Coordinated control system and method for underground lift car

CN122923922APending Publication Date: 2026-10-16SHANDONG CHANGSONG CONSTR MASCH CO LTD
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Patent Information

Application Number
CN202611279026.3
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-08-21
Publication Date
2026-10-16

AI Technical Summary

Technical Problem

[0005]为解决现有技术中周期采样盲区引发平台超限倾斜的技术问题，本发明提供了一种地下升降平台车协同控制系统及方法

Benefits of technology

[0023]This invention synchronously acquires the hydraulic cylinder pressure, piston rod displacement, and real-time rotation speed of each underground lifting platform vehicle and constructs a state vector sequence. Utilizing the time lead of the pressure change rate relative to the displacement signal, it predicts the displacement deviation of the corresponding vehicle in the next control cycle based on the pressure change rate and flow stiffness before the displacement deviation is formed. The comprehensive deviation calculated by the floating reference surface and the pressure change rate are used together as input to generate a feedforward speed compensation control quantity to adjust the opening of the hydraulic proportional valve, so that the speed deviation is offset at the nascent stage. This overcomes the perception lag defect caused by periodic sampling in the prior art, breaks the vicious cycle of perception lag and compensation impact, and eliminates the problem of continuous accumulation of platform tilt and excessive tilt caused by the blind zone of periodic sampling.

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Abstract

The present application belongs to the technical field of underground space equipment control, and particularly relates to a kind of underground lift platform vehicle cooperative control system and method, and the method comprises: synchronously obtaining pressure, displacement and rotating speed, and packing as state vector sequence;Calculate pressure instantaneous change rate and combine rotating speed to distinguish load mutation, and predict displacement deviation;Combined with displacement deviation, calculate comprehensive deviation, generate feedforward speed compensation control amount to adjust hydraulic proportional valve opening;After stroke ends, extract actual displacement deviation to calculate measured flow stiffness and slide weighted update, and execute levelness verification.The present application eliminates the platform tilt accumulation problem in the blind area of periodic sampling, and improves the motion consistency and safety of multi-vehicle cooperative lifting.
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