阅读说明：本技术 大阵面天线叠加式举升控制系统及其方法 (Large array surface antenna stacking type lifting control system and method thereof ) 是由 卢辰 于 2019-09-10 设计创作，主要内容包括：本发明公开了一种大阵面天线叠加式举升控制系统,包括中央处理单元、两级举升控制系统,每级举升控制系统的输入端与输出端均与中央处理单元连接；每级举升控制系统包括顺次连接的比例放大板、电液比例换向阀、平衡阀、举升油缸、举升机构、绝对值角度编码器；还公开了一种大阵面天线叠加式举升控制方法,所述绝对值角度编码器检测每级举升机构的举升角度反馈至中央处理单元进行比较运算,再由中央处理单元提供补偿信号依次经过比例放大板、电液比例换向阀、平衡阀、举升油缸,控制两级举升机构的升降动作保持同步。本发明不但可以平稳地将天线举升至16米高空位置,而且缩短了天线的架设时间,为特种设备执行任务赢得宝贵时间。(The invention discloses a large array face antenna stacking type lifting control system, which comprises a central processing unit and two stages of lifting control systems, wherein the input end and the output end of each stage of lifting control system are connected with the central processing unit; each stage of lifting control system comprises a proportional amplification plate, an electro-hydraulic proportional reversing valve, a balance valve, a lifting oil cylinder, a lifting mechanism and an absolute value angle encoder which are connected in sequence; the absolute value angle encoder detects the lifting angle of each stage of lifting mechanism and feeds the lifting angle back to the central processing unit for comparison operation, and the central processing unit provides a compensation signal which sequentially passes through the proportional amplification plate, the electro-hydraulic proportional reversing valve, the balance valve and the lifting oil cylinder to control the lifting action of the two stages of lifting mechanisms to keep synchronous. The invention not only can stably lift the antenna to the high-altitude position of 16 meters, but also shortens the erection time of the antenna and gains precious time for special equipment to execute tasks.)

1. A large array antenna stacking type lifting control system is characterized by comprising a central processing unit and two stages of lifting control systems, wherein the input end and the output end of each stage of lifting control system are connected with the central processing unit;

each stage of lifting control system comprises a proportional amplification plate, an electro-hydraulic proportional reversing valve, a balance valve, a lifting oil cylinder, a lifting mechanism and an absolute value angle encoder which are connected in sequence;

the absolute value angle encoder is used for detecting the lifting angle of each stage of lifting mechanism and feeding the lifting angle back to the central processing unit for comparison operation, and the central processing unit provides a compensation signal which sequentially passes through the proportional amplification plate, the electro-hydraulic proportional reversing valve, the balance valve and the lifting oil cylinder to control the lifting action of the two stages of lifting mechanisms to keep synchronous.

2. The large-wavefront antenna-superimposed lifting control system according to claim 1, wherein in each stage of lifting control system, the lifting cylinder is a two-stage hydraulic cylinder.

3. The large-wavefront-antenna-superposition-type lifting control system of claim 1, wherein the absolute-value angle encoder is mounted on the lifting mechanism.

4. The control method of the large-array-face antenna superposition type lifting control system based on claim 1 is characterized in that the lifting process comprises a low-speed starting process, a quick lifting process and a deceleration in-place process, and comprises the following steps:

when a lifting command is executed, the central processing unit firstly reads in the current angle d1 of the primary lifting mechanism and the current angle d2 of the secondary lifting mechanism;

judging the current angle and the critical angle of the three lifting processes, and outputting corresponding analog voltages to the two-stage lifting mechanisms by the central processing unit respectively;

the central processing unit reads the current values of the two absolute value angle encoders in real time while controlling the two-stage lifting mechanism to move, and judges whether the current values exceed the current values according to the difference value of the two absolute value angle encoders;

if the voltage does not exceed the preset value, the two-stage lifting mechanism moves according to the speed corresponding to the voltage given by the central processing unit;

if the difference value is out of tolerance, the central processing unit can correspondingly increase and decrease the fine tuning voltage for the proportional amplification plate on the original basis according to the size of the difference value, so that the motion synchronism of the two-stage lifting mechanism is realized;

when the current angle of the two-stage lifting mechanism is 90 degrees, the two-stage lifting mechanism is in place, and the lifting action is finished.

5. The large-wavefront-array antenna superposition type lifting control method as claimed in claim 4, wherein during the low-speed starting process, the critical angle from the initial angle of the lifting mechanism to the rapid lifting is assumed to be D₀The angular difference, i.e. the over-difference, of the two-stage lifting mechanism at this stage is O₁；

S101: judging the current angle d₁Or d₂Whether d is greater than or equal to 0₁＜D₀、0≤d₂＜D₀；

S102: if d is not less than 0₁＜D₀Or 0. ltoreq. d₂＜D₀Then the central processing unit outputs the analog voltages V respectively₀A two-stage lifting mechanism is provided to realize a slow starting process;

s103: if d is₁-d₂＞O₁Then the central processing unit inputs an analog voltage (V) to the first proportional amplifying plate₀-a trimming voltage V_d0) Inputting an analog voltage (V) to the second proportional amplifying plate₀+ trimming voltage V_d0)；

In the same way, if d₁-d₂＜O₁Then the central processing unit inputs an analog voltage (V) to the first proportional amplifying plate₀+ trimming voltage V_d0) Inputting an analog voltage (V) to the second proportional amplifying plate₀-a trimming voltage V_d0)；

S104: when the current angles of the two-stage lifting mechanisms are D₀And then the lifting mechanism enters the next stage of quick lifting process.

6. The large-wavefront-array antenna stacking type lifting control method as claimed in claim 4, wherein during the fast lifting process, the critical angle when the lifting mechanism fast lifts to the low speed position is assumed to be D₁The angular difference, i.e. the over-difference, of the two-stage lifting mechanism at this stage is O₂；

S201: judging the current angle d₁And d₂Whether or not D₀≤d₁＜D₁、D₀≤d₂＜D₁；

S202: if D is₀≤d₁＜D₁And D₀≤d₂＜D₁Then the central processing unit outputs the analog voltages V respectively₁A two-stage lifting mechanism is provided to realize a rapid lifting process;

s203: if d is₁-d₂＞O₂The central processing unit gives the saidThe first proportional amplifying plate inputs an analog voltage (V)₁-a trimming voltage V_d1) Inputting an analog voltage (V) to the second proportional amplifying plate₁+ trimming voltage V_d1)；

In the same way, if d₁-d₂＜O₂Then the central processing unit inputs an analog voltage (V) to the first proportional amplifying plate₁+ trimming voltage V_d1) Inputting an analog voltage (V) to the second proportional amplifying plate₁-a trimming voltage V_d1)；

S204: when the current angles of the two-stage lifting mechanisms are D₁And then the lifting mechanism enters the next stage of low-speed in-place process.

7. The method for controlling the superposition lifting of the large-array-face antenna according to claim 4, wherein during the low-speed in-place process, the angular difference (i.e. the over-tolerance) of the two-stage lifting mechanism at this stage is assumed to be O₃；

S301: judging the current angle d₁Or d₂Whether or not D₁≤d1＜90°、D₁≤d₂＜90°；

S302: if D is₁D1 is less than or equal to 90 degrees or D₁≤d₂If the angle is less than 90 degrees, the central processing unit respectively outputs analog voltages V₂A two-stage lifting mechanism is provided to realize a low-speed in-place process;

s303: if d is₁-d₂＞O₃Then the central processing unit inputs an analog voltage (V) to the first proportional amplifying plate₂-a trimming voltage V_d2) Inputting an analog voltage (V) to the second proportional amplifying plate₂+ trimming voltage V_d2)；

In the same way, if d₁-d₂＜O₃Then the central processing unit inputs an analog voltage (V) to the first proportional amplifying plate₂+ trimming voltage V_d2) Inputting an analog voltage (V) to the second proportional amplifying plate₂-a trimming voltage V_d2)；

S304: when the current angles of the two lifting mechanisms are both 90 degrees, the lifting mechanisms complete low-speed in-place.

Technical Field

The invention relates to the field of radar antennas, in particular to a large array face antenna stacking type lifting control system and a method thereof.

Background

The lifting control system is one of the essential important subsystems when special equipment performs tasks. Its main function is to bring the antenna to a specified height while bearing the own weight from the antenna. The stability of the antenna lift control system will directly affect whether the antenna can work properly.

With the continuous development of the antenna technology, the height of the antenna is improved, and the detection capability of the antenna can be well improved. But it is difficult to lift the antenna to a certain height with a large wavefront.

A traditional large array face antenna adopts a portal hydraulic lifting control system of a parallel four-bar linkage mechanism, although the lifting control system has the characteristic of large lifting load, the lifting control system is limited by the requirements of road and railway transportation, and the maximum lifting height is generally not more than 10 meters. Meanwhile, the lifting mechanism has high gravity center and overlarge gravity center shift in the movement process, so that the safety and the reliability of the system are reduced, and the erection time of the antenna is further prolonged.

In addition, the conventional lifting mechanism generates sudden speed change in the initial and in-place processes, so that the system is vibrated, and the system is adversely affected.

It is therefore desirable to provide a new large-front antenna lift control system to solve the above problems.

Disclosure of Invention

The invention aims to solve the technical problem of providing a large array face antenna stacking type lifting control system and method, which can stably lift an antenna to a 16-meter high-altitude position and obviously shorten the erection time of the antenna.

In order to solve the technical problems, the invention adopts a technical scheme that: the large array antenna stacking type lifting control system comprises a central processing unit and two-stage lifting control systems, wherein the input end and the output end of each stage of lifting control system are connected with the central processing unit;

each stage of lifting control system comprises a proportional amplification plate, an electro-hydraulic proportional reversing valve, a balance valve, a lifting oil cylinder, a lifting mechanism and an absolute value angle encoder which are connected in sequence;

the absolute value angle encoder is used for detecting the lifting angle of each stage of lifting mechanism and feeding the lifting angle back to the central processing unit for comparison operation, and the central processing unit provides a compensation signal which sequentially passes through the proportional amplification plate, the electro-hydraulic proportional reversing valve, the balance valve and the lifting oil cylinder to control the lifting action of the two stages of lifting mechanisms to keep synchronous.

In a preferred embodiment of the invention, in each stage of the lifting control system, the lifting oil cylinder is a double-stage hydraulic oil cylinder.

In a preferred embodiment of the invention, the absolute value angle encoder is mounted on the lifting mechanism.

In order to solve the technical problem, the invention adopts another technical scheme that: the control method based on the large array antenna superposition type lifting control system is provided, the lifting process comprises a low-speed starting process, a quick lifting process and a deceleration in-place process, and the method comprises the following steps:

when a lifting command is executed, the central processing unit firstly reads in the current angle d1 of the primary lifting mechanism and the current angle d2 of the secondary lifting mechanism;

judging the current angle and the critical angle of the three lifting processes, and outputting corresponding analog voltages to the two-stage lifting mechanisms by the central processing unit respectively;

the central processing unit reads the current values of the two absolute value angle encoders in real time while controlling the two-stage lifting mechanism to move, and judges whether the current values exceed the current values according to the difference value of the two absolute value angle encoders;

if the voltage does not exceed the preset value, the two-stage lifting mechanism moves according to the speed corresponding to the voltage given by the central processing unit;

if the difference value is out of tolerance, the central processing unit can correspondingly increase and decrease the fine tuning voltage for the proportional amplification plate on the original basis according to the size of the difference value, so that the motion synchronism of the two-stage lifting mechanism is realized;

when the current angle of the two-stage lifting mechanism is 90 degrees, the two-stage lifting mechanism is in place, and the lifting action is finished.

In a preferred embodiment of the present invention, during the low-speed start, the initial angle of the lifting mechanism to the critical angle of the fast lifting is assumed to be D₀The angular difference, i.e. the over-difference, of the two-stage lifting mechanism at this stage is O₁；

S101: judging the current angle d₁Or d₂Whether d is greater than or equal to 0₁＜D₀、0≤d₂＜D₀；

S102: if d is not less than 0₁＜D₀Or 0. ltoreq. d₂＜D₀Then the central processing unit outputs the analog voltages V respectively₀A two-stage lifting mechanism is provided to realize a slow starting process;

s103: if d is₁-d₂＞O₁Then the central processing unit inputs an analog voltage (V) to the first proportional amplifying plate₀-a trimming voltage V_d0) Inputting an analog voltage (V) to the second proportional amplifying plate₀+ trimming voltage V_d0)；

In the same way, if d₁-d₂＜O₁Then the central processing unit inputs an analog voltage (V) to the first proportional amplifying plate₀+ trimming voltage V_d0) Inputting an analog voltage (V) to the second proportional amplifying plate₀-a trimming voltage V_d0)；

S104: when the current angles of the two-stage lifting mechanisms are D₀And then the lifting mechanism enters the next stage of quick lifting process.

In a preferred embodiment of the present invention, during the fast lifting process, the critical angle of the lifting mechanism when the lifting mechanism is fast lifted to the low speed position is assumed to be D₁The angular difference, i.e. the over-difference, of the two-stage lifting mechanism at this stage is O₂；

S201: judging the current angle d₁And d₂Whether or not D₀≤d₁＜D₁、D₀≤d₂＜D₁；

S202: if D is₀≤d₁＜D₁And D₀≤d₂＜D₁Then the central processing unit outputs the analog voltages V respectively₁A two-stage lifting mechanism is provided to realize a rapid lifting process;

s203: if d is₁-d₂＞O₂Then the central processing unit inputs an analog voltage (V) to the first proportional amplifying plate₁-a trimming voltage V_d1) Inputting an analog voltage (V) to the second proportional amplifying plate₁+ trimming voltage V_d1)；

In the same way, if d₁-d₂＜O₂Then the central processing unit inputs an analog voltage (V) to the first proportional amplifying plate₁+ trimming voltage V_d1) Inputting an analog voltage (V) to the second proportional amplifying plate₁-a trimming voltage V_d1)；

S204: when the current angles of the two-stage lifting mechanisms are D₁And then the lifting mechanism enters the next stage of low-speed in-place process.

In a preferred embodiment of the present invention, during the low speed in-place process, the angular difference, i.e. the over-tolerance, of the two-stage lifting mechanism at this stage is assumed to be O₃；

S301: judging the current angle d₁Or d₂Whether or not D₁≤d1＜90°、D₁≤d₂＜90°；

S302: if D is₁D1 is less than or equal to 90 degrees or D₁≤d₂If the angle is less than 90 degrees, the central processing unit respectively outputs analog voltages V₂A two-stage lifting mechanism is provided to realize a low-speed in-place process;

s303: if d is₁-d₂＞O₃Then the central processing unit inputs an analog voltage (V) to the first proportional amplifying plate₂-a trimming voltage V_d2) Inputting an analog voltage (V) to the second proportional amplifying plate₂+ trimming voltage V_d2)；

In the same way, if d₁-d₂＜O₃Then the central processing unit inputs an analog voltage (V) to the first proportional amplifying plate₂+ trimming voltage V_d2) Inputting an analog voltage (V2-a fine tuning voltage Vd2) to the second proportional amplifying plate;

s304: when the current angles of the two lifting mechanisms are both 90 degrees, the lifting mechanisms complete low-speed in-place.

The invention has the beneficial effects that:

(1) the large array surface antenna stacking type lifting control system solves the problem that the large array surface antenna is difficult to lift, simultaneously considers the requirements of lifting time and road and railway transportation, can stably lift the antenna to a 16-meter high-altitude position, shortens the erection time of the antenna, and wins precious time for special equipment to execute tasks; meanwhile, the problems of low system safety and reliability caused by high gravity center and excessive gravity center shift in the movement process of the lifting mechanism are solved;

(2) according to the invention, the angle signals of the first-stage and second-stage lifting mechanisms in the stacked lifting mechanism are fed back through the two absolute value angle encoders installed in the stacked lifting mechanism, and after the angle signals are collected and processed by the central processing unit, the first-stage and second-stage lifting mechanisms are controlled to lift synchronously, so that the gravity center transfer in the lifting process of the lifting mechanism is reduced, the erection time is saved, and compared with the existing lifting method, the erection time of an antenna is obviously shortened;

(3) the invention has the speed regulation function, and divides the lifting process into three processes of a low-speed starting process, a quick lifting process and a speed reduction in-place process, so that the stacked lifting mechanism is stable and has no impact in the initial and in-place processes.

Drawings

FIG. 1 is a block diagram of a large array antenna stacking lift control system according to the present invention;

FIG. 2 is a schematic diagram of a lifting process of a conventional lifting mechanism;

FIG. 3 is a schematic diagram of the lifting process of the lifting mechanism of the present invention;

FIG. 4 is a flow chart of the large array antenna stacking lift control method;

the parts in the drawings are numbered as follows: 1. a first-stage lifting mechanism, and a second-stage lifting mechanism.

Detailed Description

The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.

Referring to fig. 1, an embodiment of the present invention includes:

a large array antenna stacking type lifting control system comprises a central processing unit and two stages of lifting control systems, wherein the input end and the output end of each stage of lifting control system are connected with the central processing unit. The primary lifting control system comprises a first proportional amplifying plate, a first electro-hydraulic proportional reversing valve, a first balance valve, a first lifting oil cylinder, a primary lifting mechanism 1 and a first absolute value angle encoder which are connected in sequence; the second-stage lifting control system comprises a second proportional amplifying plate, a second electro-hydraulic proportional reversing valve, a second balance valve, a second lifting oil cylinder, a second-stage lifting mechanism 2 and a second absolute value angle encoder which are sequentially connected.

The structure and the working principle of each stage of lifting control system are the same, and the functions of the structures are specifically described by taking a first stage lifting mechanism as an example:

the proportional amplification board is used for amplifying the voltage signal output by the central processing unit to meet the voltage or current signal acceptable by the electro-hydraulic proportional reversing valve. The electro-hydraulic proportional reversing valve has the function of changing the opening of the valve according to the magnitude of a current or voltage signal given by the proportional amplification plate, so that the functions of controlling the stretching and retracting of the hydraulic lifting oil cylinder and controlling the speed of the hydraulic lifting oil cylinder are achieved. The balance valve is used for balancing load, ensuring that the mechanism is in a mechanical balance state at any moment of movement, and avoiding the occurrence of a stalling phenomenon. The lifting oil cylinder provides power for the lifting mechanism, and further, the lifting oil cylinder is a two-stage hydraulic oil cylinder.

The absolute value angle encoder is installed on the lifting mechanism, records the lifting angle value of the current lifting mechanism in real time during power-on work, has a memory function during power-off work, and feeds back the angle values of the two-stage lifting mechanism to the central processing unit in real time. In the lifting process of the two-stage lifting mechanism, the absolute value angle encoder detects the lifting angle of the two-stage lifting mechanism and feeds the lifting angle back to the central processing unit for comparison and calculation, and then the central processing unit provides a compensation signal which sequentially passes through the proportional amplification plate, the electro-hydraulic proportional reversing valve, the balance valve and the lifting oil cylinder to control the lifting action of the two-stage lifting mechanism to keep synchronous.

With reference to fig. 2, the lifting process of the conventional lifting mechanism is as follows: the second-stage lifting mechanism 2 acts first, and the first-stage lifting mechanism 1 only starts to act after the second-stage lifting mechanism 2 lifts to 90 degrees, although the lifting height can exceed 10 meters, the gravity center is higher and too large in gravity center transfer in the lifting process, the system stability is not facilitated, and the lifting in-place time is longer. The lifting process of the lifting mechanism is shown in figure 3, the two-stage lifting mechanism acts simultaneously, the process not only effectively avoids the instability of the system caused by the over-high gravity center and the over-large gravity center shift in the lifting process, but also shortens the lifting time by one time and gains precious time for the special equipment to execute tasks.

Considering that the initial position and the final position of the two-stage lifting mechanism have speed abrupt change, in order to ensure that the lifting mechanism moves stably without impact, the large-array-surface antenna superposed lifting control system has a speed regulation function, and the lifting process is divided into three processes, namely: the low-speed starting process, the quick lifting process and the deceleration in-place process ensure that the lifting mechanism is stable and has no impact in the moving process.

The control method for lifting by utilizing the large array antenna superposed lifting control system comprises the following steps:

when a lifting command is executed, the central processing unit firstly reads in the current angle d1 of the primary lifting mechanism 1 and the current angle d2 of the secondary lifting mechanism 2;

judging the current angle and the critical angle of the three lifting processes, and outputting corresponding analog voltages to the two-stage lifting mechanisms by the central processing unit respectively;

the central processing unit reads the current values of the two absolute value angle encoders in real time while controlling the two-stage lifting mechanism to move, and judges whether the current values exceed the current values according to the difference value of the two absolute value angle encoders;

if the voltage does not exceed the preset value, the two-stage lifting mechanism moves according to the speed corresponding to the voltage given by the central processing unit;

if the difference value is out of tolerance, the central processing unit correspondingly increases or decreases the fine tuning voltage for the proportional amplification plate on the original basis according to the size of the over-tolerance value, and the fine tuning voltage value in each stage is different, so that the motion synchronism of the two-stage lifting mechanism is realized, and the gravity center transfer in the lifting process of the lifting mechanism is reduced;

when the current angle of the two-stage lifting mechanism is 90 degrees, the two-stage lifting mechanism is in place, the lifting action is finished, and the lifting is finished.

With reference to fig. 4, the following describes in detail the lifting method of the low-speed start process, the fast lifting process, and the deceleration in-place process, respectively:

(1) and (3) a low-speed starting process:

the purpose of the low speed start is to prevent sudden speed changes from adversely affecting the system. Suppose the critical angle from the initial angle of the lifting mechanism to the rapid lifting is D₀The angular difference, i.e. the over-difference, of the two-stage lifting mechanism at this stage is O₁；

S101: judging the current angle d₁Or d₂Whether d is greater than or equal to 0₁＜D₀、0≤d₂＜D₀；

S102: if d is not less than 0₁＜D₀Or 0. ltoreq. d₂＜D₀Then the central processing unit outputs the analog voltages V respectively₀A two-stage lifting mechanism is provided to realize a slow starting process;

s103: if d is₁-d₂＞O₁Then the central processing unit inputs an analog voltage (V) to the first proportional amplifying plate₀-a trimming voltage V_d0) Inputting an analog voltage (V) to the second proportional amplifying plate₀+ trimming voltage V_d0)；

In the same way, if d₁-d₂＜O₁Then the central processing unit inputs an analog voltage (V) to the first proportional amplifying plate₀+ trimming voltage V_d0) Inputting an analog voltage (V) to the second proportional amplifying plate₀-a trimming voltage V_d0)；

S104: when the current angles of the two-stage lifting mechanisms are D₀And then the lifting mechanism enters the next stage of quick lifting process. Preferably, D₀The value range of D is more than or equal to 1 degree₀≤8°。

(2) And (3) a quick lifting process:

the purpose of quick lifting is to shorten the time required by lifting and win precious time for special equipment to perform tasks. Suppose that the critical angle of the lifting mechanism to quickly lift to the low speed is D₁The difference in angle between the two lifting mechanisms at this stage isThe value of the over-tolerance is O₂；

S201: judging the current angle d₁And d₂Whether or not D₀≤d₁＜D₁、D₀≤d₂＜D₁；

S202: if D is₀≤d₁＜D₁And D₀≤d₂＜D₁Then the central processing unit outputs the analog voltages V respectively₁A two-stage lifting mechanism is provided to realize a rapid lifting process;

s203: if d is₁-d₂＞O₂Then the central processing unit inputs an analog voltage (V) to the first proportional amplifying plate₁-a trimming voltage V_d1) Inputting an analog voltage (V) to the second proportional amplifying plate₁+ trimming voltage V_d1)；

In the same way, if d₁-d₂＜O₂Then the central processing unit inputs an analog voltage (V) to the first proportional amplifying plate₁+ trimming voltage V_d1) Inputting an analog voltage (V) to the second proportional amplifying plate₁-a trimming voltage V_d1)；

S204: when the current angles of the two-stage lifting mechanisms are D₁And then the lifting mechanism enters the next stage of low-speed in-place process. Preferably, D₁The value range of D is more than or equal to 75 degrees₁≤87°。

(3) And (3) decelerating to the position:

the purpose of the low speed in-place is to prevent the lifting mechanism from impacting once in-place. Suppose the angular difference, i.e., the over-tolerance, of the two-stage lift mechanism at this stage is O₃；

S301: judging the current angle d₁Or d₂Whether or not D₁≤d1＜90°、D₁≤d₂＜90°；

S302: if D is₁D1 is less than or equal to 90 degrees or D₁≤d₂If the angle is less than 90 degrees, the central processing unit respectively outputs analog voltages V₂A two-stage lifting mechanism is provided to realize a low-speed in-place process;

s303: if d is₁-d₂＞O₃The central processing unit gives the saidThe first proportional amplifying plate inputs an analog voltage (V)₂-a trimming voltage V_d2) Inputting an analog voltage (V) to the second proportional amplifying plate₂+ trimming voltage V_d2)；

In the same way, if d₁-d₂＜O₃Then the central processing unit inputs an analog voltage (V) to the first proportional amplifying plate₂+ trimming voltage V_d2) Inputting an analog voltage (V2-a fine tuning voltage Vd2) to the second proportional amplifying plate;

s304: when the current angles of the two lifting mechanisms are both 90 degrees, the lifting mechanisms complete low-speed in-place. The 90 degree is the in-place state of the first-stage lifting mechanism and the second-stage lifting mechanism, and the central processing unit does not output voltage at the moment, namely the input voltage of the proportional amplification plates 1 and 2 is 0V.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.