阅读说明：本技术 举高类消防车工作平台稳定性自适应控制方法、系统及装置 (Self-adaptive control method, system and device for stability of working platform of elevating fire truck ) 是由 满珍 孙辉 张国梁 赵旭 于 2021-06-30 设计创作，主要内容包括：本发明公开了稳定性控制技术领域的一种举高类消防车工作平台稳定性自适应控制方法、系统及装置,装置包括：检测单元,用于采集工作平台的倾斜角度,采集控制臂架变幅油缸的控制阀的阀芯位移信号,采集控制臂架伸缩油缸的控制阀的阀芯位移信号；控制单元,用于基于控制臂架变幅油缸的控制阀的阀芯位移信号、控制臂架伸缩油缸的控制阀的阀芯位移信号,获取前馈控制信号,进而获取控制工作平台自适应控制油缸的电液比例阀的第二控制信号；执行单元,用于基于获取的第二控制信号控制工作平台自适应控制油缸,驱动工作平台恢复水平状态。本发明提高了位置自适应控制响应的及时性,提高了工作平台的稳定性。(The invention discloses a self-adaptive control method, a system and a device for the stability of a working platform of a lifting fire truck in the technical field of stability control, wherein the device comprises the following components: the detection unit is used for acquiring the inclination angle of the working platform, acquiring a valve core displacement signal of a control valve for controlling the boom luffing cylinder and acquiring a valve core displacement signal of a control valve for controlling the boom telescopic cylinder; the control unit is used for acquiring a feedforward control signal based on a spool displacement signal of a control valve for controlling the boom variable-amplitude oil cylinder and a spool displacement signal of a control valve for controlling the boom telescopic oil cylinder so as to acquire a second control signal for controlling an electro-hydraulic proportional valve of the working platform self-adaptive control oil cylinder; and the execution unit is used for controlling the working platform to self-adaptively control the oil cylinder based on the acquired second control signal and driving the working platform to recover the horizontal state. The invention improves the timeliness of position self-adaptive control response and improves the stability of the working platform.)

1. The self-adaptive control method for the stability of the working platform of the elevating fire truck is characterized by comprising the following steps of:

acquiring an inclination angle of a working platform, a valve core displacement signal of a control valve for controlling an arm frame luffing oil cylinder and a valve core displacement signal of a control valve for controlling an arm frame telescopic oil cylinder;

determining displacement information of an arm frame variable amplitude oil cylinder according to a valve core displacement signal of a control valve for controlling the arm frame variable amplitude oil cylinder, and determining variable amplitude angle information of an arm frame variable amplitude arm according to the displacement information of the arm frame variable amplitude oil cylinder;

determining arm length information of an arm frame variable-amplitude arm according to a valve core displacement signal of a control valve for controlling an arm frame telescopic oil cylinder, and determining corresponding deflection deformation compensation amount and clearance deformation compensation amount according to the arm length information of the arm frame variable-amplitude arm;

determining the angular velocity required to be adjusted when the working platform restores to the horizontal position according to the variable amplitude angle information and the arm length information of the variable amplitude arm of each arm support and the corresponding deflection deformation compensation amount and clearance deformation compensation amount, and determining a first control signal for controlling the electro-hydraulic proportional valve according to the angular velocity;

determining the inclination angle error of the working platform according to the inclination angle of the working platform;

performing adaptive PID control calculation according to the inclination angle error of the working platform and a first control signal of an electro-hydraulic proportional valve for controlling the working platform to adaptively control the oil cylinder to obtain a second control signal for controlling the electro-hydraulic proportional valve;

and controlling the output flow of the electro-hydraulic proportional valve according to the second control signal to drive the working platform to recover the horizontal state.

2. The utility model provides a lift high class fire engine work platform stability adaptive control system, characterized by includes:

the data acquisition module is used for acquiring the inclination angle of the working platform, a valve core displacement signal of a control valve for controlling the boom luffing cylinder and a valve core displacement signal of a control valve for controlling the boom telescopic cylinder;

the first control module is used for determining displacement information of the boom variable-amplitude oil cylinder according to a valve core displacement signal of a control valve for controlling the boom variable-amplitude oil cylinder and determining variable-amplitude angle information of the boom variable-amplitude arm according to the displacement information of the boom variable-amplitude oil cylinder;

the second control module is used for determining arm length information of the boom variable-amplitude arm according to a valve core displacement signal of a control valve for controlling the boom telescopic oil cylinder, and determining corresponding deflection deformation compensation amount and clearance deformation compensation amount according to the arm length information of the boom variable-amplitude arm;

the third control module is used for determining the angular speed of the working platform, which needs to be adjusted to restore the horizontal position, according to the amplitude variation angle information and the arm length information of the amplitude variation arm of each arm frame and the corresponding deflection deformation compensation amount and clearance deformation compensation amount, and determining a first control signal for controlling the electro-hydraulic proportional valve according to the angular speed;

the fourth control module is used for determining the inclination angle error of the working platform according to the inclination angle of the working platform;

the fifth control module is used for carrying out self-adaptive PID control calculation according to the inclination angle error of the working platform and a first control signal of an electro-hydraulic proportional valve for controlling the working platform self-adaptive control oil cylinder to obtain a second control signal for controlling the electro-hydraulic proportional valve;

and the control output module is used for controlling the output flow of the electro-hydraulic proportional valve according to the second control signal so as to drive the working platform to recover the horizontal state.

3. The utility model provides a lift high class fire engine work platform stability self-adaptation control device, characterized by includes:

the detection unit is used for acquiring the inclination angle of the working platform, a valve core displacement signal of a control valve for controlling the boom luffing cylinder and a valve core displacement signal of a control valve for controlling the boom telescopic cylinder;

a control unit for executing the steps of the adaptive control method for the stability of the working platform of the elevating fire truck according to claim 1;

and the execution unit is used for controlling the output flow of the electro-hydraulic proportional valve according to the second control signal so as to drive the working platform to recover the horizontal state.

4. The adaptive control device for the stability of the working platform of the elevating fire truck as recited in claim 3, wherein the boom luffing jib comprises a boom luffing jib I, a boom luffing jib II and a boom luffing jib III, the boom luffing jib I is hinged to the boom luffing jib II, the boom luffing jib II is hinged to the boom luffing jib III, and the boom luffing jib III is hinged to the working platform.

5. The adaptive control device for the stability of the working platform of the elevating fire truck as recited in claim 3, wherein the boom luffing cylinder comprises:

the boom variable-amplitude arm I variable-amplitude oil cylinder is used for changing the variable-amplitude angle of the boom variable-amplitude arm I;

the arm support amplitude variation arm II amplitude variation oil cylinder is used for changing the amplitude variation angle of the arm support amplitude variation arm II;

and the arm frame variable amplitude arm three variable amplitude oil cylinder is used for changing the variable amplitude angle of the arm frame variable amplitude arm three.

6. The adaptive control device for the stability of the working platform of the elevating fire truck as recited in claim 5, wherein the first luffing cylinder of the boom luffing jib is connected with a first control valve, the second luffing cylinder of the boom luffing jib is connected with a fourth control valve, the third luffing cylinder of the boom luffing jib is connected with a sixth control valve, and the first control valve, the fourth control valve and the sixth control valve are respectively connected with the detection unit.

7. The adaptive control device for the stability of the working platform of the elevating fire truck as recited in claim 3, wherein the boom extension cylinder comprises:

the first telescopic oil cylinder of the arm frame luffing arm and the second telescopic oil cylinder of the arm frame luffing arm are used for controlling the arm length of the first arm frame luffing arm;

and the arm frame variable amplitude arm two telescopic oil cylinder is used for controlling the arm length of the arm frame variable amplitude arm two.

8. The adaptive control device for the stability of the working platform of the elevating fire truck as recited in claim 7, wherein the first telescopic cylinder of the boom luffing jib is connected with a second control valve, the second telescopic cylinder of the boom luffing jib is connected with a third control valve, the second telescopic cylinder of the boom luffing jib is connected with a fifth control valve, and the second control valve, the third control valve and the fifth control valve are respectively connected with the detection unit.

9. The adaptive control device for the stability of the working platform of the elevating fire truck as recited in claim 3, wherein the working platform comprises a working platform adaptive control cylinder, and the working platform adaptive control cylinder is connected with the electro-hydraulic proportional valve.

10. The adaptive control device for the stability of the working platform of the elevated fire fighting truck according to claim 3, wherein the control unit is configured with a pressure compensator module.

Technical Field

The invention belongs to the technical field of stability control, and particularly relates to a self-adaptive control method, a self-adaptive control system and a self-adaptive control device for the stability of a working platform of a lifting fire truck.

Background

The fire fighting truck is a vehicle which is arranged and manufactured into various fire fighting equipment or fire extinguishing agents suitable for firemen to take and equip and is used for fire extinguishing, auxiliary fire extinguishing or fire rescue by fire fighting troops according to requirements. The elevating fire truck has special chassis and elevating arm support, the tail of the elevating arm support is connected to the chassis, and the work platform is steel structure comprising bottom plate and fence and is set in the arm head of the elevating arm support for bearing person and article. During operation, a professional operator controls the lifting arm support to ascend so as to control the working platform to ascend, convey firefighters or articles to a certain height and realize high-altitude rescue or fire fighting operation. In order to ensure that the working platform can bear safe and reliable working personnel and articles, the working platform needs to be always kept stable and horizontal in the working process, and the shaking or the inclination which can make the working personnel feel uncomfortable cannot occur. The prior art has the following defects:

firstly, only the influence of the shake of a working platform caused by mechanical oscillation generated by the movement speed of the lifting arm support on the accuracy of maintaining the working platform at a horizontal position is considered, and the influence of the position and inclination angle judgment error of the working platform caused by the deformation of an arm body of a long arm support system and the assembly clearance of a telescopic system is not considered;

secondly, the phenomenon of response delay exists in closed-loop control based on valve core displacement feedback, so that the response delay of the working platform is caused to be maintained at a horizontal position in a self-adaptive adjustment mode;

thirdly, the output flow of the electro-hydraulic proportional valve is greatly influenced by load pressure fluctuation, so that the system is unstable.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides a self-adaptive control method, a system and a device for the stability of a working platform of a lifting fire truck, which improve the timeliness of position self-adaptive control response and improve the stability of the working platform.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

in a first aspect, a self-adaptive control method for stability of a working platform of a lifting fire truck is provided, which comprises the following steps: acquiring an inclination angle of a working platform, a valve core displacement signal of a control valve for controlling an arm frame luffing oil cylinder and a valve core displacement signal of a control valve for controlling an arm frame telescopic oil cylinder; determining displacement information of an arm frame variable amplitude oil cylinder according to a valve core displacement signal of a control valve for controlling the arm frame variable amplitude oil cylinder, and determining variable amplitude angle information of an arm frame variable amplitude arm according to the displacement information of the arm frame variable amplitude oil cylinder; determining arm length information of an arm frame variable-amplitude arm according to a valve core displacement signal of a control valve for controlling an arm frame telescopic oil cylinder, and determining corresponding deflection deformation compensation amount and clearance deformation compensation amount according to the arm length information of the arm frame variable-amplitude arm; determining the angular velocity required to be adjusted when the working platform restores to the horizontal position according to the variable amplitude angle information and the arm length information of the variable amplitude arm of each arm support and the corresponding deflection deformation compensation amount and clearance deformation compensation amount, and determining a first control signal for controlling the electro-hydraulic proportional valve according to the angular velocity; determining the inclination angle error of the working platform according to the inclination angle of the working platform; performing adaptive PID control calculation according to the inclination angle error of the working platform and a first control signal of an electro-hydraulic proportional valve for controlling the working platform to adaptively control the oil cylinder to obtain a second control signal for controlling the electro-hydraulic proportional valve; and controlling the output flow of the electro-hydraulic proportional valve according to the second control signal to drive the working platform to recover the horizontal state.

In a second aspect, a self-adaptive control system for stability of a working platform of a fire truck with a high lifting capacity is provided, which includes: the data acquisition module is used for acquiring the inclination angle of the working platform, a valve core displacement signal of a control valve for controlling the boom luffing cylinder and a valve core displacement signal of a control valve for controlling the boom telescopic cylinder; the first control module is used for determining displacement information of the boom variable-amplitude oil cylinder according to a valve core displacement signal of a control valve for controlling the boom variable-amplitude oil cylinder and determining variable-amplitude angle information of the boom variable-amplitude arm according to the displacement information of the boom variable-amplitude oil cylinder; the second control module is used for determining arm length information of the boom variable-amplitude arm according to a valve core displacement signal of a control valve for controlling the boom telescopic oil cylinder, and determining corresponding deflection deformation compensation amount and clearance deformation compensation amount according to the arm length information of the boom variable-amplitude arm; the third control module is used for determining the angular speed of the working platform, which needs to be adjusted to restore the horizontal position, according to the amplitude variation angle information and the arm length information of the amplitude variation arm of each arm frame and the corresponding deflection deformation compensation amount and clearance deformation compensation amount, and determining a first control signal for controlling the electro-hydraulic proportional valve according to the angular speed; the fourth control module is used for determining the inclination angle error of the working platform according to the inclination angle of the working platform; the fifth control module is used for carrying out self-adaptive PID control calculation according to the inclination angle error of the working platform and a first control signal of an electro-hydraulic proportional valve for controlling the working platform self-adaptive control oil cylinder to obtain a second control signal for controlling the electro-hydraulic proportional valve; and the control output module is used for controlling the output flow of the electro-hydraulic proportional valve according to the second control signal so as to drive the working platform to recover the horizontal state.

In a third aspect, a self-adaptive control device for the stability of a working platform of a fire truck with a high lifting capacity is provided, which includes: the detection unit is used for acquiring the inclination angle of the working platform, a valve core displacement signal of a control valve for controlling the boom luffing cylinder and a valve core displacement signal of a control valve for controlling the boom telescopic cylinder; the control unit is used for executing the steps of the self-adaptive control method for the stability of the working platform of the elevating fire truck in the first aspect; and the execution unit is used for controlling the output flow of the electro-hydraulic proportional valve according to the second control signal so as to drive the working platform to recover the horizontal state.

Further, the arm support amplitude variation arm comprises an arm support amplitude variation arm I, an arm support amplitude variation arm II and an arm support amplitude variation arm III, the arm support amplitude variation arm I is hinged with the arm support amplitude variation arm II, the arm support amplitude variation arm II is hinged with the arm support amplitude variation arm III, and the arm support amplitude variation arm III is hinged with the working platform.

Further, the jib luffing cylinder comprises: the boom variable-amplitude arm I variable-amplitude oil cylinder is used for changing the variable-amplitude angle of the boom variable-amplitude arm I; the arm support amplitude variation arm II amplitude variation oil cylinder is used for changing the amplitude variation angle of the arm support amplitude variation arm II; and the arm frame variable amplitude arm three variable amplitude oil cylinder is used for changing the variable amplitude angle of the arm frame variable amplitude arm three.

Further, the first variable-amplitude oil cylinder of the arm frame variable-amplitude arm is connected with a control valve, the second variable-amplitude oil cylinder of the arm frame variable-amplitude arm is connected with a control valve IV, the third variable-amplitude oil cylinder of the arm frame variable-amplitude arm is connected with a control valve VI, and the control valve I, the control valve IV and the control valve VI are respectively connected with the detection unit.

Further, the boom extension cylinder comprises: the first telescopic oil cylinder of the arm frame luffing arm and the second telescopic oil cylinder of the arm frame luffing arm are used for controlling the arm length of the first arm frame luffing arm; and the arm frame variable amplitude arm two telescopic oil cylinder is used for controlling the arm length of the arm frame variable amplitude arm two.

Further, the first telescopic oil cylinder of the boom variable-amplitude arm is connected with a second control valve, the second telescopic oil cylinder of the boom variable-amplitude arm is connected with a third control valve, the second telescopic oil cylinder of the boom variable-amplitude arm is connected with a fifth control valve, and the second control valve, the third control valve and the fifth control valve are respectively connected with the detection unit.

Further, the working platform comprises a working platform self-adaptive control oil cylinder, and the working platform self-adaptive control oil cylinder is connected with the electro-hydraulic proportional valve.

Further, the control unit is provided with a pressure compensator module.

Compared with the prior art, the invention has the following beneficial effects:

(1) according to the invention, the compensation angular speed required by the working platform to maintain the horizontal position is obtained through tracking and detecting the displacement of the valve core of the control valve, and intervention control is carried out in advance based on feedforward control before the position of the working platform generates deviation, so that the timeliness of position self-adaptive control response is improved, and the stability of the working platform is improved;

(2) according to the invention, through simple PID feedback control, the response speed of the system is improved, and the stability of the system is considered;

(3) according to the invention, by introducing the pressure compensator, the fluctuation of the output flow of the electro-hydraulic proportional valve caused by load pressure fluctuation is reduced or even eliminated, and the position self-adaptive control precision of the working platform is improved;

(4) according to the invention, through testing big data, the positioning error caused by deflection deformation of the long cantilever crane and the assembly clearance of the telescopic system arm body of the multi-sectional arm is comprehensively considered, and the position compensation is carried out by adopting an interpolation method, so that the self-adaptive high-precision control of the position of the working platform is realized.

Drawings

Fig. 1 is a schematic structural diagram of a self-adaptive control system for stability of a working platform of a fire fighting truck for lifting according to an embodiment of the present invention;

FIG. 2 is a control flow diagram of a work platform adaptive feedforward control strategy in an embodiment of the present invention;

fig. 3 is a control flow diagram of an adaptive control strategy of a working platform in an embodiment of the present invention.

Detailed Description

The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.

The first embodiment is as follows:

a self-adaptive control method for stability of a working platform of a lifting fire truck comprises the following steps: acquiring an inclination angle of a working platform, a valve core displacement signal of a control valve for controlling an arm frame luffing oil cylinder and a valve core displacement signal of a control valve for controlling an arm frame telescopic oil cylinder; determining displacement information of an arm frame variable amplitude oil cylinder according to a valve core displacement signal of a control valve for controlling the arm frame variable amplitude oil cylinder, and determining variable amplitude angle information of an arm frame variable amplitude arm according to the displacement information of the arm frame variable amplitude oil cylinder; determining arm length information of an arm frame variable-amplitude arm according to a valve core displacement signal of a control valve for controlling an arm frame telescopic oil cylinder, and determining corresponding deflection deformation compensation amount and clearance deformation compensation amount according to the arm length information of the arm frame variable-amplitude arm; determining the angular velocity required to be adjusted when the working platform restores to the horizontal position according to the variable amplitude angle information and the arm length information of the variable amplitude arm of each arm support and the corresponding deflection deformation compensation amount and clearance deformation compensation amount, and determining a first control signal for controlling the electro-hydraulic proportional valve according to the angular velocity; determining the inclination angle error of the working platform according to the inclination angle of the working platform; performing adaptive PID control calculation according to the inclination angle error of the working platform and a first control signal of an electro-hydraulic proportional valve for controlling the working platform to adaptively control the oil cylinder to obtain a second control signal for controlling the electro-hydraulic proportional valve; and controlling the output flow of the electro-hydraulic proportional valve according to the second control signal to drive the working platform to recover the horizontal state.

Example two:

based on embodiment one the adaptive control method of elevating type fire engine work platform stability, this embodiment provides an adaptive control system of elevating type fire engine work platform stability, includes: the data acquisition module is used for acquiring the inclination angle of the working platform, a valve core displacement signal of a control valve for controlling the boom luffing cylinder and a valve core displacement signal of a control valve for controlling the boom telescopic cylinder; the first control module is used for determining displacement information of the boom variable-amplitude oil cylinder according to a valve core displacement signal of a control valve for controlling the boom variable-amplitude oil cylinder and determining variable-amplitude angle information of the boom variable-amplitude arm according to the displacement information of the boom variable-amplitude oil cylinder; the second control module is used for determining arm length information of the boom variable-amplitude arm according to a valve core displacement signal of a control valve for controlling the boom telescopic oil cylinder, and determining corresponding deflection deformation compensation amount and clearance deformation compensation amount according to the arm length information of the boom variable-amplitude arm; the third control module is used for determining the angular speed of the working platform, which needs to be adjusted to restore the horizontal position, according to the amplitude variation angle information and the arm length information of the amplitude variation arm of each arm frame and the corresponding deflection deformation compensation amount and clearance deformation compensation amount, and determining a first control signal for controlling the electro-hydraulic proportional valve according to the angular speed; the fourth control module is used for determining the inclination angle error of the working platform according to the inclination angle of the working platform; the fifth control module is used for carrying out self-adaptive PID control calculation according to the inclination angle error of the working platform and a first control signal of an electro-hydraulic proportional valve for controlling the working platform self-adaptive control oil cylinder to obtain a second control signal for controlling the electro-hydraulic proportional valve; and the control output module is used for controlling the output flow of the electro-hydraulic proportional valve according to the second control signal so as to drive the working platform to recover the horizontal state.

Example three:

based on embodiment one elevating type fire truck work platform stability self-adaptive control method and embodiment two elevating type fire truck work platform stability self-adaptive control system, this embodiment provides a elevating type fire truck work platform stability self-adaptive control device, includes: the detection unit is used for acquiring the inclination angle of the working platform, a valve core displacement signal of a control valve for controlling the boom luffing cylinder and a valve core displacement signal of a control valve for controlling the boom telescopic cylinder; the control unit is used for acquiring a feedforward control signal based on a spool displacement signal of a control valve for controlling the boom variable-amplitude oil cylinder and a spool displacement signal of a control valve for controlling the boom telescopic oil cylinder so as to acquire a second control signal for controlling an electro-hydraulic proportional valve of the working platform self-adaptive control oil cylinder; and the execution unit is used for controlling the working platform to self-adaptively control the oil cylinder based on the acquired second control signal and driving the working platform to recover the horizontal state.

Acquiring a feed-forward control signal, comprising: acquiring displacement information of an arm frame luffing oil cylinder based on a valve core displacement signal of a control valve for controlling the arm frame luffing oil cylinder, and further acquiring luffing angle information of an arm frame luffing arm; acquiring arm length information of an arm frame variable-amplitude arm based on a valve core displacement signal of a control valve for controlling an arm frame telescopic oil cylinder, and further acquiring corresponding deflection deformation compensation amount and clearance deformation compensation amount; based on the variable amplitude angle information of the variable amplitude wall of each arm support, the arm length and the corresponding deflection deformation compensation amount and clearance deformation compensation amount, the angular speed required by self-adaptive adjustment when the working platform restores to the horizontal position is obtained, and then a first control signal required by controlling the electro-hydraulic proportional valve, namely the size of the control signal required by the electro-hydraulic proportional valve, is obtained. The feedforward control signal comprises the amplitude variation angle information of the arm frame amplitude variation arm, deflection deformation compensation amount and clearance deformation compensation amount corresponding to the arm length of the arm frame amplitude variation arm, and a first control signal.

In this embodiment, the boom variable-amplitude arm comprises a boom variable-amplitude arm I, a boom variable-amplitude arm II and a boom variable-amplitude arm III, wherein the boom variable-amplitude arm I is hinged to the boom variable-amplitude arm II, the boom variable-amplitude arm II is hinged to the boom variable-amplitude arm III, and the boom variable-amplitude arm III is hinged to the working platform. The boom luffing cylinder comprises: the boom variable-amplitude arm I variable-amplitude oil cylinder is used for changing the variable-amplitude angle of the boom variable-amplitude arm I; the arm support amplitude variation arm II amplitude variation oil cylinder is used for changing the amplitude variation angle of the arm support amplitude variation arm II; and the arm frame variable amplitude arm three variable amplitude oil cylinder is used for changing the variable amplitude angle of the arm frame variable amplitude arm three. The first variable-amplitude oil cylinder of the arm frame variable-amplitude arm is connected with the first control valve, the second variable-amplitude oil cylinder of the arm frame variable-amplitude arm is connected with the fourth control valve, the third variable-amplitude oil cylinder of the arm frame variable-amplitude arm is connected with the sixth control valve, and the first control valve, the fourth control valve and the sixth control valve are respectively connected with the detection unit. The boom telescopic cylinder comprises: the first telescopic oil cylinder of the arm frame luffing arm and the second telescopic oil cylinder of the arm frame luffing arm are used for controlling the arm length of the first arm frame luffing arm; and the arm frame variable amplitude arm two telescopic oil cylinder is used for controlling the arm length of the arm frame variable amplitude arm two. The first telescopic oil cylinder of the boom variable-amplitude arm is connected with the second control valve, the second telescopic oil cylinder of the boom variable-amplitude arm is connected with the third control valve, the second telescopic oil cylinder of the boom variable-amplitude arm is connected with the fifth control valve, and the second control valve, the third control valve and the fifth control valve are respectively connected with the detection unit. The method for acquiring the second control signal of the electro-hydraulic proportional valve for controlling the working platform to adaptively control the oil cylinder comprises the following steps: and acquiring an inclination angle error of the working platform based on the inclination angle of the working platform, and acquiring a second control signal for controlling an electro-hydraulic proportional valve of the self-adaptive control oil cylinder of the working platform by combining the acquired feedforward control signal. The control unit is provided with a pressure compensator module for maintaining the stability of the output flow of the electro-hydraulic proportional valve.

As shown in fig. 1, a control valve I1-27 is connected with an amplitude variation oil cylinder 1-2 of an amplitude variation arm of the arm support to complete the telescopic motion of the amplitude variation oil cylinder 1-2 of the amplitude variation arm of the arm support; the boom variable amplitude arm I variable amplitude oil cylinder 1-2 is connected with the boom variable amplitude arm I1-1 to complete the variable amplitude action of the boom variable amplitude arm I1-1; a control signal 1-27.1 on the left side of a control valve I is electrified, high-pressure hydraulic oil output by a hydraulic pump enters a rodless cavity of a variable-amplitude oil cylinder 1-2 of the variable-amplitude arm of the arm support through the control valve I1-27, the variable-amplitude oil cylinder 1-2 of the variable-amplitude arm of the arm support extends out, and the variable-amplitude arm I1-1 of the arm support realizes variable-amplitude lifting action; and a control signal 1-27.2 on the right side of the control valve I is electrified, high-pressure hydraulic oil output by the hydraulic pump enters a rod cavity of a variable-amplitude oil cylinder 1-2 of the variable-amplitude arm of the arm support through the control valve I1-27, the variable-amplitude oil cylinder 1-2 of the variable-amplitude arm of the arm support retracts, and the variable-amplitude arm 1-1 of the arm support realizes variable-amplitude descending action.

The control valves II 1-26 are connected with the boom variable-amplitude boom telescopic oil cylinders I1-3 to complete the telescopic action of the boom variable-amplitude boom telescopic oil cylinders I1-3; the first telescopic oil cylinder 1-3 of the boom variable amplitude arm is connected with the first telescopic arm 1-4 of the boom variable amplitude arm to complete the telescopic action of the first telescopic arm 1-4 of the boom variable amplitude arm; the control signal 1-26.1 on the left side of the control valve II is electrified, high-pressure hydraulic oil output by the hydraulic pump enters a telescopic oil cylinder I1-3 of the boom variable-amplitude arm through the control valve II 1-26 to form a rod cavity, the telescopic oil cylinder I1-3 of the boom variable-amplitude arm retracts, and the first telescopic arm 1-4 of the boom variable-amplitude arm realizes retraction; the control signals 1-26.2 on the right side of the control valve II are electrified, high-pressure hydraulic oil output by the hydraulic pump enters a telescopic oil cylinder I1-3 rodless cavity of the boom variable-amplitude arm through the control valve II 1-26, the telescopic oil cylinder I1-3 of the boom variable-amplitude arm extends out, and the first telescopic arm 1-4 of the boom variable-amplitude arm realizes extension action; the first telescopic arm 1-4 of the arm frame luffing arm is connected with the second telescopic arm 1-5 of the arm frame luffing arm through a zipper mechanism, and the extending and retracting actions of the first telescopic arm 1-4 of the arm frame luffing arm synchronously drive the extending and retracting actions of the second telescopic arm 1-5 of the arm frame luffing arm through the zipper mechanism.

The control valve III 1-25 is connected with the boom variable-amplitude arm I telescopic oil cylinder II 1-6 to complete the telescopic action of the boom variable-amplitude arm I telescopic oil cylinder II 1-6; the boom variable-amplitude arm first telescopic oil cylinder II 1-6 is connected with the boom variable-amplitude arm first third telescopic arm 1-7 to complete the telescopic action of the boom variable-amplitude arm first telescopic arm 1-7; a control signal 1-25.1 on the left side of the control valve III is electrified, high-pressure hydraulic oil output by the hydraulic pump enters a rod cavity of a telescopic oil cylinder II 1-6 of an arm frame luffing boom I through a control valve II 1-25, the telescopic oil cylinder II 1-6 of the arm frame luffing boom I retracts, and a third telescopic arm 1-7 of the arm frame luffing boom I retracts; a control signal 1-25.2 on the right side of the control valve III is electrified, high-pressure hydraulic oil output by the hydraulic pump enters a rodless cavity of a telescopic oil cylinder II 1-6 of the boom variable-amplitude arm I through a control valve II 1-25, the telescopic oil cylinder II 1-6 of the boom variable-amplitude arm I extends out, and a third telescopic arm 1-7 of the boom variable-amplitude arm I realizes extending action; the third telescopic arm 1-7 of the boom variable-amplitude arm is connected with the fourth telescopic arm 1-8 of the boom variable-amplitude arm through a zipper mechanism, and the extending and retracting actions of the third telescopic arm 1-7 of the boom variable-amplitude arm synchronously drive the extending and retracting actions of the fourth telescopic arm 1-8 of the boom variable-amplitude arm through the zipper mechanism.

The control valves IV 1-24 are connected with the arm frame variable amplitude arm two variable amplitude oil cylinders 1-10 to complete the telescopic action of the arm frame variable amplitude arm two variable amplitude oil cylinders 1-10; the arm frame variable amplitude arm II variable amplitude oil cylinder 1-10 is connected with the arm frame variable amplitude arm II 1-9 to complete the variable amplitude action of the arm frame variable amplitude arm II 1-9; the control signals 1-24.1 on the left side of the control valve IV are electrified, high-pressure hydraulic oil output by the hydraulic pump enters a rod cavity of a second variable-amplitude oil cylinder 1-10 of the arm frame variable-amplitude arm through the control valve IV 1-24, the second variable-amplitude oil cylinder 1-10 of the arm frame variable-amplitude arm retracts, and the second variable-amplitude arm 1-9 of the arm frame variable-amplitude arm realizes variable-amplitude descending action; and the control signals 1-24.2 on the right side of the control valve IV are electrified, high-pressure hydraulic oil output by the hydraulic pump enters a rodless cavity of the arm frame variable amplitude arm two variable amplitude oil cylinder 1-10 through the control valve IV 1-24, the arm frame variable amplitude arm two variable amplitude oil cylinder 1-10 extends out, and the arm frame variable amplitude arm two 1-9 realizes variable amplitude lifting action.

The control valves five 1-23 are connected with the boom variable-amplitude boom second telescopic oil cylinders 1-14 to complete the telescopic action of the boom variable-amplitude boom second telescopic oil cylinders 1-14; the arm frame variable amplitude arm two telescopic oil cylinder 1-14 is connected with the arm frame variable amplitude arm two first telescopic arm 1-11 to complete the telescopic action of the arm frame variable amplitude arm two first telescopic arm 1-11; the control signal 1-23.1 on the left side of the control valve five is electrified, high-pressure hydraulic oil output by the hydraulic pump enters a rod cavity of a second telescopic oil cylinder 1-14 of the arm frame variable amplitude arm through the control valve five 1-23, the second telescopic oil cylinder 1-14 of the arm frame variable amplitude arm retracts, and the first telescopic arm 1-11 of the arm frame variable amplitude arm realizes retraction; the control signal 1-23.2 on the right side of the control valve five is electrified, high-pressure hydraulic oil output by the hydraulic pump enters a rodless cavity of a second telescopic oil cylinder 1-14 of the arm frame variable-amplitude arm through the control valve five 1-23, the second telescopic oil cylinder 1-14 of the arm frame variable-amplitude arm extends out, and the first telescopic arm 1-11 of the arm frame variable-amplitude arm realizes extending action; the arm frame luffing jib second first telescopic jib 1-11 is connected with the arm frame luffing jib second telescopic jib 1-12 through a zipper mechanism, and the extending and retracting actions of the arm frame luffing jib second first telescopic jib 1-11 synchronously drive the extending and retracting actions of the arm frame luffing jib second telescopic jib 1-12 through the zipper mechanism; the arm frame variable amplitude arm second telescopic arms 1-12 are connected with the arm frame variable amplitude arm second third telescopic arms 1-13 through a zipper mechanism, and the extending and retracting actions of the arm frame variable amplitude arm second telescopic arms 1-12 synchronously drive the extending and retracting actions of the arm frame variable amplitude arm second telescopic arms 1-13 through the zipper mechanism; the arm frame variable amplitude arm second and third telescopic arms 1-13 are connected with the arm frame variable amplitude arm second and fourth telescopic arms 1-15 through a zipper mechanism, and the extending and retracting actions of the arm frame variable amplitude arm second and third telescopic arms 1-13 synchronously drive the extending and retracting actions of the arm frame variable amplitude arm second and fourth telescopic arms 1-15 through the zipper mechanism.

The control valves six 1-22 are connected with the arm frame variable amplitude arm three variable amplitude oil cylinders 1-17 to complete the telescopic action of the arm frame variable amplitude arm three variable amplitude oil cylinders 1-17; the arm frame variable amplitude arm three variable amplitude oil cylinders 1-17 are connected with the arm frame variable amplitude arms three 1-16 to complete the variable amplitude action of the arm frame variable amplitude arms three 1-16; the control signals 1-22.1 on the six left sides of the control valves are electrified, high-pressure hydraulic oil output by the hydraulic pump enters the rod cavities of the arm frame variable amplitude arm three variable amplitude oil cylinders 1-17 through the control valves three 1-22, the arm frame variable amplitude arm three variable amplitude oil cylinders 1-17 retract, and the arm frame variable amplitude arm three 1-16 realizes variable amplitude descending action; and a control signal 1-22.2 on the right side of the control valve six is electrified, high-pressure hydraulic oil output by the hydraulic pump enters a rodless cavity of the arm frame variable amplitude arm three-variable amplitude oil cylinder 1-17 through the control valve six 1-22, the arm frame variable amplitude arm three-variable amplitude oil cylinder 1-17 extends out, and the arm frame variable amplitude arm three 1-16 realizes variable amplitude lifting action.

The electro-hydraulic proportional valves 1-21 are connected with the working platform position self-adaptive control oil cylinders 1-20 to finish the telescopic action of the working platform position self-adaptive control oil cylinders 1-20; the working platform position self-adaptive control oil cylinders 1-20 are connected with the working platform 1-19 to complete the position self-adaptive control of the working platform 1-19;

a control signal 1-21.1 on the left side of the electro-hydraulic proportional valve is electrified, high-pressure hydraulic oil output by a hydraulic pump enters a rodless cavity of a working platform position self-adaptive control oil cylinder 1-20 through the electro-hydraulic proportional valve 1-21, the working platform position self-adaptive control oil cylinder 1-20 extends out, and the working platform 1-19 realizes self-adaptive adjustment of a downward-inclined working condition; the control signal 1-21.2 on the right side of the electro-hydraulic proportional valve is electrified, high-pressure hydraulic oil output by the hydraulic pump enters a rod cavity of the working platform position self-adaptive control oil cylinder 1-20 through the electro-hydraulic proportional valve 1-21, the working platform position self-adaptive control oil cylinder 1-20 retracts, and the working platform 1-19 realizes self-adaptive adjustment of an upward inclination working condition.

The specific embodiment is as follows:

(1) the detection units 1 to 28 detect spool displacements of the control valves 1 to 27 in real time (in the embodiment, spool displacements of the control valves are indirectly obtained by directly tracking and detecting spool control signals of the control valves), and the boom luffing cylinder displacement calculation modules of the control units 1 to 29 calculate displacements of boom luffing cylinders 1 to 2 in real time based on the sizes of the detection signals and flow characteristic curves of the control valves 1 to 27;

(2) the boom variable amplitude real-time angle calculation module of the control unit 1-29 calculates the variable amplitude angle of the boom variable amplitude arm I1-1 according to the geometric relationship between the displacement of the boom variable amplitude arm I variable amplitude oil cylinder 1-2 and the variable amplitude angle of the boom variable amplitude arm I1-1;

(3) the detection unit 1-28 detects the displacement of the valve cores of the control valves II 1-26 in real time, and the telescopic boom extension length calculation module of the control unit 1-29 calculates the arm length of the boom variable-amplitude boom I1-1 in real time based on the detection signal and the geometrical relationship between the extension lengths of the boom variable-amplitude boom I1-4 and the boom variable-amplitude boom I1-5;

(4) the detection unit 1-28 detects the displacement of the valve cores of the control valves III 1-25 in real time, and the telescopic boom extension length calculation module of the control unit 1-29 calculates the arm length of the boom variable-amplitude boom I1-1 in real time based on the detection signal and the geometrical relationship between the extension lengths of the boom variable-amplitude boom I1-7 and the boom variable-amplitude boom I1-8;

(5) a long-boom deformation compensation calculation module of the control unit 1-29 calculates the deflection deformation compensation amount of the boom variable-amplitude boom I1-1 corresponding to the extension length of the telescopic boom based on the large data of the telescopic boom deflection deformation test;

(6) a long-boom deformation compensation calculation module of the control unit 1-29 calculates the clearance deformation compensation amount of a boom variable-amplitude boom I1-1 corresponding to the extension length of the telescopic boom based on the large data of the telescopic boom clearance deformation test;

(7) the detection unit 1-28 detects the displacement of the valve cores of the control valves five 1-23 in real time, and the telescopic boom extension length calculation module of the control unit 1-29 calculates the arm length of the boom variable-amplitude boom two 1-9 in real time on the basis of the size of the detection signal and the geometrical relationship of the extension lengths of the boom variable-amplitude boom two first telescopic arms 1-11, the boom variable-amplitude boom two second telescopic arms 1-12, the boom variable-amplitude boom two third telescopic arms 1-13 and the boom variable-amplitude boom two fourth telescopic arms 1-15;

(8) a long-boom deformation compensation calculation module of the control unit 1-29 calculates the deflection deformation compensation amount of the boom variable-amplitude boom II 1-9 corresponding to the extension length of the telescopic boom based on the large data of the telescopic boom deflection deformation test;

(9) a long-boom deformation compensation calculation module of the control unit 1-29 calculates the clearance deformation compensation quantity of the boom variable-amplitude boom II 1-9 corresponding to the extension length of the telescopic boom based on the large data of the telescopic boom clearance deformation test;

(10) the dynamic characteristic calculation module of the control unit 1-29 calculates the angular speed required to be adaptively adjusted when the working platform 1-19 is in the horizontal position on the basis of comprehensively considering the arm length and deflection of the arm frame amplitude changing arm I1-1, the arm frame amplitude changing arm II 1-9 and the arm frame amplitude changing arm III 1-16 and the arm frame geometric relation characteristic curve, and calculates the movement speed of the working platform position adaptive control oil cylinder 1-20;

(11) a hydraulic oil cylinder flow calculation module of the control unit 1-29 calculates the required flow of the working platform position self-adaptive control oil cylinder 1-20 based on the movement speed of the working platform position self-adaptive control oil cylinder 1-20, and calculates the control signal size required by the electro-hydraulic proportional valve 1-21 based on the required flow, namely a first control signal;

(12) the detection unit 1-30 detects the inclination angle 1-18 of the working platform in real time, and the working platform angle error module of the control unit 1-29 calculates the inclination angle error of the working platform 1-19;

(13) after the inclination angle errors of the working platform 1-19 and the feedforward control signals described in the sequence numbers (1) - (11) are processed by the self-adaptive PID controller module of the control unit 1-29, the control signals required by the electro-hydraulic proportional valve 1-21, namely second control signals, are output;

(14) introducing a pressure compensator module of the control unit 1-29 to maintain the stability of the output flow of the electro-hydraulic proportional valve 1-21;

(15) the electro-hydraulic proportional valves 1-21 are used as the execution units 1-30 in the self-adaptive control system of the working platform, respond to the control signals output in the serial number (13), and execute and output the required flow.

According to the embodiment, the compensation angular speed required by the working platform for maintaining the horizontal position is obtained through tracking and detecting the displacement of the valve core of the control valve, and intervention control is performed in advance based on feedforward control before the position of the working platform deviates, so that the timeliness of position self-adaptive control response is improved, and the stability of the working platform is improved; through simple PID feedback control, the response speed of the system is improved, and the stability of the system is considered; by introducing the pressure compensator, the fluctuation of the output flow of the electro-hydraulic proportional valve caused by load pressure fluctuation is reduced or even eliminated, and the position self-adaptive control precision of the working platform is improved; through testing big data, the positioning error caused by deflection deformation of the long arm support and assembly clearance of the arm body of the multi-section arm telescopic system is comprehensively considered, position compensation is carried out by adopting an interpolation method, and self-adaptive high-precision control of the position of the working platform is realized.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.