Self-adaptive control method and equipment for heavy-load erecting mechanism of multi-stage hydraulic cylinder

The invention relates to a self-adaptive control method of a multi-stage hydraulic cylinder heavy load erecting mechanism, which comprises the following steps of: determining a stage changing point of a multi-stage hydraulic cylinder according to the rotation angular speed of an erecting frame, the acceleration value of the erecting frame and the pressure value of a hydraulic system; detecting the erection time of each stage of the multi-stage hydraulic cylinder and the acceleration value of the erection frame when the multi-stage hydraulic cylinder reaches the stage change point of the stage, and calculating a multi-stage erection effect weighted calculation result in combination with a preset erection time index value of each stage and a corresponding acceleration index value; based on a weighted calculation result, a preset erection time adjustment step length and an acceleration adjustment step length, performing multiple times of adjustment to obtain an optimal PID control parameter; and on the basis of