CN104675156B - A kind of position compensation method based on stage lifting platform - Google Patents
A kind of position compensation method based on stage lifting platform Download PDFInfo
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- CN104675156B CN104675156B CN201510088146.0A CN201510088146A CN104675156B CN 104675156 B CN104675156 B CN 104675156B CN 201510088146 A CN201510088146 A CN 201510088146A CN 104675156 B CN104675156 B CN 104675156B
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Abstract
A kind of position compensation method based on stage lifting platform.Comprising: step 1) measure zero compensation value；Step 2) measure switch compensation value；Step 3) operating compensation control.The advantage of position compensation method based on stage lifting platform that the present invention provides and effect: have be easy to implement, workable feature, and it is not required to set up complicated nonlinear model, only need that lifting platform is carried out position measurement and i.e. can determine that offset, so the synchronization positioning precision of many lifting platforms can be improved in the case of not increasing cost.Additionally, The present invention reduces the position coder of lifting platform side, therefore, it is possible to reduce cost, and it is applicable to the lifting platform being not easy to install encoder.
Description
Technical field
The invention belongs to elevator stage position control technical field, particularly relate to a kind of based on stage liter
The position compensation method of fall platform.
Background technology
Elevator stage is a kind of stage form of expression conventional in modern performing art, according to the stage effect of design
The marshalling carrying out lifting platform runs, and usually requires that lifting platform has higher position control accuracy.For improving
Control accuracy, typically installs encoder on lifting platform and carries out position feedback, but owing to some factors affect
Causing being not easy on lifting platform install additional encoder, especially actuating device selects steel wire rope remotely to draw
Time, exist because steel wire rope elastic conducting causes the problem that control accuracy declines.
Summary of the invention
In order to solve the problems referred to above, it is an object of the invention to provide a kind of position based on stage lifting platform
Put compensation method.
In order to achieve the above object, the position compensation method bag based on stage lifting platform that the present invention provides
Include:
Step 1) measure zero compensation value: set a unified benchmark as electricity for multiple stage lifting platform
Gas zero point, the method using actual measurement, determine that each lifting platform runs from lower position to unified benchmark respectively
Lifting height value, in this, as the zero compensation value of this lifting platform；
Step 2) measure switch compensation value: switch compensation value is lifting platform and carries out declining during commutation required
The offset compensated；For each lifting platform, the method using actual measurement, determine that it operates in decline and changes
To time produced site error value, in this, as the switch compensation value of this lifting platform；
Step 3) operating compensation control: for each lifting platform, in it runs control flow
Increase: 3.1) increase zero compensation value when starting in lower position；3.2) when declining commutation, increase is changed
To offset.
In step 1) in, the described concrete grammar measuring zero compensation value is as follows:
Step 1.1) lifting platform is with very low speed decline, until touching stopping limit switch, herein position
It is set to zero；
Step 1.2) use the current lifting platform of level measurement absolute altitude, for reduce error, all measure liter
The center of fall platform；
Step 1.3) using middle lifting platform as benchmark, control it and rise until reaching the height set,
Remaining lifting platform reaches scale same position, records the height that every lifting platform rises respectively, as
Arrive the zero compensation value of datum plane.
In step 2) in, the described concrete grammar measuring switch compensation value is as follows:
Step 2.1) nonadjustable signal on lifting platform, use level indicator to observe rod reading, be recorded as h1；
Step 2.2) control lifting platform and decline a segment distance h, record rod reading h2；
Step 2.3) calculate switch compensation value δ according to formula (2)；
δ=h-| h1-h2| (2)
Step 2.4) verify that switch compensation value δ is the most accurate, detailed process is as follows:
2.4.1) control lifting platform and rise a segment distance, record rod reading h3；
2.4.2) control lifting platform dropping distance h+ δ, record rod reading h4；
2.4.3) calculating according to formula (3), wherein ε is error tolerances, generally takes ε=1mm；If
In permissible range, then it is assumed that compensate accurately, otherwise according to difference correction-compensation value, then repeat step
2.4.1) 2.4.2), until meeting formula (3).
h-|h3-h4|≤ε (3)。
The advantage of the position compensation method based on stage lifting platform that the present invention provides and effect:
This method have be easy to implement, workable feature, and be not required to set up complicated non-linear
Model, it is only necessary to lifting platform is carried out position measurement and i.e. can determine that offset, so cost feelings can not increased
The synchronization positioning precision of many lifting platforms is improved under condition.Additionally, the position that The present invention reduces lifting platform side is compiled
Code device, therefore, it is possible to reduce cost, and is applicable to the lifting platform being not easy to install encoder.
Accompanying drawing explanation
Fig. 1 is separate unit lifting platform drive mechanism figure.
Fig. 2. for lifting platform position driving control system structure chart.
Fig. 3 is lifting platform setting height and actual height graph of a relation.
Detailed description of the invention
The position based on stage lifting platform with specific embodiment, the present invention provided below in conjunction with the accompanying drawings
Compensation method is described in detail.
Fig. 1 is separate unit lifting platform drive mechanism figure, owing to lifting platform is in water, for reducing driving means
To water quality impact, use motor 1 type of drive.Actuating device mainly include reductor 2, shaft coupling 3,
Sprocket wheel 4, chain 5 and steel wire rope 6, remotely draw operating elevating platform by steel wire rope 6.For saving space,
Sprocket wheel chain transmission mode is used to replace reel that steel wire rope 6 is carried out folding and unfolding.Lifting platform is tower structure,
Mainly being made up of inner frame 7 and outside framework 8, outside framework 8 is fixed on ground, and inner frame 7 is nested in
In outside framework 8, and it is provided with movable pulley and fixed pulley, draws inner frame 7 along outward by steel wire rope 6
Guide rail on framework 8 carries out elevating movement.
For realizing position servo control to lifting platform, need to feed back the actual position information of lifting platform, one
As be lifting platform side install encoder.Owing to lifting platform is in water, if mounted thereon encoder,
Needing it to work in water, and lifting platform distance controlling end is farthest up to hundred meters, code device signal is decayed very
Greatly.Therefore, lifting platform is installed encoder and be extremely difficult to preferable effect.The present invention uses at motor
Coder mode is installed on tailing axle, constitutes motor position closed loop negative feedback system.Passed by lifting platform position
Autocontrol system accurately controls the position that motor 1 rotates, then to be controlled the position of lifting platform by actuating device
Put.
As in figure 2 it is shown, described lifting platform position driving control system is by industrial computer, PLC, vector type
Converter, frequency conversion motor and incremental encoder composition, native system is widely used and performance is steady with industrial
Fixed industrial computer, PLC are as core controller, and vector type converter, as driving means, selects frequency conversion
Motor is used for frequent frequency control, uses " PLC+ vector type converter+frequency conversion motor+encoder " controlling party
Formula carries out SERVO CONTROL to motor 1.
Face because driving error impact causes during for the lifting platform position control of similar above-mentioned working method
Be difficult to the problem being accurately positioned, want to control lifting platform accurately run be necessary in running produced by mistake
Difference compensates.
The error compensation of lifting platform includes zero compensation and switch compensation: zero compensation is for for lifting stylobate
The compensation that level is put, when lifting platform is carried out position control, needs the reference position of expliciting the position, claims
For position zero point.Mechanical limit switch is usually set, runs downwards touching limit switch with lifting platform
Position is as mechanical zero.But, for multiple lifting platforms it is difficult to ensure that mechanical location zero point is same flat
Face, to this end, make lifting platform rise to same plane, the most electric zero point.Lifting platform is by mechanical zero position
Putting and rise to electric zero point and be referred to as zero compensation, the distance of rising is referred to as zero compensation value, and this value can be passed through
Actual measurement obtains.
Compensation when switch compensation is to change for operating elevating platform direction, mainly by steel during operating elevating platform
The impact of cord pulling force, running resistance and self gravitation, owing to resistance is contrary with traffic direction all the time, because of
This, during rising, drag direction is downward, and during decline, drag direction is upwards, therefore changes in operating elevating platform direction
During change, owing to the change of steel wire rope stress causes its variable elongation to produce error, referred to as reversing error.
The position compensation method based on stage lifting platform that the present invention provides includes performing down in order
Row step:
Step 1) measure zero compensation value: set a unified benchmark as electricity for multiple stage lifting platform
Gas zero point, the method using actual measurement, determine that each lifting platform runs from lower position to unified benchmark respectively
Lifting height value, in this, as the zero compensation value of this lifting platform；
Step 2) measure switch compensation value: switch compensation value is lifting platform and carries out declining during commutation required
The offset compensated；For each lifting platform, the method using actual measurement, determine that it operates in decline and changes
To time produced site error value, in this, as the switch compensation value of this lifting platform；
Step 3) operating compensation control: for each lifting platform, in it runs control flow
Increase: 3.1) increase zero compensation value when starting in lower position；3.2) when declining commutation, increase is changed
To offset.
The relation of setting height and actual height is as shown in Figure 3 during rise and fall for lifting platform.Warp
After zero compensation, lifting platform position is zero, the most commutates, and when continuing to rise, lineoutofservice signal pull changes not
Greatly, actual height and setting height are approximately proportional relationship；During decline, switch compensation value need to be fallen before
After δ, lifting platform just begins to decline, and when the most again declining, actual height and setting height are approximately linear pass
System.Such as, lifting platform rises to height h ', and setting height should be h '；Drop to height h ', set height
Degree should be h ", and meet formula (1):
H "=h '-δ (1).
In step 1) in, the described concrete grammar measuring zero compensation value is as follows:
Step 1.1) lifting platform is with very low speed decline, until touching stopping limit switch, herein position
It is set to zero；
Step 1.2) use the current lifting platform of level measurement absolute altitude, for reduce error, all measure liter
The center of fall platform；
Step 1.3) using middle lifting platform as benchmark, control it and rise until reaching the height set
(if setting rising 100mm is as electric zero point, observe scale to determine position by level indicator), its
Remaining lifting platform reaches scale same position, records the height that every lifting platform rises respectively, as arriving
Reach the zero compensation value of datum plane.
Lifting platform is complete the compensation rising reversing error after carrying out zero compensation, continue to rise time control
It is the most accurate to make.
In step 2) in, the described concrete grammar measuring switch compensation value is as follows:
Step 2.1) nonadjustable signal on lifting platform, use level indicator to observe rod reading, be recorded as h1；
Step 2.2) control lifting platform and decline a segment distance h (such as 200mm), record rod reading h2；
Step 2.3) calculate switch compensation value δ according to formula (2)；
δ=h-| h1-h2| (2)
Step 2.4) verify that switch compensation value δ is the most accurate, detailed process is as follows:
2.4.1) control lifting platform and rise a segment distance, record rod reading h3；
2.4.2) control lifting platform dropping distance h+ δ, record rod reading h4；
2.4.3) calculating according to formula (3), wherein ε is error tolerances, generally takes ε=1mm；If
In permissible range, then it is assumed that compensate accurately, otherwise according to difference correction-compensation value, then repeat step
2.4.1) 2.4.2), until meeting formula (3).
h-|h3-h4|≤ε (3)
Lifting platform rises the commutation inverse process for decline commutation, and therefore, offset is identical.
The actual effect of the position compensation method based on stage lifting platform that the present invention provides: big with Zhenjiang
As a example by 40 water of type water scenery show " white Serpentis biography ", lifting platform controls, after being reset to mechanical zero, take
Rising 100mm is electric zero point, arrives the zero compensation value of electric zero point by platform test.Then, measurement is changed
To offset, wherein the test result of 40 lifting platforms is as shown in table 1.Table can be seen that zero compensation
The rising value 100mm being worth and set differs relatively big, and this is owing to limit-switch positions is different and rises commutation
The result that error synthesis factor causes；The reason of discrepancies of switch compensation value be lifting platform running resistance and
Rope capacity is different.Table 2 carries out the test experiments of position control for lifting platform, and 10 lifting platforms are respectively
Raising and lowering 3700mm, uses the height of level measurement actual motion, and from table, data can
Going out, position control error is less.
An optional lifting platform carries out the experiment of position control, and lifting platform is from the beginning of electric zero point, the most gradually
Rising and decline, each difference in height is 1000mm.Nonadjustable signal on lifting platform, uses level indicator to see
Examine and record each rod reading, and calculate the difference in height of adjacent twice reading.Table 3 is with B4# liter
The data of test as a example by fall platform, it can be seen that position error is in the range of ± 2mm, it is possible to meet performance need
Ask.
Table 1 lifting platform zero compensation value and switch compensation value
Table 2 lifting platform position control is tested
Table 3 B4# lifting platform position control is tested
Claims (3)
1. a position compensation method based on stage lifting platform, it is characterised in that: described position compensation method based on stage lifting platform includes:
Step 1) measure zero compensation value: set a unified benchmark as electric zero point for multiple stage lifting platform, the method using actual measurement, determine that each lifting platform runs the lifting height value to unified benchmark from lower position, in this, as the zero compensation value of this lifting platform respectively；
Step 2) measure switch compensation value: switch compensation value is the offset of required compensation when lifting platform carries out declining commutation；For each lifting platform, the method using actual measurement, determine produced site error value when it operates in decline commutation, in this, as the switch compensation value of this lifting platform；
Step 3) operating compensation control: for each lifting platform, increase in it runs control flow: 3.1) increase zero compensation value when starting in lower position；3.2) switch compensation value is increased when declining commutation.
Position compensation method based on stage lifting platform the most according to claim 1, it is characterised in that: in step 1) in, the described concrete grammar measuring zero compensation value is as follows:
Step 1.1) lifting platform is with very low speed decline, until touching stopping limit switch, position is zero herein；
Step 1.2) use the current lifting platform of level measurement absolute altitude, for reduce error, all measure the center of lifting platform；
Step 1.3) using middle lifting platform as benchmark, control it and rise until reaching the height set, remaining lifting platform reaches scale same position, records the height that every lifting platform rises respectively, as the zero compensation value arriving datum plane.
Position compensation method based on stage lifting platform the most according to claim 1, it is characterised in that: in step 2) in, the described concrete grammar measuring switch compensation value is as follows:
Step 2.1) nonadjustable signal on lifting platform, use level indicator to observe rod reading, be recorded as h1；
Step 2.2) control lifting platform and decline a segment distance h, record rod reading h2；
Step 2.3) calculate switch compensation value δ according to formula (2)；
δ=h-| h1-h2| (2)
Step 2.4) verify that switch compensation value δ is the most accurate, detailed process is as follows:
2.4.1) control lifting platform and rise a segment distance, record rod reading h3；
2.4.2) control lifting platform dropping distance h+ δ, record rod reading h4；
2.4.3) calculating according to formula (3), wherein ε is error tolerances, generally takes ε=1mm；If in permissible range, then it is assumed that compensate accurately, otherwise according to difference correction-compensation value, then repeat step 2.4.1)-2.4.2), until meeting formula (3)；
h-|h3-h4|≤ε (3)。
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