Engineering machinery composite motion control method and device

The invention provides an engineering machinery composite motion control method and device, and relates to the technical field of engineering machinery. The engineering machinery composite motion control method comprises the following steps that the pressure of a medium, used for driving an actuator to act, at each actuator is obtained; the pressure of a medium at a medium source of the engineering machinery is obtained; the pressure difference between the medium pressure at each actuator and the medium pressure at the medium source of the engineering machinery is calculated; the ratio betweenthe opening areas of valves between all actuators and the medium source is calculated on the basis of the ratio of the pressure difference value corresponding to each actuator and the ratio between the speeds of actuators when the preset composite motion is coordinated; and the opening area of each valve is adjusted. The ratio between the opening areas of the valves between all actuators and themedium sources can be calc