CN104675156A - Position compensation method based on lifting platform for stage - Google Patents
Position compensation method based on lifting platform for stage Download PDFInfo
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- CN104675156A CN104675156A CN201510088146.0A CN201510088146A CN104675156A CN 104675156 A CN104675156 A CN 104675156A CN 201510088146 A CN201510088146 A CN 201510088146A CN 104675156 A CN104675156 A CN 104675156A
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- elevating stage
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Abstract
The invention discloses a position compensation method based on a lifting platform for a stage. The position compensation method comprises the following steps: firstly, measuring a zero-position compensation value; secondly, measuring a reversing compensation value; thirdly, controlling the compensation in an operation process. The position compensation method based on the lifting platform for the stage, provided by the invention, has the advantages that the characteristics of simplicity and convenience for implementation and high operability are realized; the establishment of a complex nonlinear model is not needed, and the compensation value can be determined by measuring the position of the lifting platform, so that synchronous positioning precision of multiple lifting platforms can be improved under the condition that the cost is not increased. In addition, according to the position compensation method disclosed by the invention, position encoders on sides of the lifting platforms are reduced, so the cost can be reduced; the position compensation method can be suitable for lifting platforms which are inconvenient for mounting of the encoders.
Description
Technical field
The invention belongs to elevator stage position control technical field, particularly relate to a kind of position compensation method based on stage elevating stage.
Background technology
Elevator stage is a kind of stage form of expression conventional in modern performing art, and the marshalling carrying out elevating stage according to the stage effect of design runs, and usually requires that elevating stage has higher position control accuracy.For improving control accuracy, generally on elevating stage, install encoder carries out position feedback, but because the impact of some factors causes being not easy to elevating stage installs encoder additional, when especially transmission device selects wire rope to carry out long-range traction, there is the problem because wire rope elasticity causes control accuracy to decline.
Summary of the invention
In order to solve the problem, the object of the present invention is to provide a kind of position compensation method based on stage elevating stage.
In order to achieve the above object, the position compensation method based on stage elevating stage provided by the invention comprises:
Step 1) measure zero compensation value: set a unified benchmark as electric zero point for multiple stage elevating stage, adopt the method for actual measurement, determine that each elevating stage moves to the lifting height value of unified benchmark from lower position respectively, in this, as the zero compensation value of this elevating stage;
Step 2) measure switch compensation value: switch compensation value is the offset of required compensation when elevating stage carries out declining commutation; For each elevating stage, adopt the method for actual measurement, determine that it operates in the site error value produced when declining commutation, in this, as the switch compensation value of this elevating stage;
Step 3) operating compensatory control: for each elevating stage, run in control flow at it and increase: when 3.1) starting in lower position, increase zero compensation value; 3.2) switch compensation value is increased when declining commutation.
In step 1) in, the concrete grammar of described measurement zero compensation value is as follows:
Step 1.1) elevating stage declines with very low speed, until touch stopping limit switch, position is zero herein;
Step 1.2) use the absolute altitude of level measurement current elevating stage, be reduce error, all measure the center of elevating stage;
Step 1.3) using the elevating stage of centre as benchmark, control it and rise until reach the height of setting, all the other elevating stages reach scale same position, record the height that every platform elevating stage rises respectively, as the zero compensation value arriving reference plane.
In step 2) in, the concrete grammar of described measurement switch compensation value is as follows:
Step 2.1) nonadjustable signal on elevating stage, use level gauge to observe rod reading, be recorded as h
1;
Step 2.2) control elevating stage and to decline a segment distance h, record rod reading h
2;
Step 2.3) according to formula (2) offset value calculation δ;
δ＝h-|h
1-h
2| (2)
Step 2.4) verify that whether offset δ is accurate, detailed process is as follows:
2.4.1) control elevating stage to rise a segment distance, record rod reading h
3;
2.4.2) elevating stage dropping distance h+ δ is controlled, record rod reading h
4;
2.4.3) calculate according to formula (3), wherein ε is error tolerances, usually gets ε=1mm; If in permissible range, then think and compensate accurately, otherwise according to difference correction-compensation value, and then repeat step 2.4.1)-2.4.2), until meet formula (3).
h-|h
3-h
4|≤ε (3)。
The advantage of the position compensation method based on stage elevating stage provided by the invention and effect:
This method have be easy to implement, workable feature, and do not need to set up complicated nonlinear model, only needing to carry out position measurement to elevating stage can determine offset, so can not increase the synchronous positioning precision improving many elevating stages in cost situation.In addition, The present invention reduces the position coder of elevating stage side, therefore, it is possible to reduce costs, and be applicable to the elevating stage being not easy to install encoder.
Accompanying drawing explanation
Fig. 1 is separate unit elevating stage drive mechanism figure.
Fig. 2. be elevating stage position driving control system structure chart.
Fig. 3 is elevating stage setting height and actual height graph of a relation.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the position compensation method based on stage elevating stage provided by the invention is described in detail.
Fig. 1 is separate unit elevating stage drive mechanism figure, because elevating stage is in water, for reducing drive unit to water quality impact, adopts motor 1 type of drive.Transmission device mainly comprises reductor 2, shaft coupling 3, sprocket wheel 4, chain 5 and wire rope 6, by the long-range traction operating elevating platform of wire rope 6.For saving space, usage chain wheel chain transmission mode replaces reel to carry out folding and unfolding to wire rope 6.Elevating stage is tower structure, form primarily of inner frame 7 and outside framework 8, outside framework 8 is fixed on ground, and inner frame 7 is nested in outside framework 8, and be provided with movable pulley and fixed pulley, draw inner frame 7 by wire rope 6 and carry out elevating movement along the guide rail on outside framework 8.
For realizing the position servo control to elevating stage, needing the actual position information feeding back elevating stage, is generally install encoder in elevating stage side.Because elevating stage is in water, if install encoder thereon, need it to work in water, and elevating stage distance controlling end can reach hundred meters farthest, code device signal decay is very large.Therefore, elevating stage is installed encoder to be difficult to reach desirable effect.The present invention adopts and install coder mode on motor tailing axle, forms motor position closed loop negative feedback system.Accurately controlled the position of motor 1 rotation by elevating stage position driving control system, then controlled the position of elevating stage by transmission device.
As shown in Figure 2, described elevating stage position driving control system is made up of Industrial Personal Computer (IPC), PLC, vector type frequency converter, variable-frequency motor and incremental encoder, native system using industrial be widely used and the Industrial Personal Computer (IPC) of stable performance, PLC as core controller, vector type frequency converter is as drive unit, select variable-frequency motor to be used for frequent frequency control, adopt " PLC+ vector type frequency converter+variable-frequency motor+encoder " control mode to carry out SERVO CONTROL to motor 1.
Face during elevating stage position control for similar above-mentioned working method because driving error impact causes the problem being difficult to accurately location, want to control elevating stage and accurately run and just must the error produced in operation be compensated.
The error compensation of elevating stage comprises zero compensation and switch compensation: zero compensation is the compensation for elevating stage reference position, when carrying out position control to elevating stage, needs the reference position of expliciting the position, is called position zero point.Be generally that mechanical limit switch is set, run the position of touching limit switch downwards as mechanical zero using elevating stage.But, multiple elevating stage is difficult to ensure that mechanical location zero point is at same plane, for this reason, makes elevating stage rise to same plane, is called electric zero point.Elevating stage is risen to by mechanical zero position and is called zero compensation electric zero point, and the distance of rising is called zero compensation value, and this value obtains by actual measurement.
Switch compensation is compensation when changing for operating elevating platform direction, impact mainly by lineoutofservice signal pull, running resistance and self gravitation during operating elevating platform, because resistance is contrary with traffic direction all the time, therefore, during rising, drag direction is downward, and during decline, drag direction upwards, when therefore changing in operating elevating platform direction, produce error because the stressed change of wire rope causes its variable elongation, be called reversing error.
Position compensation method based on stage elevating stage provided by the invention comprises the following step performed in order:
Step 1) measure zero compensation value: set a unified benchmark as electric zero point for multiple stage elevating stage, adopt the method for actual measurement, determine that each elevating stage moves to the lifting height value of unified benchmark from lower position respectively, in this, as the zero compensation value of this elevating stage;
Step 2) measure switch compensation value: switch compensation value is the offset of required compensation when elevating stage carries out declining commutation; For each elevating stage, adopt the method for actual measurement, determine that it operates in the site error value produced when declining commutation, in this, as the switch compensation value of this elevating stage;
Step 3) operating compensatory control: for each elevating stage, run in control flow at it and increase: when 3.1) starting in lower position, increase zero compensation value; 3.2) switch compensation value is increased when declining commutation.
The relation of elevating stage setting height and actual height in rise and fall process as shown in Figure 3.After zero compensation, elevating stage position is zero, now commutates, and when continuing to rise, lineoutofservice signal pull change is little, and actual height and setting height are approximately proportional relationship; During decline, after the switch compensation value δ that need first decline, elevating stage just starts to decline, and when again declining afterwards, actual height and setting height are approximately linear relationship.Such as, elevating stage rises to height h ', and setting height should be h '; Drop to height h ', setting height should be h ", and meet formula (1):
h″＝h′-δ (1)。
In step 1) in, the concrete grammar of described measurement zero compensation value is as follows:
Step 1.1) elevating stage declines with very low speed, until touch stopping limit switch, position is zero herein;
Step 1.2) use the absolute altitude of level measurement current elevating stage, be reduce error, all measure the center of elevating stage;
Step 1.3) using the elevating stage of centre as benchmark, controlling it rises until the height reaching setting is (if setting rising 100mm is as electric zero point, scale is observed to determine position) by level gauge, all the other elevating stages reach scale same position, record the height that every platform elevating stage rises respectively, as the zero compensation value arriving reference plane.
Elevating stage has completed the compensation to rising reversing error after carrying out zero compensation, it is comparatively accurate to control when continuing to rise.
In step 2) in, the concrete grammar of described measurement switch compensation value is as follows:
Step 2.1) nonadjustable signal on elevating stage, use level gauge to observe rod reading, be recorded as h
1;
Step 2.2) control elevating stage and to decline a segment distance h (as 200mm), record rod reading h
2;
Step 2.3) according to formula (2) offset value calculation δ;
δ＝h-|h
1-h
2| (2)
Step 2.4) verify that whether offset δ is accurate, detailed process is as follows:
2.4.1) control elevating stage to rise a segment distance, record rod reading h
3;
2.4.2) elevating stage dropping distance h+ δ is controlled, record rod reading h
4;
2.4.3) calculate according to formula (3), wherein ε is error tolerances, usually gets ε=1mm; If in permissible range, then think and compensate accurately, otherwise according to difference correction-compensation value, and then repeat step 2.4.1)-2.4.2), until meet formula (3).
h-|h
3-h
4|≤ε (3)
Elevating stage rises commutation for the inverse process commutated that declines, and therefore, offset is identical.
The actual effect of the position compensation method based on stage elevating stage provided by the invention: control for elevating stage in 40 water of Zhenjiang large-scale water scenery show " white snake passes ", after being reset to mechanical zero, getting rising 100mm is electric zero point, arrives the zero compensation value at electric zero point by platform test.Then, measure switch compensation value, wherein the test result of 40 elevating stages is as shown in table 1.Can find out in table that zero compensation value differs comparatively large with the rising value 100mm of setting, this is due to the result that limit-switch positions is different and rising reversing error composite factor causes; The reason of discrepancies of switch compensation value is running resistance and the rope capacity difference of elevating stage.Table 2 carries out the test experiments of position control for elevating stage, and 10 elevating stages rise and decline 3700mm respectively, and use the height of level measurement actual motion, as can be seen from the table, position control error is less.
An optional elevating stage carries out the experiment of position control, and elevating stage is from electric zero point, and first rise gradually and decline, each difference in height is 1000mm.Nonadjustable signal on elevating stage, uses level gauge observe and record each rod reading, and calculates the difference in height of adjacent twice reading.Table 3 is for the data of B4# elevating stage test, can find out that position error is within the scope of ± 2mm, can meet performance demand.
Table 1 elevating stage zero compensation value and switch compensation value
The position control of table 2 elevating stage is tested
Table 3B4# elevating stage position control test
Claims (3)
1. based on a position compensation method for stage elevating stage, it is characterized in that: the described position compensation method based on stage elevating stage comprises:
Step 1) measure zero compensation value: set a unified benchmark as electric zero point for multiple stage elevating stage, adopt the method for actual measurement, determine that each elevating stage moves to the lifting height value of unified benchmark from lower position respectively, in this, as the zero compensation value of this elevating stage;
Step 2) measure switch compensation value: switch compensation value is the offset of required compensation when elevating stage carries out declining commutation; For each elevating stage, adopt the method for actual measurement, determine that it operates in the site error value produced when declining commutation, in this, as the switch compensation value of this elevating stage;
Step 3) operating compensatory control: for each elevating stage, run in control flow at it and increase: when 3.1) starting in lower position, increase zero compensation value; 3.2) switch compensation value is increased when declining commutation.
2. the position compensation method based on stage elevating stage according to claim 1, is characterized in that: in step 1) in, the concrete grammar of described measurement zero compensation value is as follows:
Step 1.1) elevating stage declines with very low speed, until touch stopping limit switch, position is zero herein;
Step 1.2) use the absolute altitude of level measurement current elevating stage, be reduce error, all measure the center of elevating stage;
Step 1.3) using the elevating stage of centre as benchmark, control it and rise until reach the height of setting, all the other elevating stages reach scale same position, record the height that every platform elevating stage rises respectively, as the zero compensation value arriving reference plane.
3. the position compensation method based on stage elevating stage according to claim 1, is characterized in that: in step 2) in, the concrete grammar of described measurement switch compensation value is as follows:
Step 2.1) nonadjustable signal on elevating stage, use level gauge to observe rod reading, be recorded as h
1;
Step 2.2) control elevating stage and to decline a segment distance h, record rod reading h
2;
Step 2.3) according to formula (2) offset value calculation δ;
δ＝h-|h
1-h
2| (2)
Step 2.4) verify that whether offset δ is accurate, detailed process is as follows:
2.4.1) control elevating stage to rise a segment distance, record rod reading h
3;
2.4.2) elevating stage dropping distance h+ δ is controlled, record rod reading h
4;
2.4.3) calculate according to formula (3), wherein ε is error tolerances, usually gets ε=1mm; If in permissible range, then think and compensate accurately, otherwise according to difference correction-compensation value, and then repeat step 2.4.1)-2.4.2), until meet formula (3).
h-|h
3-h
4|≤ε (3)。
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|---|---|---|---|
| CN201510088146.0A CN104675156B (en) | 2015-02-26 | 2015-02-26 | A kind of position compensation method based on stage lifting platform |
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| CN201510088146.0A CN104675156B (en) | 2015-02-26 | 2015-02-26 | A kind of position compensation method based on stage lifting platform |
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| CN104675156B CN104675156B (en) | 2016-09-14 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111506121A (en) * | 2020-05-26 | 2020-08-07 | 广州彩熠灯光股份有限公司 | Stage lamp and positioning method thereof |
| CN112544645A (en) * | 2020-11-30 | 2021-03-26 | 珠海格力智能装备有限公司 | Control method and control device of egg roll making machine and egg roll making machine equipment |
-
2015
- 2015-02-26 CN CN201510088146.0A patent/CN104675156B/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111506121A (en) * | 2020-05-26 | 2020-08-07 | 广州彩熠灯光股份有限公司 | Stage lamp and positioning method thereof |
| CN111506121B (en) * | 2020-05-26 | 2023-04-14 | 广州彩熠灯光股份有限公司 | Stage lamp and positioning method thereof |
| CN112544645A (en) * | 2020-11-30 | 2021-03-26 | 珠海格力智能装备有限公司 | Control method and control device of egg roll making machine and egg roll making machine equipment |
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| CN104675156B (en) | 2016-09-14 |
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