CN-121974250-A - Control method, equipment, medium and program product for vertical lifting

CN121974250ACN 121974250 ACN121974250 ACN 121974250ACN-121974250-A

Abstract

The invention relates to the technical field of hoisting equipment, and discloses a control method, equipment, medium and program product for vertical lifting. The method comprises the steps of obtaining a current vertical lifting type and a current state parameter when a vertical lifting instruction is received, obtaining a target four-dimensional experience matrix according to the current vertical lifting type, inquiring the target four-dimensional experience matrix according to the current state parameter to obtain an oil cylinder control output value, and controlling the oil cylinder to perform action output based on the oil cylinder control output value so as to realize vertical lifting control. The control accuracy and efficiency of vertical lifting can be improved, and the energy consumption of vertical lifting control can be reduced by presetting a four-dimensional experience matrix and inquiring the corresponding four-dimensional experience matrix according to the real-time state parameters so as to determine the control output value of the oil cylinder.

Inventors

ZHANG ENLAI
WEI ZHENHUA
MA WEI
TAO LINYU
WU JUNZONG
QIN YONGLIN
WEI SHIJIA
WEI LEI

Assignees

广西柳工元象科技有限公司
广西柳工机械股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260316

Claims (10)

1. A method for controlling vertical lift, comprising: when a vertical lifting instruction is received, acquiring the current vertical lifting type and the current state parameter; Acquiring a target four-dimensional experience matrix according to the current vertical lifting type, and inquiring the target four-dimensional experience matrix according to the current state parameter to acquire an oil cylinder control output value; And controlling the oil cylinder to perform action output based on the oil cylinder control output value so as to realize vertical lifting control.
2. The method of claim 1, wherein the dimensions of the four-dimensional experience matrix include load weight, horizontal projection length, boom pitch angle, and pitch rate.
3. The method of claim 2, wherein querying the target four-dimensional experience matrix based on the current state parameters to obtain a cylinder control output value comprises: acquiring current dimension parameters corresponding to each dimension according to the current state parameters, and performing step searching in the target four-dimensional experience matrix according to the current dimension parameters so as to acquire interpolation coefficients corresponding to each dimension and adjacent matrix nodes; and performing four-dimensional interpolation according to interpolation coefficients corresponding to the dimensions and adjacent matrix nodes to obtain the oil cylinder control output value.
4. A method according to claim 3, wherein performing a step lookup in the target four-dimensional experience matrix according to the current dimension parameter to obtain interpolation coefficients and neighboring matrix nodes corresponding to each dimension comprises: obtaining each grade corresponding to each dimension in the target four-dimensional experience matrix, and carrying out numerical comparison on the current dimension parameter corresponding to each dimension and each grade to obtain a target grade corresponding to each dimension; and obtaining adjacent matrix nodes according to the target classification corresponding to each dimension, and calculating to obtain interpolation coefficients corresponding to each dimension according to the current dimension parameters corresponding to each dimension and the target classification.
5. A method according to claim 3, wherein performing four-dimensional interpolation according to interpolation coefficients corresponding to each dimension and adjacent matrix nodes to obtain the cylinder control output value comprises: and performing linear interpolation of gradually reducing the dimension according to the interpolation coefficient corresponding to each dimension and the adjacent matrix node to obtain the oil cylinder control output value.
6. The method according to claim 1, further comprising, after controlling the cylinder to perform the motion output based on the cylinder control output value to realize the vertical lift control: acquiring a target horizontal projection length according to the current state parameter, and calculating to obtain a control error according to the target horizontal projection length; If the control error is detected to meet the preset matrix updating triggering condition, calculating to obtain a comprehensive error according to the target horizontal projection length, and acquiring the current learning rate according to the comprehensive error; and updating the target four-dimensional experience matrix according to the current learning rate by adopting a Manhattan distance attenuation updating strategy so as to obtain an updated four-dimensional experience matrix.
7. The method of claim 6, wherein calculating a composite error based on the target horizontal projection length comprises: Calculating to obtain an instantaneous error, a sliding window average error, an exponential weighted average error and an integral error according to the target horizontal projection length; and carrying out weighted summation on the instantaneous error, the sliding window average error, the exponential weighted average error and the integral error to calculate the comprehensive error.
8. An electronic device, the electronic device comprising: At least one processor, and A memory communicatively coupled to the at least one processor, wherein, The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vertical lift control method of any one of claims 1-7.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for causing a processor to execute the control method of vertical lift according to any one of claims 1 to 7.
10. A computer program product comprising a computer program which, when executed by a processor, implements the method of controlling vertical lift as claimed in any one of claims 1 to 7.

Description

Control method, equipment, medium and program product for vertical lifting Technical Field The present invention relates to the technical field of lifting devices, and in particular, to a method, an apparatus, a medium, and a program product for controlling vertical lifting. Background When carrying containers, the front crane needs to realize that the lifting appliance keeps vertical movement in the lifting process so as to ensure that goods are stable and prevent collision. At present, the existing vertical lifting control method generally adopts a control mode based on fixed parameter proportion, integral and derivative, and real-time position feedback is carried out through a sensor. However, the fixed parameters cannot adapt to the changing working conditions, such as different loads, machine types, mechanical abrasion and the like, so that shaking, overshoot or inaccurate positioning exists in the lifting process, and the control precision and efficiency are low. Moreover, due to inaccurate control, frequent start-stop and speed adjustment also lead to energy waste, thereby leading to higher energy consumption. Disclosure of Invention The invention provides a vertical lifting control method, equipment, medium and program product, which can improve the control precision and efficiency of vertical lifting and reduce the energy consumption of vertical lifting control. According to an aspect of the present invention, there is provided a method of controlling vertical lift, including: when a vertical lifting instruction is received, acquiring the current vertical lifting type and the current state parameter; Acquiring a target four-dimensional experience matrix according to the current vertical lifting type, and inquiring the target four-dimensional experience matrix according to the current state parameter to acquire an oil cylinder control output value; And controlling the oil cylinder to perform action output based on the oil cylinder control output value so as to realize vertical lifting control. According to another aspect of the present invention, there is provided a control device for vertical lift, comprising: the parameter acquisition module is used for acquiring the current vertical lifting type and the current state parameter when receiving the vertical lifting instruction; the matrix query module is used for acquiring a target four-dimensional experience matrix according to the current vertical lifting type, and querying the target four-dimensional experience matrix according to the current state parameters so as to acquire an oil cylinder control output value; and the output control module is used for controlling the oil cylinder to perform action output based on the oil cylinder control output value so as to realize vertical lifting control. According to another aspect of the present invention, there is provided an electronic apparatus including: at least one processor, and A memory communicatively coupled to the at least one processor, wherein, The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vertical lift control method according to any one of the embodiments of the present invention. According to another aspect of the present invention, there is provided a computer readable storage medium storing a computer program for causing a processor to execute the method for controlling vertical lift according to any one of the embodiments of the present invention. According to another aspect of the present invention, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method of controlling vertical lift according to any of the embodiments of the present invention. According to the technical scheme, when a vertical lifting instruction is received, a current vertical lifting type and a current state parameter are obtained, a target four-dimensional experience matrix is obtained according to the current vertical lifting type, a target four-dimensional experience matrix is inquired according to the current state parameter to obtain an oil cylinder control output value, the oil cylinder is controlled to perform action output based on the oil cylinder control output value to realize vertical lifting control, the corresponding four-dimensional experience matrix is inquired according to the real-time state parameter through the preset four-dimensional experience matrix to determine the oil cylinder control output value, the control precision and efficiency of vertical lifting can be improved, and the energy consumption of vertical lifting control can be reduced. It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows. Drawing