CN110284426A - A kind of bridge inspection vehicle frequency-changing control system and its control method - Google Patents
A kind of bridge inspection vehicle frequency-changing control system and its control method Download PDFInfo
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- CN110284426A CN110284426A CN201910557199.0A CN201910557199A CN110284426A CN 110284426 A CN110284426 A CN 110284426A CN 201910557199 A CN201910557199 A CN 201910557199A CN 110284426 A CN110284426 A CN 110284426A
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- Prior art keywords
- speed
- inspection vehicle
- bridge inspection
- pid controller
- travel speed
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
Abstract
The invention discloses a kind of bridge inspection vehicle frequency-changing control systems, including frequency converter to be used to carry out frequency control to motor with motor communication connection；PID controller, respectively with frequency converter and velocity sensor communication connection, for carrying out closed-loop control to the output signal of frequency converter according to the detection signal of velocity sensor；Image capture module, for acquiring the image information of bridge inspection vehicle direction of advance；Speed prejudges module, respectively with frequency converter, PID controller and image capture module communication connection, on the one hand the image information for being acquired according to image capture module prejudges the travel speed of bridge inspection vehicle, and the real-time control information on the other hand issued according to PID controller is corrected travel speed anticipation process.The present invention can improve the deficiencies in the prior art, by preset travel speed, reduce the real-time operation amount of PID controller.
Description
Technical field
The present invention relates to motor control technology field more particularly to a kind of bridge inspection vehicle frequency-changing control system and its controls
Method.
Background technique
Bridge inspection vehicle is by motor-driven engineering truck.The control of its driving status is realized by frequency converter
's.Existing control mode adjusts realization generally by PID controller, by PID.But this control mode relies on
A large amount of real-time operations of PID controller are realized, higher for hardware requirement.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of bridge inspection vehicle frequency-changing control system and its control method, energy
Enough solving the deficiencies in the prior art reduces the real-time operation amount of PID controller by preset travel speed.
In order to solve the above technical problems, the technical solution used in the present invention is as follows.
A kind of bridge inspection vehicle frequency-changing control system, including,
Frequency converter is used to carry out frequency control to motor with motor communication connection；
PID controller, respectively with frequency converter and velocity sensor communication connection, for according to the detection of velocity sensor believe
Number closed-loop control is carried out to the output signal of frequency converter；
Image capture module, for acquiring the image information of bridge inspection vehicle direction of advance；
On the one hand speed anticipation module is used for respectively with frequency converter, PID controller and image capture module communication connection
It is prejudged according to travel speed of the image information of image capture module acquisition to bridge inspection vehicle, is on the other hand controlled according to PID
The real-time control information that device processed issues is corrected travel speed anticipation process.
The control method of above-mentioned bridge inspection vehicle frequency-changing control system, comprising the following steps:
A, the real-time speed of velocity sensor acquisition bridge inspection vehicle, is sent to PID controller for speed signal；
B, PID controller carries out closed-loop control to the output signal of frequency converter according to the detection signal of velocity sensor；
C, image capture module acquires the image information of bridge inspection vehicle direction of advance and is sent to speed anticipation module,
The image information that speed anticipation module is acquired according to image capture module prejudges the travel speed of bridge inspection vehicle, and will be pre-
Sentence information and be sent to PID controller and is stored；
D, when bridge inspection vehicle is travelled to when prejudging position, PID controller calls corresponding anticipation information to carry out motor turn
The control of speed executes step A and B at the same time, and the real-time control information that speed anticipation module is issued according to PID controller is to row
Speed anticipation process is sailed to be corrected.
Preferably, anticipation is carried out to the travel speed of bridge inspection vehicle and is included the following steps in step C,
C1, Fuzzy processing is carried out to acquired image information；
C2, it is compared using the feature pattern information stored in database with the image after Fuzzy processing, it will be related
The region that degree is greater than given threshold is marked；
C3, the traveling speed for examining vehicle to bridge according to the priority of marked region and the relative positional relationship in adjacent marker region
Degree is calculated.
Preferably, feature pattern information is compared with the image after Fuzzy processing including following step in step C2
Suddenly,
Comparison window is set in C21, the image after Fuzzy processing；
C22, at least two straightways are set in comparison window, the straightway of setting meets the following conditions,
At least there are two straightways to intersect；At least there are two the straightways intersected to be mutually perpendicular to；It is parallel to each other if it exists
Straightway, at least straight line section intersect with all straightways being parallel to each other；
The pixel characteristic of all straightways, establishes contrast characteristic's matrix in C23, traversal comparison window；
If the dimension of C24, contrast characteristic's matrix is identical as the dimension of standard feature matrix of feature segment, directly go to
Step C25；It otherwise, is identical as the dimension of standard feature matrix by contrast characteristic's matrixing by addition unit matrix；
If C25, contrast characteristic's matrix are similar to standard feature matrix, which is marked.
Preferably, calculating is carried out to the travel speed of bridge inspection vehicle and is included the following steps in step C3,
C31, marked region is ranked up according to contrast characteristic's matrix dimensionality and the difference of standard feature matrix dimensionality, it is right
It is inversely proportional than feature matrix dimensionality and the difference of standard feature matrix dimensionality and the priority of marked region；
C32, it will go based on the corresponding preset travel speed of marked region in the preset path for being located at bridge inspection vehicle
Speed is sailed, preset travel speed corresponding with the adjacent marked region of the marked region in the preset path for being located at bridge inspection vehicle is used
Amendment is fitted to basic travel speed, fitting coefficient is directly proportional to corresponding priority.
Preferably, travel speed anticipation process is corrected and is included the following steps in step D,
D1, actual speed is calculated according to the real-time control information that PID controller issues and prejudges the difference between speed；
D2, according to the speed difference calculated in step D1, obtain speed correction factor, and by its with calculated in passing history
The weighted value that obtained speed correction factor carries out sum-average arithmetic speed correction factor sum-average arithmetic calculates moment and this with it
The difference for calculating the moment is inversely proportional.
Brought beneficial effect is by adopting the above technical scheme: the present invention is by setting and PID controller arranged side by side
Image capture module and speed prejudge module, using the identification to characteristic body on vehicle form path, realize for the pre- of speed
Sentence, to reduce the real-time control operand of PID controller.The identification of characteristic body uses the certain party in comparison window in image
Upward pixel characteristic compares, and reduces the processing operand of image data.The anticipation of speed is used pre- in database
It is easy, quick if the combination of travel speed immediately arrives at.Anticipation process is carried out finally by the operation result of PID controller
Amendment, realizes the self-learning function of system, effectively improves the accuracy of anticipation speed.
Detailed description of the invention
Fig. 1 is the schematic diagram of a specific embodiment of the invention.
Specific embodiment
Referring to Fig.1, a specific embodiment of the invention includes,
Frequency converter 1 is used to carry out frequency control to motor 2 with 2 communication connection of motor；
PID controller 3, respectively with 4 communication connection of frequency converter 1 and velocity sensor, for the inspection according to velocity sensor 4
It surveys signal and closed-loop control is carried out to the output signal of frequency converter 1；
Image capture module 5, for acquiring the image information of bridge inspection vehicle direction of advance；
Speed prejudge module 6, respectively with 5 communication connection of frequency converter 1, PID controller 3 and image capture module, on the one hand
Image information for being acquired according to image capture module prejudges the travel speed of bridge inspection vehicle, on the other hand basis
The real-time control information that PID controller 3 issues is corrected travel speed anticipation process.
A kind of control method of the above-mentioned intelligent laying nest traced to the source, comprising the following steps:
A, velocity sensor 4 acquires the real-time speed of bridge inspection vehicle, and speed signal is sent to PID controller 3；
B, PID controller 3 carries out closed-loop control to the output signal of frequency converter 1 according to the detection signal of velocity sensor 4；
C, image capture module 5 acquire the image information of bridge inspection vehicle direction of advance and are sent to speed anticipation module
6, the image information that speed anticipation module 6 is acquired according to image capture module prejudges the travel speed of bridge inspection vehicle, and
Anticipation information is sent to PID controller 3 to store；
D, when bridge inspection vehicle is travelled to when prejudging position, PID controller 3 calls corresponding anticipation information to carry out motor turn
The control of speed executes step A and B, the real-time control information pair that speed anticipation module 6 is issued according to PID controller 3 at the same time
Travel speed anticipation process is corrected.
In step C, anticipation is carried out to the travel speed of bridge inspection vehicle and is included the following steps,
C1, Fuzzy processing is carried out to acquired image information；
C2, it is compared using the feature pattern information stored in database with the image after Fuzzy processing, it will be related
The region that degree is greater than given threshold is marked；
C3, the traveling speed for examining vehicle to bridge according to the priority of marked region and the relative positional relationship in adjacent marker region
Degree is calculated.
In step C2, feature pattern information is compared with the image after Fuzzy processing to be included the following steps,
Comparison window is set in C21, the image after Fuzzy processing；
C22, at least two straightways are set in comparison window, the straightway of setting meets the following conditions,
At least there are two straightways to intersect；At least there are two the straightways intersected to be mutually perpendicular to；It is parallel to each other if it exists
Straightway, at least straight line section intersect with all straightways being parallel to each other；
The pixel characteristic of all straightways, establishes contrast characteristic's matrix in C23, traversal comparison window；
If the dimension of C24, contrast characteristic's matrix is identical as the dimension of standard feature matrix of feature segment, directly go to
Step C25；It otherwise, is identical as the dimension of standard feature matrix by contrast characteristic's matrixing by addition unit matrix；
If C25, contrast characteristic's matrix are similar to standard feature matrix, which is marked.
In step C3, calculating is carried out to the travel speed of bridge inspection vehicle and is included the following steps,
C31, marked region is ranked up according to contrast characteristic's matrix dimensionality and the difference of standard feature matrix dimensionality, it is right
It is inversely proportional than feature matrix dimensionality and the difference of standard feature matrix dimensionality and the priority of marked region；
C32, it will go based on the corresponding preset travel speed of marked region in the preset path for being located at bridge inspection vehicle
Speed is sailed, preset travel speed corresponding with the adjacent marked region of the marked region in the preset path for being located at bridge inspection vehicle is used
Amendment is fitted to basic travel speed, fitting coefficient is directly proportional to corresponding priority.
In step D, travel speed anticipation process is corrected and is included the following steps,
D1, actual speed is calculated according to the real-time control information that PID controller 3 issues and prejudges the difference between speed
Value；
D2, according to the speed difference calculated in step D1, obtain speed correction factor, and by its with calculated in passing history
The weighted value that obtained speed correction factor carries out sum-average arithmetic speed correction factor sum-average arithmetic calculates moment and this with it
The difference for calculating the moment is inversely proportional.
In addition, speed prejudges module 6 for the label of the same area in different moments received image information in step C
As a result secondary comparison is carried out, if the deviation of any one comparing result exceeds given threshold, to straightway in comparison window
Set-up mode is adjusted.
In the description of the present invention, it is to be understood that, term " longitudinal direction ", " transverse direction ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown is merely for convenience of the description present invention, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (6)
1. a kind of bridge inspection vehicle frequency-changing control system, it is characterised in that: including,
Frequency converter (1) is used to carry out frequency control to motor (2) with motor (2) communication connection；
PID controller (3) is used for respectively with frequency converter (1) and velocity sensor (4) communication connection according to velocity sensor (4)
Detection signal closed-loop control is carried out to the output signal of frequency converter (1)；
Image capture module (5), for acquiring the image information of bridge inspection vehicle direction of advance；
Speed prejudge module (6), respectively with frequency converter (1), PID controller (3) and image capture module (5) communication connection, one
The image information that aspect is used to be acquired according to image capture module prejudges the travel speed of bridge inspection vehicle, another aspect root
The real-time control information issued according to PID controller (3) is corrected travel speed anticipation process.
2. a kind of control method of bridge inspection vehicle frequency-changing control system described in claim 1, it is characterised in that including following
Step:
A, the real-time speed of velocity sensor (4) acquisition bridge inspection vehicle, is sent to PID controller (3) for speed signal；
B, PID controller (3) carries out closed loop control to the output signal of frequency converter (1) according to the detection signal of velocity sensor (4)
System；
C, image capture module (5) acquire the image information of bridge inspection vehicle direction of advance and are sent to speed anticipation module
(6), the image information that speed anticipation module (6) is acquired according to image capture module carries out the travel speed of bridge inspection vehicle pre-
Sentence, and anticipation information is sent to PID controller (3) and is stored；
D, when bridge inspection vehicle is travelled to when prejudging position, PID controller (3) calls corresponding anticipation information to carry out motor speed
Control, execute step A and B, speed anticipation module (6) real-time control information for issuing according to PID controller (3) at the same time
Travel speed anticipation process is corrected.
3. the control method of bridge inspection vehicle frequency-changing control system according to claim 2, it is characterised in that: in step C,
Anticipation is carried out to the travel speed of bridge inspection vehicle to include the following steps,
C1, Fuzzy processing is carried out to acquired image information；
C2, it is compared using the feature pattern information stored in database with the image after Fuzzy processing, the degree of correlation is big
It is marked in the region of given threshold；
C3, according to the priority of marked region and the relative positional relationship in adjacent marker region to the travel speed of bridge inspection vehicle into
Row calculates.
4. the control method of bridge inspection vehicle frequency-changing control system according to claim 3, it is characterised in that: step C2
In, feature pattern information is compared with the image after Fuzzy processing to be included the following steps,
Comparison window is set in C21, the image after Fuzzy processing；
C22, at least two straightways are set in comparison window, the straightway of setting meets the following conditions,
At least there are two straightways to intersect；At least there are two the straightways intersected to be mutually perpendicular to；The straight line being parallel to each other if it exists
Section, at least straight line section intersects with all straightways being parallel to each other；
The pixel characteristic of all straightways, establishes contrast characteristic's matrix in C23, traversal comparison window；
If the dimension of C24, contrast characteristic's matrix is identical as the dimension of standard feature matrix of feature segment, step is directly gone to
C25；It otherwise, is identical as the dimension of standard feature matrix by contrast characteristic's matrixing by addition unit matrix；
If C25, contrast characteristic's matrix are similar to standard feature matrix, which is marked.
5. the control method of bridge inspection vehicle frequency-changing control system according to claim 4, it is characterised in that: step C3
In, calculating is carried out to the travel speed of bridge inspection vehicle and is included the following steps,
C31, marked region is ranked up according to contrast characteristic's matrix dimensionality and the difference of standard feature matrix dimensionality, to bit
Sign matrix dimensionality is inversely proportional with the difference of standard feature matrix dimensionality and the priority of marked region；
C32, speed will be travelled based on the corresponding preset travel speed of marked region in the preset path for being located at bridge inspection vehicle
Degree, using preset travel speed corresponding with the adjacent marked region of the marked region in the preset path for being located at bridge inspection vehicle to base
Plinth travel speed is fitted amendment, and fitting coefficient is directly proportional to corresponding priority.
6. the control method of bridge inspection vehicle frequency-changing control system according to claim 2, it is characterised in that: in step D,
Travel speed anticipation process is corrected and is included the following steps,
D1, actual speed is calculated according to the real-time control information that PID controller (3) issue and prejudges the difference between speed；
D2, according to the speed difference calculated in step D1, obtain speed correction factor, and by its be calculated in passing history
Speed correction factor carry out sum-average arithmetic speed correction factor sum-average arithmetic weighted value and its calculate the moment and this calculate
The difference at moment is inversely proportional.
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