CN102591371A - Synchronous control method and device of four-leg oil cylinder - Google Patents

Synchronous control method and device of four-leg oil cylinder Download PDF

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Publication number
CN102591371A
CN102591371A CN2012100586057A CN201210058605A CN102591371A CN 102591371 A CN102591371 A CN 102591371A CN 2012100586057 A CN2012100586057 A CN 2012100586057A CN 201210058605 A CN201210058605 A CN 201210058605A CN 102591371 A CN102591371 A CN 102591371A
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China
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supporting leg
displacement
displacement data
maximum
supporting
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CN2012100586057A
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Chinese (zh)
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CN102591371B (en
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王西昌
王向文
马双伟
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三一电气有限责任公司
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Abstract

The invention discloses a synchronous control method and device of a four-leg oil cylinder. The method comprises the steps of: collecting the displacement data of four legs of a leg oil cylinder in real time when the leg oil cylinder supports a complete machine platform; comparing the collected displacement data of four legs, thereby obtaining the leg minimum displacement data and the leg maximal displacement data, and obtaining the synchronization ratio of the leg maximal displacement data relative to the leg minimum displacement data according to the leg minimum displacement data and the leg maximal displacement data; and comparing the synchronization ratio with the preset control threshold, outputing a regulating command corresponding to the compared result, and regulating the moving speed of the leg with the maximal displacement in the four legs according to the regulating command. According to the invention, the synchronous control of the four legs is realized, the using safety of equipment is improved, and the service life of an equipment structure element is prolonged.

Description

A kind of four support oil cylinder synchronisation control means and devices
Technical field
The present invention relates to a kind of four support oil cylinder synchronisation control means and relevant apparatus thereof.
Background technology
Progressively development along with the offshore wind farm industry; The large-scale construction specialized equipment of mesolittoral zone and coastal waters wind energy turbine set (for example beaching crawler transport vehicle, beaching crawler ram engine, beaching crawler crane) also grows up thereupon; And be applied to installation, the maintenance work of offshore wind turbine; Significantly improve the efficient of offshore wind turbine installation, reduced the installation and maintenance cost of offshore wind turbine.
Because receive that the regional region of mesolittoral zone and coastal waters wind energy turbine set is wide, complicated geology, bearing capacity is low and the influence of problems such as skewness, more shallow, the marine Changes in weather impermanence of water level; Particularly receive the influence of tide energy; The sea level fluctuations of construction area comes and go; Therefore under this environment the large-scale construction specialized equipment of wind energy turbine set must possess can be according to the automatically adjust function of operation platform height of current water level situation; Reduce the influence of sea level fluctuations, improve the safety coefficient of preparation of construction construction operation.
At present, the structure of mesolittoral zone and the large-scale construction specialized equipment of coastal waters wind energy turbine set adopts split floating box type platform structure, is convenient to transportation.Split floating box type platform structure can have under the regimen condition, produces certain buoyancy, and platform surface and volume are big, owing to all adopt steel construction, so split floating box type platform weight is very big.Adopt the mode of support oil cylinder that the complete machine platform is supported now,, realize the rise and the landing function of control platform through stretching of control oil cylinder.Because split floating box type construction specialized equipment volume is big, center of gravity non-constant (producing center of gravity according to construction technology moves), supporting leg self stroke is high; Therefore in supporting leg rise and landing process, when four supporting leg responsiveness deviations are big, cause whole flat generation shift phenomenon; Stuck phenomenon can take place in the crawler belt leg structure simultaneously; Platform can't normally be descended and rise, cause the structural damage of complete machine, even the infringement of preparation of construction complete machine occurs.Therefore in safety in utilization and the serviceable life in order to improve equipment, the synchronism that solves the equipment rising or falling speed becomes the problem that needs to be resolved hurrily.
Mesolittoral zone and the large-scale construction specialized equipment of coastal waters wind energy turbine set (beaching crawler transport vehicle, beaching crawler ram engine, beaching crawler crane) are in the starting stage at present, and traditional preparation of construction does not possess the function that automatic adjusting is gone up and down.In order to solve the serviceable life that the security of preparation of construction in lifting process improves equipment simultaneously, need to solve the synchronism control problem of the supporting leg that supports the complete machine platform.
Summary of the invention
The object of the present invention is to provide a kind of four support oil cylinder synchronisation control means and devices, can solve complete machine platform synchronism control problem better.
According to an aspect of the present invention, a kind of four support oil cylinder synchronisation control meanss are provided, have comprised:
Support complete machine between plateau at support oil cylinder, gather the displacement data of four supporting legs of support oil cylinder in real time;
The displacement data of four supporting legs relatively being gathered; Obtain wherein supporting leg least displacement data and supporting leg maximum displacement data; And, obtain the sync rates of said supporting leg maximum displacement with respect to said supporting leg least displacement according to said supporting leg least displacement data and supporting leg maximum displacement data;
Said sync rates and predetermined control thresholding are compared, export regulating command, and, regulate the translational speed of the maximum supporting leg of displacement in said four supporting legs according to said regulating command corresponding to comparative result.
Preferably, the collecting sensor signal system is installed in the output of four displacement transducers in the support oil cylinder through reception, gathers the displacement data of four supporting legs, and the displacement data of being gathered is carried out Filtering Processing.
Preferably, obtaining said supporting leg maximum displacement comprises with respect to the step of the sync rates of said supporting leg least displacement:
The displacement data of four supporting legs relatively being gathered obtains supporting leg least displacement data;
The displacement data and the said supporting leg least displacement data of other three supporting legs are subtracted each other, obtain three deviates of other three supporting leg displaced plates the supporting leg least displacement;
More said three deviates obtain the supporting leg maximum deflection difference value;
Calculate the ratio of said supporting leg maximum deflection difference value and supporting leg range, obtain the sync rates of said supporting leg maximum displacement with respect to said supporting leg least displacement.
Preferably, obtaining said supporting leg maximum displacement comprises with respect to the step of the sync rates of said supporting leg least displacement:
The displacement data of four supporting legs relatively being gathered obtains supporting leg least displacement data;
The displacement data and the said supporting leg least displacement data of other three supporting legs are subtracted each other, obtain three deviates of other three supporting leg displaced plates for the supporting leg least displacement;
Calculate the ratio of three deviates and supporting leg range respectively, obtain three sync rates of other three supporting leg displaced plates for the supporting leg least displacement;
More said three sync rates obtain the sync rates of said supporting leg maximum displacement with respect to said supporting leg least displacement.
Preferably, obtaining said supporting leg maximum displacement comprises with respect to the step of the sync rates of said supporting leg least displacement:
The displacement data of four supporting legs relatively being gathered obtains supporting leg least displacement data and supporting leg maximum displacement data;
Said supporting leg maximum displacement data and said supporting leg least displacement data are subtracted each other, obtain the supporting leg maximum deflection difference value;
Calculate the ratio of said supporting leg maximum deflection difference value and supporting leg range, obtain the sync rates of said supporting leg maximum displacement with respect to said supporting leg least displacement.
The step of preferably, regulating the translational speed of the maximum supporting leg of said displacement comprises:
Said sync rates and predetermined control thresholding are compared;
When said sync rates during, generate the regulating command of the sync rates that is used to regulate the maximum supporting leg of displacement greater than the predetermined control thresholding;
According to said regulating command, regulate the degree of regulation be installed in the solenoid valve on the maximum supporting leg of displacement, in case the degree of regulation through solenoid valve, the translational speed of regulating the maximum supporting leg of displacement in said four supporting legs.
Preferably, the step that generates said regulating command comprises:
When said sync rates during, after the part that said sync rates is exceeded said predetermined control thresholding multiply by scale-up factor, subtract each other with said sync rates, and, generate said regulating command according to the result who obtains greater than the predetermined control thresholding.
Preferably, said predetermined control thresholding≤0.5%.
According to a further aspect in the invention, a kind of four support oil cylinder sync control devices are provided, have comprised:
The collecting sensor signal system is used for supporting complete machine between plateau at support oil cylinder, gathers the displacement data of four supporting legs of support oil cylinder in real time;
Synchronism control algolithm controller; The displacement data that is used for four supporting legs that comparison gathers; Obtain wherein supporting leg least displacement data and supporting leg maximum displacement data; And, obtain the sync rates of said supporting leg maximum displacement with respect to said supporting leg least displacement according to said supporting leg least displacement data and supporting leg maximum displacement data;
Electromagnetic valve controlling system is used for said sync rates and predetermined control thresholding are compared, and exports the regulating command corresponding to comparative result, and according to regulating command, regulates the translational speed of the maximum supporting leg of displacement in said four supporting legs.
Preferably, said collecting sensor signal system comprises:
Be installed in four displacement transducers in four support oil cylinders, be used to gather the displacement data of four supporting legs;
The sensor signal processing unit is used for the displacement data of being gathered is carried out Filtering Processing.
Compared with prior art, beneficial effect of the present invention is:
1, the present invention realizes four supporting leg synchro control, and synchro control speed is fast, precision is high;
2, the present invention has improved the safety in utilization of equipment;
3, the present invention has prolonged the serviceable life of device structure spare.
Description of drawings
Fig. 1 is a kind of four support oil cylinder synchronisation control means schematic diagrams that the embodiment of the invention provides;
Fig. 2 is a kind of four support oil cylinder synchronisation control means process flow diagrams that the embodiment of the invention provides;
Fig. 3 is a kind of four support oil cylinder sync control device block diagrams that the embodiment of the invention provides.
Embodiment
, should be appreciated that following illustrated preferred embodiment only is used for explanation and explains the present invention, and be not used in qualification the present invention a preferred embodiment of the present invention will be described in detail below in conjunction with accompanying drawing.
Fig. 1 has shown a kind of four support oil cylinder synchronisation control means schematic diagrams that the embodiment of the invention provides, and is as shown in Figure 1, comprising:
Step S101, support complete machine between plateau, gather the displacement data of four supporting legs of support oil cylinder in real time at support oil cylinder.This step has realized the collection and the Filtering Processing of the displacement data of supporting leg, can be placed on the displacement data that the displacement transducer in the support oil cylinder is gathered through data acquisition unit (for example PLC) collection, and the displacement data of being gathered is carried out filtering through filtering algorithm.
The displacement data of four supporting legs that step S102, comparison are gathered; Obtain wherein supporting leg least displacement data and supporting leg maximum displacement data; And, obtain the sync rates of said supporting leg maximum displacement with respect to said supporting leg least displacement according to said supporting leg least displacement data and supporting leg maximum displacement data.This step is used in control cycle (for example 1S), calculating in real time sync rates.
Step S103, said sync rates and predetermined control thresholding are compared, output is corresponding to the regulating command of comparative result, and according to regulating command, regulates the translational speed of the maximum supporting leg of displacement in said four supporting legs.This step is controlled according to control strategy controlling object according to the sync rates that step S102 obtains, and controlling object is controlled output, and wherein controlling object can be a solenoid valve, and said solenoid valve is used to control the action speed of oil cylinder.
Above step can be calculated simultaneously, and respectively each support oil cylinder action speed is exported control according to control strategy, can realize high precision synchronous control purpose, reaches the security effect that equipment uses again, improves the serviceable life of equipment.
Fig. 2 has shown a kind of four support oil cylinder synchronisation control means process flow diagrams that the embodiment of the invention provides, and as shown in Figure 2, step comprises:
In sync rates computation process, input parameter is the displacement data that data acquisition unit (for example PLC) is gathered, but because the outer signals interference; The displacement data that causes the data acquisition unit collection is not one group of stable data value; Wherein comprise undesired signal, interference signal source is not stable signal source, therefore in different collections constantly; The displacement data that data acquisition unit collects is different, but displacement data changes within the specific limits.In order to calculate a stable synchronism parameter, the interfering data in the displacement data that must data acquisition unit be collected is handled, and the displacement data that makes collection is the direct True Data of reflection supporting leg displacement as far as possible.The Changing Pattern of undesired signal is a positive and negative alternation; The signal that amplitude changes in certain scope; Therefore during the synchro control of four supporting legs, in the sampling period, the supporting leg displacement data is carried out the Filtering Processing that integration is averaged, remove undesired signal; Keep real supporting leg displacement data, carry out the synchro control computing four groups of displacement datas of finishing dealing with are provided for follow-up.The filtering formula of said displacement data is following:
Signal _ Fliter _ Var = 1 T ∫ 0 T Signal _ Act ( t ) _ Vard ( t )
Wherein, T is the displacement data collection period, and Signal_Fliter_Var is the displacement data after the Filtering Processing; Signal_Act (t) _ Var is the immediate movement data.
The displacement data that will pass through four supporting legs of Filtering Processing compares; Obtain supporting leg maximum displacement and supporting leg least displacement, the difference of said supporting leg maximum displacement and said supporting leg least displacement and the ratio of supporting leg range are the sync rates of said supporting leg maximum displacement with respect to said supporting leg least displacement.Said sync rates formula is following:
Leg _ Asy _ Var = Leg _ Place _ Change _ Var Leg _ Place _ Var * 100 / 100
Leg_Place_Change_Var=Leg_Max_Place_Var-Leg_Min_Place_Var
Wherein, Leg_Asy_Var is a sync rates, and Leg_Place_Change_Var is a supporting leg displacement data deviate, and Leg_Max_Place_Var is the supporting leg maximum displacement, and Leg_Min_Place_Var is the supporting leg least displacement; Leg_Place_Var is the supporting leg range.
Secondly, because the supporting leg maximum displacement is supporting leg the relatively move ratio of difference and supporting leg range of minimum of maximum and supporting leg that relatively moves with respect to the sync rates of said supporting leg least displacement.Therefore, said sync rates can obtain through following three kinds of modes:
1, the displacement data with four supporting legs being gathered compares, and calculates a relative minimum (being supporting leg least displacement data), calculates the deviate of its excess-three displacement data and this minimum value simultaneously respectively.Then; Through relatively obtaining deviate (being the supporting leg maximum deflection difference value) maximum in three deviates; And calculating the ratio of said supporting leg maximum deflection difference value and supporting leg range, this ratio is the sync rates of said supporting leg maximum displacement with respect to said supporting leg least displacement.
2, the displacement data with four supporting legs being gathered compares, and calculates a relative minimum (being supporting leg least displacement data), calculates the deviate of its excess-three displacement data and this minimum value simultaneously respectively.Then; Calculate the ratio of three deviates and supporting leg range respectively; Obtain three sync rates of other three supporting leg displaced plates for the supporting leg least displacement, more said three sync rates obtain the sync rates of said supporting leg maximum displacement with respect to said supporting leg least displacement.
3, the displacement data with four supporting legs being gathered compares; Obtain a relative minimum (being supporting leg least displacement data) and a relative maximum (being supporting leg maximum displacement data); Calculate the ratio of deviate (supporting leg maximum deflection difference value) Yu the supporting leg range of said relative maximum and said relative minimum, obtain the sync rates of said supporting leg maximum displacement with respect to said supporting leg least displacement.
In order to improve computational accuracy, the deviate of supporting leg displacement enlarged 1000 times after, calculate the ratio with the supporting leg range again, draw relative sync rates.
Then, because supporting leg is in lifting process, synchronism control adjustment is not one step completed; But in one period control time, accomplish; Because the interference of extraneous factors such as machinery and hydraulic pressure, synchronism has just begun to be far longer than predetermined control thresholding (predetermined control thresholding≤0.5%), therefore in order sync rates to be reduced in the predetermined control threshold range; Must be according to the Changing Pattern of the characteristic and the controlling object of controlling object, the control strategy of controlling object is carried out parameter adjustment.Said control strategy mainly is according to sync rates the controlled variable of controlling object to be adjusted.When the sync rates of certain supporting leg in four supporting legs during greater than the predetermined control thresholding; After the part that will exceed the predetermined control thresholding multiply by a scale-up factor (said scale-up factor is the constant that draws through system debug), again with regulate before sync rates subtract each other, and according to the result who obtains; Generate regulating command; And, regulate the size of the degree of regulation that is installed in the solenoid valve on the maximum supporting leg of displacement according to said regulating command, so that regulate the translational speed of the maximum supporting leg of displacement in said four supporting legs.Further, as said result during, repeat above-mentioned steps, and then obtain to change the value of regulating the controlling object velocity variations greater than said predetermined control thresholding.
At last, this four support oil cylinders synchronisation control means ceaselessly calculates, and regulates control output, in the synchronism indication range that reaches synchro control, stops the regulatory function to controlling object.
In the supporting leg adjustment process; The collection of displacement data and the calculating of sync rates are constantly to carry out, in case sync rates exceeds the sync rates indication range, just start the adjusting to controlling object; Controlling object (support oil cylinder or other) is regulated, to change the translational speed of supporting leg.
Fig. 3 has shown a kind of four support oil cylinder sync control device block diagrams that the embodiment of the invention provides; As shown in Figure 3; The sync rates that said four support oil cylinder sync control devices are used to control four supporting legs is less than 0.5%; The safety in utilization of raising equipment and serviceable life, said device comprises several mini systems:
The collecting sensor signal system is used for supporting complete machine between plateau at support oil cylinder, gathers the displacement data of four supporting legs of support oil cylinder in real time.Said collecting sensor signal system mainly accomplishes the collection to the displacement data of supporting leg; The displacement data of said supporting leg is through the displacement transducer collection; Said displacement transducer is installed in support oil cylinder inside, and along with the up-down of support oil cylinder, displacement transducer length changes.
Synchronism control algolithm controller; The displacement data that is used for four supporting legs that comparison gathers; Obtain wherein supporting leg least displacement data and supporting leg maximum displacement data; And, obtain the sync rates of said supporting leg maximum displacement with respect to said supporting leg least displacement according to said supporting leg least displacement data and supporting leg maximum displacement data.That is, said synchronism control algolithm controller is mainly accomplished the calculating of control sync rates.
Electromagnetic valve controlling system is used for said sync rates and predetermined control thresholding are compared, and exports the regulating command corresponding to comparative result, and according to said regulating command, regulates the translational speed of the maximum supporting leg of displacement in said four supporting legs.Said electromagnetic valve controlling system mainly is the controlling object solenoid valve to be carried out the control of interrelated logic according to the sync rates that synchronism control algolithm controller is exported.Said solenoid valve is the topworks of control supporting leg action speed, is installed in above the supporting leg, and supporting leg is according to the size adjustment rising or falling speed of the degree of regulation of solenoid valve.
Further, said collecting sensor signal system comprises:
Four displacement transducers 1, displacement transducer 2, displacement transducer 3, the displacement transducer 4 that are installed in four support oil cylinders are placed on respectively in the oil cylinder of 4 supporting legs, are used to gather the displacement data of four supporting legs.
The sensor signal processing unit is used for the displacement data of being gathered is carried out Filtering Processing.
The course of work of said device is following:
At first; The displacement data of four supporting legs of collecting sensor signal system acquisition, and the displacement data of four supporting legs being gathered carried out Filtering Processing, disturb to remove; And then the displacement data of four supporting legs will finishing dealing with, be sent in the synchronism control algolithm controller.
Secondly; After the synchro control algorithmic controller is received the displacement data of four supporting legs that the collecting sensor signal system handles is accomplished; Displacement data to four supporting legs carries out conversion Calculation; Obtain supporting leg and the supporting leg maximum deflection difference value between the supporting leg the soonest the most slowly in four supporting legs, calculate the ratio of said supporting leg maximum deflection difference value and supporting leg range, obtain the sync rates of supporting leg maximum displacement with respect to the supporting leg least displacement.In control cycle; Can also calculate earlier the deviate of other three supporting legs and supporting leg least displacement respectively; Calculate the ratio of resulting deviate and supporting leg range then respectively, obtain the sync rates of other three supporting leg displaced plates, again the sync rates of other three supporting leg displaced plates to the supporting leg least displacement compared automatically the supporting leg least displacement; Obtain relatively large sync rates, i.e. supporting leg maximum displacement is with respect to the sync rates of supporting leg least displacement.The sync rates of the maximum that relatively draws is sent to electromagnetic valve controlling system.
At last; Electromagnetic valve controlling system judges that at first whether sync rates surpasses predetermined control thresholding (for example 0.5%), and which bar supporting leg the supporting leg that surpasses 0.5% range of control is, and is big or small according to the sync rates of supporting leg information that surpasses the sync rates range of control and supporting leg then; Solenoid valve to the respective leg that exceeds the sync rates range of control is regulated; The translational speed of supporting leg is changed, and the sync rates that makes supporting leg at last is within range of control, even the sync rates of respective leg is in 0.5%.
Further; Sync control device is under the situation that collecting sensor signal system, synchro control algorithmic controller, electromagnetic valve controlling system act on simultaneously; The displacement data of four supporting legs of circle collection during operation; The synchro control algorithmic controller calculates according to the sync rates of said displacement data to supporting leg in real time, and electromagnetic valve controlling system is according to the sync rates that calculates, and the solenoid valve of respective leg is carried out regulating and controlling.The sync rates that finally makes four supporting legs is in range of control.According to the supporting leg synchronous situation, sync control device is controlled at whole regulating cycle in control cycle (for example 1s) scope.
In sum, the present invention has following technique effect:
The present invention has realized the synchro control of four supporting legs, and sync rates is less than 0.5%, has improved the safety in utilization of equipment and the serviceable life of equipment.
Although preceding text specify the present invention, the invention is not restricted to this, those skilled in the art of the present technique can carry out various modifications according to principle of the present invention.Therefore, all modifications of doing according to the principle of the invention all are to be understood that to falling into protection scope of the present invention.

Claims (10)

1. a support oil cylinder synchronisation control means is characterized in that, comprising:
Support complete machine between plateau at support oil cylinder, gather the displacement data of four supporting legs of support oil cylinder in real time;
The displacement data of four supporting legs relatively being gathered; Obtain wherein supporting leg least displacement data and supporting leg maximum displacement data; And, obtain the sync rates of said supporting leg maximum displacement with respect to said supporting leg least displacement according to said supporting leg least displacement data and supporting leg maximum displacement data;
Said sync rates and predetermined control thresholding are compared, export regulating command, and, regulate the translational speed of the maximum supporting leg of displacement in said four supporting legs according to said regulating command corresponding to comparative result.
2. method according to claim 1; It is characterized in that; The collecting sensor signal system is installed in the output of four displacement transducers in the support oil cylinder through reception, gathers the displacement data of four supporting legs, and the displacement data of being gathered is carried out Filtering Processing.
3. method according to claim 2 is characterized in that, obtains said supporting leg maximum displacement and comprises with respect to the step of the sync rates of said supporting leg least displacement:
The displacement data of four supporting legs relatively being gathered obtains supporting leg least displacement data;
The displacement data and the said supporting leg least displacement data of other three supporting legs are subtracted each other, obtain three deviates of other three supporting leg displaced plates the supporting leg least displacement;
More said three deviates obtain the supporting leg maximum deflection difference value;
Calculate the ratio of said supporting leg maximum deflection difference value and supporting leg range, obtain the sync rates of said supporting leg maximum displacement with respect to said supporting leg least displacement.
4. method according to claim 2 is characterized in that, obtains said supporting leg maximum displacement and comprises with respect to the step of the sync rates of said supporting leg least displacement:
The displacement data of four supporting legs relatively being gathered obtains supporting leg least displacement data;
The displacement data and the said supporting leg least displacement data of other three supporting legs are subtracted each other, obtain three deviates of other three supporting leg displaced plates for the supporting leg least displacement;
Calculate the ratio of three deviates and supporting leg range respectively, obtain three sync rates of other three supporting leg displaced plates for the supporting leg least displacement;
More said three sync rates obtain the sync rates of said supporting leg maximum displacement with respect to said supporting leg least displacement.
5. method according to claim 2 is characterized in that, obtains said supporting leg maximum displacement and comprises with respect to the step of the sync rates of said supporting leg least displacement:
The displacement data of four supporting legs relatively being gathered obtains supporting leg least displacement data and supporting leg maximum displacement data;
Said supporting leg maximum displacement data and said supporting leg least displacement data are subtracted each other, obtain the supporting leg maximum deflection difference value;
Calculate the ratio of said supporting leg maximum deflection difference value and supporting leg range, obtain the sync rates of said supporting leg maximum displacement with respect to said supporting leg least displacement.
6. according to any described method of claim 3-5, it is characterized in that the step of regulating the translational speed of the maximum supporting leg of said displacement comprises:
Said sync rates and predetermined control thresholding are compared;
When said sync rates during, generate the regulating command of the sync rates that is used to regulate the maximum supporting leg of displacement greater than the predetermined control thresholding;
According to regulating command, regulate the degree of regulation be installed in the solenoid valve on the maximum supporting leg of displacement, in case the degree of regulation through solenoid valve, the translational speed of regulating the maximum supporting leg of displacement in said four supporting legs.
7. method according to claim 6 is characterized in that, the step that generates said regulating command comprises:
When said sync rates during, after the part that said sync rates is exceeded said predetermined control thresholding multiply by scale-up factor, subtract each other with said sync rates, and, generate said regulating command according to the result who obtains greater than the predetermined control thresholding.
8. method according to claim 7 is characterized in that, said predetermined control thresholding≤0.5%.
9. a support oil cylinder sync control device is characterized in that, comprising:
The collecting sensor signal system is used for supporting complete machine between plateau at support oil cylinder, gathers the displacement data of four supporting legs of support oil cylinder in real time;
Synchronism control algolithm controller; The displacement data that is used for four supporting legs that comparison gathers; Obtain wherein supporting leg least displacement data and supporting leg maximum displacement data; And, obtain the sync rates of said supporting leg maximum displacement with respect to said supporting leg least displacement according to said supporting leg least displacement data and supporting leg maximum displacement data;
Electromagnetic valve controlling system is used for said sync rates and predetermined control thresholding are compared, and exports the regulating command corresponding to comparative result, and according to said regulating command, regulates the translational speed of the maximum supporting leg of displacement in said four supporting legs.
10. device according to claim 9 is characterized in that, said collecting sensor signal system comprises:
Be installed in four displacement transducers in four support oil cylinders, be used to gather the displacement data of four supporting legs;
The sensor signal processing unit is used for the displacement data of being gathered is carried out Filtering Processing.
CN 201210058605 2012-03-07 2012-03-07 Synchronous control method and device of four-leg oil cylinder CN102591371B (en)

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CN107023537A (en) * 2017-03-27 2017-08-08 北京交通大学 The equilibrium of load control method and system of hydraulic system

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