CN109973471B - Multi-fulcrum synchronous control method and system for large lifting platform - Google Patents

Multi-fulcrum synchronous control method and system for large lifting platform Download PDF

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CN109973471B
CN109973471B CN201910286812.XA CN201910286812A CN109973471B CN 109973471 B CN109973471 B CN 109973471B CN 201910286812 A CN201910286812 A CN 201910286812A CN 109973471 B CN109973471 B CN 109973471B
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lifting
fulcrum
value
speed
lifting fulcrum
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CN109973471A (en
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陈海进
庄鲁
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Nantong University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram

Abstract

The invention provides a multi-fulcrum synchronous control method and a multi-fulcrum synchronous control system for a large lifting platform, which are applied to the large lifting platform. The synchronization control method includes the steps of: respectively acquiring a height position value of each lifting fulcrum; comparing the height position value of each lifting fulcrum, and determining the most lagging lifting fulcrum according to the motion state of the large lifting platform; calculating the height deviation between each lifting fulcrum and the most lagging lifting fulcrum; and respectively sending speed control signals to corresponding lifting fulcrums according to the height deviation so as to ensure that the height deviation of each lifting fulcrum and the most lagging lifting fulcrum does not exceed a preset maximum height deviation. The control method and the control system provided by the invention can accurately control the synchronous error of each lifting fulcrum of the large-scale lifting platform to be less than a certain range at low cost.

Description

Multi-fulcrum synchronous control method and system for large lifting platform
Technical Field
The invention relates to the field of industrial control, in particular to a multi-fulcrum synchronous control method and a multi-fulcrum synchronous control system for a large lifting platform.
Background
Due to the characteristics of large self weight, high lifting height and the like of the platform, a plurality of lifting hydraulic execution elements are usually adopted as lifting supporting points to control the lifting motion of the platform, and in the lifting process, due to the reasons of nonlinear friction resistance of the hydraulic execution elements, leakage of a hydraulic system, manufacturing precision difference of the hydraulic elements, change of working characteristics caused by long-time operation of the hydraulic elements, uneven load and the like, large synchronous errors are usually generated when the lifting supporting points lift. When the synchronization error exceeds a certain range, adverse consequences such as platform inclination and equipment damage can be caused. Taking a certain large-scale maintenance lifting platform as an example, due to the particularity of required maintenance equipment, the synchronous precision in the lifting process of the lifting platform is required to reach within 10mm, otherwise, the platform will incline, so that the equipment is damaged, and economic loss is caused.
Hydraulic synchronous control is a main way to improve the lifting synchronous precision. The hydraulic synchronous control mainly comprises two forms of open-loop control and closed-loop control.
The synchronous open-loop control mainly utilizes a synchronous valve to realize a one-way synchronous motion loop, and the synchronous precision mainly depends on the shunting precision of the synchronous valve; or a synchronous motion loop is realized by connecting two hydraulic cylinders in series, and the synchronous precision mainly depends on the proximity of the working areas of the two cylinders. The open-loop synchronous control has simple structure and low cost, but because the open-loop synchronous control loop can not effectively eliminate or inhibit the influence of external interference and other adverse factors, the open-loop synchronous control loop is often used in occasions with low requirement on the synchronous precision, and in addition, the open-loop control method can not realize the technical requirement of controlling the synchronous error within a certain reasonable range.
When synchronous closed-loop control is adopted, the output of the executive component can be detected and fed back, and is compared with the input signal, so that negative feedback closed-loop control is formed. In the prior art, a synchronous closed-loop control system usually adopts a PID controller and a proportional valve to realize high-precision synchronous control of an actuating element, but the proportional valve has high cost, is relatively wasted for an application occasion such as a large lifting platform with a not particularly high precision requirement, and is easy to damage the proportional valve and the actuating element due to high-frequency speed adjustment because the large lifting platform has large load. Therefore, finding a low-cost closed-loop synchronous control method suitable for a large-scale lifting platform becomes an important subject of research by those skilled in the art.
Disclosure of Invention
The invention aims to provide a multi-fulcrum synchronous control method and a multi-fulcrum synchronous control system for a large lifting platform, which can accurately control the synchronous error of each lifting fulcrum of the large lifting platform to be not more than a certain range at low cost.
In order to achieve the above object, the present invention provides a large-scale lifting platform multi-fulcrum synchronous control method, which is applied to a large-scale lifting platform, wherein the large-scale lifting platform comprises at least two lifting fulcrums, and the method comprises:
respectively acquiring a height position value of each lifting fulcrum;
comparing the height position value of each lifting fulcrum, and determining the most lagging lifting fulcrum according to the motion state of the large lifting platform;
calculating the height deviation between each lifting fulcrum and the most lagging lifting fulcrum, wherein the height deviation refers to the absolute value of the difference between the height position value of each lifting fulcrum and the height position value of the most lagging lifting fulcrum;
and respectively sending speed control signals to corresponding lifting fulcrums according to the height deviation of each lifting fulcrum so as to ensure that the height deviation of each lifting fulcrum and the most lagging lifting fulcrum does not exceed the preset maximum height deviation.
Further, the method for comparing the height position value of each lifting fulcrum and determining the most lagging lifting fulcrum according to the motion state of the large lifting platform comprises the following steps:
comparing the height position value of each lifting fulcrum, and selecting a maximum height position value and a minimum height position value;
if the large lifting platform is in a lifting motion state, the lifting fulcrum corresponding to the minimum height position value is the most lagging fulcrum;
and if the large lifting platform is in a descending motion state, the lifting fulcrum corresponding to the maximum height position value is the most lagging fulcrum.
Further, respectively sending speed control signals to corresponding lifting fulcrums according to the height deviation so as to ensure that the height deviation of each lifting fulcrum and the most lagging lifting fulcrum does not exceed a preset maximum height deviation, and specifically comprising the following steps:
determining a starting threshold value and a stopping threshold value according to the preset maximum height deviation;
comparing the height deviation of each lifting fulcrum with the size of a starting threshold;
if the height deviation is greater than or equal to the starting threshold, sending a speed reduction control signal to a corresponding lifting fulcrum, and adjusting the speed from a preset first rated speed to a preset second rated speed, wherein the second rated speed is less than the first rated speed;
detecting height position values of all lifting fulcrums, and calculating height deviation between the lifting fulcrum in a speed regulation state and the most lagging fulcrum;
and comparing the height deviation with a stop threshold, if the height deviation is smaller than the stop threshold, sending a speed control signal for increasing the speed to the corresponding lifting fulcrum, and recovering the speed of the corresponding lifting fulcrum from the second rated speed to the first rated speed.
Further, the method for determining the start threshold and the stop threshold according to the preset maximum altitude deviation comprises the following steps:
determining the numerical range of a starting threshold according to the preset maximum height deviation, wherein the numerical range of the starting threshold is as follows: dstart＜Dmax-2ξvhT, wherein DmaxFor presetting maximum height deviation, ξ is the deviation ratio of maximum value and minimum value in the actual speed when the lifting fulcrum is lifted, vhA first rated speed, T is a control period;
determining the numerical range of the stop threshold, wherein the numerical range of the stop threshold is as follows: dstop＞2[(1+0.5ξ)vh-(1-0.5ξ)vl]T, wherein ξ is the deviation ratio of the maximum value and the minimum value in the actual speed when the lifting fulcrum is lifted, vhAt a first rated speed, vlThe second rated speed is set, and T is a control period;
and determining a starting threshold value and a stopping threshold value according to the numerical range of the starting threshold value, the numerical range of the stopping threshold value and the quantity relation between the starting threshold value and the stopping threshold value, wherein the quantity relation between the starting threshold value and the stopping threshold value is that the starting threshold value is larger than the stopping threshold value.
The invention also provides a multi-fulcrum synchronous control system of the large lifting platform, which comprises a height position detection module, a calculation module and a synchronous control module; each lifting fulcrum corresponds to one height position detection module; the height position detection module is used for detecting a height position signal of each corresponding lifting fulcrum and sending the height position signal to the calculation module; the calculation module is used for determining the most lagging lifting fulcrum according to the height position signal of each lifting fulcrum, then comparing the height position signal of each lifting fulcrum with the height position signal of the most lagging lifting fulcrum to obtain the height deviation between each lifting fulcrum and the most lagging lifting fulcrum, and sending the height deviation of each lifting fulcrum to the synchronous control module; the synchronous control module is used for respectively sending speed control signals to corresponding lifting fulcrums according to the height deviation of each lifting fulcrum so as to ensure that the height deviation of each lifting fulcrum and the most lagging lifting fulcrum does not exceed the preset maximum height deviation.
Compared with the prior art, the invention has the following advantages: according to the working principle of the large-scale lifting platform, the lifting rated speeds of the lifting fulcrums are set to be two values, the difference between the height positions of the lifting fulcrums is controlled not to exceed a reasonable error range through switching of the two rated speeds, a PID (proportion integration differentiation) controller and a proportional valve are not needed, the composition is simple, the synchronous precision is guaranteed, meanwhile, the cost of an execution element can be effectively reduced, and high loss caused by high-frequency speed change is avoided. In addition, the invention also provides a threshold value determining method, and provides a solution for accurately controlling the deviation between the heights of the lifting fulcrums not to exceed the maximum height deviation.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a large-scale lifting platform multi-pivot synchronous control method according to an embodiment of the method;
FIG. 2 is a diagram showing the relationship between the height deviation of the lifting fulcrum and the rated speed in the embodiment of the multi-fulcrum synchronous control method for the large lifting platform provided by the invention;
FIG. 3 is a schematic diagram of a method for determining a starting threshold range in an embodiment of a method for synchronously controlling multiple supporting points of a large lifting platform provided by the invention;
FIG. 4 is a schematic diagram of a method for determining a stop threshold range in an embodiment of a method for synchronously controlling multiple supporting points of a large lifting platform according to the present invention;
FIG. 5 is a diagram showing a relationship between a start threshold, a stop threshold and a control period in an embodiment of a multi-pivot synchronous control method for a large-scale lifting platform according to the present invention;
fig. 6 is a schematic view of a large-scale lifting platform multi-pivot synchronous control system according to an embodiment of the system of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, belong to the scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
The method comprises the following steps:
referring to fig. 1, a flowchart of an embodiment of a multi-pivot synchronous control method for a large lifting platform is provided.
The multi-fulcrum synchronous control method for the large lifting platform provided by the embodiment comprises the following steps:
s10: detecting the height position value of each lifting fulcrum;
it should be noted that, each lifting fulcrum correspondingly detects a lifting fulcrum height position value, which represents the actual height position of each lifting fulcrum. Because each lifting fulcrum is driven by a driving mechanism, the height position of each lifting fulcrum can be deviated, and the corresponding height position values are different.
S11: determining the most lagging lifting fulcrum according to the moving direction of the large lifting platform and the height position value of each lifting fulcrum;
comparing the height position value of each lifting fulcrum, and selecting a maximum height position value and a minimum height position value; if the large lifting platform is in a lifting motion state, the lifting fulcrum corresponding to the minimum height position value is the most lagging fulcrum; and if the large lifting platform is in a descending motion state, the lifting fulcrum corresponding to the maximum height position value is the most lagging fulcrum.
S12: calculating the height deviation between each lifting fulcrum and the most lagging lifting fulcrum;
subtracting the height position value of the most lagging lifting fulcrum from the height position value of each lifting fulcrum, and then calculating an absolute value to obtain the height deviation of each lifting fulcrum;
s13: respectively sending speed control signals to corresponding lifting fulcrums according to the calculated height deviation so as to ensure that the height deviation of each lifting fulcrum and the most lagging lifting fulcrum does not exceed a preset maximum height deviation Dmax。
Because the speed difference of each lifting fulcrum causes the difference of the displacement, the height position of each lifting fulcrum can be adjusted by adjusting the rated speed of each lifting fulcrum, so that the height deviation between the lifting fulcrums is controlled not to exceed the preset maximum height deviation Dmax。
Wherein, step S13 specifically includes: according to the maximum height deviation DmaxDetermining a startup threshold DstartAnd a stop threshold Dstop(ii) a Comparing the height deviation of each lifting fulcrum with a starting threshold value DstartThe size of (d); if the height deviation is greater than or equal to the activation threshold DstartSending a control signal for reducing the speed to the corresponding lifting fulcrum to change the speed from the first rated speed vhAdjusted to a second rated speed vl，vl＜vh(ii) a Calculating the height deviation between the lifting fulcrum in the speed regulation state and the most lagging fulcrum; comparing the calculated height deviation with a stopping threshold DstopIf the height deviation is less than the stop threshold DstopSending speed control signals for increasing the speed to the corresponding lifting fulcrum, and enabling the speed of the corresponding lifting fulcrum to be equal to the second rated speed vlReturning to the first rated speed vhThe relationship between the height deviation and the rated speed is shown in fig. 2.
The method for determining the starting threshold and the stopping threshold comprises the following steps:
determining the numerical range of a starting threshold according to the preset maximum height deviation, wherein the numerical range of the starting threshold is as follows: dstart＜Dmax-2ξvhT, wherein DmaxFor presetting maximum height deviation, ξ is the deviation ratio of the maximum value and the minimum value of the actual speed when the lifting fulcrum is lifted, vhA first rated speed, T is a control period;
determining the numerical range of the stop threshold, wherein the numerical range of the stop threshold is as follows: dstop＞2[(1+0.5ξ)vh-(1-0.5ξ)vl]T, wherein ξ is the deviation ratio of the maximum value and the minimum value of the actual speed when the lifting fulcrum is lifted, vhAt a first rated speed, vlThe second rated speed is set, and T is a control period;
and determining the starting threshold value and the stopping threshold value according to the numerical range of the starting threshold value, the numerical range of the stopping threshold value and the quantity relation between the starting threshold value and the stopping threshold value, wherein the quantity relation between the starting threshold value and the stopping threshold value is that the starting threshold value is larger than the stopping threshold value.
Basic principle of determination of the start threshold and the stop threshold
(1)DstartDetermination of the value range of
DstartThe following factors need to be considered for the value of (A):
1)Dstartthe smaller the set value is, the more beneficial the fulcrums keep the same plane, but the more frequent the speed switching is, the longer the service life of the adjusting element is influenced.
2)DstartThe value needs to satisfy the relation Dstart＞Dstop，DstartToo small, compress DstopA value space.
3)DstartThe bigger the lifting fulcrum is, the more unfavorable the lifting fulcrum is for keeping the same plane, and the maximum deviation of the lifting fulcrum is larger than D to a certain degreemax。
Considering the worst case, as shown in fig. 3, a certain lifting fulcrum is at t1The height deviation between the height position value sampled at the moment and the height position value of the most lagging lifting fulcrum is infinitely close to but less than DstartAnd therefore speed regulation is not initiated. At t1The height deviation sampled at the moment + T is greater than DstartStarting speed regulation, wherein the lifting fulcrum receives a speed regulation command and needs a certain time for switching speed, and the rated speed is vhBecomes vlWill be at t1A time before and sufficiently close to + 2T. Notice the speed of the most lagging lifting pivotDegree in unregulated state, nominal value also being vh. From t1Start to t1At the time of +2T, the speed deviation between the lifting fulcrum and the most lagging lifting fulcrum is ξ v at mosthThe corresponding maximum displacement deviation increase is
ΔD1＝ξvh·2T (1)
Is required to be at t1The height deviation at the +2T moment is less than DmaxThus there are
ΔD1+Dstart＜Dmax(2)
Can be substituted to obtain
Dstart＜Dmax-2ξvhT (3)
(2)DstopDetermination of the value range of
DstopThe following factors need to be considered for the value of (A):
1)Dstopthe smaller the set value is, the more the speed regulation action can be fully utilized, the same plane is kept for all the lifting fulcrums, and the premise is that the regulation is not excessive, namely, the regulated lifting fulcrum is not lagged behind the original most lagged lifting fulcrum.
2)DstopNor too large, and D is required to be satisfiedstart＞DstopThe requirements of (1).
As shown in FIG. 4, considering the worst case, a certain lifting fulcrum is already in a speed regulation state with a rated speed vl. The lifting fulcrum is at t1The deviation between the height position value sampled at the moment and the height position value of the most lagging lifting fulcrum is larger than but sufficiently close to DstopAnd thus the speed regulation is not stopped. At t1The height deviation sampled at the moment of + T is less than Dstart＞DstopAfter the main controller judges, the speed regulation is stopped, but the lifting fulcrum receives a command and switches the speed, and the worst condition of the actual moment is t1A time before and sufficiently close to + 2T. From t1Start to t1At the +2T moment, the rated speed of the lifting fulcrum is vlHowever, the actual value is (1-0.5 ξ) v at the slowestl. Note that the most lagging lifting pivot point is at speedRegulation state with maximum speed (1+0.5 ξ) vh. In this case, the height deviation between the two lifting fulcrums is reduced most rapidly by the deviation reduction amount
ΔD2＝[(1+0.5ξ)vh-(1-0.5ξ)vl]·2T (4)
To avoid over-regulation, creating a new deviation, Δ D is required2<DstopI.e. by
Dstop＞2[(1+0.5ξ)vh-(1-0.5ξ)vl]T (5)
From the expressions (3) and (5), D can be calculatedstartAnd DstopIn combination with Dstart＞DstopMay ultimately determine the activation threshold DstartAnd a stop threshold DstopPossible values.
Such as: a combined large lifting platform is provided with 6 lifting fulcrums, and the lifting fulcrums are communicated in a wireless mode to realize synchronous lifting. v. ofh＝3.5cm/s，vl＝2cm/s，ξ＝0.2，Dmax3 cm. First according to formula and drawing DstartCurve and DstopThe curves, in turn, result in selectable regions of start and stop thresholds, as shown in phantom in fig. 5. As can be seen, when the control period T is greater than 545ms, no threshold value is selectable, i.e., no effective speed adjustment is possible. Secondly, according to Dstart＞DstopSpecifically, two thresholds are selected, and the value combination thereof is various. Two alternative combinations of values are listed in table 1 for T220 ms.
Table 1 example of alternative threshold combinations
Figure BDA0002023559090000051
Based on the multi-fulcrum synchronous control method for the large lifting platform provided by the embodiment, the embodiment of the invention also provides a multi-fulcrum synchronous control system for the large lifting platform, which is described in detail below by combining the attached drawings.
The embodiment of the system is as follows:
referring to fig. 6, the figure is a schematic view of an embodiment of the multi-fulcrum synchronous control system of the large-scale lifting platform provided by the invention.
The multi-fulcrum synchronous control system for the large lifting platform provided by the embodiment comprises a height position detection module 100, a calculation module 200 and a synchronous control module 300;
each lifting fulcrum corresponds to one height position detection module 100; the height position detection module 100 is configured to detect a height position signal of a corresponding lifting fulcrum, and send the height position signal to the calculation module 200; the height position signal represents a height position value of each lifting fulcrum, and each lifting fulcrum is driven by a corresponding driving mechanism, so that the height position value of each lifting fulcrum is deviated, and the corresponding height position signals are different. The calculation module 200 is configured to determine a most lagging lifting fulcrum according to the height position signal of each lifting fulcrum, compare the height position signal of each lifting fulcrum with the height position signal of the most lagging lifting fulcrum, obtain a height deviation between each lifting fulcrum and the most lagging lifting fulcrum, and send the height deviation of each lifting fulcrum to the synchronization control module 300; the synchronous control module 300 is configured to send speed control signals to corresponding lifting fulcrums according to the height deviation of each lifting fulcrum, so as to ensure that the height deviation between the lifting fulcrum and the most lagging lifting fulcrum does not exceed a preset maximum height deviation.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner. Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present invention, or modify equivalent embodiments, using the methods and techniques disclosed above, without departing from the scope of the present invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the protection scope of the technical solution of the present invention, unless the content of the technical solution of the present invention is departed from.

Claims (2)

1. A multi-fulcrum synchronous control method for a large lifting platform is characterized in that the method is applied to the large lifting platform, the large lifting platform comprises at least two lifting fulcrums, and the method comprises the following steps:
respectively acquiring a height position value of each lifting fulcrum;
comparing the height position value of each lifting fulcrum, and determining the most lagging lifting fulcrum according to the motion state of the large lifting platform;
calculating the height deviation of each lifting fulcrum and the most lagging lifting fulcrum, wherein the height deviation is the absolute value of the difference between the height position value of the lifting fulcrum and the height position value of the most lagging lifting fulcrum;
respectively sending speed control signals to corresponding lifting fulcrums according to the height deviation so as to ensure that the height deviation of each lifting fulcrum and the most lagging lifting fulcrum does not exceed a preset maximum height deviation;
the method specifically comprises the following steps of sending speed control signals to corresponding lifting fulcrums according to the height deviation so as to ensure that the height deviation between each lifting fulcrum and the most lagging lifting fulcrum does not exceed a preset maximum height deviation:
determining a starting threshold value and a stopping threshold value according to the preset maximum height deviation;
comparing the height deviation of each lifting fulcrum with the size of the starting threshold;
if the height deviation is greater than or equal to the starting threshold, sending a speed control signal for reducing the speed to the lifting fulcrum corresponding to the height deviation, and changing the lifting speed of the corresponding lifting fulcrum from a preset first rated speed to a preset second rated speed, wherein the second rated speed is less than the first rated speed;
detecting height position values of all lifting fulcrums, and calculating height deviation between the lifting fulcrums in a speed adjusting state and the most lagging lifting fulcrum;
comparing the height deviation to the magnitude of the stopping threshold;
if the height deviation is smaller than or equal to the stop threshold, sending a speed control signal for increasing the speed to the lifting fulcrum corresponding to the height deviation, and recovering the lifting speed of the corresponding lifting fulcrum from the second rated speed to the first rated speed;
the method for determining the starting threshold value and the stopping threshold value according to the preset maximum height deviation comprises the following steps of:
determining the numerical range of the starting threshold according to the preset maximum height deviation, wherein the numerical range of the starting threshold is as follows: dstart＜Dmax-2ξvhT, wherein DstartTo activate the threshold, Dmaxξ is the deviation ratio of the maximum value and the minimum value in the actual speed when the lifting fulcrum is lifted, vhThe first rated speed is adopted, and T is a control period;
determining a numerical range of the stop threshold, wherein the numerical range of the stop threshold is as follows: dstop＞2[(1+0.5ξ)vh-(1-0.5ξ)vl]T, wherein Dstopξ is the deviation ratio between the maximum value and the minimum value in the actual speed when the lifting fulcrum is lifted for stopping the threshold value, vhIs said first rated speed, vlThe second rated speed is set, and T is a control period;
and determining the starting threshold value and the stopping threshold value according to the numerical range of the starting threshold value, the numerical range of the stopping threshold value and the quantity relation between the starting threshold value and the stopping threshold value, wherein the quantity relation between the starting threshold value and the stopping threshold value is that the starting threshold value is larger than the stopping threshold value.
2. The large-scale lifting platform multi-fulcrum synchronous control method according to claim 1, wherein the method for comparing the height position value of each lifting fulcrum and determining the most lagging lifting fulcrum according to the motion state of the large-scale lifting platform comprises the following steps:
comparing the height position value of each lifting fulcrum, and selecting a maximum height position value and a minimum height position value;
if the large lifting platform is in a lifting motion state, the lifting fulcrum corresponding to the minimum height position value is the most lagging lifting fulcrum;
and if the large lifting platform is in a descending motion state, the lifting fulcrum corresponding to the maximum height position value is the most lagging lifting fulcrum.
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