CN109885047A - A kind of control method of flat car, apparatus and system - Google Patents
A kind of control method of flat car, apparatus and system Download PDFInfo
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- CN109885047A CN109885047A CN201910058516.4A CN201910058516A CN109885047A CN 109885047 A CN109885047 A CN 109885047A CN 201910058516 A CN201910058516 A CN 201910058516A CN 109885047 A CN109885047 A CN 109885047A
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Abstract
The embodiment of the present application provides a kind of control method of flat car, apparatus and system, this method comprises: obtaining the action data for characterizing the flat car movement；Judge whether the value of the action data is equal to preset threshold；When the value of the action data is not equal to the preset threshold, the value of the action data and the difference data of the preset threshold are generated；The control signal of the flat car is generated according to the difference data.The present invention uses closed-loop control, and Real-time Feedback is adjusted, and greatly improves the control precision to flat car.
Description
Technical field
The present invention relates to plate vehicle control fields, and in particular to a kind of control method of flat car, apparatus and system.
Background technique
Flat car is that a kind of structure is simple, easy to use, and the haulage vehicle of large carrying capacity is widely used in mechanical system
Industry, metallurgical works, bulk storage plant etc. are made, as transport on ground or cooperates crane to transport weight indoors and is used across place.
Existing flat car uses open-loop control method, only sends a command to execution system by control system, thus real
Now to the control of flat car, precision is not high.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of control method of flat car, apparatus and system, it is existing to solve
The not high problem of the control precision of flat car.
In a first aspect, the embodiment of the invention provides a kind of control methods of flat car, comprising:
Obtain the action data of characterization flat car movement；
Judge whether the value of action data is equal to preset threshold；
When the value of action data is not equal to preset threshold, the value of action data and the difference data of preset threshold are generated；
The control signal of flat car is generated according to difference data.
Optionally, the action data of characterization flat car movement is obtained, comprising:
The steering data that the walking data and characterization flat car for obtaining characterization flat car walking turn to.
Optionally, judge that the step of whether value of the action data is equal to preset threshold includes:
Judge whether the value of walking data is equal to default walking threshold value and whether the value of steering data is equal to default steering
Threshold value.
Optionally, when the value of action data is not equal to preset threshold, the value and the preset threshold of action data are generated
Difference data, comprising:
When the value for data of walking is not equal to default walking threshold value, generate walking data value and default walking threshold value the
One difference data；
When turn to the values of data not equal to it is default turn to threshold value when, generate the value for turning to data and default turn to the of data
Two difference datas.
Optionally, the control signal of flat car is generated according to difference data, comprising:
The travelling control signal for controlling the running gear of flat car is generated according to the first difference data；
The steering controling signal for controlling the steering system of flat car is generated according to the second difference data.
Second aspect, the embodiment of the present application provide a kind of control device of flat car, comprising:
Data acquisition module, for obtaining the action data of characterization flat car movement；
Judgment module, for judging whether the value of action data is equal to preset threshold；
Difference data generation module, for generating the value of action data when the value of action data is not equal to preset threshold
With the difference data of preset threshold；
Signal generation module is controlled, for generating the control signal of flat car according to difference data.
The third aspect, the embodiment of the present application provide a kind of control system of flat car, comprising:
Execution system, for obtaining the action data of characterization flat car movement；
Memory and processor are communicated with each other between execution system and are connect, and computer instruction is stored in memory, place
Device is managed by computer instructions, thereby executing the control method of the flat car of first aspect.
Optionally, execution system includes: running gear and steering system；
Running gear is used to obtain the walking data of characterization flat car walking；
Steering system is used to obtain the steering data that characterization flat car turns to.
Optionally, control system further include: power supply system, for being flat car power supply by battery group.
Fourth aspect, the embodiment of the present application provide a kind of computer storage medium, computer-readable recording medium storage
There are computer instruction, the control method that computer instruction is used to that computer to be made to execute above-mentioned flat car.
In the embodiment of the present invention, the action data for obtaining characterization flat car movement is first passed through, judges that the value of action data is
It is no to be equal to preset threshold, when the value of action data is not equal to preset threshold, a difference data is generated, it is raw according to difference data
At the control signal of flat car, to form flat car closed loop feedback control, opened loop control compared with the existing technology only passes through
Control system sends a command to execution system, realizes the control to flat car, and the present invention uses closed-loop control, Real-time Feedback tune
Section greatly improves the control precision to flat car.
Detailed description of the invention
The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, and attached drawing is schematically without that should manage
Solution is carries out any restrictions to the present invention, in the accompanying drawings:
Fig. 1 is the step flow chart of one of the embodiment of the present application one control method of flat car；
Fig. 2 is the step flow chart of one of the embodiment of the present application two control method of flat car；
Fig. 3 is the control device schematic diagram of one of the embodiment of the present application three flat car；
Fig. 4 is the connection schematic diagram of processor and memory in the embodiment of the present application four.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.
Embodiment one
Fig. 1 shows a kind of flow chart of the control method of flat car according to an embodiment of the present invention.This method includes such as
Lower step:
S101: the action data of characterization flat car movement is obtained.
Step S101 includes the walking data for obtaining characterization flat car walking and the steering data of characterization flat car steering.
The walking data of flat car can be using the pass in movable motor between absolute value encoder and speed reducer drive ratio
System determines.By taking transmission ratio 1:7 as an example, 7 circle wheel groups rotation of encoder rotation, 1 circle when walking, so 7 circle of encoder rotation is walked
Distance be tire perimeter, i.e. the Zhou Changwei 7*4096=28672 scale (encoder 1 enclose have 4096 scales) of tire,
Therefore walking data can be calculated according to the scale of encoder.
Steering data decimation in the embodiment of the present invention is steering angle, can be used in steering motor absolute value encoder with
Suspension steering angle ratio is the relationship of 1:1 (i.e. suspension is rotated by 360 °, and encoder is also rotated by 360 °) to determine.With resolution ratio
(circle of encoder 1 has 4096 scales, can turn 4096 circles, total scale most 4096*4096 for the encoder of 4096*4096
=16777216, encoder is since 0 after being rotated out 16777216 scale), 1 360 ° of circle is divided into 4096 by encoder
Scale, 1 scale are about 0.088 °, no matter suspension rotates to that there is a corresponding scale in which position, by corresponding
Scale value can obtain turn to data.
S102: judge whether the value of action data is equal to preset threshold.
Preset threshold refers to the standard value for most starting the action data that debugging is set.
When the value for determining action data is equal to preset threshold, indicate without having adjusted, in place；When determining
When the value of action data is not equal to preset threshold, then illustrate to need to adjust, movement is not yet in place.
S103: when the value of action data is not equal to preset threshold, the value of action data and the difference of preset threshold are generated
Data.
The value of calculating action data and the difference of preset threshold obtain a difference data.
S104: the control signal of flat car is generated according to difference data.
According to difference data it can be concluded that the deviation of the value of flat car action data and preset threshold, generates according to the deviation
The control signal of flat car is adjusted, to realize the closed-loop control to flat car.
First passed through in the embodiment of the present invention obtain characterization flat car movement action data, judge action data value whether
A difference data is generated, is generated according to difference data when the value of action data is not equal to preset threshold equal to preset threshold
The control signal of flat car, to form flat car closed loop feedback control, opened loop control compared with the existing technology only passes through control
System processed sends a command to execution system, realizes the control to flat car, and the present invention uses closed-loop control, and Real-time Feedback is adjusted,
Greatly improve the control precision to flat car.
Embodiment two
Fig. 2 shows the flow charts of the control method of another flat car according to an embodiment of the present invention.This method includes
Following steps:
S201: the steering data that the walking data and characterization flat car for obtaining characterization flat car walking turn to.
S202: the value for the data that judge to walk whether be equal to default walking threshold value and turn to data value whether be equal to it is default
Turn to threshold value.
Threshold value of walking can be determined using the relationship in movable motor between absolute value encoder and speed reducer drive ratio.With
For transmission ratio 1:7,7 circle wheel groups rotation of encoder rotation, 1 circle when walking, so the walked distance of 7 circle of encoder rotation is
The perimeter of tire, i.e. the Zhou Changwei 7*4096=28672 scale (circle of encoder 1 has 4096 scales) of tire, a scale
The distance walked can be calculated, and walking threshold value can be obtained with the relationship of absolute value encoder scale.For example pass through people
100 meters of machine interface setting walking can show that walking threshold value is more by the relationship of walk threshold value and absolute value encoder scale
It spends after a little while, then by the difference data of walking data and threshold value of walking it can be concluded that how many scale of having walked, Real-time Feedback, discovery
Deviation is just adjusted at once.
Steering threshold value in the present patent application embodiment is steering angle, can be used in steering motor absolute value encoder with
Suspension steering angle ratio is the relationship of 1:1 (i.e. suspension is rotated by 360 °, and encoder is also rotated by 360 °) to determine.With resolution ratio
(circle of encoder 1 has 4096 scales, can turn 4096 circles, total scale most 4096*4096 for the encoder of 4096*4096
=16777216, encoder is since 0 after being rotated out 16777216 scale), 1 360 ° of circle is divided into 4096 by encoder
Scale, 1 scale are about 0.088 °, no matter which position suspension rotates to and have a corresponding scale, encoder will be carved
Angle value Real-time Feedback is to controller, can be by encoder current scale value by man-machine interface when suspension is rotated to 0 ° of position
As zero point, rear steering real-time scale value and zeromark value it is only poor be to work as forward mounting steering angle.
S203: when the value of the walking data is not equal to default walking threshold value, the value of generation walking data and default row
Walk the first difference data of threshold value；When turn to the values of data not equal to it is default turn to threshold value when, generate the value for turning to data and pre-
If turning to the second difference data of threshold value.
The value of walking data and the difference of default walking threshold value are calculated, the first difference data is obtained.
The value for turning to data and the default difference for turning to threshold value are calculated, the second difference data is obtained.
S204: the travelling control signal for controlling the running gear of flat car is generated according to the first difference data；According to
Second difference data generates the steering controling signal for controlling the steering system of flat car.
It according to the first difference data, show flat car also needs how much rice of walking in real time, adjusts in real time, sent out to running gear
Send travelling control signal；According to the second difference data, the angle that flat car needs to turn to is obtained in real time, is adjusted in real time, to steering
System sends steering controling signal.
In the embodiment of the present invention, the action data for obtaining characterization flat car movement is first passed through, judges that the value of action data is
It is no to be equal to preset threshold, when the value of action data is not equal to preset threshold, a difference data is generated, it is raw according to difference data
At the control signal of flat car, to form flat car closed loop feedback control, opened loop control compared with the existing technology only passes through
Control system sends a command to execution system, realizes the control to flat car, and the present invention uses closed-loop control, Real-time Feedback tune
Section greatly improves the control precision to flat car.
Embodiment three
Fig. 3 shows a kind of control device 200 of flat car according to an embodiment of the present invention, and the control device is for executing
Step S201- step S204 in the step S101- step S104 or above-described embodiment 2 actually executed in above-described embodiment 1,
The device includes:
Data acquisition module 201, for obtaining the action data of characterization flat car movement, detailed content can be found in above-mentioned side
The associated description of the step S101 of method embodiment；
Judgment module 202, for judging whether the value of action data of the acquisition of data acquisition module 201 is equal to default threshold
Value, detailed content can be found in the associated description of the step S102 of above method embodiment；
Difference data generation module 203, for generating action data when the value of action data is not equal to preset threshold
The difference data of value and preset threshold, detailed content can be found in the associated description of the step S103 of above method embodiment；
Signal generation module 204 is controlled, the difference data for generating according to difference data generation module 203 generates plate
The control signal of vehicle, detailed content can be found in the associated description of the step S104 of above method embodiment.
First passed through in the embodiment of the present invention obtain characterization flat car movement action data, judge action data value whether
The value of action data and the difference of preset threshold are generated when the value of action data is not equal to preset threshold equal to preset threshold
Data generate the control signal of flat car according to the difference data, so that flat car closed loop feedback control is formed, relative to existing
The opened loop control of technology only sends a command to execution system by control system, realizes the control to flat car, and the present invention uses
Closed-loop control, Real-time Feedback are adjusted, and greatly improve the control precision to flat car.
Optionally, data acquisition module 201 also particularly useful for:
The steering data that the walking data and the characterization flat car for obtaining characterization flat car walking turn to.
Optionally, judgment module 202 also particularly useful for:
Judge whether the value of walking data is equal to default walking threshold value and whether the value of steering data is equal to default steering
Threshold value.
Optionally, difference data generation module 203 also particularly useful for:
When the value for data of walking is not equal to default walking threshold value, generate walking data value and default walking threshold value the
One difference data；
When turn to the values of data not equal to it is default turn to threshold value when, generate the value for turning to data and default turn to the of data
Two difference datas.
Optionally, control signal generation module 204 also particularly useful for:
The travelling control signal for controlling the running gear of flat car is generated according to the first difference data；
The steering controling signal for controlling the steering system of flat car is generated according to the second difference data.
Example IV
The present invention also provides a kind of control system of flat car, which includes:
Execution system, for obtaining the action data of characterization flat car movement；
Memory and processor are communicated with each other between execution system and are connect, and computer instruction is stored in memory, place
Device is managed by executing the computer instruction, thereby executing the control method of 2 flat car of embodiment 1 or embodiment.
Optionally, execution system includes: running gear and steering system；
Running gear is used to obtain the walking data of characterization flat car walking；
Steering system is used to obtain the steering data that characterization flat car turns to.
Optionally, control system further include: power supply system, for being flat car power supply by battery group.
Optionally, above-mentioned processor 41 can be connected with memory 42 by bus or other modes, to pass through in Fig. 4
For bus connection.
Processor 41 can be central processing unit (Central Processing Unit, CPU).Processor 41 can be with
For other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
The combination of the chips such as discrete hardware components or above-mentioned all kinds of chips.
Memory 42 is used as a kind of non-transient computer readable storage medium, can be used for storing non-transient software program, non-
Transient computer executable program and module, such as the corresponding program of the control method of one of embodiment of the present invention flat car
Instruction/module is (for example, data acquisition module shown in Fig. 3 201, judgment module 202, difference data generation module 203 and control
Signal generation module 204).Non-transient software program, instruction and the mould that processor 41 is stored in memory 42 by operation
Block, thereby executing the various function application and data processing of processor, i.e. one of realization above method embodiment plate
The control method of vehicle.
Memory 42 may include storing program area and storage data area, wherein storing program area can storage program area,
Application program required at least one function；It storage data area can the data etc. that are created of storage processor 41.In addition, storage
Device 42 may include high-speed random access memory, can also include non-transient memory, for example, at least a magnetic disk storage
Part, flush memory device or other non-transient solid-state memories.In some embodiments, it includes relative to place that memory 42 is optional
The remotely located memory of device 41 is managed, these remote memories can pass through network connection to processor 41.The reality of above-mentioned network
Example includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
One or more of modules are stored in the memory 42, when being executed by the processor 41, are executed
The control method of one of embodiment as depicted in figs. 1 and 2 flat car.
A kind of detail of the control system of above-mentioned flat car can correspond to refering to fig. 1 and in embodiment shown in Fig. 2
Corresponding associated description and effect are understood that details are not described herein again.
It is that can lead to it will be understood by those skilled in the art that realizing all or part of the process in above-described embodiment method
Computer program is crossed to instruct relevant hardware and complete, the program can be stored in a computer-readable storage medium
In, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the storage medium can for magnetic disk,
CD, read-only memory (Read-Only Memory, ROM), random access memory (Random Access
Memory, RAM), flash memory (Flash Memory), hard disk (Hard Disk Drive, abbreviation: HDD) or solid state hard disk
(Solid-State Drive, SSD) etc.；The storage medium can also include the combination of the memory of mentioned kind.
Although being described in conjunction with the accompanying the embodiment of the present invention, those skilled in the art can not depart from the present invention
Spirit and scope in the case where various modifications and variations can be made, such modifications and variations are each fallen within by appended claims institute
Within the scope of restriction.
Claims (10)
1. a kind of control method of flat car characterized by comprising
Obtain the action data for characterizing the flat car movement；
Judge whether the value of the action data is equal to preset threshold；
When the value of the action data is not equal to the preset threshold, the value and the preset threshold of the action data are generated
Difference data；
The control signal of the flat car is generated according to the difference data.
2. control method according to claim 1, which is characterized in that described to obtain the movement for characterizing the flat car movement
Data, comprising:
Obtain the steering data of the walking data for characterizing the flat car walking and the characterization flat car steering.
3. control method according to claim 2, which is characterized in that whether the value for judging the action data is equal to
The step of preset threshold includes:
Judge the value of the walking data whether be equal to default walking threshold value and the value for turning to data whether be equal to it is default
Turn to threshold value.
4. control method according to claim 3, which is characterized in that described when the value of the action data is not equal to described
When preset threshold, the value of the action data and the difference data of the preset threshold are generated, comprising:
When the value of the data of walking is not equal to the default walking threshold value, the value for generating the walking data is preset with described
First difference data of threshold value of walking；
When the value of the steering data is not equal to the default steering threshold value, generates the value for turning to data and preset with described
Turn to the second difference data of data.
5. control method according to claim 4, which is characterized in that described to generate the plate according to the difference data
The control signal of vehicle, comprising:
The travelling control signal for controlling the running gear of the flat car is generated according to first difference data；
The steering controling signal for controlling the steering system of the flat car is generated according to second difference data.
6. a kind of control device of flat car characterized by comprising
Data acquisition module, for obtaining the action data for characterizing the flat car movement；
Judgment module, for judging whether the value of the action data is equal to preset threshold；
Difference data generation module, for generating the movement when the value of the action data is not equal to the preset threshold
The difference data of the value of data and the preset threshold；
Signal generation module is controlled, for generating the control signal of the flat car according to the difference data.
7. a kind of control system of flat car characterized by comprising
Execution system, for obtaining the action data for characterizing the flat car movement；
Memory and processor are communicated with each other between the execution system and are connect, be stored with computer in the memory and refer to
It enables, the processor is by executing the computer instruction, thereby executing flat car of any of claims 1-5
Control method.
8. control system according to claim 7, which is characterized in that the execution system includes: running gear and steering
System；
The running gear is used to obtain the walking data for characterizing the flat car walking；
The steering system, which is used to obtain, characterizes the steering data that the flat car turns to.
9. control system according to claim 7 or 8, which is characterized in that further include: power supply system, for passing through electric power storage
The power supply of flat car described in Chi Zuwei.
10. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has computer to refer to
It enables, the controlling party that the computer instruction is used to that the computer perform claim to be made to require flat car described in any one of 1-5
Method.
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Cited By (1)
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