Heavy load erecting mechanism control system based on multi-sensor fusion

The invention relates to a heavy load erecting mechanism control system based on multi-sensor fusion. The system comprises a hydraulic system, an erecting frame, an encoder, an accelerometer, a training system and a main controller. The hydraulic system comprises a multi-stage hydraulic cylinder, a pressure regulating proportional valve, a speed regulating proportional valve and a pressure sensor; the main controller is used for obtaining the position of a stage change point of the multi-stage hydraulic cylinder according to the output of the encoder, the accelerometer and the pressure sensor; the training system is used for adjusting for multiple times according to the erection time of each stage of the multi-stage hydraulic cylinder and the acceleration value of the erection frame when the stage of the multi-stage hydraulic cylinder arrives at the stage changing point in combination with a preset erection time index value and an acceleration index value to obtain an optimal PID control parameter and issuing