleration section, boundary of the end position hydraulic holding section, cabinet type stroke segmentation parameter table version, and division completion time; the next step calls this record according to the shelf number and lifting command time.

[0055] For the same level of rack and the same lifting command time, only one valid record of the current round of lifting stroke division is saved. If the division is to be re-divided after verification and cancellation, a new division completion time record is generated, and the original record remains read-only.

[0056] During on-site inspection, the continuous lifting stroke division records were randomly selected to verify whether each record was formed by the effective current load eccentricity state and the effective target lifting position, and whether the five lifting control segments were continuous, non-overlapping, and without gaps between the current shelf position and the target lifting position, and whether the termination boundary of the end hydraulic holding segment was consistent with the target lifting position.

[0057] Preferably, in a wine cabinet with a shelf rated load of 20 kg to 60 kg and a hydraulic cylinder stroke of 300 mm to 800 mm, the initial static friction release section can be set to 3% to 8% of the total effective stroke, the off-center load suppression acceleration section can be set to 5% to 15% of the total effective stroke, the minimum effective length of the stable lifting section can be set to 20 mm to 50 mm, the end pre-deceleration section can be set to 30 mm to 120 mm before the target lifting position, and the end hydraulic holding section can be set to the range of 1 mm to 3 mm before the target lifting position, with the target lifting position as the termination boundary; during a single operation where the shelf rises from 0 mm in the storage position to 600 mm in the display position and the current load eccentricity is a front-side off-center load, the wine cabinet hydraulic lifting controller classifies 0 mm to 36 mm as the initial release. In the static friction section, 36 mm to 96 mm is designated as the off-center load suppression acceleration section, 96 mm to 500 mm as the stable lifting section, 500 mm to 598 mm as the end-position pre-deceleration section, and 598 mm to 600 mm as the end-position hydraulic holding section. These boundaries are recorded in the lifting stroke division record for this round. In another embodiment, the boundaries of each lifting control section can also be formed by combining the stroke ratio and the fixed end-position distance. As long as the lifting stroke is continuously divided according to the current load eccentricity state and the target lifting position in the order of starting static friction release section, off-center load suppression acceleration section, stable lifting section, end-position pre-deceleration section, and end-position hydraulic holding section, and the end-position hydraulic holding section terminates at the target lifting position, this is an equivalent implementation of this step.

[0058] S4. Based on the current load eccentricity, generate the pump output flow rate, proportional valve opening change rate, return oil back pressure, starting compensation pressure, and end-position deceleration advance for each lifting control section. The specific implementation is as follows: After obtaining the record of the current lifting stroke division, the wine cabinet hydraulic lifting controller reads the cabinet pump and valve control parameter table according to the shelf number, lifting command time, current load eccentricity state, target lifting position, lifting direction, and boundary of each lifting control segment. It then records the control parameters for the starting static friction release segment, the off-center load suppression acceleration segment, the stable lifting segment, the end position pre-deceleration segment, and the end position hydraulic holding segment, including the pump output flow, proportional valve opening change rate, return oil back pressure, starting compensation pressure, and end position deceleration advance. The main execution entity on site is the wine cabinet hydraulic lifting controller, and the parameters are applied to the hydraulic pump, proportional valve, return oil circuit, and hydraulic cylinder. The application period is limited to the period from the completion of the lifting stroke division to the start of the actual lifting operation.

[0059] The current load eccentricity status is derived from the judgment record of this round. The status value is limited to approximately balanced state, overall unbalanced state, front unbalanced load state, rear unbalanced load state, left unbalanced load state, right unbalanced load state, and combined unbalanced load state. When reading, the wine cabinet hydraulic lifting controller checks the current load eccentricity status, the cabinet type load identification parameter table version, the current round lifting stroke division record, and the cabinet type pump valve control parameter table version. If the current load eccentricity status is marked as pending verification, the lifting control section boundary is missing, the cabinet type pump valve control parameter table is missing, the parameter version cannot be identified, or there is no parameter record in the cabinet type pump valve control parameter table corresponding to the current load eccentricity status, target lifting position, lifting direction, and lifting control section, then no control parameter record for this round will be generated, and it will be transferred to pending verification.

[0060] Each lifting control segment originates from the lifting stroke division record of this round. The wine cabinet hydraulic lifting controller reads parameters segment by segment in a fixed order: starting static friction release segment, off-center load suppression acceleration segment, stable lifting segment, end position pre-deceleration segment, and end position hydraulic holding segment. The segment name, segment start boundary, and segment end boundary must not be renamed or redivided by the wine cabinet hydraulic lifting controller. If there are intersections or gaps in the segment boundaries, or if the end position hydraulic holding segment does not use the target lifting position as the end boundary, the generation of this round of control parameter records will stop.

[0061] The pump output flow rate is the set value of the volumetric flow rate provided by the hydraulic pump to the oil supply side of the hydraulic cylinder within the corresponding lifting control section. The unit is liters per minute. It comes from the flow rate record established in the cabinet-type pump valve control parameter table according to the current load eccentricity state, target lifting position, lifting direction and lifting control section. When the wine cabinet hydraulic lifting controller generates the pump output flow rate, it reads the corresponding flow rate value segment by segment and checks whether the flow rate value is within the hydraulic pump's calibrated allowable flow rate range. The pump output flow rate of any segment must not automatically use the flow rate value of other segments. If the flow rate exceeds the allowable flow rate range or the corresponding record is missing, it will be transferred to the pending verification stage.

[0062] The proportional valve opening change rate is the per-unit-time increment of the proportional valve opening within the corresponding lifting control segment, expressed as a percentage per second. It originates from the valve port change records in the cabinet-type pump valve control parameter table corresponding to the current load eccentricity state, target lifting position, lifting direction, and lifting control segment. The proportional valve opening is recorded with the fully closed position as 0% and the fully open position as 100%. When the wine cabinet hydraulic lifting controller generates the proportional valve opening change rate, it reads the corresponding valve port change value segment by segment and verifies whether the valve port change value is within the proportional valve's calibrated allowable range. This step only generates the parameter record and does not drive the proportional valve. If the valve port change value is missing or exceeds the allowable range, the current round of control parameter records is transferred to a pending verification stage.

[0063] The return oil back pressure is the pressure setting value that the return oil circuit in the corresponding lifting control section needs to maintain. The unit is megapascals. It comes from the return oil side pressure record established in the cabinet pump valve control parameter table according to the current load eccentricity state, target lifting position, lifting direction and lifting control section. When the wine cabinet hydraulic lifting controller generates the return oil back pressure, it reads the corresponding pressure value segment by segment and checks whether the pressure value is within the allowable pressure range of the return oil circuit and the low pressure side of the hydraulic cylinder. If the return oil back pressure record corresponding to the composite eccentric load state is missing, it is not allowed to split and call the single-direction eccentric load record. It is directly transferred to the pending verification.

[0064] The starting compensation pressure is a pre-set pressure value, measured in megapascals, established during the initial static friction release phase to overcome the resistance of the shelf's static holding position. It originates from the starting pressure record in the cabinet-type pump and valve control parameter table corresponding to the current load eccentricity state, target lifting position, and lifting direction. The wine cabinet hydraulic lifting controller writes the enabled value of the starting compensation pressure during the initial static friction release phase, and writes a disabled flag for the starting compensation pressure during the eccentric load suppression acceleration phase, stable lifting phase, end-position pre-deceleration phase, and end-position hydraulic holding phase. This disabled flag indicates that the parameter does not participate in execution within that phase; it is not an empty field and is not used as a pressure value. The enabled value of the starting compensation pressure should not be lower than the formal starting pressure threshold and should be lower than the pressure protection threshold. If this range is not met, the control parameter record for this round will be transferred to pending verification.

[0065] The end-position deceleration advance is a distance record along the lifting stroke direction between the target lifting position and the starting boundary of the end-position pre-deceleration segment, in millimeters. It originates from the end-position pre-deceleration segment boundary in the current lifting stroke division record and is confirmed by the end-position boundary record corresponding to the current load eccentricity state, target lifting position, and lifting direction in the cabinet pump valve control parameter table. The wine cabinet hydraulic lifting controller writes the enable value of the end-position deceleration advance in the end-position pre-deceleration segment and the disable flag of the end-position deceleration advance in the starting static friction release segment, the off-center load suppression acceleration segment, the stable lifting segment, and the end-position hydraulic holding segment. The disable flag is the state value of the parameter not participating in the execution in this segment, is not an empty field, and is not used as a distance value. If the end-position deceleration advance is inconsistent with the starting boundary of the end-position pre-deceleration segment in the current lifting stroke division record, the wine cabinet hydraulic lifting controller does not modify the lifting control segment boundary in reverse, but directly stops generating the current round of control parameter records and enters the pending verification stage.

[0066] The cabinet-type pump and valve control parameter table is formed by recording hydraulic pump flow, proportional valve opening change, return oil side pressure, starting pressure, and end position boundary under different load eccentricity states, different target lifting positions, different lifting directions, and different lifting control segments in the factory calibration and maintenance calibration. At least the pump output flow range, proportional valve opening change rate range, return oil back pressure range, starting compensation pressure range, end position deceleration advance range, formal starting pressure threshold, pressure protection threshold, applicable cabinet type, and parameter version should be saved. The version number is saved with the current round of control parameter records, and old versions should not overwrite the existing control parameter records.

[0067] The generated control parameter record for this round must include at least the shelf number, lifting command time, current load eccentricity status, target lifting position, lifting direction, boundaries of each lifting control segment, pump output flow rate, proportional valve opening change rate, return oil back pressure, starting compensation pressure, end position deceleration advance, cabinet pump and valve control parameter table version, and generation completion time. The next step will call this record according to the shelf number and lifting command time. Only one valid control parameter record for this round will be saved for the same shelf and the same lifting command time. If the record is regenerated after verification and cancellation, a new generation completion time record will be formed, and the original record will remain read-only.

[0068] During on-site inspection, continuous control parameter records were extracted and checked to see if each record could be traced back to the effective load eccentricity state and the effective lifting stroke division record. Each lifting control segment had fields for pump output flow, proportional valve opening change rate, return oil back pressure, starting compensation pressure, and end position deceleration advance. The starting compensation pressure and end position deceleration advance fields, which were not involved in the execution, had an inactive flag.

[0069] Preferably, in a wine cabinet with a rated shelf load of 20 kg to 60 kg and a hydraulic cylinder stroke of 300 mm to 800 mm, the pump output flow rate can be set to 0.8 L / min to 3.5 L / min, the proportional valve opening change rate can be set to 5% / s to 30% / s, the return oil back pressure can be set to 0.15 MPa to 0.80 MPa, the starting compensation pressure can be set to 2.6 MPa to 3.5 MPa, and the end-position deceleration advance can be set to 30 mm to 120 mm. During a single operation where the shelf rises from 0 mm to 600 mm from the storage position and the current load eccentricity is front-side off-center loading, the wine cabinet hydraulic lifting controller is configured as follows: for the starting static friction release phase, the pump output flow rate is 1.0 L / min, the proportional valve opening change rate is 8% / s, the return oil back pressure is 0.35 MPa, and the starting compensation pressure is 2.9 MPa; for the off-center load suppression acceleration phase, the pump output flow rate is 1.5 L / min, the proportional valve opening change rate is 12% / s, and the return oil... For the stable lifting section, the back pressure is 0.55 MPa. The parameters are: pump output flow rate 2.2 L / min, proportional valve opening change rate 18% / s, and return oil back pressure 0.30 MPa. For the end-position pre-deceleration section, the parameters are: pump output flow rate 0.9 L / min, proportional valve opening change rate 6% / s, return oil back pressure 0.45 MPa, and end-position deceleration advance 100 mm. For the end-position hydraulic holding section, the parameters are: pump output flow rate 0.8 L / min, proportional valve opening change rate 5% / s, and return oil back pressure 0.40 MPa. The starting compensation pressure field and end-position deceleration advance field, which are not involved in the execution, are marked as inactive. In another embodiment, a servo pump can replace part of the flow regulation function of the hydraulic pump and proportional valve. As long as the control parameter records for pump output flow rate, proportional valve opening change rate, return oil back pressure, starting compensation pressure, and end-position deceleration advance are still generated for each lifting control section based on the current load eccentricity state, this is considered an equivalent implementation of this step.

[0070] S5. During the lifting process, the pressure in both chambers of the hydraulic cylinder, the shelf speed, and the shelf tilt are collected to determine the starting crawl state, the off-center load amplification state, and the end-position impact trend. The pump and valve control parameters of the corresponding lifting control section are then corrected. The specific implementation is as follows: After the formal lifting and lowering execution begins, the wine cabinet hydraulic lifting controller collects the pressure of the two chambers of the hydraulic cylinder, the speed of the shelf, and the tilt of the shelf during the movement of the shelf from the current shelf position to the target lifting and lowering position, according to the segment boundaries recorded in the control parameter record and the lifting and lowering stroke record of the current cycle. It also determines the starting crawling state, the off-center load amplification state, and the end position impact trend within the current lifting and lowering control segment. The main execution entity on site is the wine cabinet hydraulic lifting controller, and the data collection objects are the hydraulic cylinder two-chamber oil circuit pressure sensor, the shelf position measurement unit, and the shelf tilt measurement unit.

[0071] The pressure measurements for both chambers of the hydraulic cylinder use the same measurement caliber as the rodless chamber pressure and the rod chamber pressure, with the unit being megapascals (MPa). The hydraulic lifting controller of the wine cabinet reads the pressure of both chambers according to the lifting operation rhythm and saves the pressure readings in association with the current lifting control segment, the acquisition time, and the sensor calibration version. If the pressure of any chamber is missing, exceeds the sensor range, or cannot correspond to the current acquisition time, that acquisition point will not be used for status determination. If the number of consecutive missing pressures reaches the limit set in the cabinet operation monitoring parameter table, the current round of operation record will be transferred to pending verification.

[0072] The shelf speed is the displacement per unit time along the lifting stroke direction of the shelf position during continuous data collection, measured in millimeters per second, and is derived from the shelf position record. The wine cabinet hydraulic lifting controller uses continuous position readings within the current lifting control segment to form the shelf speed. Individual position jumps are not used as the basis for speed changes. When the position change direction is opposite to the lifting stroke direction and reaches the reverse displacement threshold, the current round of operation record is transferred to pending verification.

[0073] The shelf tilt measurement uses the same measurement caliber as the longitudinal and lateral tilt measurements, with the unit being degrees. The hydraulic lifting controller of the wine cabinet compares the direction of tilt change during the lifting process with the off-center load direction corresponding to the current load eccentricity state. A single tilt reading jump is not used as a directional basis. When the continuous tilt exceeds the sensor calibration range, the current round of operation record is transferred to pending verification.

[0074] The observation window is locked by the cabinet operation monitoring parameter table. A single observation window belongs only to the current lifting control section and does not cross the boundary of adjacent sections. When the shelf enters the next lifting control section, the observation windows of the previous section that have not been completed are terminated and are not used for the status determination of the next section.

[0075] The hydraulic lifting controller for the wine cabinet only determines the starting crawling state during the initial static friction release phase. The starting crawling state occurs when the pump and valve control parameters in this phase have been activated according to the control parameters recorded for this round, the shelf speed is continuously lower than the starting speed threshold within the same observation window, and the pressure in both chambers of the hydraulic cylinder increases with the number of consecutive confirmations within the same observation window. If the shelf speed reaches the starting speed threshold, or the pressure in both chambers does not increase continuously, the starting crawling state will not be formed.

[0076] The hydraulic lifting controller for the wine cabinet determines the amplified off-center load state during the off-center load suppression acceleration and stable lifting phases. The amplified off-center load state is an operating state where the continuous change direction of the shelf tilt within the same observation window is consistent with the off-center load direction corresponding to the current load eccentricity state, and the change amplitude of the tilt reaches the off-center load amplification threshold. When the current load eccentricity state is approximately balanced, the amplified off-center load state is only formed when the longitudinal or lateral tilt forms a clear direction within the continuous observation window and reaches the off-center load amplification threshold. If the tilt direction switches back and forth within the observation window, it is recorded as unstable direction and is not determined as an amplified off-center load state.

[0077] The wine cabinet hydraulic lifting controller only determines the end-position impact trend within the end-position pre-deceleration section. The end-position impact trend is the operating state where, after the shelf enters the end-position pre-deceleration section, the shelf speed does not fall below the end-position speed threshold corresponding to the cabinet operation monitoring parameter table within the same observation window, and the pressure in both chambers of the hydraulic cylinder continuously increases or the pressure fluctuation reaches the end-position pressure threshold within the same observation window. After the shelf enters the end-position hydraulic holding section, no new end-position impact trend is formed.

[0078] The starting speed threshold, off-center load amplification threshold, end position pressure threshold, end position speed threshold, observation window length, number of consecutive confirmations, reverse displacement threshold, and allowable correction range are all locked by the cabinet operation monitoring parameter table. This parameter table is derived from the operation records under different load eccentricity states and different lifting control sections during factory commissioning and maintenance commissioning. The version number is saved with the current round of operation correction records.

[0079] After the hydraulic lifting controller of the wine cabinet determines the starting crawling state, it only corrects the pump valve control parameters of the starting static friction release section; after determining the off-center load amplification state, it only corrects the pump valve control parameters of the current off-center load suppression acceleration section or stable lifting section; after determining the end position impact trend, it only corrects the pump valve control parameters of the end position pre-deceleration section.

[0080] The correction targets for pump and valve control parameters are limited to the pump output flow, proportional valve opening change rate, and return oil back pressure of the corresponding segment in the current round of control parameter records. The correction range is taken from the cabinet-type operation monitoring parameter table, and the correction must not exceed the hardware allowable range in the cabinet-type pump and valve control parameter table. If it exceeds the hardware allowable range, the wine cabinet hydraulic lifting controller will not truncate the generation of alternative values, will not write the corrected parameters, and will transfer the current lifting control segment operation record to pending verification.

[0081] When the hydraulic lifting controller for the wine cabinet corrects the pump and valve control parameters of the corresponding lifting control section, it does not modify the current load eccentricity state, the boundaries of each lifting control section, the starting compensation pressure, or the end position deceleration advance.

[0082] The generated operation correction record should at least save the shelf number, lifting command time, current lifting control section, hydraulic cylinder two-chamber pressure, shelf speed, shelf tilt amount, determined start-up creep state, off-center load amplification state or end-position impact trend, pump and valve control parameters before correction, pump and valve control parameters after correction, cabinet type operation monitoring parameter table version, and correction completion time. Within the same lifting control section, the same state is only generated once in one observation window. When the conditions are met again in consecutive observation windows, a new correction record is generated, and the original record remains read-only.

[0083] During on-site inspection, continuous operation records were sampled and verified that each correction record could be traced back to the continuous acquisition records of hydraulic cylinder two-chamber pressure, shelf speed, and shelf tilt, and that the correction object belonged to the pump valve control parameters of the corresponding lifting control section.

[0084] Preferably, in a wine cabinet with a rated shelf load of 20 kg to 60 kg and a hydraulic cylinder stroke of 300 mm to 800 mm, the lifting and lowering operation acquisition rhythm can be set to 20 ms to 50 ms, the observation window length can be set to 200 ms to 500 ms, the number of consecutive confirmations can be set to 3 to 5 times, the starting speed threshold can be set to 3 mm / s to 8 mm / s, the off-center load amplification threshold can be set to 0.10 degrees to 0.25 degrees, the end pressure threshold can be set to 0.20 MPa to 0.50 MPa, the end speed threshold can be set to 5 mm / s to 15 mm / s, and the allowable correction range can be set to 5% to 15% of the original pump valve control parameters; during a single lifting process under front off-center load, the rodless chamber pressure in the starting static friction release section increases from 2.9 MPa to 3.2 MPa, and the shelf speed is within 300 ms of observation. When the flow rate inside the observation window remains at 2 mm / s, the wine cabinet hydraulic lifting controller determines the starting crawling state and corrects the pump output flow rate of this section from 1.0 L / min to 1.1 L / min, and corrects the proportional valve opening change rate from 8% / s to 7% / s. When the longitudinal tilt amount continuously increases by 0.18 degrees towards the cabinet door in the off-center load suppression acceleration section, the wine cabinet hydraulic lifting controller determines the off-center load amplification state and corrects the return oil back pressure from 0.55 MPa to 0.62 MPa. In another embodiment, the shelf speed can also be formed by the continuous position reading of the hydraulic cylinder displacement sensor. As long as the pressure of the two chambers of the hydraulic cylinder, the shelf speed and the shelf tilt amount are still collected during the lifting process, and the starting crawling state, off-center load amplification state and end position impact trend are determined accordingly, and the pump valve control parameters of the corresponding lifting control section are corrected, this is an equivalent implementation of this step.

[0085] S6. After the shelf is in place, calculate the end position deviation, pressure oscillation residual, pressure fall-off time, velocity fluctuation residual, and tilt residual. Write the residuals back to the control parameter record corresponding to the load eccentricity state. The specific implementation is as follows: After the wine cabinet hydraulic lifting controller confirms that the shelf has entered the hydraulic holding section corresponding to the target lifting position, it retrieves the target lifting position, shelf position after reaching the target position, hydraulic cylinder pressure in both chambers, shelf speed, shelf tilt, load eccentricity status, and control parameter records for the same shelf according to the lifting command time of this round. The main execution entity on site is the wine cabinet hydraulic lifting controller, and the action period is limited from after the shelf reaches the target lifting position until the operation record of this round is closed.

[0086] The confirmation of the shelf position is based on the shelf position entering the allowable range of the target lifting position and obtaining continuous and valid shelf position readings within the end position confirmation interval. If the shelf position does not enter the allowable range of the target lifting position, or if the shelf position readings are missing within the end position confirmation interval, the end position deviation, pressure oscillation residual, pressure fall time, velocity fluctuation residual, and tilt residual will not be calculated, and the end position residual record for this round will be marked as pending verification.

[0087] The end position deviation is the deviation of the actual shelf position after it is in place from the target lifting position, expressed in millimeters. The actual shelf position is derived from the continuous valid shelf position readings within the end position confirmation interval, and the target lifting position is derived from the cabinet type parking position parameter table. The wine cabinet hydraulic lifting controller first confirms that the actual shelf position and the target lifting position use the same cabinet fixed reference plane, and then uses the stable shelf position within the end position confirmation interval to form the end position deviation. Records of not reaching the target lifting position along the current lifting direction are considered as not in place, and records of exceeding the target lifting position along the current lifting direction are considered as overshooting. Individual position jumps do not participate in the formation of the end position deviation. When continuous position drift exceeds the allowable range of the target lifting position, the calculation stops and the process is put into pending verification.

[0088] The pressure oscillation residual is the maximum continuous pressure deviation of the two chamber pressures of the hydraulic cylinder within the end-position confirmation interval after the shelf is in place, relative to the corresponding pressure setpoint of the end-position hydraulic holding section. The unit is megapascals. The pressures of the two chambers of the hydraulic cylinder are derived from the pressure records of the rodless chamber and the rod chamber within the end-position confirmation interval. The pressure setpoint is derived from the control parameter record of this round. The wine cabinet hydraulic lifting controller organizes the continuous effective pressure readings for the rodless chamber and the rod chamber separately. Isolated pressure jumps are not used as the basis for pressure oscillation residuals. Pressure deviations caused by continuous pressure increases or decreases are retained as the basis for pressure oscillation residuals, and the corresponding chamber name and deviation direction are saved. When the pressure residuals of the rodless chamber and the rod chamber are saved separately, the end-position residual record of this round simultaneously saves the residual values ​​of each chamber and the corresponding chamber name. If the pressure of any chamber is missing, the pressure setpoint is missing, or the sensor calibration version cannot be matched, the pressure oscillation residual value is not written, and the end-position residual record of this round is transferred to pending verification.

[0089] The pressure drop time is the time, in milliseconds, for the pressure in both chambers of the hydraulic cylinder to return to the allowable pressure range of the end hydraulic holding section after the shelf enters the end hydraulic holding section, from the pressure level at the end of the end pre-deceleration section. The starting time is the acquisition time corresponding to the end boundary of the end pre-deceleration section, and the ending time is the acquisition time when the pressure in both chambers continuously enters the allowable pressure range of the end hydraulic holding section and meets the confirmation number. If the pressure does not enter the allowable pressure range of the end hydraulic holding section within the allowable drop time period, a non-drop mark is recorded, and the upper limit of the allowable drop time period is not used to replace the actual pressure drop time.

[0090] The speed fluctuation residual is the maximum continuous speed excess formed by the shelf speed relative to the target speed boundary of the end-position hydraulic holding section after the shelf is in position, in millimeters per second. The shelf speed is derived from the speed record formed by continuous shelf position readings within the end-position confirmation interval. After the wine cabinet hydraulic lifting controller removes isolated position jumps that are inconsistent with the lifting direction, it retains the continuous speed fluctuation. If the shelf speed does not exceed the target speed boundary of the end-position hydraulic holding section, the speed fluctuation residual is recorded as 0. If the shelf speed continuously exceeds the target speed boundary of the end-position hydraulic holding section within the end-position confirmation interval, the maximum continuous excess is recorded as the speed fluctuation residual, and the corresponding acquisition time is saved.

[0091] The tilt residual is the maximum continuous angular deviation of the longitudinal and lateral tilt amounts relative to the allowable tilt range of the end-position hydraulic holding section after the shelf is in place, in degrees. The longitudinal and lateral tilt amounts use the aforementioned measurement caliber. The wine cabinet hydraulic lifting controller generates longitudinal and lateral tilt residuals based on the continuous effective tilt readings within the end-position confirmation interval. Residuals within the allowable tilt range of the end-position hydraulic holding section are recorded as 0, while those exceeding the allowable tilt range are recorded as the maximum continuous angular deviation. If the tilt direction is consistent with the direction corresponding to the current load eccentricity state, the directional relationship is saved. If the tilt reading continues to drift and cannot fall within the effective measurement range, the residual calculation is stopped and the process is transferred to pending verification.

[0092] The end position confirmation interval, the allowable range of target lifting and lowering position, the allowable pressure range of the end position hydraulic holding section, the allowable fall time period, the number of confirmations, the target speed boundary of the end position hydraulic holding section, and the allowable tilt range of the end position hydraulic holding section are all locked by the cabinet type end position residual parameter table. This parameter table comes from the end position holding records under different target lifting and lowering positions and different current load eccentricity states in the factory calibration and maintenance calibration. The version number is saved with the end position residual record of this round.

[0093] After the wine cabinet hydraulic lifting controller completes the calculation of end position deviation, pressure oscillation residual, pressure fall time, speed fluctuation residual, and tilt residual, it writes the residuals back to the control parameter record of the corresponding load eccentricity state. The corresponding load eccentricity state is the current load eccentricity state in the current round judgment record. The control parameter record is the record in the cabinet pump valve control parameter table that corresponds to the current load eccentricity state, target lifting position, lifting direction, and lifting control segment. When writing back, it does not overwrite the control parameter record of the current round that has been completed, does not rewrite the pump valve control parameters that have been executed in the current round, and does not directly replace the parameter values ​​in the cabinet pump valve control parameter table. Instead, it adds the end position residual record of the current round to the control parameter record of the corresponding load eccentricity state.

[0094] If the current load eccentricity status, target lifting position, lifting direction, cabinet end position residual parameter table version cannot be identified, or the corresponding load eccentricity status control parameter record cannot be found, then the residual write-back will not be performed, and the end position residual record for this round will be marked as pending verification.

[0095] For the same shelf and the same lifting command time, only one current-round end position residual record is generated. Repeated confirmation of arrival only associates with the original record and does not overwrite the written residual value. If the arrival is reconfirmed after the verification is lifted, a new confirmation time record is generated, and the original record remains read-only.

[0096] The generated end position residual record should at least include the shelf number, lifting command time, current load eccentricity state, target lifting position, end position deviation, pressure oscillation residual, pressure fall time, speed fluctuation residual, tilt residual, control parameter record index corresponding to the load eccentricity state, cabinet type end position residual parameter table version, and write-back completion time.

[0097] During on-site inspection, continuous arrival records were randomly selected. Each residual record of the current round was checked to ensure that it could be traced back to the target lifting position, the shelf position after arrival, the pressure of the two chambers of the hydraulic cylinder, the shelf speed, and the shelf tilt. The object written back was consistent with the load eccentricity state in the current round judgment record.

[0098] Preferably, in a wine cabinet with a shelf rated load of 20 kg to 60 kg and a hydraulic cylinder stroke of 300 mm to 800 mm, the end position confirmation interval can be set to 300 ms to 1000 ms, the allowable holding range of the target lifting position can be set to 1 mm to 3 mm before and after the target lifting position, the allowable pressure range of the end position hydraulic holding section can be set to 0.10 MPa to 0.30 MPa before and after the holding pressure set value, the allowable fall time can be set to 500 ms to 1500 ms, the number of confirmations can be set to 3 to 5 times, the target speed boundary of the end position hydraulic holding section can be set to 0 mm / s to 2 mm / s, and the allowable tilt range of the end position hydraulic holding section can be set to 0.05 degrees to 0.20 degrees; during operation after the shelf is raised to 600 mm from the display position under a single front-side off-center load, the shelf position is stabilized within the end position confirmation interval. The height is set to 599.2 mm, the end position deviation is 0.8 mm and recorded as not in position, the maximum continuous deviation of the pressure in the rodless chamber of the hydraulic cylinder relative to the pressure setting value is 0.18 MPa, the pressure fall time is 720 milliseconds, the shelf speed fluctuation residual is 1.4 mm / s, the longitudinal tilt residual is 0.12 degrees, and the lateral tilt residual is 0.03 degrees. The wine cabinet hydraulic lifting controller adds the above residuals to the control parameter record corresponding to the front eccentric load state. In another embodiment, the pressure oscillation residual can also be saved as the rodless chamber pressure residual and the rod chamber pressure residual respectively. As long as the end position deviation, pressure oscillation residual, pressure fall time, speed fluctuation residual and tilt residual are still calculated after the shelf is in position, and the residuals are written back to the control parameter record corresponding to the load eccentric state, it belongs to the equivalent implementation of this step.

[0099] In the operating scenario shown in this embodiment: the wine cabinet adopts a single-layer hydraulic lifting structure, the rated load of the shelf is 40 kg, the hydraulic cylinder stroke is 600 mm, the storage position corresponds to 0 mm, the display position corresponds to 600 mm, the shelf is driven by a hydraulic pump, a proportional valve and a hydraulic cylinder, pressure sensors are respectively installed in the rodless chamber oil circuit and the rod chamber oil circuit of the hydraulic cylinder, and the shelf support frame is equipped with a position measuring unit and an tilt sensor.

[0100] After the user retrieves or places a wine bottle, they issue a lifting command. The wine cabinet's hydraulic lifting controller confirms this command as a request to raise the shelf from the storage position to the display position, and establishes a data collection record for this round based on the shelf number, the lifting command time, and the target stopping position. Before the actual lifting, the wine cabinet's hydraulic lifting controller collects the following data: the pressure in the rodless chamber before the pulse is 0.72 MPa, the pressure in the rod chamber is 0.18 MPa, the shelf position is 0 mm, the longitudinal tilt relative to the cabinet door is 0.04 degrees, and the lateral tilt is 0.02 degrees. It also reads the end position residual record from the previous round, which shows an end position deviation of 0.6 mm, a pressure oscillation residual of 0.12 MPa, and a pressure fall time of 680 millimeters. The residual values ​​for speed fluctuation were 1.0 mm / s and tilt were 0.08 degrees. Subsequently, the hydraulic lifting controller of the wine cabinet applied a micro-pressure detection pulse with a pressure of 0.6 MPa and a duration of 200 milliseconds to the hydraulic cylinder. This micro-pressure detection pulse was less than the formal starting pressure threshold of 2.5 MPa. Within the micro-pressure response acquisition range, the pressure difference between the two chambers of the hydraulic cylinder changed from 0.54 MPa to 0.86 MPa, the pressure settling time was 180 milliseconds, the micro-displacement response was 0.3 mm, the longitudinal tilt increased by 0.15 degrees towards the cabinet door, and the lateral tilt did not form a clear direction. Based on this, the hydraulic lifting controller of the wine cabinet generated micro-pressure response data and wrote it into the acquisition record for this round.

[0101] The wine cabinet hydraulic lifting controller further determines the current load eccentricity state based on the pressure difference between the two chambers, the pressure settling time, the micro-displacement response, and the tilt change direction. Since the longitudinal tilt only forms a clear direction towards the cabinet door side, and the micro-displacement response does not reach the micro-displacement limit of 0.8 mm, the wine cabinet hydraulic lifting controller determines the current load eccentricity state as the front side off-center load state and writes it into the judgment record for this round.

[0102] Then, based on the front-side off-center load status and the target lifting position of 600 mm for the display area, the hydraulic lifting controller of the wine cabinet divides the lifting stroke into the following segments in sequence: the initial static friction release segment, the off-center load suppression acceleration segment, the stable lifting segment, the end-position pre-deceleration segment, and the end-position hydraulic holding segment. Specifically, 0 mm to 36 mm is the initial static friction release segment, 36 mm to 96 mm is the off-center load suppression acceleration segment, 96 mm to 500 mm is the stable lifting segment, 500 mm to 598 mm is the end-position pre-deceleration segment, and 598 mm to 600 mm is the end-position hydraulic holding segment. The boundaries of each segment are recorded in the lifting stroke division record for this round.

[0103] Subsequently, the hydraulic lifting controller of the wine cabinet reads the cabinet-type pump and valve control parameter table according to the front side off-center load status, display position, lifting direction, and boundaries of each lifting control section. For the initial static friction release section, the generator pump output flow rate is 1.0 liters per minute, the proportional valve opening change rate is 8% per second, the return oil back pressure is 0.35 MPa, and the initial compensation pressure is 2.9 MPa. For the off-center load suppression and acceleration section, the generator pump output flow rate is 1.5 liters per minute, the proportional valve opening change rate is 12% per second, and the return oil back pressure is 0.55 MPa. For the stable lifting section, the generator pump output flow rate is 2... The output flow rate of the generating pump for the pre-deceleration section is 0.2 liters per minute, the proportional valve opening change rate is 18% per second, the return oil back pressure is 0.30 MPa, the output flow rate of the generating pump for the end position pre-deceleration section is 0.9 liters per minute, the proportional valve opening change rate is 6% per second, the return oil back pressure is 0.45 MPa, and the end position deceleration advance is 100 mm, the output flow rate of the generating pump for the end position hydraulic holding section is 0.8 liters per minute, the proportional valve opening change rate is 5% per second, and the return oil back pressure is 0.40 MPa. The starting compensation pressure field and the end position deceleration advance field, which are not involved in the execution, are written to the inactive flag.

[0104] During the actual lifting process, the wine cabinet hydraulic lifting controller collects the pressure in both chambers of the hydraulic cylinder, the shelf speed, and the shelf tilt at a rhythmic interval of 20 to 50 milliseconds. In the initial static friction release phase, the wine cabinet hydraulic lifting controller detects that the pressure in the rodless chamber increases from 2.9 MPa to 3.2 MPa, while the shelf speed remains at 2 mm / s within the 300-millisecond observation window, below the starting speed threshold. Therefore, it is determined to be in a creeping starting state, and the pump output flow rate for this phase is corrected from 1.0 liters per minute to 1.1 liters per minute. Every minute, the proportional valve opening change rate is corrected from 8% per second to 7% per second; in the off-center load suppression acceleration section, the wine cabinet hydraulic lifting controller detects that the longitudinal tilt amount continuously increases by 0.18 degrees towards the cabinet door side, reaching the off-center load amplification threshold, so it is determined to be in an off-center load amplification state, and the return oil back pressure in this section is corrected from 0.55 MPa to 0.62 MPa; after entering the end position pre-deceleration section, the shelf speed is lower than the end position speed threshold, the pressure fluctuation does not reach the end position pressure threshold, and the wine cabinet hydraulic lifting controller does not form an end position impact trend.

[0105] After the shelf enters the hydraulic holding section corresponding to the display position, the wine cabinet hydraulic lifting controller confirms that the shelf position is stable at 599.2 mm within the end position confirmation interval. The calculated end position deviation is 0.8 mm and recorded as not in position. The maximum continuous deviation of the pressure in the rodless chamber of the hydraulic cylinder relative to the holding pressure setting value is 0.18 MPa, the pressure fall time is 720 milliseconds, the speed fluctuation residual is 1.4 mm / s, the longitudinal tilt residual is 0.12 degrees, and the lateral tilt residual is 0.03 degrees. The wine cabinet hydraulic lifting controller adds the above end position deviation, pressure oscillation residual, pressure fall time, speed fluctuation residual, and tilt residual to the control parameter record corresponding to the front side off-center load state. It does not overwrite the control parameters already executed in this round, nor does it directly replace the parameter values ​​in the cabinet pump valve control parameter table. In this way, a complete operation process is completed, from micro-pressure detection, load eccentricity state determination, lifting stroke division, pump valve control parameter generation, mid-lifting correction, to end position residual write-back.

[0106] All calculations involved in the embodiments are dimensionless numerical calculations, and the preset parameters and thresholds in the calculations are set by those skilled in the art according to the actual situation.

[0107] It should be noted that this invention can be deployed on the device itself to realize embedded applications, or it can run on a PC or other terminal with a user interface, thereby meeting various hardware environments and usage requirements.

[0108] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wireless or wired transmission; wired transmission methods include optical fiber, twisted pair, coaxial cable, etc.; wireless transmission includes infrared, microwave, etc. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center containing one or more sets of available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.

[0109] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and modules described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0110] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0111] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0112] In addition, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module.

[0113] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0114] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations 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. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0115] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for smooth lift control of a hydraulic lift wine cellar, characterized by, include: S1. After receiving the shelf lifting command, the wine cabinet hydraulic lifting controller collects the pressure in the two chambers of the hydraulic cylinder, the shelf position, the shelf tilt, and the previous round end position residual record. It then applies a micro-pressure detection pulse to the hydraulic cylinder that is less than the formal starting pressure threshold and obtains the micro-pressure response data. S2. Determine the load eccentricity state based on the pressure difference between the two chambers, pressure settling time, micro-displacement response amount, and tilt change direction in the micro-pressure response data. S3. Based on the current load eccentricity and target lifting position, the lifting stroke is divided into the starting static friction release section, the eccentric load suppression acceleration section, the stable lifting section, the end position pre-deceleration section, and the end position hydraulic holding section. S4. Based on the current load eccentricity, generate the pump output flow, proportional valve opening change rate, return oil back pressure, starting compensation pressure, and end position deceleration advance for each lifting control section. S5. During the lifting process, the pressure in both chambers of the hydraulic cylinder, the speed of the shelf, and the tilt of the shelf are collected to determine the starting crawling state, the off-center load amplification state, and the end position impact trend, and the pump valve control parameters of the corresponding lifting control section are corrected. S6. After the shelf is in place, calculate the end position deviation, pressure oscillation residual, pressure fall time, speed fluctuation residual, and tilt residual, and write the residuals back to the control parameter record of the corresponding load eccentricity state.

2. The method of claim 1, wherein the method further comprises: S1 includes: After receiving the shelf lifting command, the wine cabinet hydraulic lifting controller establishes the current round of data collection records based on the shelf number, lifting command time, and target lifting position; Within the static reference acquisition interval, the pressure of the two chambers of the hydraulic cylinder, the position of the shelf, and the tilt of the shelf are acquired, and the end position residual record of the previous round is read. Based on the cabinet-type hydraulic control parameter table, determine the formal starting pressure threshold and micro-pressure detection pulse parameters, and apply a micro-pressure detection pulse smaller than the formal starting pressure threshold to the hydraulic cylinder; The micro-pressure response data, including the pressure of the two chambers before the pulse, the pressure of the two chambers during the pulse holding interval, the pressure of the two chambers after the pressure is released, the pressure settling time, the pressure falling back time, the micro-displacement response amount, and the tilt change direction, are generated in the micro-pressure response acquisition interval.

3. The method for controlling smooth lifting of a hydraulic lifting wine cabinet according to claim 1, wherein S2 include: The wine cabinet hydraulic lifting controller retrieves the pressure difference between the two chambers, pressure set-up time, micro-displacement response amount, and tilt change direction from the same micro-pressure response acquisition interval in the current round of data acquisition records according to the shelf number and lifting command time. The pressure difference between the two chambers is the pressure difference formed by subtracting the pressure in the rodless chamber of the hydraulic cylinder from the pressure in the rod chamber of the hydraulic cylinder.

4. The method of claim 3, wherein: The hydraulic lifting controller for the wine cabinet first eliminates records of pressure loss, pressure failure, micro-displacement response reaching the micro-displacement limit, continuous tilt drift, and unrecognizable parameter versions. When the tilt change direction forms a clear off-center load direction, it is determined to be one of the following states: composite off-center load state, front off-center load state, rear off-center load state, left off-center load state, and right off-center load state. When the direction of tilt change does not form a clear off-center load direction, the state is determined as either an overall unbalanced state or an approximately balanced state based on the change in the pressure difference between the two chambers.

5. The method for smooth lifting control of a hydraulic lifting wine cabinet according to claim 1, wherein S3 include: The hydraulic lifting controller for the wine cabinet determines the boundaries of each lifting control segment based on the current load eccentricity state, current shelf position, target lifting position, and cabinet type stroke segment parameter table recorded in this round of judgment. The lifting stroke from the current shelf position to the target lifting position is continuously divided along the actual movement direction of the shelf into the starting static friction release section, the off-center load suppression acceleration section, the stable lifting section, the end position pre-deceleration section, and the end position hydraulic holding section. Adjacent lifting control sections share the same boundary point, and the end hydraulic holding section's termination boundary is the target lifting position.

6. The method for smooth lifting control of a hydraulic lifting wine cabinet according to claim 1, wherein S4 include: The wine cabinet hydraulic lifting controller generates the control parameter record for this round of lifting based on the current lifting stroke division record, the current load eccentricity state, the target lifting position, the lifting direction, and the cabinet type pump valve control parameter table, in the following stages: the initial static friction release stage, the eccentric load suppression acceleration stage, the stable lifting stage, the end position pre-deceleration stage, and the end position hydraulic holding stage. The control parameters recorded in this round include pump output flow rate, proportional valve opening change rate, return oil back pressure, starting compensation pressure, and end-position deceleration advance.

7. The method for smooth lifting control of a hydraulic lifting wine cabinet according to claim 1, characterized in that, S5 include: The wine cabinet hydraulic lifting controller collects the pressure of the two chambers of the hydraulic cylinder, the speed of the shelf, and the tilt of the shelf within the current lifting control segment based on the control parameter records and lifting stroke division records of the current cycle. Within the observation window locked in the cabinet-type operation monitoring parameter table, the starting crawling state is determined in the static friction release stage, the off-center load amplification state is determined in the off-center load suppression acceleration stage and the stable lifting stage, and the end-position impact trend is determined in the end-position pre-deceleration stage.

8. The method for smooth lifting control of a hydraulic lifting wine cabinet according to claim 7, characterized in that: After determining the starting crawling state, the hydraulic lifting controller of the wine cabinet corrects the pump valve control parameters of the starting static friction release section. After determining the off-center load amplification state, correct the pump and valve control parameters of the current lifting control section; After determining the impact trend at the end position, the pump and valve control parameters of the pre-deceleration section at the end position are adjusted. Pump and valve control parameters include pump output flow rate, proportional valve opening change rate, and return oil back pressure.

9. The method for smooth lifting control of a hydraulic lifting wine cabinet according to claim 1, characterized in that, S6 include: After the shelf enters the hydraulic holding section corresponding to the target lifting position, the wine cabinet hydraulic lifting controller confirms the shelf position after it is in place within the end position confirmation interval based on the continuous effective shelf positions. Based on the target lifting position, the pressure in both chambers of the hydraulic cylinder, the shelf speed, the shelf tilt, and the current round control parameter records, a current round end position residual record is generated, which includes end position deviation, pressure oscillation residual, pressure fall time, speed fluctuation residual, and tilt residual. The end position residual record of this round is added to the control parameter record corresponding to the current load eccentricity state in the current round judgment record.

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