CN-121979295-A - Pneumatic mast lifting control method and device

CN121979295ACN 121979295 ACN121979295 ACN 121979295ACN-121979295-A

Abstract

The invention discloses a pneumatic mast lifting control method and a device, which relate to the technical field of automation and pneumatic control, wherein the method comprises the steps of performing initialization processing on a pneumatic mast, monitoring the operation state of a calibration button in real time based on the result of the initialization processing, and calculating target air supply pressure; the method comprises the steps of collecting a pressure waveform signal corresponding to target air supply pressure, analyzing the pressure waveform signal and carrying out pneumatic variable capacitance resonance shaping treatment, calculating to obtain a gas quality increment according to a pneumatic variable capacitance resonance shaping treatment result and the target air supply pressure, acquiring a valve port instruction by combining a calibration curve of a valve member, driving a pneumatic mast to execute lifting operation according to the acquired valve port instruction, carrying out online evaluation on real-time operation performance of the valve member, and triggering a corresponding maintenance early warning signal based on an online evaluation result. The invention can promote the consistency of hover stability and track, avoid free sliding and terminal impact, and promote the dynamic response and lifting stability of the system.

Inventors

DONG QIANG
TIAN MINGRUI
NIU TAOTAO
CUI BOWEN

Assignees

安徽尔行智能科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260206

Claims (10)

1. A method of controlling the lift of a pneumatic mast, the method comprising: S1, initializing the pneumatic mast, monitoring the operation state of a calibration button in real time based on the result of the initializing, and calculating the target air supply pressure; S2, collecting a pressure waveform signal corresponding to the target air supply pressure, and analyzing and performing pneumatic variable capacitance resonance shaping treatment on the pressure waveform signal; s3, calculating to obtain a gas mass increment according to the pneumatic variable capacitance resonance shaping processing result and the target gas supply pressure, and acquiring a valve port instruction by combining a calibration curve of the valve member; And S4, driving the pneumatic mast to execute lifting operation according to the acquired valve port instruction, performing online evaluation on the real-time operation performance of the valve, and triggering a corresponding maintenance early warning signal based on an online evaluation result.
2. The method of claim 1, wherein the performing an initialization process on the air mast, monitoring the operating state of the calibration button in real time based on the result of the initialization process, and calculating the target air supply pressure comprises: s11, initializing the pneumatic mast, wherein the initializing comprises calibrating an electronic barometer, performing valve element stroke self-checking, judging air supply readiness and setting an exhaust side back pressure threshold value to be a preset range; s12, based on an initialization processing result, the controller monitors the operation state of the calibration button in real time; S13, according to real-time monitoring results of the calibration buttons, if the calibration buttons are not detected to be pressed, calculating target air supply pressure by using preset loads, and if the calibration buttons are detected to be pressed, collecting initial loads and calculating the target air supply pressure according to the initial loads.
3. A method of controlling the lift of a pneumatic mast according to claim 2, wherein if a calibration button press is detected, the initial load is collected, and calculating the target air supply pressure based on the initial load comprises: After a calibration button is pressed, confirming that the pneumatic lifting rod is in a static hovering state, and collecting the weight of the tail end of the lifting rod body as an initial load by utilizing a pressure type weighing sensor at the end of the lifting rod body; The controller calculates corresponding equivalent mass based on the collected initial load, stores the equivalent mass into a preset database, and automatically triggers a static balancing standby state after the storage is completed; And maintaining the back pressure of the exhaust side to preset a threshold value, taking the real-time reading of the electronic barometer as feedback of the air supply pressure, and when a movement request reaching a target position is received, planning a movement track based on a static balancing standby state by the controller, and calculating the corresponding target air supply pressure.
4.A method of controlling the lift of a pneumatic mast according to claim 3, wherein the target air supply pressure is calculated by the formula: ; Wherein P S (t) represents target air supply pressure, m represents equivalent mass, g represents gravitational acceleration, a (t) represents acceleration track, P b represents maintenance of a preset back pressure value on the exhaust side, A 2 represents effective area of a rod cavity, F f represents equivalent friction compensation, and A 1 represents effective area of a rod-free cavity.
5. The method for controlling the lifting of a pneumatic mast according to claim 1, wherein the step of acquiring a pressure waveform signal corresponding to the target air supply pressure, and analyzing and pneumatic varactor resonance shaping the pressure waveform signal comprises the steps of: S21, acquiring a corresponding pressure waveform signal according to the calculated target air supply pressure, and executing short-time Fourier transform processing on the pressure waveform signal; S22, extracting airflow pulsation based on a short-time Fourier transform processing result, and acquiring a corresponding main frequency component and an amplitude index, wherein the airflow pulsation comprises high-frequency airflow pulsation and low-frequency airflow pulsation; S23, when the amplitude index of the high-frequency airflow pulsation is detected to exceed a preset threshold, the controller outputs a high-frequency inhibition instruction, and drives a bypass valve in the pneumatic variable-capacitance resonance shaping module to be closed by utilizing the high-frequency inhibition instruction so as to ensure that the tunable Helmholtz resonant cavity maintains a minimum effective volume state; And S24, when the amplitude index fluctuation of the low-frequency airflow pulsation is detected, the controller outputs a low-frequency balance instruction, and drives a bypass valve in the pneumatic variable-volume resonance shaping module to be opened by utilizing the low-frequency balance instruction, so that the tunable Helmholtz resonant cavity is ensured to be communicated with the additional gas storage cavity, and a target effective volume state is formed.
6. The method according to claim 1, wherein the calculating the gas mass increment according to the result of the pneumatic variable capacitance resonance shaping process and the target gas supply pressure, and combining the calibration curve of the valve element, the obtaining the valve port command includes: S31, calculating by using an ideal gas state formula according to the working chamber currently participating in air intake and exhaust to obtain the gas mass and the corresponding volume of the working chamber; S32, collecting the pressure of the working cavity after the pneumatic variable-volume resonance shaping, and combining the calculated target air supply pressure to obtain the pressure variation in the same control period; S33, calculating to obtain the gas mass increment in the control period by using a working cavity volume variation approximate formula according to the gas mass, the corresponding volume and the pressure variation; s34, calculating target mass flow according to the gas mass increment, and reversely solving to obtain valve port instructions of the air inlet proportional valve and the air outlet throttle valve by combining the flow, the opening and the calibration curve of the pressure difference of the valve member.
7. The method for controlling lifting of a pneumatic mast according to claim 1, wherein driving the pneumatic mast to perform lifting operation according to the obtained valve port command, and performing on-line evaluation on real-time operation performance of the valve member, and triggering the corresponding maintenance early warning signal based on the on-line evaluation result comprises: s41, based on the acquired valve port instruction, performing air supply and exhaust adjustment, and driving the pneumatic mast to perform lifting operation based on an adjustment result; s42, constructing a dynamic coupling relation model based on the BP neural network according to the same control period of air supply and air exhaust regulation execution, carrying out on-line evaluation on the real-time operation performance of the valve member by using the dynamic coupling relation model, and triggering a corresponding maintenance early warning signal according to an evaluation result.
8. A method of controlling lift of a pneumatic mast according to claim 7, wherein the performing air supply and air exhaust adjustments based on the obtained valve port commands, and driving the pneumatic mast to perform lift operations based on the adjustment results comprises: In the rising stage, the controller takes static balancing pressure as a reference, increases target air supply pressure, controls the throttle valve at the exhaust side to maintain a current-limiting and air-leakage state, and drives the pneumatic mast to rise by forming a net thrust through the pressure difference between the rodless cavity and the rod-containing cavity; In the descending stage, the controller takes the static balancing pressure as a reference, reduces the target air supply pressure, maintains the back pressure of the exhaust side not lower than a preset threshold value, and gradually reduces the net thrust to be smaller than the initial load so as to realize the descending of the pneumatic mast; When the lifting rod body moves to the end position, the controller reduces the adjusting intensity of the change rate of the air supply pressure, controls the end running speed to converge to a preset threshold value, and returns the air supply pressure to a static balancing standby state after the lifting rod body finishes the end position stop.
9. The method for controlling lifting of a pneumatic mast according to claim 8, wherein the constructing a dynamic coupling relation model based on a BP neural network according to the same control period of the air supply and air exhaust adjustment execution, and performing on-line evaluation on real-time operation performance of the valve member by using the dynamic coupling relation model, and triggering a corresponding maintenance early warning signal according to the evaluation result comprises: s421, synchronously collecting characteristic data in the same control period for executing air supply and air exhaust adjustment, wherein the characteristic data comprises valve port instructions, valve port change rate, actual air pressure feedback and air pressure change rate; s422, carrying out normalization and filtering processing on the acquired characteristic data, and acquiring standardized characteristic data based on a processing result; s423, inputting standardized characteristic data into a preset BP neural network, performing nonlinear mapping calculation through a hidden layer activation function, and outputting an air pressure predicted value in a current control period by utilizing output layer activation function operation; S424, constructing a dynamic coupling relation model of valve port instructions and pressure response based on the output air pressure predicted value, and calculating deviation between the air pressure actual measurement value and the air pressure predicted value in the current period by using the dynamic coupling relation model; s425, taking the deviation obtained by calculation of each control period as a training signal of a back propagation algorithm, periodically executing back propagation calculation, and updating the weight and bias of the dynamic coupling relation model to realize online self-learning and self-adaptive correction of the dynamic coupling relation model; s426, calculating real-time health degree of the valve element according to the obtained deviation and a preset health degree function, judging the running state of the valve element according to a preset threshold value interval based on the real-time health degree, and automatically generating a corresponding maintenance early warning signal according to a judging result by the controller.
10. A pneumatic mast lift control apparatus for implementing the pneumatic mast lift control method of any one of claims 1-9, the apparatus comprising a lift base; The lifting seat is characterized in that the lifting rod body and the valve bank assembly are arranged at the top end of the lifting seat, a pneumatic variable-capacitance resonance shaping module is arranged at the top end of one side of the valve bank assembly, an electronic barometer is arranged in the middle of the lifting rod body and the valve bank assembly, the electronic barometer is matched with the controller, and a load acquisition module is arranged at the top end of the lifting rod body.

Description

Pneumatic mast lifting control method and device Technical Field The invention relates to the technical field of automation and pneumatic control, in particular to a pneumatic mast lifting control method and device. Background In high-level operation scenes such as electric power, construction and maintenance of large industrial equipment, the operation execution unit is usually required to realize stable and controllable lifting motion along the vertical direction, and in the process of contacting with a target member to be operated, small, stable and adjustable contact pressure is required to be maintained, and the performance is a core technology foundation for guaranteeing the operation process quality and the field operation safety. At present, the control method of the lifting mechanism for the high-level operation scene mainly comprises an electric push rod control method, a traditional pneumatic rod control method and the like, but the technical defects that the scene requirement is difficult to meet are overcome: The electric push rod control method comprises the steps of outputting linear motion through a motor matched with a speed reducing mechanism, relying on a rigid transmission structure, being limited in low-speed inching performance due to the inherent characteristics of transmission chain clearance and transmission friction, being incapable of stably realizing stable control of tiny displacement output and low contact pressure, increasing counter-driving resistance through high-speed reduction ratio configuration, easily generating impact load at the stroke end, and being capable of maintaining control performance only by replacing motor/speed reducer hardware or resetting control parameters when different operation accessories or operation loads are changed according to operation process requirements, so that the universality and quick adaptation of equipment are poor, and the time and cost for equipment maintenance and parameter setting are high. According to the traditional pneumatic rod control method, the structure controls the air cavity to be inflated and deflated through the switch type electromagnetic valve to realize lifting driving, the lifting speed and the lifting position cannot be continuously closed-loop regulated due to the adoption of a switch quantity control mode, the control precision is low, accurate alignment of the operation execution unit and the target component is difficult to realize, and the stable regulation and control requirements of the contact pressure cannot be met. In summary, the prior art has obvious shortcomings in the aspects of coping with dynamic load changes, realizing continuously adjustable lifting speed and position control, and considering the flexibility of contact force. Although the electric push rod has a certain application value in certain fixed load scenes, the adaptive capacity of the electric push rod to load change is limited, and the pneumatic mast has better load adaptability and response speed and has application potential in application scenes in which the lifting speed and the position need to be frequently regulated, the prior art lacks an adaptive lifting control method for the pneumatic mast, and the technical advantages of the electric push rod cannot be fully exerted. For the problems in the related art, no effective solution has been proposed at present. Disclosure of Invention The invention provides a pneumatic mast lifting control method and a pneumatic mast lifting control device aiming at the problems in the related art, so as to overcome the technical problems in the prior art. For this purpose, the invention adopts the following specific technical scheme: According to one aspect of the invention, there is provided a method of controlling the lift of a pneumatic mast, the method comprising: S1, initializing the pneumatic mast, monitoring the operation state of a calibration button in real time based on the result of the initializing, and calculating the target air supply pressure; S2, collecting a pressure waveform signal corresponding to the target air supply pressure, and analyzing and performing pneumatic variable capacitance resonance shaping treatment on the pressure waveform signal; s3, calculating to obtain a gas mass increment according to the pneumatic variable capacitance resonance shaping processing result and the target gas supply pressure, and acquiring a valve port instruction by combining a calibration curve of the valve member; And S4, driving the pneumatic mast to execute lifting operation according to the acquired valve port instruction, performing online evaluation on the real-time operation performance of the valve, and triggering a corresponding maintenance early warning signal based on an online evaluation result. Further, performing an initialization process on the pneumatic mast, monitoring an operation state of the calibration button in real time based on a result of the initialization process