CN105314551B

CN105314551B - Counterweight control method and device for hoisting machinery

Info

Publication number: CN105314551B
Application number: CN201510751486.7A
Authority: CN
Inventors: 毛艳
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2015-11-06
Filing date: 2015-11-06
Publication date: 2017-03-22
Anticipated expiration: 2035-11-06
Also published as: CN105314551A

Abstract

The invention discloses a counterweight control method and device for hoisting machinery. Wherein, the method comprises the following steps: after the handle inputs an initial control value to control the two oil cylinders to synchronously lift, detecting the stroke information of the two oil cylinders; determining a reference oil cylinder and an adjusted oil cylinder according to the stroke information of the two oil cylinders; controlling the regulated oil cylinder to decelerate until the difference value of the stroke information of the reference oil cylinder and the stroke information of the regulated oil cylinder is within a preset range, and recording the current real-time control values of the two oil cylinders; and controlling the two oil cylinders to act based on the stroke information of the two oil cylinders and the recorded real-time control values of the two oil cylinders. The invention solves the technical problem that in the prior art, in the process of controlling the balance weight to stably lift by a hoisting machine, the lift of the balance weight is constantly adjusted by taking an oil cylinder on one side as a reference, so that the effective control range of a handle is reduced, and the efficiency of adjusting the lift of the balance weight is low.

Description

The counterweight control method of hoisting machinery and device

Technical field

The present invention relates to engineering machinery field, the counterweight control method and device in particular to a kind of hoisting machinery.

Background technology

Hoisting machinery typically all carries counterweight, such as autocrane, crawler crane, tower crane etc..With automobile crane As a example by machine, the counterweight of autocrane is flux matched with lifting, and rated load weight is bigger, and counterweight is heavier.When counterweight is installed, Two lift cylinders are usually leaned on, counterweight is lifted liftoff, and after being promoted to certain altitude and position, locking is fixed；Dismounting is matched somebody with somebody It is heavy then be contrary process.

For guaranteeing that counterweight is steadily lifted, the oil cylinder of left and right two must synchronization lifting.Can pass through such as Fig. 1 institutes in prior art The control system shown realizes left and right oil cylinder real-time synchronization.As shown in figure 1, the system includes handle 11 ', controller 12 ', automatically controlled ratio Example valve 13 ', hydraulic jack 14 ', length detection sensor 15 ' and balanced valve 16 '.Wherein, handle be for providing input signal, Handle opening amount signal is sent into into controller, controller is exported the control electric current for controlling electronically controlled proportional valve, the control by logic Electric current determines the aperture of electronically controlled proportional valve, so as to control the hydraulic fluid flow rate into oil cylinder, and then controls rising or falling speed.Length is passed Sensor detects the stroke of oil cylinder, and feeds back to controller.

The implementation method of the system is：Two oil cylinders in left and right respectively have a set of identical jacking system, by detecting left and right side The elongation (i.e. stroke) of oil cylinder, compares the difference of the elongation of two side cylinders, learns the lifting speed state of left and right oil cylinder, from And the output of real-time adjustment correspondence electronically controlled proportional valve, it is consistent the lifting position of left and right oil cylinder, realizes that left and right oil cylinder is real-time It is synchronous.

Realize in prior art that the control strategy that left and right side cylinder real-time synchronization is lifted is to appoint to take side cylinder elongation work On the basis of, for example：On the basis of taking left side oil cylinder elongation, compare the difference of right side oil cylinder elongation and left side oil cylinder, left side oil The controlling value of cylinder is exported according to the size of handle signal, and the controlling value of right side oil cylinder follows the controlling value of left side oil cylinder Size, and with reference to the difference of elongation, export after algorithm carries out adjusting and adjusts.

Specifically, on the basis of taking a certain side cylinder elongation, another side cylinder elongation is adjusted on this benchmark up and down, if It is faster than benchmark, to slow down, need to accelerate if slower than benchmark, therefore, the maximum controlling value (referred to as basic threshold) of reference side can not Take the full scale value of handle, it is necessary to reserve certain surplus, as the regulation threshold value for being conditioned side, so as to be conditioned side controlling value exist Increase or decrease in reference side controlling value, realization is conditioned the acceleration or deceleration control of side cylinder.That is, basic threshold+ Adjust the full scale value of threshold value=handle.

For example, for the handle that stroke range is 0-1000, basic threshold can take 700, it is then 300 to adjust threshold value, i.e., The effective control stroke of reference side is 0-700, and the stroke of remaining 0-300 is adjusted for PID control, if benchmark as surplus Side controlling value takes maximum 700, then is conditioned side controlling value and up adds or down subtract from 700 from 700.That is, by It is 700 in the maximum controlling value of reference side, effective output speed of whole synchronization lifting is restricted to maximum and can only achieve 700.

As can be seen here, the shortcoming of above-mentioned control method of the prior art is, if adjust threshold value take it is big, necessarily sacrifice Basic threshold, narrows effective input reference signal of handle, causes oil cylinder rising or falling speed to be limited；If it is little that regulation threshold value takes, Then control dynamics are weaker, affect Synchronization Control effect.

Additionally, the elongation in order to follow benchmark oil cylinder in real time, according to the size of deviation to value, which is defeated for the controlling value of handle It is little when going out big when being possible to, easily cause the counterweight for being conditioned this side of oil cylinder to wave, vibrate so that severe duty has safety hidden Suffer from.

For in prior art during hoisting machinery control counterweight is steadily lifted, it is constant on the basis of certain side cylinder Counterweight lifting is adjusted, the effective control scope of handle can be made to diminish, the technical problem for causing the efficiency for adjusting counterweight lifting low, mesh It is front not yet to propose effective solution.

The content of the invention

Counterweight control method and the device of a kind of hoisting machinery is embodiments provided, at least to solve prior art During hoisting machinery control counterweight is steadily lifted, it is constant to adjust counterweight lifting on the basis of certain side cylinder, handss can be made The effective control scope of handle diminishes, the technical problem for causing the efficiency for adjusting counterweight lifting low.

One side according to embodiments of the present invention, there is provided a kind of counterweight control method of hoisting machinery, hoisting machinery Including：For lifting two oil cylinders of counterweight, the method includes：It is input into initial control values to control two oil cylinders in joystick After synchronization lifting, the travel information of two oil cylinders is detected, wherein, travel information is used for indicating the rising or falling speed of oil cylinder；According to The travel information of two oil cylinders, determines benchmark oil cylinder and is conditioned oil cylinder, and wherein, the rising or falling speed of benchmark oil cylinder is less than and is conditioned The rising or falling speed of oil cylinder；Control is conditioned oil cylinder and is slowed down, until the travel information of benchmark oil cylinder and the row for being conditioned oil cylinder The difference of journey information is within preset range, and records the real-time control value of current two oil cylinder；Based on two oil cylinders The real-time control value of two oil cylinders of travel information and record controls two cylinder actions.

Another aspect according to embodiments of the present invention, additionally provide a kind of hoisting machinery with weight control, crane Tool includes：For lifting two oil cylinders of counterweight, the device includes：Detector unit, in the initial control of joystick input Value detects the travel information of two oil cylinders come after controlling two oil cylinder synchronization liftings, and wherein, travel information is used for indicating oil cylinder Rising or falling speed；Determining unit, for the travel information according to two oil cylinders, determines benchmark oil cylinder and is conditioned oil cylinder, wherein, The rising or falling speed of benchmark oil cylinder is less than the rising or falling speed for being conditioned oil cylinder；First control unit, is conditioned oil cylinder for control and enters Row slows down, until the travel information of benchmark oil cylinder is within preset range with the difference of the travel information for being conditioned oil cylinder, and Record the real-time control value of current two oil cylinder；Second control unit, for the travel information based on two oil cylinders and record Two oil cylinders real-time control value control two cylinder actions.

In embodiments of the present invention, it is input into initial control values, after controlling two oil cylinder synchronization liftings, to detect in handle The travel information of two oil cylinders, and according to the travel information of two oil cylinders, it is determined that using slower oil cylinder as benchmark oil cylinder, with compared with Used as oil cylinder is conditioned, then control is conditioned oil cylinder and is slowed down fast oil cylinder, until the travel information of benchmark oil cylinder and quilt The difference of travel information of oil cylinder is adjusted within preset range, and records the real-time control value of current two oil cylinder, In follow-up counterweight control process, the real-time control of two oil cylinders of travel information and record based on two oil cylinders for detecting Value two cylinder actions of control.Solve in prior art during hoisting machinery control counterweight is steadily lifted, it is constant with Counterweight lifting is adjusted on the basis of certain side cylinder, the effective control scope of handle can be made to diminish, cause to adjust the efficiency of counterweight lifting Low technical problem.

Description of the drawings

Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, this Bright schematic description and description does not constitute inappropriate limitation of the present invention for explaining the present invention.In the accompanying drawings：

Fig. 1 is a kind of schematic diagram of the counterweight lift control system of the hoisting machinery according to prior art；

Fig. 2 is a kind of flow chart of the counterweight control method of hoisting machinery according to embodiments of the present invention；

Fig. 3 is the flow chart of the counterweight control method of a kind of optional hoisting machinery according to embodiments of the present invention；

Fig. 4 is the flow chart of the counterweight control method of a kind of optional hoisting machinery according to embodiment illustrated in fig. 3；And

Fig. 5 is a kind of schematic diagram with weight control of hoisting machinery according to embodiments of the present invention.

Specific embodiment

In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention Accompanying drawing, is clearly and completely described to the technical scheme in the embodiment of the present invention, it is clear that described embodiment is only The embodiment of a part of the invention, rather than the embodiment of whole.Based on the embodiment in the present invention, ordinary skill people The every other embodiment obtained under the premise of creative work is not made by member, should all belong to the model of present invention protection Enclose.

It should be noted that description and claims of this specification and the term " first " in above-mentioned accompanying drawing, " Two " it is etc. for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so using Data can exchange in the appropriate case, so as to embodiments of the invention described herein can with except here diagram or Order beyond those of description is implemented.Additionally, term " comprising " and " having " and their any deformation, it is intended that cover Lid is non-exclusive to be included, and for example, process, method, system, product or the equipment for containing series of steps or unit is not necessarily limited to Those steps clearly listed or unit, but may include clearly not list or for these processes, method, product Or intrinsic other steps of equipment or unit.

First, the part noun for occurring during being described to the embodiment of the present invention or term are applied to following solution Release：

Pid algorithm：It is the control algolithm with ratio (P), integration (I) and differential (D), the deviation in loop is repaiied Just, measurement value stabilization is made near setting value, reach the purpose for controlling a certain parameter.

Embodiment 1

According to embodiments of the present invention, there is provided a kind of embodiment of the method for the counterweight control method of hoisting machinery, need It is bright, can hold in the such as computer system of one group of computer executable instructions the step of the flow process of accompanying drawing is illustrated OK, and, although show logical order in flow charts, but in some cases, can be with different from order herein Perform shown or described step.

Hoisting machinery includes：For lifting two oil cylinders of counterweight, Fig. 2 is a kind of crane according to embodiments of the present invention The flow chart of the counterweight control method of tool, as shown in Fig. 2 the method may include steps of：

Step S22, is input into initial control values, after controlling two oil cylinder synchronization liftings, to detect two oil cylinders in handle Travel information, wherein, travel information is used for indicating the rising or falling speed of oil cylinder.

Alternatively, when the counterweight synchronization lifting process of hoisting machinery starts, the real-time control value of two oil cylinders is identical, For the initial control values being input at handle；During the counterweight synchronization lifting of hoisting machinery, linear transducer reality can be passed through When ground detection left and right two oil cylinders travel information.

Alternatively, handle currency when initial control values can start for the counterweight synchronization lifting process of hoisting machinery, The initial control values can be the full scale value of handle.

In above-mentioned steps S22, elongation of the travel information for oil cylinder, for characterizing the rising or falling speed of oil cylinder.

It should be noted that during two oil cylinders synchronously rise, the speed that the larger oil cylinder of travel information rises Comparatively fast, the speed that the less oil cylinder of travel information rises is slower；During two oil cylinders synchronously decline, travel information is larger The speed that declines of oil cylinder it is slower, the speed that the less oil cylinder of travel information declines；In the mistake of two oil cylinder synchronization liftings Cheng Zhong, when left and right two oil cylinders travel information difference within a predetermined range when, represent two oil cylinders rising or falling speed it is basic Unanimously, i.e. the oil cylinder of left and right two is synchronous rising or synchronous decline.

Step S24, according to the travel information of two oil cylinders, determines benchmark oil cylinder and is conditioned oil cylinder, wherein, benchmark oil cylinder Rising or falling speed less than being conditioned the rising or falling speed of oil cylinder.

Alternatively, after the counterweight synchronization lifting process of hoisting machinery starts, two are controlled with identical initial control values Individual oil cylinder synchronization lifting, then according to the travel information of two oil cylinders for detecting, using rising or falling speed slower oil cylinder as base Quasi- oil cylinder, and using rising or falling speed slower oil cylinder as being conditioned oil cylinder.

Step S26, control are conditioned oil cylinder and are slowed down, until the travel information of benchmark oil cylinder and the row for being conditioned oil cylinder The difference of journey information is within preset range, and records the real-time control value of current two oil cylinder.

Optionally it is determined that on the basis of the slower oil cylinder of rising or falling speed after oil cylinder, deceleration control is carried out to being conditioned oil cylinder, And detect the travel information of two oil cylinders by linear transducer in real time, in the difference of the travel information for detecting two oil cylinders When in preset range, it is believed that benchmark oil cylinder has been carried out synchronization lifting with oil cylinder is conditioned, two oil cylinders now are recorded Corresponding real-time control value.

In above-mentioned steps S26, as benchmark oil cylinder takes initial control values all the time, and the real-time control value of oil cylinder is conditioned Then progressively reduce on the basis of initial control values, until two oil cylinders realize that synchronization lifting (stretch by i.e. above-mentioned two oil cylinders The difference of long amount is in preset range), record the corresponding real-time control value of now two oil cylinders.

It should be noted that in the lifting process of oil cylinder, it is necessary first to determine reference side, when initial with slow side cylinder it is Benchmark, carries out deceleration regulation to fast side cylinder, until two side cylinders realize synchronization lifting.Adjust in the process is to slow down all the time , therefore the initial control values of benchmark oil cylinder can be given to maximum (i.e. the full scale value of handle), namely benchmark oil cylinder is real-time Controlling value can be the full scale value of handle, be conditioned the real-time control value of oil cylinder then on the basis of initial control values down Subtract.As the real-time control value of benchmark oil cylinder can get maximum, represent that output of the handle in whole stroke range has Effect, therefore, the effective control scope of handle is not affected.

The real-time control value control two of two oil cylinders of step S28, the travel information based on two oil cylinders and record is oily Cylinder action.

Alternatively, it is determined that benchmark oil cylinder and being conditioned oil cylinder and recording real-time when two oil cylinders realize synchronization lifting After controlling value, the real-time control value of two oil cylinders based on the record controls two oil cylinders and rises or falls, in the process, By the travel information of two oil cylinders of linear transducer real-time detection, and the rising or falling speed to being conditioned side cylinder is adjusted, To guarantee that the difference of the travel information of two oil cylinders is within preset range all the time, i.e. guarantee two oil cylinder synchronization liftings.

In optional application scenarios, the process for controlling hoisting machinery counterweight synchronization lifting can be：With handle Full scale value is that initial value two oil cylinders of control start synchronization lifting, when initial, needs to be determined on the basis of which side cylinder first, Can be by the travel information (e.g., elongation) of two oil cylinders of linear transducer real-time detection, according to two oil cylinders for detecting Elongation determine that the rising or falling speed of which side cylinder is slower, and using the side cylinder as benchmark oil cylinder, another side cylinder is carried out Slow down and adjust, until two oil cylinders realize synchronization lifting (i.e. the difference of the elongation of two oil cylinders is within preset range), And when two oil cylinders realize synchronization lifting, the real-time control value of record now two oil cylinders, with follow-up with re-synchronizing liter During drop, the elongation of two oil cylinders arrived with the real-time control value and real-time detection of two oil cylinders for recording is oily to two The lifting of cylinder carries out Real-time and Dynamic regulation, it is ensured that two oil cylinder real-time synchronization liftings.By above-mentioned steps, due to it is determined that benchmark During oil cylinder, the real-time control value of benchmark oil cylinder can get the maximum of the stroke range of handle, and all the time to being adjusted Fuel-economizing cylinder carries out deceleration regulation, therefore, the whole stroke range of handle is all effective control scope, with prior art it is constant with The lifting that counterweight is adjusted on the basis of certain side cylinder is compared, it is to avoid remaining as adjusting due to needing to reserve a part of stroke range Amount, the problem for causing the effective control scope of handle to narrow, in the above embodiment of the present invention, whole stroke ranges of handle are equal Effectively, whole counterweight synchronization lifting control process can be run with maximum output speed, effectively increase and adjust hoisting machinery The efficiency of counterweight lifting.

For example, as a example by the application scenarios of the full scale value with initial control values as handle, the above embodiment of the present invention is entered Row explanation.So that the stroke range of handle is as 0-1000 as an example, when the counterweight synchronization lifting process of hoisting machinery starts, work as handle During middle beginning input signal (such as maximum 1000), synchronous ascending or synchronous letdown procedure is run, two oil cylinders in control left and right are same Step lifting.In the initial of counterweight synchronization lifting process, it is necessary first to determine the benchmark oil cylinder and quilt during counterweight synchronization lifting Adjust oil cylinder.If being judged according to the oil cylinder stroke information that linear transducer is detected, the rising or falling speed of left side oil cylinder is slower, The oil cylinder on the basis of the oil cylinder of left side；Left side oil cylinder take front handle input value (i.e. 1000) be real-time control value, right side oil cylinder As oil cylinder is conditioned, deceleration regulation is carried out on the basis of the input value (i.e. 1000) of front handle, until linear transducer When the difference of the elongation of two oil cylinders in left and right for detecting is in preset range, it is believed that the oil cylinder of left and right two realizes synchronous liter Drop, then record the real-time control value (such as 700) and the real-time control value (i.e. 1000) of left side oil cylinder of now right side oil cylinder, extremely This, the determination process of benchmark oil cylinder terminates.During follow-up counterweight synchronization lifting, based on two oil cylinders in left and right for recording The travel information of two oil cylinders of real-time control value and real-time detection, two oil cylinders of control carry out real-time synchronization lifting.

Present invention also offers following preferred version, is PID outputs so as to solve to be conditioned side controlling value in prior art, Two-ways regulation has increasing to have to subtract, and can cause to be conditioned side counterweight swinging up and down, and stability is bad, and danger even occurs when serious Problem.

Alternatively, step S24, according to the travel information of two oil cylinders, determines benchmark oil cylinder and is conditioned oil cylinder and can wrap Include step S242 and step S244：

Step S242, in the case where two oil cylinders of control synchronously rise, in determining two oil cylinders, travel information is less Oil cylinder on the basis of oil cylinder, and the larger oil cylinder of travel information is to be conditioned oil cylinder in determining two oil cylinders.

Alternatively, when two oil cylinders synchronously rise under the control of initial control values, according to linear transducer detection two The travel information (e.g., elongation) of individual oil cylinder, compares the elongation of two oil cylinders for detecting, in synchronous uphill process, stretches Long amount is less to represent the highly relatively low of oil cylinder, that is to say, that the rate of climb of the oil cylinder is slower, conversely, elongation is larger, represents The height of oil cylinder is higher, i.e. the rate of climb of the oil cylinder is very fast, then using an elongation less side cylinder as benchmark oil cylinder, And using an elongation larger side cylinder as being conditioned oil cylinder.

Step S244, in the case where two oil cylinders of control synchronously decline, in determining two oil cylinders, travel information is larger Oil cylinder on the basis of oil cylinder, and the less oil cylinder of travel information is to be conditioned oil cylinder in determining two oil cylinders.

Alternatively, when two oil cylinders synchronously decline under the control of initial control values, detected according to linear transducer Two oil cylinders travel information (e.g., elongation), compare the elongation of two oil cylinders for detecting, decline process synchronous In, the larger height for representing oil cylinder of elongation is higher, that is to say, that the decrease speed of the oil cylinder is slower, conversely, elongation is less The highly relatively low of oil cylinder is represented, i.e. the decrease speed of the oil cylinder is very fast, then using an elongation larger side cylinder as benchmark Oil cylinder, and using an elongation larger side cylinder as being conditioned oil cylinder.

In an optional embodiment, the real-time control value of two oil cylinders includes the first real-time control value of benchmark oil cylinder With the second real-time control value for being conditioned oil cylinder, wherein, step S26, control are conditioned oil cylinder and are slowed down, until benchmark oil cylinder Travel information and the travel information for being conditioned oil cylinder difference within preset range, and record current two oil cylinder Real-time control value can include step S262, step S264 and step S266：

Step S262, the travel information based on benchmark oil cylinder and the difference of the travel information for being conditioned oil cylinder, calculate and are adjusted Corresponding first increment of adjustment of fuel-economizing cylinder.

The initial control values for being conditioned oil cylinder are carried out regulation of successively decreasing using the first increment of adjustment by step S264, until base The travel information of quasi- oil cylinder is within preset range with the difference of the travel information for being conditioned oil cylinder.

Step S266, is in preset range in the travel information of benchmark oil cylinder with the difference of the travel information for being conditioned oil cylinder Within when, record the first current real-time control value and the second real-time control value.

Alternatively, it is determined that after benchmark oil cylinder, when carrying out deceleration regulation to being conditioned oil cylinder, pid algorithm can be passed through The first increment of adjustment for adjusting every time is calculated, and based on the initial control values for being conditioned oil cylinder, with the first increment of adjustment is Decreasing increments carry out control of successively decreasing, meanwhile, by the travel information of two oil cylinders of linear transducer real-time detection, until reference oil The travel information of cylinder is within preset range with the difference of the travel information for being conditioned oil cylinder, then no longer carry out control of successively decreasing, And record the first real-time control value (i.e. initial control values) of current benchmark oil cylinder and be conditioned the second control in real time of oil cylinder Value processed.

In an optional embodiment, step S262, the travel information based on benchmark oil cylinder and the row for being conditioned oil cylinder The difference of journey information, calculating is conditioned corresponding first increment of adjustment of oil cylinder can be included：First is calculated according to equation below to adjust Section increment △ U：△ U=K_p*E+K_i*(E₁-E₂)+K_d*(E-2E₁+E₂)。

Wherein, K_pFor the proportionality coefficient of pid algorithm, K_iFor the integral coefficient of pid algorithm, K_dFor the differential system of pid algorithm Number, the first difference of the travel information of oil cylinder and the travel information for being conditioned oil cylinder, E on the basis of E₁On the basis of oil cylinder stroke letter Cease the second difference with the travel information for being conditioned oil cylinder, E₂On the basis of oil cylinder travel information and be conditioned oil cylinder stroke letter 3rd difference of breath.

Alternatively, to be conditioned oil cylinder carry out slow down adjust when, be calculated according to pid algorithm be conditioned oil cylinder correspondence The first increment of adjustment.

It should be noted that the E in above-mentioned formula is the travel information of current benchmark oil cylinder and the row for being conditioned oil cylinder The difference of journey information, E₁The travel information of the benchmark oil cylinder detected for the last time and the difference of the travel information for being conditioned oil cylinder Value, E₂For the difference of travel information and the travel information for being conditioned oil cylinder of the upper benchmark oil cylinder for detecting twice.

By the above embodiment of the present invention, Jing pid algorithms are calculated increment of adjustment, make to be conditioned the real-time control of oil cylinder Value is associated with the integral differential of the difference and the difference of the travel information of two oil cylinders, quick response can eliminate two oil cylinders Travel information between deviation, it is ensured that realize the real-time synchronization of left and right sides oil cylinder in counterweight dynamic lifting process, so as to reality Now ballast water is average surely rises or falls.

In an optional embodiment, step S28, the reality of stroke letter and two oil cylinders for recording based on two oil cylinders When controlling value control two cylinder actions can include step S282, step S284, step S286 and step S288：

Step S282, controls benchmark cylinder action with the first real-time control value of record, and real-time with record second Controlling value is controlling to be conditioned cylinder action.

Specifically, it is determined that benchmark oil cylinder oil cylinder will be conditioned adjusts to after synchronous with benchmark oil cylinder, continue to two The lifting of individual oil cylinder is adjusted control.Adjust control it is initial when, it is (i.e. initial to control with the first real-time control value for recording Value) control benchmark oil cylinder rises or falls, and be conditioned oil cylinder and rise or fall with the second real-time control value control for recording.

Alternatively, benchmark oil cylinder and it is being conditioned in the lifting process of oil cylinder, in fact it could happen that three kinds of different situations：

1st, the rising or falling speed of benchmark oil cylinder is still relatively slow, and the rising or falling speed for being conditioned oil cylinder is still very fast；

2nd, the rising or falling speed of benchmark oil cylinder is very fast, and the rising or falling speed for being conditioned oil cylinder is slower；

3rd, benchmark oil cylinder is consistent with the rising or falling speed for being conditioned oil cylinder.

Therefore, it is also desirable to pass through execution step S284, monitor in real time benchmark oil cylinder and the motion speed shape of oil cylinder is conditioned Condition.

Step S284, according to the travel information of benchmark oil cylinder and is conditioned the travel information of oil cylinder, determine benchmark oil cylinder and It is conditioned the motion speed situation of oil cylinder.

Alternatively, by the travel information of two oil cylinders of linear transducer real-time detection, and two oil cylinders to detecting Travel information be compared, determine and benchmark oil cylinder and be conditioned the motion speed situation of oil cylinder.

It should be noted that determining the implementation and above-mentioned step of the motion speed situation of two oil cylinders in step S284 The implementation for comparing the rising or falling speed of two oil cylinders in rapid S24 is consistent, will not be described here.

Step S286, if the speed of benchmark oil cylinder is believed according to the stroke of benchmark oil cylinder less than the speed for being conditioned oil cylinder The difference with the travel information for being conditioned oil cylinder is ceased, control is conditioned oil cylinder and is slowed down.

Specifically, if the speed of benchmark oil cylinder is less than the speed (i.e. above-mentioned situation 1) for being conditioned oil cylinder, with reference oil The travel information of cylinder is foundation with the difference of the travel information for being conditioned oil cylinder, and control is conditioned oil cylinder deceleration, so as to realize control The purpose of two oil cylinder synchronization liftings of system.

Step S288, if the speed of benchmark oil cylinder is believed according to the stroke of benchmark oil cylinder more than the speed for being conditioned oil cylinder The difference with the travel information for being conditioned oil cylinder is ceased, control is conditioned oil cylinder and is accelerated.

Specifically, if the speed of benchmark oil cylinder is more than the speed (i.e. above-mentioned situation 2) for being conditioned oil cylinder, with reference oil The travel information of cylinder is foundation with the difference of the travel information for being conditioned oil cylinder, and control is conditioned oil cylinder acceleration, so as to realize control The purpose of two oil cylinder synchronization liftings of system.

In an optional embodiment, if the difference of the travel information of benchmark oil cylinder and the travel information for being conditioned oil cylinder In preset range, then it is assumed that the speed of benchmark oil cylinder (i.e. above-mentioned situation 3) suitable with the speed for being conditioned oil cylinder, need not It is adjusted to being conditioned oil cylinder, and continues according to current the first real-time control value control benchmark cylinder action, with current The control of second real-time control value is conditioned cylinder action.

Alternatively, step S286, according to travel information and the difference of the travel information for being conditioned oil cylinder of benchmark oil cylinder, controls System is conditioned oil cylinder and carries out deceleration and can include step S2862 and step S2864：

Step S2862, the travel information based on benchmark oil cylinder and the difference of the travel information for being conditioned oil cylinder, calculate and are adjusted Corresponding second increment of adjustment of fuel-economizing cylinder.

In an optional embodiment, step S2862, the travel information based on benchmark oil cylinder and the row for being conditioned oil cylinder The difference of journey information, calculating is conditioned corresponding second increment of adjustment of oil cylinder can be included：Second is calculated according to equation below to adjust Section increment △ U_1：

△ U_1=K_p_1*E_1+K_i_1*(E₁_1-E₂_1)+K_d_1*(E_1-2E₁_1+E₂_1)。

Wherein, K_p_ 1 for pid algorithm proportionality coefficient, K_i_ 1 for pid algorithm integral coefficient, K_d_ 1 is the micro- of pid algorithm Point coefficient, the first difference of the travel information of oil cylinder and the travel information for being conditioned oil cylinder, E on the basis of E_1₁Oil cylinder on the basis of _ 1 Travel information and the travel information for being conditioned oil cylinder the second difference, E₂On the basis of _ 1 the travel information of oil cylinder be conditioned oil 3rd difference of the travel information of cylinder.

It should be noted that the E_1 in above-mentioned formula is the travel information of current benchmark oil cylinder and be conditioned oil cylinder The difference of travel information, E₁The travel information and the travel information for being conditioned oil cylinder of _ the 1 benchmark oil cylinder detected for the last time Difference, E₂_ 1 is the difference of the travel information with the travel information for being conditioned oil cylinder of the upper benchmark oil cylinder for detecting twice.

Step S2864, carries out regulation of successively decreasing using the second increment of adjustment to the second real-time control value, until benchmark oil cylinder The difference of travel information and the travel information for being conditioned oil cylinder is within preset range or the second real-time control value is minimized Value.

It is alternatively possible to calculate the second increment of adjustment for adjusting every time by pid algorithm, and to be conditioned the second of oil cylinder Based on real-time control value, successively decreased with the second increment of adjustment as decreasing increments, meanwhile, by linear transducer real-time detection The travel information of two oil cylinders, until the travel information of benchmark oil cylinder is in the difference of the travel information for being conditioned oil cylinder make a reservation for Within the scope of, or when the second real-time control value is minimized value (such as 0), then no longer carry out control of successively decreasing.

In an optional embodiment, in the case where the second real-time control value is minimized value, above-mentioned method is also Step S2866 and step S2866 can be included：

Step S2866, it is static that control is conditioned oil cylinder.

Step S2868, continues with the first real-time control value for recording to control benchmark cylinder action, until benchmark oil cylinder Travel information is within preset range with the difference of the travel information for being conditioned oil cylinder.

Alternatively, when the second real-time control value is minimized value, if the travel information of benchmark oil cylinder be conditioned oil cylinder Travel information difference still not within preset range, then it represents that benchmark oil cylinder is still lagged behind and is conditioned oil cylinder, now with Control is conditioned that oil cylinder is static, and the first real-time control value (i.e. initial control values) the control benchmark oil cylinder for continuing to record is moved Make, until benchmark oil cylinder catch up with and is conditioned oil cylinder, namely the travel information of benchmark oil cylinder and the travel information for being conditioned oil cylinder Difference is within preset range.

Alternatively, step S288, according to travel information and the difference of the travel information for being conditioned oil cylinder of benchmark oil cylinder, controls System is conditioned oil cylinder and carries out acceleration and can include step S2882 and step S2884：

Step S2882, the travel information based on benchmark oil cylinder and the difference of the travel information for being conditioned oil cylinder, calculate and are adjusted Corresponding 3rd increment of adjustment of fuel-economizing cylinder.

In an optional embodiment, step S2882, the travel information based on benchmark oil cylinder and the row for being conditioned oil cylinder The difference of journey information, calculating is conditioned corresponding 3rd increment of adjustment of oil cylinder can be included：The 3rd is calculated according to equation below to adjust Section increment △ U_2：

△ U_2=K_p_2*E_2+K_i_2*(E₁_2-E₂_2)+K_d_2*(E_2-2E₁_2+E₂_2)。

Wherein, K_p_ 2 for pid algorithm proportionality coefficient, K_i_ 2 for pid algorithm integral coefficient, K_d_ 2 are the micro- of pid algorithm Point coefficient, the first difference of the travel information of oil cylinder and the travel information for being conditioned oil cylinder, E on the basis of E_2₁Oil cylinder on the basis of _ 2 Travel information and the travel information for being conditioned oil cylinder the second difference, E₂On the basis of _ 2 the travel information of oil cylinder be conditioned oil 3rd difference of the travel information of cylinder.

It should be noted that the E_2 in above-mentioned formula is the travel information of current benchmark oil cylinder and be conditioned oil cylinder The difference of travel information, E₁The travel information and the travel information for being conditioned oil cylinder of _ the 2 benchmark oil cylinders detected for the last time Difference, E₂_ 2 is the difference of the travel information with the travel information for being conditioned oil cylinder of the upper benchmark oil cylinder for detecting twice.

Step S2884, carries out incremental using the 3rd increment of adjustment to the second real-time control value, until benchmark oil cylinder The difference of travel information and the travel information for being conditioned oil cylinder is within preset range or the second real-time control value is heightened to most It is big to be worth.

It is alternatively possible to calculate the 3rd increment of adjustment for adjusting every time by pid algorithm, and to be conditioned the second of oil cylinder Based on real-time control value, it is incremented by with the 3rd increment of adjustment as increment, meanwhile, by linear transducer real-time detection The travel information of two oil cylinders, until the travel information of benchmark oil cylinder is in the difference of the travel information for being conditioned oil cylinder make a reservation for Within the scope of, or when the second real-time control value is raised to maximum (such as the full scale value of handle), be then no longer incremented by Control.

In an optional embodiment, in the case where the second real-time control value is heightened to maximum, above-mentioned method Step S2886 and step S2888 can also be included：

Whether step S2886, the travel information of judgment standard oil cylinder are in the difference of the travel information for being conditioned oil cylinder Within preset range.

Step S2888, if the difference of the travel information of benchmark oil cylinder and the travel information for being conditioned oil cylinder is not in predetermined model Within enclosing, then return and redefine benchmark oil cylinder and be conditioned oil cylinder.

Alternatively, when the second real-time control value is heightened to maximum, if the travel information of benchmark oil cylinder be conditioned oil The difference of the travel information of cylinder is not still within preset range, then it represents that the second real-time control value for being conditioned oil cylinder cannot Heighten again and be conditioned oil cylinder and still lag behind benchmark oil cylinder, if the now travel information of benchmark oil cylinder and the row for being conditioned oil cylinder The difference of journey information is then conditioned oil cylinder without the need for adjusting again within preset range, and with the first current real-time control value (i.e. initial control values) control benchmark cylinder action, with current the second real-time control value (i.e. the full scale value of handle) control quilt Adjust cylinder action.

If now the travel information of benchmark oil cylinder with the difference of the travel information for being conditioned oil cylinder not within preset range, Then represent that the current benchmark oil cylinder for determining is no longer suitable, need return above-mentioned steps S22 to be re-executed to step S26, with Redefine benchmark oil cylinder.

With reference to above-described embodiment, application scenarios are dropped to control hoisting machinery with re-synchronizing, as shown in Figure 3 and Figure 4, A kind of optional embodiment of the present invention can include following two parts：Determine benchmark oil cylinder part and regulation part.

Wherein, after it is determined that completing the step of benchmark oil cylinder part, the step of adjusting part will be performed, to realize to rising Hoisting machinery with the control for re-synchronizing decline.

As shown in figure 3, being input into U0 in the full scale with handle starts synchronization as two oil cylinders in initial control values control left and right After decline process, can include the step of determine benchmark oil cylinder：

Step a1, i=0.Wherein, i is for counting to the cycle-index of regulation of successively decreasing.

Step a2, U_l_i=U0, U_r_i=U0.

Specifically, in above-mentioned steps a2, U_l_i represents that the first of the left side oil cylinder that i ＆ lt is successively decreased when adjusting is controlled in real time Value processed, U_r_i represent i ＆ lt successively decrease adjust when right side oil cylinder the second real-time control value.

It should be noted that when initial, the first real-time control value of left side oil cylinder is input value U0 at handle, right side Second real-time control value of oil cylinder is also input value U0 at handle, control synchronization of two side cylinders in identical initial control values Decline.

Step a3, H_l ＞ H_r？

Specifically, in above-mentioned steps a3, H_l represents the travel information of left side oil cylinder (as linear transducer is detected Oil cylinder elongation), H_r represents the travel information of right side oil cylinder.Left and right sides oil cylinder is controlled with initial control values U0 in identical During synchronous decline, judge whether the elongation of left side oil cylinder is more than the elongation of right side oil cylinder.

If it should be noted that elongation of the elongation of left side oil cylinder more than right side oil cylinder, then it represents that under the oil cylinder of left side Slow down, now determine oil cylinder on the basis of left side, and deceleration regulation is carried out to right side oil cylinder by following step a4 to a7, until left The difference of the elongation of right two side cylinders is less than threshold value.If the elongation of right side oil cylinder is more than the elongation of left side oil cylinder, table Show, now determine oil cylinder on the basis of right side, and right side oil cylinder is subtracted by following step a8 to a11 Velocity modulation section, until the elongation of left and right sides oil cylinder is equal.When the difference of the elongation of left and right sides oil cylinder is less than threshold value, really The step of determining benchmark oil cylinder part is completed.

Need further to illustrate, it is in actual mechanical process, due to reasons such as machine error, operating errors, left The elongation of right two side cylinders can not possibly be completely the same, therefore, when the difference of the elongation of left and right sides oil cylinder is in predetermined model When enclosing, you can think that the elongation of left and right sides oil cylinder is equal.

Step a4, U_l_i=U0, U_r_i=U_r_i- △ U.

Wherein, △ U are according to the calculated increment of adjustment of pid algorithm.

It should be noted that the calculation of △ U is consistent with the calculation of △ U in above-mentioned steps S262, here is no longer Repeat.

Step a5, U_l_i+1=U0, U_r_i+1=U_r_i.

Step a6, i=i+1.

Step a7, H_l=H_r？

Specifically, in the situation of H_l=H_r, it is determined that terminate the part of benchmark oil cylinder；In the situation of H_l ≠ H_r, then Return execution step a4.

Specifically, in above-mentioned steps a4 to step a7, it is determined that on the basis of left side in the case of oil cylinder, by left side oil cylinder The first real-time control value be set to U0, and regulation of successively decreasing is carried out to the second real-time control value of right side oil cylinder using △ U, until Left side oil cylinder is equal with the elongation of right side oil cylinder, now represents that left and right sides oil cylinder has realized synchronous decline.

It should be noted that after it is determined that the Overall Steps execution of benchmark oil cylinder part is completed, recording current left-side First real-time control value of oil cylinder (i.e. benchmark oil cylinder) is U0, and records the of current right side oil cylinder (being conditioned oil cylinder) Two real-time control values are U1.

Step a8, U_r_i=U0, U_l_i=U_l_i- △ U.

Step a9, U_r_i+1=U0, U_l_i+1=U_l_i.

Step a10, i=i+1.

Step a11, H_r=H_l？

Specifically, in the situation of H_l=H_r, it is determined that terminate the part of benchmark oil cylinder；In the situation of H_l ≠ H_r, then Return execution step a8.

Specifically, in above-mentioned steps a8 to step a11, it is determined that on the basis of right side in the case of oil cylinder, by right side oil Second real-time control value of cylinder is set to U0, and carries out regulation of successively decreasing using △ U to the first real-time control value of left side oil cylinder, directly It is equal with the elongation of left side oil cylinder to right side oil cylinder, now represent that left and right sides oil cylinder has realized synchronous decline.

It should be noted that after it is determined that the Overall Steps execution of benchmark oil cylinder part is completed, recording current right side The second real-time control value (i.e. U0) of oil cylinder (i.e. benchmark oil cylinder), and record current left side oil cylinder (being conditioned oil cylinder) First real-time control value (successively decrease U_l_i for the last time that obtain).

Further, in the implementation of above-mentioned steps a1 to a11 and the above embodiment of the present invention step S22 to step The implementation of S26 is consistent, will not be described here.

As shown in figure 4, on the basis of determining left side oil cylinder as a example by oil cylinder, after it is determined that completing the step of benchmark oil cylinder, The step of adjusting part can include：

Step b1, j=0.Wherein, j is counted for the cycle-index to adjusting.

Step b2, U_l=U0, U_r_j=U1.

Specifically, it is initial in the synchronous control process that declines to left and right sides oil cylinder, by left side oil cylinder (benchmark oil cylinder) First real-time control value U_l is set to U0, and when will be initial on the right side of oil cylinder (being conditioned oil cylinder) the second real-time control value U_r_0 The U1 recorded in being set to above-mentioned determination benchmark oil cylinder part.

Step b3, H_l ＞ H_r？

Specifically, on the left of declining in control process to the synchronous of left and right sides oil cylinder, judging, whether the elongation of oil cylinder More than the elongation of right side oil cylinder.

Wherein, if H_l is ＞ H_r, then it represents that slow down under left side oil cylinder (benchmark oil cylinder), execution step b4 is now needed to step Rapid b8, to carry out deceleration regulation to right side oil cylinder (being conditioned oil cylinder)；If H_l is not less than H_r, execution step b9.

Step b4, U_l=U0, U_r_j=U_r_j- △ U.

Step b5, U_l=U0, U_r_j+1=U_r_j.

Step b6, j=j+1.

Step b7, U_r_j≤0？

Specifically, in the case of U_r_j≤0, execution step b8；In the case of U_r_j ＞ 0, execution step is returned b4。

Step b8, U_l=U0, U_r=0.

Specifically, in above-mentioned steps b4 to step b8, when slowing down under left side oil cylinder (benchmark oil cylinder), adjust in jth time Regulation of successively decreasing is carried out to the second real-time control value U_r_j of right side oil cylinder using △ U during section, if during regulation, the Two real-time control values U_r_j reduce to 0, then control left side oil cylinder with U0 as the first real-time control value U_l and decline, and with 0 as second Real-time control value U_r control right side oil cylinder is static, waits left side oil cylinder to catch up with.

Step b9, H_l ＜ H_r？

Wherein, if H_l is ＜ H_r, then it represents that left side oil cylinder (benchmark oil cylinder) declines soon, now needs execution step b10 extremely Step b14, to carry out acceleration regulation to right side oil cylinder (being conditioned oil cylinder)；If H_l is not less than H_r, execution step b15.

Step b10, U_l=U0, U_r_j=U_r_j+ △ U.

Step b11, U_l=U0, U_r_j+1=U_r_j.

Step b12, j=j+1.

Step b13, U_r_j >=U0？

Specifically, in the case of U_r_j >=U0, execution step b14；In the case of U_r_j ＜ U0, then return and perform Step b10.

Specifically, in above-mentioned steps b10 to step b13, when left side oil cylinder (benchmark oil cylinder) declines fast, in jth time Incremental is carried out to the second real-time control value U_r_j of right side oil cylinder using △ U during regulation, if during regulation, Second real-time control value U_r_j is heightened to maximum U0 (cannot now continue to heighten), then it represents that current benchmark oil cylinder is It is no longer suitable, now need to jump out current regulation program, re-execute the step of determining benchmark oil cylinder part.

Step b14, re-execute determination benchmark oil cylinder part the step of.

Step b15, U_l=U0, U_r=U1.

Specifically, in the case of H_l=H_r, it is believed that left and right sides oil cylinder synchronously declines, the average steady decline of ballast water, Now, continue to keep the first current real-time control value U_l and the second real-time control value U_r control left and right sides oil cylinder to decline.

Specifically, step S262 in the implementation of above-mentioned steps b1 to step b15 and the above embodiment of the present invention Implementation is consistent, will not be described here.

Embodiment 2

According to embodiments of the present invention, additionally provide a kind of hoisting machinery with weight control embodiment, need explanation It is, the counterweight control method of the hoisting machinery that can be used for realizing the embodiment of the present invention with weight control of the hoisting machinery, The counterweight control method of the hoisting machinery of the embodiment of the present invention can also be performed with weight control by the hoisting machinery, Repeating no more for explanation was carried out in the inventive method embodiment.

Hoisting machinery includes：For lifting two oil cylinders of counterweight, Fig. 5 is a kind of crane according to embodiments of the present invention The schematic diagram with weight control of tool, as shown in figure 5, the device can include：Detector unit 52, determining unit 54, first Control unit 56 and the second control unit 58.

Wherein, detector unit 52, is examined after controlling two oil cylinder synchronization liftings in handle input initial control values The travel information of two oil cylinders is surveyed, wherein, travel information is used for indicating the rising or falling speed of oil cylinder.

In above-mentioned detector unit 52, elongation of the travel information for oil cylinder, for characterizing the rising or falling speed of oil cylinder.

Determining unit 54 determines benchmark oil cylinder and is conditioned oil cylinder, wherein, base for the travel information according to two oil cylinders The rising or falling speed of quasi- oil cylinder is less than the rising or falling speed for being conditioned oil cylinder.

First control unit 56 is conditioned oil cylinder and is slowed down for control, until the travel information of benchmark oil cylinder with adjusted The difference of the travel information of fuel-economizing cylinder is within preset range, and records the real-time control value of current two oil cylinder.

In above-mentioned first control unit 56, as benchmark oil cylinder takes initial control values all the time, and the reality of oil cylinder is conditioned When controlling value then progressively reduce on the basis of initial control values, until two oil cylinders realize synchronization lifting (i.e. above-mentioned two The difference of the elongation of oil cylinder is in the preset range), record the corresponding real-time control value of now two oil cylinders.

Second control unit 58 is for the travel information based on two oil cylinders and the real-time control value of two oil cylinders of record Two cylinder actions of control.

Optionally it is determined that unit includes：First determining module and the second determining module.

Wherein, the first determining module, in the case of synchronously rising in two oil cylinders of control, determines row in two oil cylinders Oil cylinder on the basis of the less oil cylinder of journey information, and the larger oil cylinder of travel information is to be conditioned oil cylinder in determining two oil cylinders.

Second determining module, in the case of synchronously declining in two oil cylinders of control, determines stroke letter in two oil cylinders Oil cylinder on the basis of the larger oil cylinder of breath, and the less oil cylinder of travel information is to be conditioned oil cylinder in determining two oil cylinders.

In an optional embodiment, the real-time control value of two oil cylinders includes the first real-time control value of benchmark oil cylinder With the second real-time control value for being conditioned oil cylinder, wherein, the first control unit includes：Computing module, adjustment module and record Module.

Wherein, computing module, for the difference of the travel information based on benchmark oil cylinder and the travel information for being conditioned oil cylinder, Calculating is conditioned corresponding first increment of adjustment of oil cylinder；Adjustment module, for using the first increment of adjustment to being conditioned oil cylinder Initial control values carry out regulation of successively decreasing, until the travel information of benchmark oil cylinder is in the difference of the travel information for being conditioned oil cylinder Within preset range；Logging modle, at the difference in the travel information of benchmark oil cylinder with the travel information for being conditioned oil cylinder When within preset range, the first current real-time control value and the second real-time control value is recorded.

In an optional embodiment, the second control unit includes：First control module, the 3rd determining module, second Control module and the 3rd control module.

Wherein, the first control module, controls benchmark cylinder action for the first real-time control value of record, and to remember Second real-time control value of record is controlling to be conditioned cylinder action.

Therefore, it is also desirable to pass through to perform the 3rd determining module, monitor in real time benchmark oil cylinder is fast with the motion for being conditioned oil cylinder Slow situation.

3rd determining module, for according to the travel information of benchmark oil cylinder and the travel information for being conditioned oil cylinder, determining base Quasi- oil cylinder and the motion speed situation for being conditioned oil cylinder.

It should be noted that determine the implementation of the motion speed situation of two oil cylinders with the 3rd determining module The implementation for comparing the rising or falling speed of two oil cylinders in stating determining unit 54 is consistent, will not be described here.

Second control module, in the case of being less than the speed for being conditioned oil cylinder in the speed of benchmark oil cylinder, according to base The difference of the travel information of quasi- oil cylinder and the travel information for being conditioned oil cylinder, control are conditioned oil cylinder and are slowed down.

3rd control module, in the case of being more than the speed for being conditioned oil cylinder in the speed of benchmark oil cylinder, according to base The difference of the travel information of quasi- oil cylinder and the travel information for being conditioned oil cylinder, control are conditioned oil cylinder and are accelerated.

Alternatively, the second control module includes：First calculating sub module and first adjusts submodule.

Wherein, the first calculating sub module, for the travel information based on benchmark oil cylinder and the travel information for being conditioned oil cylinder Difference, calculating be conditioned corresponding second increment of adjustment of oil cylinder；First adjusts submodule, for using the second increment of adjustment pair Second real-time control value carries out regulation of successively decreasing, until the difference of travel information and the travel information for being conditioned oil cylinder of benchmark oil cylinder Within preset range or the second real-time control value is minimized value.

In an optional embodiment, in the case where the second real-time control value is minimized value, above-mentioned device is also Including：First control submodule and the second control submodule.

Wherein, the first control submodule, is conditioned oil cylinder for control static；Second control submodule, for continue with First real-time control value of record is controlling benchmark cylinder action, until the travel information of benchmark oil cylinder and the row for being conditioned oil cylinder The difference of journey information is within preset range.

Alternatively, the 3rd control module includes：Second calculating sub module and second adjusts submodule.

Wherein, the second calculating sub module, for the travel information based on benchmark oil cylinder and the travel information for being conditioned oil cylinder Difference, calculating be conditioned corresponding 3rd increment of adjustment of oil cylinder；Second adjusts submodule, for using the 3rd increment of adjustment pair Second real-time control value carries out incremental, until the difference of travel information and the travel information for being conditioned oil cylinder of benchmark oil cylinder Within preset range or the second real-time control value is heightened to maximum.

In an optional embodiment, in the case where the second real-time control value is heightened to maximum, above-mentioned device Also include：Judging submodule and determination sub-module.

Wherein, judging submodule, for the difference of travel information and the travel information for being conditioned oil cylinder of judgment standard oil cylinder Whether value is within preset range；Determination sub-module, in the travel information of benchmark oil cylinder and the stroke for being conditioned oil cylinder The difference of information not within the preset range in the case of, return redefines benchmark oil cylinder and is conditioned oil cylinder.

If now the travel information of benchmark oil cylinder with the difference of the travel information for being conditioned oil cylinder not within preset range, Then represent that the current benchmark oil cylinder for determining is no longer suitable, need return to re-execute above-mentioned detector unit 52 to the first and control Unit 56, to redefine benchmark oil cylinder.

The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.

In the above embodiment of the present invention, the description to each embodiment all emphasizes particularly on different fields, and does not have in certain embodiment The part of detailed description, may refer to the associated description of other embodiment.

In several embodiments provided herein, it should be understood that disclosed technology contents, can pass through other Mode is realized.Wherein, device embodiment described above is only schematic, such as the division of described unit, Ke Yiwei A kind of division of logic function, can have when actually realizing other dividing mode, such as multiple units or component can with reference to or Person is desirably integrated into another system, or some features can be ignored, or does not perform.Another, shown or discussed is mutual Between coupling or direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, unit or module Connect, can be electrical or other forms.

The unit as separating component explanation can be or may not be it is physically separate, it is aobvious as unit The part for showing can be or may not be physical location, you can local to be located at one, or can also be distributed to multiple On unit.Some or all of unit therein can be selected according to the actual needs to realize the purpose of this embodiment scheme.

In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, it is also possible to It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.Above-mentioned integrated list Unit both can be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.

If the integrated unit is realized and as independent production marketing or use using in the form of SFU software functional unit When, can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially The part for contributing to prior art in other words or all or part of the technical scheme can be in the form of software products Embody, the computer software product is stored in a storage medium, use so that a computer including some instructions Equipment (can for personal computer, server or network equipment etc.) perform the whole of each embodiment methods described of the invention or Part steps.And aforesaid storage medium includes：USB flash disk, read only memory (ROM, Read-Only Memory), random access memory are deposited Reservoir (RAM, Random Access Memory), portable hard drive, magnetic disc or CD etc. are various can be with store program codes Medium.

The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should It is considered as protection scope of the present invention.

Claims

1. the counterweight control method of a kind of hoisting machinery, the hoisting machinery include：For lifting two oil cylinders of counterweight, which is special Levy and be, including：

It is input into initial control values, after controlling described two oil cylinder synchronization liftings, to detect the stroke of described two oil cylinders in handle Information, wherein, the travel information is used for indicating the rising or falling speed of oil cylinder；

According to the travel information of described two oil cylinders, determine benchmark oil cylinder and be conditioned oil cylinder, wherein, the liter of the benchmark oil cylinder Reduction of speed degree is less than the rising or falling speed for being conditioned oil cylinder；

Oil cylinder is conditioned described in control to be slowed down, until the travel information of the benchmark oil cylinder and the row for being conditioned oil cylinder The difference of journey information is within preset range, and records the real-time control value of current described two oil cylinders；

The real-time control value of described two oil cylinders of travel information and record based on described two oil cylinders controls described two oil Cylinder action.

2. method according to claim 1, it is characterised in that according to the travel information of described two oil cylinders, determine benchmark Oil cylinder and it is conditioned oil cylinder and includes：

In the case where described two oil cylinders synchronization risings are controlled, in determining described two oil cylinders, the less oil cylinder of travel information is The benchmark oil cylinder, and the larger oil cylinder of travel information is conditioned oil cylinder for described in determining described two oil cylinders；

In the case where described two oil cylinders synchronization declines are controlled, in determining described two oil cylinders, the larger oil cylinder of travel information is The benchmark oil cylinder, and the less oil cylinder of travel information is conditioned oil cylinder for described in determining described two oil cylinders.

3. method according to claim 1, it is characterised in that the real-time control value of described two oil cylinders includes the benchmark First real-time control value of oil cylinder and the second real-time control value for being conditioned oil cylinder, wherein, are conditioned oil cylinder described in control Slowed down, until the travel information of the benchmark oil cylinder is in predetermined model with the difference of the travel information for being conditioned oil cylinder Within enclosing, and record the real-time control value of current described two oil cylinders and include：

The difference of the travel information based on the benchmark oil cylinder and the travel information for being conditioned oil cylinder, calculate described in be conditioned Corresponding first increment of adjustment of oil cylinder；

Regulation of successively decreasing is carried out to the initial control values for being conditioned oil cylinder using first increment of adjustment, until the benchmark The travel information of oil cylinder is within the preset range with the difference of the travel information for being conditioned oil cylinder；

The preset range is in the travel information of the benchmark oil cylinder with the difference of the travel information for being conditioned oil cylinder Within when, record current the first real-time control value and the second real-time control value.

4. method according to claim 3, it is characterised in that the travel information based on the benchmark oil cylinder is adjusted with described The difference of the travel information of fuel-economizing cylinder, calculate described in be conditioned corresponding first increment of adjustment of oil cylinder and include：

The first increment of adjustment △ U are calculated according to equation below：

△ U=K_p*E+K_i*(E₁-E₂)+K_d*(E-2E₁+E₂), wherein, the K_pFor the proportionality coefficient of pid algorithm, the K_iFor The integral coefficient of pid algorithm, the K_dFor the differential coefficient of pid algorithm, the E is the travel information of the benchmark oil cylinder and institute State the first difference of the travel information for being conditioned oil cylinder, the E₁Travel information for the benchmark oil cylinder is conditioned oil with described Second difference of the travel information of cylinder, the E₂Travel information and the stroke letter for being conditioned oil cylinder for the benchmark oil cylinder 3rd difference of breath.

5. method according to claim 3, it is characterised in that the institute of travel information and record based on described two oil cylinders The described two cylinder actions of real-time control value control for stating two oil cylinders include：

The benchmark cylinder action is controlled with the first real-time control value of record, and is controlled with record described second in real time Value processed is controlling described to be conditioned cylinder action；

According to the travel information and the travel information for being conditioned oil cylinder of the benchmark oil cylinder, the benchmark oil cylinder and institute is determined State the motion speed situation for being conditioned oil cylinder；

If the speed of the benchmark oil cylinder is less than the speed for being conditioned oil cylinder, according to the travel information of the benchmark oil cylinder With the difference of the travel information for being conditioned oil cylinder, it is conditioned oil cylinder and is slowed down described in control；

If the speed of the benchmark oil cylinder is more than the speed for being conditioned oil cylinder, according to the travel information of the benchmark oil cylinder With the difference of the travel information for being conditioned oil cylinder, it is conditioned oil cylinder and is accelerated described in control.

6. method according to claim 5, it is characterised in that adjusted with described according to the travel information of the benchmark oil cylinder The difference of the travel information of fuel-economizing cylinder, being conditioned oil cylinder and carry out deceleration described in control includes：

The difference of the travel information based on the benchmark oil cylinder and the travel information for being conditioned oil cylinder, calculate described in be conditioned Corresponding second increment of adjustment of oil cylinder；

Regulation of successively decreasing is carried out to the second real-time control value using second increment of adjustment, until the row of the benchmark oil cylinder Journey information is within the preset range or second real-time control with the difference of the travel information for being conditioned oil cylinder Value is minimized value.

7. method according to claim 6, it is characterised in that reduce to the minima in the second real-time control value In the case of, methods described also includes：

Oil cylinder is conditioned described in control static；

Continue with the first real-time control value for recording to control the benchmark cylinder action, until the row of the benchmark oil cylinder Journey information is within the preset range with the difference of the travel information for being conditioned oil cylinder.

8. method according to claim 5, it is characterised in that adjusted with described according to the travel information of the benchmark oil cylinder The difference of the travel information of fuel-economizing cylinder, being conditioned oil cylinder and carry out acceleration described in control includes：

The difference of the travel information based on the benchmark oil cylinder and the travel information for being conditioned oil cylinder, calculate described in be conditioned Corresponding 3rd increment of adjustment of oil cylinder；

Incremental is carried out to the second real-time control value using the 3rd increment of adjustment, until the row of the benchmark oil cylinder Journey information is within the preset range or second real-time control with the difference of the travel information for being conditioned oil cylinder Value is heightened to maximum.

9. method according to claim 8, it is characterised in that heighten to the maximum in the second real-time control value In the case of, methods described also includes：

It is described pre- whether the travel information and the difference of the travel information for being conditioned oil cylinder for judging the benchmark oil cylinder is in Within the scope of fixed；

If the difference of the travel information of the benchmark oil cylinder and the travel information for being conditioned oil cylinder is not in the preset range Within, then return and redefine the benchmark oil cylinder and described be conditioned oil cylinder.

10. a kind of hoisting machinery with weight control, the hoisting machinery includes：For lifting two oil cylinders of counterweight, its It is characterised by, including：

Detector unit, for being input into initial control values come, after controlling described two oil cylinder synchronization liftings, detection is described in handle The travel information of two oil cylinders, wherein, the travel information is used for indicating the rising or falling speed of oil cylinder；

Determining unit, for the travel information according to described two oil cylinders, determines benchmark oil cylinder and is conditioned oil cylinder, wherein, institute The rising or falling speed for stating benchmark oil cylinder is less than the rising or falling speed for being conditioned oil cylinder；

First control unit, for control it is described be conditioned oil cylinder and slowed down, until the travel information of the benchmark oil cylinder with The difference of the travel information for being conditioned oil cylinder is within preset range, and records the real-time of current described two oil cylinders Controlling value；

Second control unit, for the travel information based on described two oil cylinders and the real-time control of described two oil cylinders of record The described two cylinder actions of value control.

11. devices according to claim 10, it is characterised in that the determining unit includes：

First determining module, in the case where described two oil cylinders synchronization risings are controlled, determining row in described two oil cylinders The less oil cylinder of journey information is the benchmark oil cylinder, and the larger oil cylinder of travel information is the quilt in determining described two oil cylinders Adjust oil cylinder；

Second determining module, in the case where described two oil cylinders synchronization declines are controlled, determining row in described two oil cylinders The larger oil cylinder of journey information is the benchmark oil cylinder, and the less oil cylinder of travel information is the quilt in determining described two oil cylinders Adjust oil cylinder.

12. devices according to claim 10, it is characterised in that the real-time control value of described two oil cylinders includes the base First real-time control value of quasi- oil cylinder and the second real-time control value for being conditioned oil cylinder, wherein, first control unit Including：

Computing module, for the difference of the travel information based on the benchmark oil cylinder and the travel information for being conditioned oil cylinder, Corresponding first increment of adjustment of oil cylinder is conditioned described in calculating；

Adjustment module, for carrying out the tune that successively decreases using first increment of adjustment to the initial control values for being conditioned oil cylinder Section, until the travel information of the benchmark oil cylinder is in the preset range with the difference of the travel information for being conditioned oil cylinder Within；

Logging modle, for being in the difference of the travel information for being conditioned oil cylinder in the travel information of the benchmark oil cylinder When within the preset range, current the first real-time control value and the second real-time control value is recorded.

13. devices according to claim 12, it is characterised in that second control unit includes：

First control module, controls the benchmark cylinder action for the first real-time control value of record, and to remember The second real-time control value of record is controlling described to be conditioned cylinder action；

3rd determining module, for the travel information according to the benchmark oil cylinder and the travel information for being conditioned oil cylinder, really The fixed benchmark oil cylinder and the motion speed situation for being conditioned oil cylinder；

Second control module, in the case of in the speed of the benchmark oil cylinder less than the speed for being conditioned oil cylinder, root According to the difference of travel information and the travel information for being conditioned oil cylinder of the benchmark oil cylinder, oil cylinder is conditioned described in control and is entered Row slows down；

3rd control module, in the case of in the speed of the benchmark oil cylinder more than the speed for being conditioned oil cylinder, root According to the difference of travel information and the travel information for being conditioned oil cylinder of the benchmark oil cylinder, oil cylinder is conditioned described in control and is entered Row accelerates.

14. devices according to claim 13, it is characterised in that second control module includes：

First calculating sub module, for the travel information based on the benchmark oil cylinder and the travel information for being conditioned oil cylinder Difference, calculate described in be conditioned corresponding second increment of adjustment of oil cylinder；

First adjusts submodule, for carrying out regulation of successively decreasing using second increment of adjustment to the second real-time control value, Until the benchmark oil cylinder travel information and the travel information for being conditioned oil cylinder difference in the preset range it Interior or described second real-time control value is minimized value.

15. devices according to claim 14, it is characterised in that reduce to the minima in the second real-time control value In the case of, described device also includes：

First control submodule, for controlling, described to be conditioned oil cylinder static；

Second control submodule, controls the benchmark cylinder action for continuing with the first real-time control value for recording, Until the benchmark oil cylinder travel information and the travel information for being conditioned oil cylinder difference in the preset range it It is interior.

16. devices according to claim 13, it is characterised in that the 3rd control module includes：

Second calculating sub module, for the travel information based on the benchmark oil cylinder and the travel information for being conditioned oil cylinder Difference, calculate described in be conditioned corresponding 3rd increment of adjustment of oil cylinder；

Second adjusts submodule, for carrying out incremental using the 3rd increment of adjustment to the second real-time control value, Until the benchmark oil cylinder travel information and the travel information for being conditioned oil cylinder difference in the preset range it Interior or described second real-time control value is heightened to maximum.

17. devices according to claim 16, it is characterised in that heighten to the maximum in the second real-time control value In the case of value, described device also includes：

Judging submodule, for judging the difference of the travel information of the benchmark oil cylinder and the travel information for being conditioned oil cylinder Whether within the preset range；

Determination sub-module, for the travel information in the benchmark oil cylinder and the travel information for being conditioned oil cylinder difference not In the case of within the preset range, return redefines the benchmark oil cylinder and described is conditioned oil cylinder.