CN103541622A - Traction mechanism control device based on multi-sensor information fusion and control method thereof - Google Patents
Traction mechanism control device based on multi-sensor information fusion and control method thereof Download PDFInfo
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Abstract
The invention discloses a traction mechanism control device based on multi-sensor information fusion and a control method thereof. The traction mechanism control device comprises an opening sensor, a left tension sensor, a right tension sensor, a fusion control circuit and a motor driving motor. The opening sensor acquires door position information in real time, the left tension sensor acquires left steel cable tension information in real time, the right tension sensor acquires right steel cable tension information in real time, the information acquired by the sensors are transmitted to the fusion control circuit, the fusion control circuit performs infusion process on the sensor information and transmits to the motor driving circuit, and accordingly a traction mechanism is driven to move. By the aid of the device, multi-sensor information fusion control is implemented, two doors are opened and closed to certain positions synchronously, smoothly and symmetrically, the all-analog circuit and the most value selecting method are adopted, complex digital program computing is avoided, response speed of an entire closed-loop system is increased, and the device has the advantages of small size, light weight, low complexity, real-time performances and high stability.
Description
Technical field
The present invention relates to a kind of haulage gear control device and control method thereof based on multi-sensor information fusion, the haulage gear control device and the control method thereof that relate in particular to two door bodies of symmetrical open closed on arc track, belong to electronic system design and control method field.
Background technology
The door body of symmetrical open closed on arc track, because usage space restriction must be with cable traction mechanism flexibly of space layout, so how to guarantee that the synchronous steady symmetrical open closed of two door bodies is to assigned address, and the problem that can need to not solve because of the fault ，Shi cable traction mechanism control device that surprisingly occurs the unrepairables such as system injury in open and close process.
Multi-sensor information fusion is controlled and is referred to when the dynamic process of a system can show with multiple physical features, with each physical features in multiple sensors difference monitoring system dynamic process, and the information that these sensors collect is participated in the FEEDBACK CONTROL of system jointly.Patent of invention " elevator cable tension on-line control system and method " (patent No. is CN201110361164.3) relates to a kind of elevator cable tension on-line control system, it is characterized in that comprising controller, tension measuring device and tension adjusting device, tension measuring device and tension adjusting device connect respectively controller; Tension measuring device comprises the pulley that strand of wire rope is walked around, and pulley spindle is provided with LOAD CELLS, and LOAD CELLS connects receiver; Tension adjusting device comprises the pulling force cable wire that one end is fixing, and pulling force cable wire is walked around I-beam wheel, and the other end of pulling force cable wire connects pneumatic means.This invention is by the tension force of tension measuring device on-line measurement strand of wire rope, and process the rear tension force of controlling tension adjusting device on-line control strand of wire rope by the fuzzy control model of controller, automatically detect and regulate the tension force of each strand of wire rope, guarantee the uniformity of the tension force between strand of wire rope.This method has just solved the uniformity of tension force between two strand of wire rope, but cannot guarantee that two door body positions are also symmetrical consistent, cannot complete the control requirement that drives two door bodies of haulage gear folding.Patent of invention " control device " (patent No. is CN200710086176.3) discloses a kind of control device and has been used for carrying out part processing, specifically in the inner side of power control circuit, there is position control circuit, in order to stipulate that control object is for relative position and described workpiece and the mutual contact force of described control object of workpiece, the drive source of described control object is carried out to power control, according to position command value and the absolute fix for described drive source, obtain the time constant of described position control circuit; Force data while touching described workpiece according to described control object, obtain the values of stiffness of described control object and described workpiece, in the described time constant of described position control circuit, be greater than under the condition of time constant of described power control circuit, according to the time constant of position control circuit and values of stiffness, calculate the force control gain of described power control circuit.Although position feedback has also been applied in this invention and force feedback information merges, and belongs to digital circuit design method, design complexities is high, and real-time is limited, and driving, the occasion of requirement height real-time on haulage gear is also inapplicable.
Summary of the invention
The invention provides a kind of haulage gear control device and control method thereof based on multi-sensor information fusion, control the haulage gear of the door body of open closed on arc track, guarantee that the synchronous steady symmetrical open closed of two door bodies is to assigned address.
The technical scheme that the present invention taked is for achieving the above object: a kind of haulage gear control device based on multi-sensor information fusion, haulage gear comprises left and right two fan door bodies and the motor that draws respectively two fan door bodies, brute spring, cable wire and assembly pulley, it is characterized in that: comprise fused controlling circuit, jaw opening sensor, left tension pick-up, right tension pick-up and motor-drive circuit, jaw opening sensor Real-time Collection door body position information, left tension pick-up is connected with left-hand door cable wire, Real-time Collection left-hand door cable tension information, right tension pick-up is connected with right door cable wire, the right door of Real-time Collection cable tension information, jaw opening sensor, the information that left tension pick-up and right tension pick-up collect is passed to fused controlling circuit, fused controlling circuit carries out exporting to motor-drive circuit after fusion treatment to these sensor informations, with this, drive haulage gear motion.
Fused controlling circuit comprises three road signal conditioning circuits, automatic switch-over circuit ,Wu road pre-computation circuit, maximum value selecting circuit and minimum value selecting circuit, wherein, first via pre-computation circuit is the pre-computation circuit that aperture reference signal higher limit/lower limit participates in, the second road He five road pre-computation circuit are all the pre-computation circuit that tension force higher limit participates in, and Third Road He tetra-road pre-computation circuit are all the pre-computation circuit that tension force lower limit participates in; The input of automatic switch-over circuit connects open the door/close the door control instruction and aperture reference signal higher limit/lower limit, the input of first via signal conditioning circuit connects jaw opening sensor signal, and the input of first via pre-computation circuit connects the output of automatic switch-over circuit and the output of first via signal conditioning circuit; The input of the second road signal conditioning circuit connects left tension pick-up signal, and output is connected with the input of Third Road pre-computation circuit with the second road pre-computation circuit; The input of Third Road signal conditioning circuit connects right tension pick-up signal, and the input of output Yu tetra-road pre-computation circuit He five road pre-computation circuit connects; The output of the second road He five road pre-computation circuit connects minimum value selecting circuit, and the output of Third Road He tetra-road pre-computation circuit connects maximum value selecting circuit; After the signal additive fusion of the signal of the signal of minimum value selecting circuit output, the output of maximum value selecting circuit and the output of first via pre-computation circuit, output to motor-drive circuit.
Pre-computation circuit comprises level linearizer and proportion differential computing circuit, proportion differential computing circuit comprises integrated operational amplifier, feedback resistance, input resistance and electric capacity, electric capacity is connected the inverting input of integrated operational amplifier with one end after feedback resistance parallel connection, the other end connects the output of integrated operational amplifier, predefined reference voltage connects the in-phase input end of integrated operational amplifier through input resistance, level linearizer is comprised of two connected voltage-stabiliser tubes of negative pole, two positive poles of voltage-stabiliser tube are connected with output with the inverting input of integrated operational amplifier respectively, the output of integrated operational amplifier is the output of pre-computation circuit.
Automatic switch-over circuit comprises automatic switchover pre-process circuit and control switching circuit, automatic switchover pre-process circuit is by triode V15, V16 and resistance R 40, R41, R48, R49, R50 forms, the colelctor electrode of triode V15 is connected with power supply VCC by resistance R 48, the colelctor electrode of triode V16 is connected with power supply VCC by resistance R 49, the colelctor electrode of triode V15 is connected with the base stage of triode V16 by resistance R 50, one end of resistance R 41 is connected with the base stage of triode V15, the emitter stage of the other end and triode V15, the emitter stage of triode V16 ground connection after common connection, the control instruction of opening the door/close the door is through the base stage of resistance R 40 input triode V15, very the close the door output of signal SHUT of the current collection of triode V15, the current collection of triode V16 is the output of enabling signal OPEN very, control switching circuit comprises analog switch passage U1C and analog switch passage U1B, control switching circuit receives pass gate signal SHUT and the enabling signal OPEN of automatic switching pre-processing circuit output, wherein enabling signal OPEN connects the analog switch passage U1C of control switching circuit, close the analog switch passage U1B of gate signal SHUT connection control switching circuit, analog switch passage U1C connects aperture reference signal higher limit, analog switch passage U1B connects aperture reference signal lower limit, the output of analog switch passage U1C and analog switch passage U1B is connected the inverting input of the integrated operational amplifier of first via pre-computation circuit through input resistance.
Minimum value selecting circuit is comprised of two diodes, and the negative pole of two diodes connects respectively the output of the second road He five road pre-computation circuit, and two diode cathodes are connected, and anodal tie point is the output of minimum value selecting circuit; Maximum value selecting circuit is comprised of two diodes, and the positive pole of two diodes connects respectively the output of Third Road He tetra-road pre-computation circuit, and two diode cathodes are connected, and negative pole tie point is the output of maximum value selecting circuit.
Signal conditioning circuit is comprised of low-pass filter circuit and voltage follower, low pass filter is by resistance R 5, R6, R39 and capacitor C 3, C4 forms, after being connected with one end of capacitor C 3, one end of resistance R 5 is connected with capacitor C 4 by resistance R 6, resistance R 5, ground connection after the other end of capacitor C 3 and capacitor C 4 is connected jointly, voltage follower is comprised of integrated operational amplifier U2B and feedback resistance R47, the in-phase input end of integrated operational amplifier U2B is connected with the tie point of capacitor C 4 with resistance R 6, the inverting input of integrated operational amplifier U2B is connected with output through feedback resistance R47, one end of resistance R 39 connects the sensor signal of input, the other end is connected with the tie point of resistance R 6 with capacitor C 3, the output of integrated operational amplifier U2B is the output of signal conditioning circuit.
Jaw opening sensor comprises a position potentiometer rocking arm with rotating shaft and an angular displacement potentiometer being fixedly connected with this rotating shaft, and angular displacement potentiometer take this rotating shaft as concentric shafts, and the front end of described rocking arm is connected with door body.
Tension pick-up comprises a cable tension potentiometer rocking arm, and this rocking arm front end is equipped with leading block, and leading block contacts with cable wire, and rocking arm rear end connection rotating shaft is provided with angular displacement potentiometer and a torsionspring in rotating shaft.
The present invention also provides a kind of haulage gear control method based on multi-sensor information fusion, and control procedure is:
1) fused controlling circuit receives the control instruction of " opening the door " or shut the gate;
2) when control instruction is for " opening the door ", the voltage that given aperture is " opening " is aperture reference signal higher limit, it is tension force higher limit that initialization system allows tension force maximum value, when command signal is shut the gate, the voltage that given aperture is " pass " is aperture reference signal lower limit, and it is tension force lower limit that initialization system allows tension force minimum value;
3) when control instruction is for " opening the door ", drive motors band running wire overcomes brute spring pulling force along pulley traction door body and steadily opens to desired location, when control instruction is shut the gate, drive motors band running wire discharges door body along pulley, and door body is steadily closed under the pulling force effect of brute spring;
4) in the process of step 3), jaw opening sensor signal and aperture reference signal compare, when control instruction is " opening the door ", if jaw opening sensor signal is less than aperture reference signal higher limit, door body continues to move to " opening " direction, if jaw opening sensor signal equals aperture reference signal higher limit, the stop motion of door body, control circuit feeds back " reaching position " signal to controlling computer, if jaw opening sensor signal is greater than aperture reference signal higher limit, the motion of Men Tixiang " pass " direction, performs step 5 in the time of with above-mentioned control procedure); When command signal is shut the gate, if jaw opening sensor signal is greater than aperture reference signal lower limit, door body continues to move to " pass " direction, if jaw opening sensor signal equals aperture reference signal lower limit, the stop motion of door body, control circuit is to controlling computer feedback " pass puts in place " signal, if jaw opening sensor signal is less than aperture reference signal lower limit, Men Tixiang " opens " direction motion, in the time of with above-mentioned control procedure, performs step 5);
5) when command signal is for " opening the door ", if tension pick-up signal is less than tension force higher limit, continuing drive motors rotates to " opening " direction, if tension pick-up signal equals tension force higher limit, drive motors stops operating, if tension pick-up signal is greater than tension force higher limit, drive motors rotates to " pass " direction; When command signal is shut the gate, if tension pick-up signal is greater than tension force lower limit, continuing drive motors rotates to " pass " direction, if tension pick-up signal equals tension force lower limit, drive motors stops operating, if tension pick-up signal is less than tension force lower limit, drive motors rotates to " opening " direction.
The present invention has realized multi-sensor information fusion control, solved single-sensor measuring system information not comprehensive, the problems such as control effect is undesirable, the fused controlling of the cable tension signal that the door body aperture signal gathering by jaw opening sensor and tension pick-up gather, guarantees that two door bodies of haulage gear open or be closed into assigned address synchronously, steadily and symmetrically.The present invention has taked the fused controlling of full analog circuit realization and has been worth choosing method most, has avoided complicated digital process to calculate, and has improved the response speed of whole closed-loop system, has volume little lightweight, and complexity is low, real-time and stability advantages of higher.
Accompanying drawing explanation
Fig. 1 is haulage gear elevation.
Fig. 2 is haulage gear top view.
Fig. 3 is tension pick-up elevation.
Fig. 4 is that haulage gear control device is related to block diagram.
Fig. 5 is the circuit diagram of signal conditioning circuit.
Fig. 6 a is the circuit diagram of automatic switchover pre-process circuit.
Fig. 6 b is the circuit diagram of the pre-computation circuit of aperture reference signal participation.
Fig. 7 is the circuit diagram of the pre-computation circuit of tension force higher limit participation.
Fig. 8 is fused controlling circuit working flow chart.
Number in the figure title: 1-door body, 2-segmented track, 3-cable wire, 4-motor, 5-position potentiometer, 6-brute spring, 7-position potentiometer rocking arm, 8-cable wire winder, 9-leading block, 10-cable tension potentiometer rocking arm, 11-cable tension potentiometer, 12-torsionspring.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Fig. 1 and Fig. 2 are respectively the control objects of the control device of this invention based on multi-sensor information fusion---elevation and the top view of haulage gear, haulage gear comprises: door body 1, segmented track 2, cable wire 3, motor 4, brute spring 6, cable wire winder 8 and leading block 9, jaw opening sensor comprises: position potentiometer 5 and position potentiometer rocking arm 7.
Fig. 3 is tension pick-up elevation, and tension pick-up comprises: cable tension potentiometer rocking arm 10, cable tension potentiometer 11 and torsionspring 12.
Fig. 4 is that haulage gear control device of the present invention is related to block diagram, and wherein dotted line frame is partly fused controlling circuit.As shown in Figure 4, fused controlling circuit comprises three road signal conditioning circuits, automatic switch-over circuit ,Wu road pre-computation circuit, maximum value selecting circuit and minimum value selecting circuit, wherein, first via pre-computation circuit is the pre-computation circuit that aperture reference signal higher limit/lower limit participates in, the second road He five road pre-computation circuit are all the pre-computation circuit that tension force higher limit participates in, and Third Road He tetra-road pre-computation circuit are all the pre-computation circuit that tension force lower limit participates in; The input of automatic switch-over circuit connects open the door/close the door control instruction and aperture reference signal higher limit/lower limit, the input of first via signal conditioning circuit connects jaw opening sensor signal, and the input of first via pre-computation circuit connects the output of automatic switch-over circuit and the output of first via signal conditioning circuit; The input of the second road signal conditioning circuit connects left tension pick-up signal, and output is connected with the input of Third Road pre-computation circuit with the second road pre-computation circuit; The input of Third Road signal conditioning circuit connects right tension pick-up signal, and the input of output Yu tetra-road pre-computation circuit He five road pre-computation circuit connects; The output of the second road He five road pre-computation circuit connects minimum value selecting circuit, and the output of Third Road He tetra-road pre-computation circuit connects maximum value selecting circuit; After the signal additive fusion of the signal of the signal of minimum value selecting circuit output, the output of maximum value selecting circuit and the output of first via pre-computation circuit, output to motor-drive circuit.
Fig. 7 is the circuit diagram of the pre-computation circuit that participates in of tension force higher limit, and this figure is that control instruction that fused controlling circuit receives is the treatment circuit to left tension pick-up signal and right tension pick-up signal while opening the door.As shown in the figure, pre-computation circuit comprises the pre-computation circuit of processing left tension pick-up signal and two parts of pre-computation circuit of processing right tension pick-up signal, and tension force higher limit is input to respectively the inverting input of integrated operational amplifier in this two parts pre-computation circuit through input resistance.Pre-computation circuit comprises level linearizer and proportion differential computing circuit, level linearizer guarantees that signal after computing is in the output of appointed area internal linear, proportion differential computing circuit complete cable tension higher limit or lower limit and tension signal add operation, with the subtraction of reference voltage and the ratio of signal, damping and the adjusting of system static difference.Proportion differential computing circuit comprises integrated operational amplifier U3A, U3B, feedback resistance R31, R32, input resistance R11, R12, R13, R15, R14 and R18, capacitor C 7, C8 respectively with feedback resistance R31, after R32 parallel connection, one end connects the inverting input of integrated operational amplifier, the other end connects the output of integrated operational amplifier, predefined reference voltage hfVPP passes through respectively input resistance R14, R18 connects the in-phase input end of integrated operational amplifier, left tension pick-up signal and right tension pick-up signal pass through respectively input resistance R11, R15 with pass through respectively input resistance R12, after the tension force higher limit stack of R13, be input to the inverting input of integrated operational amplifier, level linearizer is comprised of two connected voltage-stabiliser tube V1, V2 and V3, V4 of negative pole, two positive poles of voltage-stabiliser tube are connected with output with the inverting input of integrated operational amplifier respectively, and the output of integrated operational amplifier is the output of pre-computation circuit.
Diode V11 in Fig. 7 and V12 form minimum value selecting circuit.The negative pole of diode V11 and V12 is connected respectively the pre-computation circuit of left tension pick-up signal higher limit participation and the output of the pre-computation circuit that right tension pick-up signal higher limit participates in.The positive pole of diode V11 and V12 is connected and tie point is the output of minimum value selecting circuit.Whether excessively while " opening the door ", need to examine or check tension force, avoid cable wire to be pulled off, the equal output low level of pre-computation circuit that when excessive, two-way tension force lower limit participates in, chooses in them minimum that after computing and exports to participate in fused controlling, with this, responds in time the variation on cable tension.When overtension, cable tension signal is input as positive voltage, after it and tension force higher limit and reference voltage computing, signal one through rp-op amp is decided to be negative, so, the input of tension signal maximum can be exported minimum tension signal after pre-computation circuit, meanwhile, this signal can end the signal output of another Zener diode, has so just completed the output of choosing of minimum value signal.In like manner, whether too small need to examine or check tension force during shut the gate, avoid cable wire to come off from pulley, too small output high level, chooses that output of maximum after computing in them by maximum value selecting circuit, has so just completed the output of choosing of maximum value signal.
Fig. 6 a is the circuit diagram of automatic switchover pre-process circuit, and Fig. 6 b is the circuit diagram of the pre-computation circuit of aperture reference signal participation, and the circuit diagram of control switching circuit part is as shown in analog switch passage U1C in Fig. 6 b and analog switch passage U1B part.Automatic switchover pre-process circuit is by triode V15, V16 and resistance R 40, R41, R48, R49, R50 forms, the colelctor electrode of triode V15 is connected with power supply VCC by resistance R 48, the colelctor electrode of triode V16 is connected with power supply VCC by resistance R 49, the colelctor electrode of triode V15 is connected with the base stage of triode V16 by resistance R 50, one end of resistance R 41 is connected with the base stage of triode V15, the emitter stage of the other end and triode V15, the emitter stage of triode V16 ground connection after common connection, the control instruction of opening the door/close the door is through the base stage of resistance R 40 input triode V15, very the close the door output of signal SHUT of the current collection of triode V15, the current collection of triode V16 is the output of enabling signal OPEN very, control switching circuit comprises analog switch passage U1C and analog switch passage U1B, control switching circuit receives pass gate signal SHUT and the enabling signal OPEN of automatic switching pre-processing circuit output, wherein enabling signal OPEN connects the analog switch passage U1C of control switching circuit, close the analog switch passage U1B of gate signal SHUT connection control switching circuit, analog switch passage U1C connects aperture reference signal higher limit, analog switch passage U1B connects aperture reference signal lower limit, the output of analog switch passage U1C and analog switch passage U1B is through input resistance R54, the inverting input of the integrated operational amplifier U4A of the pre-computation circuit that aperture reference signal higher limit in R55 connection layout 6b/lower limit participates in." high/low level " representative " control instruction of opening the door/close the door ", when control instruction is " opening the door ", triode V15 conducting, SHUT is output as low level, triode V16 cut-off, OPEN is output as high level, in like manner, when control instruction is shut the gate, triode V15 cut-off, SHUT is output as high level, triode V16 conducting, OPEN is output as low level, and they are together sent to control switching circuit end.SHUT and OPEN signal be all as the control signal of analog switch, just conducting when they are high level, and so, it can be controlled aperture reference signal higher limit and when opening the door, participate in controlling, and aperture reference signal lower limit participates in control at closing time.
The pre-computation circuit that aperture reference signal higher limit/lower limit participates in is identical with the pre-computation circuit that tension force higher limit in Fig. 7 participates in, comprise proportion differential computing circuit and level linearizer, proportion differential computing circuit comprises integrated operational amplifier U4A, capacitor C 11, feedback resistance R35 and input resistance R24, R25, R54, R55, level linearizer comprises voltage-stabiliser tube V9 and V10, and annexation as shown in Figure 6 b.Capacitor C 11 is connected the inverting input of integrated operational amplifier U4A with one end after feedback resistance R35 parallel connection, the other end connects the output of integrated operational amplifier U4A, jaw opening sensor signal is through the inverting input of input resistance R24 input integrated operational amplifier U4A, reference voltage hfVPP is connected with integrated operational amplifier U4A in-phase end and carries out subtraction with jaw opening sensor signal through input resistance R25, aperture reference signal higher limit is connected with integrated operational amplifier U4A end of oppisite phase and carries out add operation with jaw opening sensor signal through input resistance R54, aperture reference signal lower limit is connected with integrated operational amplifier U4A end of oppisite phase and carries out add operation with jaw opening sensor signal through input resistance R55.
Fig. 5 is signal conditioning circuit schematic diagram, signal conditioning circuit is comprised of low-pass filter circuit and voltage follower, low pass filter is by resistance R 5, R6, R39 and capacitor C 3, C4 forms, after being connected with one end of capacitor C 3, one end of resistance R 5 is connected with capacitor C 4 by resistance R 6, resistance R 5, ground connection after the other end of capacitor C 3 and capacitor C 4 is connected jointly, voltage follower is comprised of integrated operational amplifier U2B and feedback resistance R47, the in-phase input end of integrated operational amplifier U2B is connected with the tie point of capacitor C 4 with resistance R 6, the inverting input of integrated operational amplifier U2B is connected with output through feedback resistance R47, one end of resistance R 39 connects the sensor signal of input, the other end is connected with the tie point of resistance R 6 with capacitor C 3, the output of integrated operational amplifier U2B is the output of signal conditioning circuit.Signal conditioning circuit is mainly the high-frequency signals such as filtering power frequency interference.
Fig. 8 is fused controlling circuit working flow chart, during start, fused controlling circuit receives the control instruction of " opening the door " or shut the gate, according to control instruction default aperture reference signal higher limit/lower limit and tension force higher limit/tension force lower limit, when control instruction is " opening the door ", drive motors band running wire overcomes brute spring pulling force along pulley traction door body and steadily opens to desired location, when control instruction is shut the gate, drive motors band running wire discharges door body along pulley, and door body is steadily closed under the pulling force effect of brute spring.In the process of " opening the door ", if jaw opening sensor signal equals aperture reference signal higher limit, door body stop motion, and send " reach position " signal, if jaw opening sensor signal is greater than aperture reference signal higher limit, Men Tixiang " pass " direction motion, if jaw opening sensor signal is less than aperture reference signal higher limit, door body continues the direction motion to " opening ", in the time of with above-mentioned control procedure, by tension pick-up signal and the comparison of tension force higher limit, if tension pick-up signal equals tension force higher limit, drive motors stops operating, if tension pick-up signal is greater than tension force higher limit, drive motors rotates to " pass " direction, if tension pick-up signal is less than tension force higher limit, drive motors continues to rotate to " opening " direction, during shut the gate in like manner.
The concrete application approach of the present invention is a lot, and the above is only the preferred embodiment of the present invention, should be understood that; for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvement, these improvement also should be considered as protection scope of the present invention.
Claims (10)
1. the haulage gear control device based on multi-sensor information fusion, haulage gear comprises left and right two fan door bodies and the motor that draws respectively two fan door bodies, brute spring, cable wire and assembly pulley, it is characterized in that: comprise fused controlling circuit, jaw opening sensor, left tension pick-up, right tension pick-up and motor-drive circuit, jaw opening sensor Real-time Collection door body position information, left tension pick-up is connected with left-hand door cable wire, Real-time Collection left-hand door cable tension information, right tension pick-up is connected with right door cable wire, the right door of Real-time Collection cable tension information, jaw opening sensor, the information that left tension pick-up and right tension pick-up collect is passed to fused controlling circuit, fused controlling circuit carries out exporting to motor-drive circuit after fusion treatment to these sensor informations, with this, drive haulage gear motion.
2. the haulage gear control device based on multi-sensor information fusion according to claim 1, it is characterized in that: fused controlling circuit comprises three road signal conditioning circuits, automatic switch-over circuit ,Wu road pre-computation circuit, maximum value selecting circuit and minimum value selecting circuit, wherein, first via pre-computation circuit is the pre-computation circuit that aperture reference signal higher limit/lower limit participates in, the second road He five road pre-computation circuit are all the pre-computation circuit that tension force higher limit participates in, and Third Road He tetra-road pre-computation circuit are all the pre-computation circuit that tension force lower limit participates in; The input of automatic switch-over circuit connects open the door/close the door control instruction and aperture reference signal higher limit/lower limit, the input of first via signal conditioning circuit connects jaw opening sensor signal, and the input of first via pre-computation circuit connects the output of automatic switch-over circuit and the output of first via signal conditioning circuit; The input of the second road signal conditioning circuit connects left tension pick-up signal, and output is connected with the input of Third Road pre-computation circuit with the second road pre-computation circuit; The input of Third Road signal conditioning circuit connects right tension pick-up signal, and the input of output Yu tetra-road pre-computation circuit He five road pre-computation circuit connects; The output of the second road He five road pre-computation circuit connects minimum value selecting circuit, and the output of Third Road He tetra-road pre-computation circuit connects maximum value selecting circuit; After the signal additive fusion of the signal of the signal of minimum value selecting circuit output, the output of maximum value selecting circuit and the output of first via pre-computation circuit, output to motor-drive circuit.
3. the haulage gear control device based on multi-sensor information fusion according to claim 2, it is characterized in that: pre-computation circuit comprises level linearizer and proportion differential computing circuit, proportion differential computing circuit comprises integrated operational amplifier, feedback resistance, input resistance and electric capacity, electric capacity is connected the inverting input of integrated operational amplifier with one end after feedback resistance parallel connection, the other end connects the output of integrated operational amplifier, predefined each reference voltage connects the in-phase input end of integrated operational amplifier through input resistance, level linearizer is comprised of two connected voltage-stabiliser tubes of negative pole, two positive poles of voltage-stabiliser tube are connected with output with the inverting input of integrated operational amplifier respectively, the output of integrated operational amplifier is the output of pre-computation circuit.
4. the haulage gear control device based on multi-sensor information fusion according to claim 3, it is characterized in that: automatic switch-over circuit comprises automatic switchover pre-process circuit and control switching circuit, automatic switchover pre-process circuit is by triode V15, V16 and resistance R 40, R41, R48, R49, R50 forms, the colelctor electrode of triode V15 is connected with power supply VCC by resistance R 48, the colelctor electrode of triode V16 is connected with power supply VCC by resistance R 49, the colelctor electrode of triode V15 is connected with the base stage of triode V16 by resistance R 50, one end of resistance R 41 is connected with the base stage of triode V15, the emitter stage of the other end and triode V15, the emitter stage of triode V16 ground connection after common connection, the control instruction of opening the door/close the door is through the base stage of resistance R 40 input triode V15, very the close the door output of signal SHUT of the current collection of triode V15, the current collection of triode V16 is the output of enabling signal OPEN very, control switching circuit comprises analog switch passage U1C and analog switch passage U1B, control switching circuit receives pass gate signal SHUT and the enabling signal OPEN of automatic switching pre-processing circuit output, wherein enabling signal OPEN connects the analog switch passage U1C of control switching circuit, close the analog switch passage U1B of gate signal SHUT connection control switching circuit, analog switch passage U1C connects aperture reference signal higher limit, analog switch passage U1B connects aperture reference signal lower limit, the output of analog switch passage U1C and analog switch passage U1B is connected the inverting input of the integrated operational amplifier of first via pre-computation circuit through input resistance.
5. the haulage gear control device based on multi-sensor information fusion according to claim 3, it is characterized in that: minimum value selecting circuit is comprised of two diodes, the negative pole of two diodes connects respectively the output of the second road He five road pre-computation circuit, two diode cathodes are connected, and anodal tie point is the output of minimum value selecting circuit.
6. the haulage gear control device based on multi-sensor information fusion according to claim 3, it is characterized in that: maximum value selecting circuit is comprised of two diodes, the positive pole of two diodes connects respectively the output of Third Road He tetra-road pre-computation circuit, two diode cathodes are connected, and negative pole tie point is the output of maximum value selecting circuit.
7. the haulage gear control device based on multi-sensor information fusion according to claim 2, it is characterized in that: signal conditioning circuit is comprised of low-pass filter circuit and voltage follower, low pass filter is by resistance R 5, R6, R39 and capacitor C 3, C4 forms, after being connected with one end of capacitor C 3, one end of resistance R 5 is connected with capacitor C 4 by resistance R 6, resistance R 5, ground connection after the other end of capacitor C 3 and capacitor C 4 is connected jointly, voltage follower is comprised of integrated operational amplifier U2B and feedback resistance R47, the in-phase input end of integrated operational amplifier U2B is connected with the tie point of capacitor C 4 with resistance R 6, the inverting input of integrated operational amplifier U2B is connected with output through feedback resistance R47, one end of resistance R 39 connects the sensor signal of input, the other end is connected with the tie point of resistance R 6 with capacitor C 3, the output of integrated operational amplifier U2B is the output of signal conditioning circuit.
8. the haulage gear control device based on multi-sensor information fusion according to claim 1, it is characterized in that: jaw opening sensor comprises a position potentiometer rocking arm with rotating shaft and an angular displacement potentiometer being fixedly connected with this rotating shaft, and angular displacement potentiometer be take this rotating shaft as concentric shafts, the front end of described rocking arm is connected with door body.
9. the haulage gear control device based on multi-sensor information fusion according to claim 1, it is characterized in that: tension pick-up comprises a cable tension potentiometer rocking arm, this rocking arm front end is equipped with leading block, and leading block contacts with cable wire; rocking arm rear end connection rotating shaft, is provided with angular displacement potentiometer and a torsionspring in rotating shaft.
10. a control method for the haulage gear control device based on multi-sensor information fusion described in claim 2, is characterized in that control procedure is:
1) fused controlling circuit receives the control instruction of " opening the door " or shut the gate;
2) when control instruction is for " opening the door ", the voltage that given aperture is " opening " is aperture reference signal higher limit, it is tension force higher limit that initialization system allows tension force maximum value, when command signal is shut the gate, the voltage that given aperture is " pass " is aperture reference signal lower limit, and it is tension force lower limit that initialization system allows tension force minimum value;
3) when control instruction is for " opening the door ", drive motors band running wire overcomes brute spring pulling force along pulley traction door body and steadily opens to desired location, when control instruction is shut the gate, drive motors band running wire discharges door body along pulley, and door body is steadily closed under the pulling force effect of brute spring;
4) in the process of step 3), jaw opening sensor signal and aperture reference signal compare, when control instruction is " opening the door ", if jaw opening sensor signal is less than aperture reference signal higher limit, door body continues to move to " opening " direction, if jaw opening sensor signal equals aperture reference signal higher limit, the stop motion of door body, control circuit feeds back " reaching position " signal to controlling computer, if jaw opening sensor signal is greater than aperture reference signal higher limit, the motion of Men Tixiang " pass " direction, performs step 5 in the time of with above-mentioned control procedure); When command signal is shut the gate, if jaw opening sensor signal is greater than aperture reference signal lower limit, door body continues to move to " pass " direction, if jaw opening sensor signal equals aperture reference signal lower limit, the stop motion of door body, control circuit is to controlling computer feedback " pass puts in place " signal, if jaw opening sensor signal is less than aperture reference signal lower limit, Men Tixiang " opens " direction motion, in the time of with above-mentioned control procedure, performs step 5);
5) when command signal is for " opening the door ", if tension pick-up signal is less than tension force higher limit, continuing drive motors rotates to " opening " direction, if tension pick-up signal equals tension force higher limit, drive motors stops operating, if tension pick-up signal is greater than tension force higher limit, drive motors rotates to " pass " direction; When command signal is shut the gate, if tension pick-up signal is greater than tension force lower limit, continuing drive motors rotates to " pass " direction, if tension pick-up signal equals tension force lower limit, drive motors stops operating, if tension pick-up signal is less than tension force lower limit, drive motors rotates to " opening " direction.
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| CN201310473785.XA CN103541622B (en) | 2013-10-12 | 2013-10-12 | Based on haulage gear control device and the control method thereof of multi-sensor information fusion |
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