CN114810705B - Hydraulic control system based on multi-cylinder synchronization - Google Patents
Hydraulic control system based on multi-cylinder synchronization Download PDFInfo
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- CN114810705B CN114810705B CN202210738965.5A CN202210738965A CN114810705B CN 114810705 B CN114810705 B CN 114810705B CN 202210738965 A CN202210738965 A CN 202210738965A CN 114810705 B CN114810705 B CN 114810705B
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- 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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/22—Synchronisation of the movement of two or more servomotors
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- 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
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
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Abstract
The invention discloses a hydraulic control system based on multi-cylinder synchronization, relates to the technical field of hydraulic control, and solves the technical problem that the synchronous control precision of a hydraulic cylinder cannot meet the requirement because a certain hydraulic cylinder is used as a reference hydraulic cylinder without considering time delay influence when multi-cylinder synchronous operation is controlled in the prior art; according to the invention, an analysis period and a prediction result are introduced, the stroke data of each hydraulic cylinder is analyzed in each period to obtain a stroke comparison sequence, then the hydraulic cylinders are synchronously adjusted by combining the prediction result of the reference hydraulic cylinder, the stroke of each hydraulic cylinder is ensured to be consistent in one analysis period, the synchronous control precision of the hydraulic cylinders is improved, and the purpose of synchronous operation of multiple cylinders is achieved; when the reference hydraulic cylinder is obtained, one hydraulic cylinder corresponding to the most value or the median value can be selected as the reference hydraulic cylinder according to the actual situation, so that the difficulty in synchronous adjustment caused by overlarge stroke difference between the reference hydraulic cylinder and the non-reference hydraulic cylinder is avoided, and the application range of the hydraulic cylinder is expanded.
Description
Technical Field
The invention belongs to the field of hydraulic control, relates to a multi-cylinder synchronization hydraulic control technology, and particularly relates to a multi-cylinder synchronization-based hydraulic control system.
Background
In a hydraulic double-cylinder or multi-cylinder transmission system, a synchronous operation control system is important to the safety, reliability and the like of equipment operation. However, due to the influence of leakage, frictional resistance, manufacturing accuracy and other factors, the synchronous action of the hydraulic cylinders is difficult to guarantee.
In the prior art (the invention patent with the publication number of CN 101392771A), a hydraulic forming device is used for acquiring a stroke detection signal, a controller is used for converting the stroke detection signal into a proportional speed regulating signal, and an electro-hydraulic proportional speed regulating valve is used for controlling the flow of oil liquid according to the proportional speed regulating signal so as to realize the synchronous control of a hydraulic cylinder; in the prior art, in the control of multi-cylinder synchronous operation, one hydraulic cylinder is used as a reference to control other hydraulic cylinders to be synchronous with the reference hydraulic cylinder, but time delay is not considered, so that the synchronous control precision of the hydraulic cylinders cannot meet the requirement; therefore, a hydraulic control system based on multi-cylinder synchronization is needed.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art; therefore, the invention provides a hydraulic control system based on multi-cylinder synchronization, which is used for solving the technical problem that the synchronous control precision of hydraulic cylinders cannot meet the requirement because a certain hydraulic cylinder is used as a reference hydraulic cylinder without considering time delay influence when the multi-cylinder synchronous operation is controlled in the prior art.
In order to achieve the above object, a first aspect of the present invention provides a hydraulic control system based on multi-cylinder synchronization, including a plurality of hydraulic cylinders and a synchronization control module, where the synchronization control module includes:
a state detection unit: acquiring stroke data of a plurality of hydraulic cylinders in real time through a state detection device;
an analysis control unit: comparing and analyzing the stroke data of each hydraulic cylinder according to the analysis period to obtain a stroke comparison sequence; and
determining a reference hydraulic cylinder; synchronously adjusting each hydraulic cylinder according to the stroke comparison sequence and the prediction result; and the prediction result refers to the stroke data of the next analysis period of the hydraulic cylinder.
Preferably, the state detection unit is respectively communicated and/or electrically connected with the state detection device and the analysis control unit; the state detection device comprises a stroke detection device, and is arranged on each hydraulic cylinder.
Preferably, the analysis control unit determines the reference hydraulic cylinder according to the stroke data, and includes:
selecting the hydraulic cylinder with the stroke data as the maximum value as a reference hydraulic cylinder; wherein the most value comprises a maximum value or a minimum value; or
And selecting the hydraulic cylinder corresponding to the stroke data median as a reference hydraulic cylinder.
Preferably, when more than one hydraulic cylinder is screened out according to the maximum value or the median value of the stroke data, one hydraulic cylinder is selected as the reference hydraulic cylinder.
Preferably, the analyzing and controlling unit obtains the journey comparison sequence according to the journey data, and the method includes:
obtaining an analysis period; wherein the analysis period is obtained according to the reciprocating time or the reciprocating stroke;
when the reference hydraulic cylinder works for one analysis period, comparing the stroke data of each hydraulic cylinder to obtain a stroke comparison sequence; wherein, the stroke comparison sequence comprises stroke difference values of a plurality of hydraulic cylinders;
and when any stroke difference value in the stroke comparison sequence exceeds the difference threshold value, judging that the hydraulic cylinder works abnormally, and generating an abnormal early warning signal.
Preferably, obtaining an analysis cycle according to the reciprocation time includes:
acquiring the reciprocating time of the hydraulic cylinder, and marking the reciprocating time as WS; wherein, the reciprocating time is obtained according to the design parameters of the hydraulic cylinder;
obtaining an analysis period FZ by a formula FZ = WS/N; wherein N is the number of analysis cycles in each reciprocating motion, and N is an integer greater than or equal to 4.
Preferably, acquiring an analysis cycle according to the reciprocating stroke includes:
acquiring the reciprocating stroke of the hydraulic cylinder, and marking the reciprocating stroke as WX; wherein, the reciprocating stroke is obtained according to the design parameters of the hydraulic cylinder;
the analysis period FZ is obtained by the formula FZ = WX/N.
Preferably, the obtaining of the run-length comparison sequence comprises:
acquiring stroke data of a reference hydraulic cylinder;
and acquiring the stroke difference value of the non-reference hydraulic cylinder and the reference hydraulic cylinder, and integrating the stroke difference value to generate a stroke comparison sequence.
Preferably, the prediction result is set empirically or is obtained by referring to the total stroke of the hydraulic cylinder.
Preferably, the synchronous adjustment of each hydraulic cylinder according to the prediction result and the stroke comparison sequence comprises:
acquiring the target stroke of each hydraulic cylinder in the next analysis period according to the prediction result and the stroke comparison sequence;
and converting the target stroke into a control signal, and controlling the hydraulic source of each hydraulic cylinder through the control signal.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, an analysis period and a prediction result are introduced, the stroke data of each hydraulic cylinder is analyzed in each period to obtain a stroke comparison sequence, then the hydraulic cylinders are synchronously adjusted by combining the prediction result of the reference hydraulic cylinder, the stroke consistency of the hydraulic cylinders is ensured in one analysis period, the synchronous control precision of the hydraulic cylinders is improved, and the purpose of synchronous operation of multiple cylinders is achieved.
2. When the reference hydraulic cylinder is obtained, the hydraulic cylinder with the largest stroke is not selected, and the hydraulic cylinder corresponding to the maximum value or the median value can be selected as the reference hydraulic cylinder according to the actual condition, so that the problem that the synchronous adjustment is difficult due to the overlarge stroke difference value between the reference hydraulic cylinder and the non-reference hydraulic cylinder is solved, and the application range of the hydraulic cylinder is expanded.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of the working steps of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood 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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the prior art (the invention patent with the publication number of CN 101392771A), a hydraulic forming device is used for acquiring a stroke detection signal, a controller is used for converting the stroke detection signal into a proportional speed regulation signal, and an electro-hydraulic proportional speed regulation valve is used for controlling the flow of oil liquid according to the proportional speed regulation signal so as to realize the synchronous control of a hydraulic cylinder; in the prior art, in the control of multi-cylinder synchronous operation, a certain hydraulic cylinder is used as a reference to control other hydraulic cylinders to be synchronous with the reference hydraulic cylinder, but time delay is not considered, so that the synchronous control precision of the hydraulic cylinders cannot meet the requirement.
The invention introduces an analysis period and a prediction result, analyzes the stroke data of each hydraulic cylinder in each period to obtain a stroke comparison sequence, and then synchronously adjusts each hydraulic cylinder by combining the prediction result of a reference hydraulic cylinder so as to achieve the aim of synchronous operation of multiple cylinders.
Referring to fig. 1, an embodiment of a first aspect of the present application provides a hydraulic control system based on multi-cylinder synchronization, including a plurality of hydraulic cylinders and a synchronization control module, where the synchronization control module includes:
a state detection unit: acquiring stroke data of a plurality of hydraulic cylinders in real time through a state detection device;
an analysis control unit: comparing and analyzing the stroke data of each hydraulic cylinder according to the analysis period to obtain a stroke comparison sequence; and
determining a reference hydraulic cylinder; and synchronously adjusting each hydraulic cylinder according to the stroke comparison sequence and the prediction result.
The state detection unit is respectively communicated and/or electrically connected with the state detection device and the analysis control unit; the state detection device comprises a stroke detection device, and is arranged on each hydraulic cylinder. The stroke detection device comprises a built-in type and an external type and is mainly used for acquiring the stroke of the hydraulic cylinder.
In one embodiment, the analysis control unit determines a reference hydraulic cylinder from the stroke data, comprising:
selecting the hydraulic cylinder with the stroke data as the maximum value as a reference hydraulic cylinder; wherein the most value comprises a maximum value or a minimum value; or
And selecting the hydraulic cylinder corresponding to the stroke data median as a reference hydraulic cylinder.
The main purpose in this embodiment is to determine the reference hydraulic cylinder, and the reference hydraulic cylinder may be obtained by using the maximum value of the stroke data or by using the median value of the stroke data.
For example, in the present embodiment, if there are 5 hydraulic cylinders, and the stroke data (unit mm) corresponding to the analysis period are 100, 110, 120, 130, and 140, respectively, the hydraulic cylinder corresponding to the minimum stroke data of 100mm is selected as the reference hydraulic cylinder of the analysis period, the hydraulic cylinder corresponding to the maximum stroke data of 140mm may be selected as the reference hydraulic cylinder of the analysis period, and the hydraulic cylinder corresponding to the median value of 120mm may be selected as the reference hydraulic cylinder of the analysis period.
In a specific embodiment, when more than one hydraulic cylinder is selected according to the maximum value or the median value of the stroke data, one hydraulic cylinder is selected as the reference hydraulic cylinder.
For example, in this embodiment, it is assumed that there are 5 hydraulic cylinders, the stroke data (unit mm) corresponding to the analysis period are 100, 110, 120, 130, and 130, respectively, and the hydraulic cylinder corresponding to the maximum stroke data is selected as the reference hydraulic cylinder, at this time, two hydraulic cylinders are selected, and one of the two hydraulic cylinders is selected as the reference hydraulic cylinder.
In one embodiment, the analysis control unit obtains a trip comparison sequence according to the trip data, and includes:
obtaining an analysis period; wherein the analysis period is obtained according to the reciprocating time or the reciprocating stroke;
when the reference hydraulic cylinder works for one analysis period, comparing the stroke data of each hydraulic cylinder to obtain a stroke comparison sequence;
and when any stroke difference value in the stroke comparison sequence exceeds the difference threshold value, judging that the hydraulic cylinder works abnormally, and generating an abnormal early warning signal.
The main purpose of this embodiment is to obtain the stroke data relation between each hydraulic cylinder and the reference hydraulic cylinder in the analysis cycle to conveniently carry out the synchronization adjustment to each hydraulic cylinder.
In an alternative embodiment, obtaining an analysis period based on the reciprocation time includes:
acquiring the reciprocating time of the hydraulic cylinder, and marking the reciprocating time as WS;
the analysis period FZ is obtained by the formula FZ = WS/N.
In the embodiment, the reciprocating time is obtained according to the design parameters of the hydraulic cylinder; assuming that the time required by the hydraulic cylinder to do one reciprocating motion is 5 seconds, the 5 seconds are the reciprocating time, and then the analysis period can be obtained according to the set N.
It is understood that N is the number of analysis cycles in each reciprocation, and N is an integer of 4 or more; theoretically, the more the number of analysis cycles, the higher the synchronous adjustment precision of each hydraulic cylinder, but the larger the data volume, so the number of analysis cycles should be reasonable, and the balance between the synchronous adjustment precision and the data processing capacity is achieved.
In an alternative embodiment, acquiring an analysis cycle based on the reciprocating stroke comprises:
acquiring the reciprocating stroke of the hydraulic cylinder, and marking the reciprocating stroke as WX; wherein, the reciprocating stroke is obtained according to the design parameters of the hydraulic cylinder;
the analysis period FZ is obtained by the formula FZ = WX/N.
In the embodiment, the analysis period is divided by the reciprocating stroke of the hydraulic cylinder; when the reciprocating stroke is too long, the analysis period can be divided through the reciprocating time, and when the reciprocating time is too short, the analysis period can be divided through the reciprocating stroke, so that the reasonable analysis period can be obtained under different conditions.
In a specific embodiment, the obtaining of the run-length comparison sequence comprises:
acquiring stroke data of a reference hydraulic cylinder;
and acquiring the stroke difference value of the non-reference hydraulic cylinder and the reference hydraulic cylinder, and integrating the stroke difference value to generate a stroke comparison sequence.
In this embodiment, it is mainly the analysis period that obtains the stroke difference between the non-reference hydraulic cylinder (other hydraulic cylinders except the reference hydraulic cylinder) and the reference hydraulic cylinder.
For example, in the embodiment, it is assumed that there are 5 hydraulic cylinders, the stroke data (unit mm) corresponding to the analysis period are 100, 110, 120, 130, and 140, respectively, and the hydraulic cylinder corresponding to the maximum stroke data is selected as the reference hydraulic cylinder, that is, the hydraulic cylinder corresponding to the stroke data of 140mm is selected as the reference hydraulic cylinder;
run-length alignment sequences are generated based on the run-length differences, such as [ -40, -30, -20, -10, 0 ].
In one embodiment, the predicted result is stroke data of a next analysis period of the reference hydraulic cylinder; the prediction result can be predicted by combining the travel data of the previous analysis period with a time series model, and can be directly set according to experience; the method is more convenient and faster to directly set according to experience, and the precision is also guaranteed.
The time series model comprises a differential autoregressive moving average model, and the differential autoregressive moving average model is obtained according to the autoregressive model and the moving average model.
In one embodiment, the synchronously adjusting each hydraulic cylinder according to the prediction result and the stroke comparison sequence comprises:
acquiring the target stroke of each hydraulic cylinder in the next analysis period according to the prediction result and the stroke comparison sequence;
and converting the target stroke into a control signal, and controlling the hydraulic source of each hydraulic cylinder through the control signal.
The main purpose of this embodiment is to solve the problem of time delay in the synchronization process; if the hydraulic cylinder with the largest stroke is used as the reference hydraulic cylinder, then the stroke difference value between the non-reference hydraulic cylinder and the reference hydraulic cylinder is obtained, then the hydraulic cylinder is correspondingly adjusted according to the stroke difference value, and when the adjustment of the non-reference hydraulic cylinder meets the requirement, the reference hydraulic cylinder can continuously move by using the adjusting time and cannot achieve the required multi-cylinder synchronization, so that the prediction result is introduced in the method.
For example, in the embodiment, it is assumed that there are 5 hydraulic cylinders, the stroke data (unit mm) corresponding to the analysis period are 100, 110, 120, 130, and 140, respectively, and the hydraulic cylinder corresponding to the maximum stroke data is selected as the reference hydraulic cylinder, that is, the hydraulic cylinder corresponding to the stroke data of 140mm is selected as the reference hydraulic cylinder;
the prediction result is set to be 10mm according to experience, and the travel difference value and the prediction result are combined to obtain a data sequence of [ -50, -40, -30, -20, -10 ]; namely, the stroke of the first hydraulic cylinder needs to be increased by 50mm in the next analysis period, the stroke of the second hydraulic cylinder needs to be increased by 30mm in the next analysis period, … …, and the stroke of the reference hydraulic cylinder needs to be increased by 10mm in the next analysis period, which can also be understood as the target stroke of each hydraulic cylinder; and adjusting each hydraulic cylinder according to the data sequence to achieve multi-cylinder synchronization in the next analysis period.
It should be noted that when the predicted result corresponding to the reference cylinder should be set in conjunction with the total stroke thereof, for example, the reference cylinder still has 5mm reaching the target position, but if the predicted result is set empirically to 10mm, the predicted result should be set to 5 mm.
Part of data in the formula is obtained by removing dimensions and calculating the numerical value of the data, and the formula is a formula which is closest to the real condition and obtained by simulating a large amount of collected data through software; the preset parameters and the preset threshold values in the formula are set by those skilled in the art according to actual conditions or obtained through simulation of a large amount of data.
The working principle of the invention is as follows:
the state detection unit acquires the stroke data of the plurality of hydraulic cylinders in real time through the state detection device connected with the state detection unit and sends the stroke data to the analysis control unit in real time.
And the analysis control unit determines an analysis period and a reference hydraulic cylinder, and compares and analyzes the stroke data of each hydraulic cylinder according to the analysis period to obtain a stroke comparison sequence.
And the analysis control unit synchronously adjusts each hydraulic cylinder according to the stroke comparison sequence and the prediction result, so that the aim of multi-cylinder synchronization is fulfilled.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the present invention.
Claims (8)
1. Hydraulic control system based on multi-cylinder synchronization includes a plurality of pneumatic cylinder and synchronous control module, its characterized in that, the synchronous control module includes:
a state detection unit: acquiring stroke data of a plurality of hydraulic cylinders in real time through a state detection device;
an analysis control unit: determining an analysis period; comparing and analyzing the stroke data of each hydraulic cylinder according to the analysis period to obtain a stroke comparison sequence; and
determining a reference hydraulic cylinder; synchronously adjusting each hydraulic cylinder according to the stroke comparison sequence and the prediction result; the prediction result refers to the stroke data of the next analysis period of the hydraulic cylinder;
the analysis control unit acquires a travel comparison sequence according to the travel data, and the analysis control unit comprises:
obtaining an analysis period; wherein the analysis period is obtained according to the reciprocating time or the reciprocating stroke;
when the reference hydraulic cylinder works for one analysis period, comparing the stroke data of each hydraulic cylinder to obtain a stroke comparison sequence; wherein, the stroke comparison sequence comprises stroke difference values of a plurality of hydraulic cylinders;
when any stroke difference value in the stroke comparison sequence exceeds the difference threshold value, judging that the hydraulic cylinder works abnormally, and generating an abnormal early warning signal;
obtaining an analysis period according to the reciprocating time, comprising:
acquiring the reciprocating time of the hydraulic cylinder, and marking the reciprocating time as WS; wherein, the reciprocating time is obtained according to the design parameters of the hydraulic cylinder;
obtaining an analysis period FZ by a formula FZ = WS/N; wherein N is the number of analysis cycles in each reciprocating motion, and N is an integer greater than or equal to 4.
2. The hydraulic control system based on multi-cylinder synchronization according to claim 1, characterized in that the state detection unit is in communication and/or electrical connection with a state detection device, an analysis control unit, respectively; the state detection device comprises a stroke detection device, and is arranged on each hydraulic cylinder.
3. The hydraulic control system based on multi-cylinder synchronization of claim 1, wherein the analysis control unit determines a reference hydraulic cylinder according to stroke data, comprising:
selecting the hydraulic cylinder with the stroke data as the maximum value as a reference hydraulic cylinder; wherein the most value comprises a maximum value or a minimum value; or alternatively
And selecting the hydraulic cylinder corresponding to the stroke data median as a reference hydraulic cylinder.
4. The hydraulic control system based on multi-cylinder synchronization of claim 3, wherein when more than one hydraulic cylinder is selected according to the most or the median value of the stroke data, any one hydraulic cylinder is selected as the reference hydraulic cylinder.
5. The hydraulic control system based on multi-cylinder synchronization of claim 1, wherein obtaining an analysis cycle from the reciprocal stroke comprises:
acquiring the reciprocating stroke of the hydraulic cylinder, and marking the reciprocating stroke as WX; wherein, the reciprocating stroke is obtained according to the design parameters of the hydraulic cylinder;
the analysis period FZ is obtained by the formula FZ = WX/N.
6. The hydraulic control system based on multi-cylinder synchronization of claim 1, wherein the obtaining of the stroke comparison sequence comprises:
acquiring stroke data of a reference hydraulic cylinder;
and acquiring the stroke difference value of the non-reference hydraulic cylinder and the reference hydraulic cylinder, and integrating the stroke difference value to generate a stroke comparison sequence.
7. The hydraulic control system based on multi-cylinder synchronization of claim 1, wherein the synchronous adjustment of the hydraulic cylinders according to the prediction result and the stroke comparison sequence comprises:
acquiring the target stroke of each hydraulic cylinder in the next analysis period according to the prediction result and the stroke comparison sequence;
and converting the target stroke into a control signal, and controlling the hydraulic source of each hydraulic cylinder through the control signal.
8. The hydraulic control system based on multi-cylinder synchronization of claim 1, wherein the prediction result is set empirically or obtained from the total stroke of the reference hydraulic cylinder.
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| JPH06330907A (en) * | 1993-05-26 | 1994-11-29 | Kayaba Ind Co Ltd | Synchronization control circuit for liquid pressure actuator |
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| CN114294277A (en) * | 2021-12-31 | 2022-04-08 | 长江勘测规划设计研究有限责任公司 | Synchronization method for double-cylinder hydraulic hoist based on oil pressure regulation |
| CN216618063U (en) * | 2021-10-22 | 2022-05-27 | 山东陆海重工有限公司 | Synchronous lifting device for passenger roller bridge |
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2022
- 2022-06-28 CN CN202210738965.5A patent/CN114810705B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH06330907A (en) * | 1993-05-26 | 1994-11-29 | Kayaba Ind Co Ltd | Synchronization control circuit for liquid pressure actuator |
| CN101392771A (en) * | 2008-10-13 | 2009-03-25 | 江苏武进液压启闭机有限公司 | Hydraulic double cylinder or multi-cylinder synchronous control system |
| CN101672311A (en) * | 2009-09-24 | 2010-03-17 | 中冶赛迪工程技术股份有限公司 | Multi-hydraulic cylinder synchronization control method |
| CN110107552A (en) * | 2019-04-12 | 2019-08-09 | 北京航天发射技术研究所 | A kind of vehicular platform supporting leg synchronisation control means and system |
| CN216618063U (en) * | 2021-10-22 | 2022-05-27 | 山东陆海重工有限公司 | Synchronous lifting device for passenger roller bridge |
| CN114294277A (en) * | 2021-12-31 | 2022-04-08 | 长江勘测规划设计研究有限责任公司 | Synchronization method for double-cylinder hydraulic hoist based on oil pressure regulation |
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