CN110456728A - Control method and related Control System based on frequency converter - Google Patents
Control method and related Control System based on frequency converter Download PDFInfo
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- CN110456728A CN110456728A CN201910791151.6A CN201910791151A CN110456728A CN 110456728 A CN110456728 A CN 110456728A CN 201910791151 A CN201910791151 A CN 201910791151A CN 110456728 A CN110456728 A CN 110456728A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1105—I-O
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Abstract
The present invention relates to a kind of control method based on frequency converter, which is used to carry out high accuracy positioning to sports equipment, includes the following steps: the target position for calculating sports equipment and the difference of initial position；Ramp generator mathematical model is established for frequency converter, which includes several continuous sections that between target position and initial position, frequency converter frequency and sports equipment speed have linear relationship；Detect the current location of sports equipment；The sports equipment currently locating section in ramp generator mathematical model is determined according to the current location of sports equipment, and current desired sports equipment speed is calculated with the current location of sports equipment according to ramp generator mathematical model；Required frequency converter frequency is calculated with sports equipment speed according to the linear relationship of frequency converter frequency and sports equipment speed in section is presently in ramp generator mathematical model.The invention further relates to a kind of for implementing the control system of the control method.
Description
Technical field
The present invention relates to a kind of control methods of high accuracy positioning based on Frequency Converter Control.The invention further relates to a kind of use
In the control system for implementing the control method.
Background technique
Traditional position control method generally uses close to switch control or is applicable in high low speed control.The above method is applicable in
Not stringent occasion is required in precision and positioning time.But above-mentioned control method be not particularly suited for need high-precision or when
Between optimal control positioning application scenarios.
Summary of the invention
In order to solve the above technical problems, according to an aspect of the invention, there is provided a kind of height based on Frequency Converter Control
It is next defeated to calculate current desired speed by establishing frequency converter ramp generator model in real time for the control method of precision positioning
Corresponding frequency out realizes the optimum control of high-precision and time so as to accurately reach target position.
Design in this way, with plant machinery mechanical performance, trade shape, the external factor such as walking path are independently solved
The high accuracy positioning problem determined on the track of equipment moving.Therefore, disclosed by the invention is widely suitable to logistic industries, steel row
The quick high accuracy location control occasion of the every profession and trades such as industry, food service industry.
Control method provided by the invention based on frequency converter is used to carry out high accuracy positioning to sports equipment, including such as
Lower step: the target position of sports equipment and the difference of initial position are calculated；Ramp generator mathematical model is established for frequency converter,
The ramp generator mathematical model includes that between target position and initial position, frequency converter frequency and sports equipment speed have
Several continuous sections of wired sexual intercourse；Detect the current location of sports equipment；Being determined according to the current location of sports equipment should
The current locating section in the ramp generator mathematical model of sports equipment, and according to the ramp generator mathematical model with
The current location of sports equipment calculates current desired sports equipment speed；According in the ramp generator mathematical model
It is presently in the linear relationship of frequency converter frequency and sports equipment speed in section and required frequency conversion is calculated with sports equipment speed
Device frequency.
A kind of preferred embodiment of the control method based on frequency converter provided according to the present invention occurs on the slope
In each section of device mathematical model, the linear relationship of frequency converter frequency and sports equipment speed is accomplished in that record
Sports equipment can be made to generate the frequency converter minimum output frequency of the minimum speed of travel in positive and negative two direction of motion；Pass through change
Frequency device makes sports equipment piecewise in positive and negative direction repeatedly walk with multiple frequency converter frequency driving motors, is recorded in
Corresponding speed calculated value of each specific speed average value as the frequency converter frequency under each particular frequency converter frequency；According to
The minimum speed of travel and the corresponding friction speed calculated value of different frequency converter frequencies found out, according to described in linear scale determination
Frequency converter frequency in ramp generator mathematical model, when the reality of the frequency converter frequency corresponding speed calculated value and sports equipment
When border speed is inconsistent, PID adjusting is carried out, rate-adaptive pacemaker next time is corrected, so that the ramp generator mathematical model
In frequency converter frequency and the actual speed of sports equipment meet linear relationship.
In a kind of preferred embodiment of the control method provided by the invention based on frequency converter, correspond to sports equipment
Velocity and acceleration from starting stopping changes, and the ramp generator mathematical model is divided into seven sections: add accelerating sections,
Even accelerating sections, subtract accelerating sections, at the uniform velocity section, accelerating and decelerating part, even braking section, subtract braking section.
In the present speed for judging sports equipment, control method of the invention gives preferred embodiment, wherein
Adding accelerating sections, even accelerating sections subtracts accelerating sections, and elapsed time calculates current speed after starting by the sports equipment.
Wherein, in accelerating and decelerating part, even braking section subtracts braking section, using the sports equipment respective section walked away from
From calculating current speed.
In a kind of preferred embodiment of the control method provided by the invention based on frequency converter, in the sports equipment
Cover whole plus accelerating sections, even accelerating sections, subtract accelerating sections, at the uniform velocity section, accelerating and decelerating part, even braking section, subtract braking section and stop
Afterwards, whether it is within the scope of assigned error at a distance from target position according to the collected location information judgement of position sensor,
Position is had been moved to if it is, being judged as, if at a distance from target position not within the scope of assigned error, basis and target
The distance of position automatically falls back on the ramp generator mathematical model plus accelerating sections, even accelerating sections subtract accelerating sections, at the uniform velocity
Section, accelerating and decelerating part, even braking section, the respective section subtracted in braking section walk on.
The second aspect of the present invention, provides a kind of control system based on frequency converter, which is used for movement
Equipment carries out high accuracy positioning, comprising: instruction input unit, the instruction input unit can be used in inputting the sports equipment
Initial position and target position；Ramp generator, the ramp generator are used for pair established between target position and initial position
The ramp generator mathematical model that should change in velocity and acceleration of the sports equipment from starting stopping, the ramp generator number
If learning model includes that between target position and initial position, frequency converter frequency and sports equipment speed have linear relationship
Dry continuous section；Position sensor, the position sensor are used to detect the current location of the sports equipment；Control logic, institute
Control logic is stated to be suitable for determining the sports equipment currently in the ramp generator mathematical modulo according to the current location of sports equipment
Locating section in type, and according in the ramp generator mathematical model locating section calculated with the current location of sports equipment
Current desired sports equipment speed out, and according to the frequency converter currently in the ramp generator mathematical model in locating section
The linear relationship of frequency and sports equipment speed calculates required frequency converter frequency with required sports equipment speed；Communication module,
The communication module is suitable for receiving the current location that position sensor detects and sends detected current location to control
Logic；Frequency converter, the frequency converter frequency work which is suitable for determining with the control logic；Motor, the motor are suitable for root
The sports equipment is driven according to the signal of the frequency converter.
Preferably, described instruction input unit be PLC or computer, tablet computer, in hand-hold electronic equipments at least
Any one.
A kind of preferred embodiment of the control system based on frequency converter provided according to the present invention, the ramp generator
Mathematical model is divided into seven sections: add accelerating sections, even accelerating sections, subtract accelerating sections, at the uniform velocity section, accelerating and decelerating part, even braking section, subtract
Braking section,
A kind of preferred embodiment of the control system based on frequency converter provided according to the present invention, the control logic meter
Calculate elapsed time after the sports equipment starts, and the ramp generator mathematical model plus accelerating sections, even accelerating sections,
Subtract elapsed time after accelerating sections is started by the sports equipment and calculates current speed.
A kind of preferred embodiment of the control system based on frequency converter provided according to the present invention, control logic calculate institute
Sports equipment is stated in the distance of having walked of respective section, and in the accelerating and decelerating part of the ramp generator mathematical model, even braking section,
Subtract braking section and passes through the sports equipment having walked distance and calculate current speed in respective section.
A kind of preferred embodiment of the control system based on frequency converter provided according to the present invention, the control logic are suitable
In covering whole plus accelerating sections in the sports equipment, even accelerating sections subtracts accelerating sections, at the uniform velocity section, accelerating and decelerating part, even deceleration
Whether section after subtracting braking section and stopping, being located at a distance from target position according to the collected location information judgement of position sensor
In within the scope of assigned error, position is had been moved to if it is, being judged as, if not in assigned error model at a distance from target position
In enclosing, then according to automatically fall back on the ramp generator mathematical model at a distance from target position plus accelerating sections, even acceleration
Section, subtract accelerating sections, at the uniform velocity section, accelerating and decelerating part, even braking section, the respective section subtracted in braking section walks on.In use, cooperation
Suitable pid parameter, positioning accuracy reachable ± 2.
Control method and control system provided by the invention based on frequency converter, especially can be applied to need high-precision or
The scene of time optimal control positioning.
Detailed description of the invention
Fig. 1 shows the basic procedure of the high accuracy positioning control method based on transducer drive；
The typical frequency converter of Fig. 2 extends ramp generator；
The basic ramp generator of the typical frequency converter of Fig. 3；
Fig. 4 is known parameter in the model of ramp generator；
Fig. 5 illustrates the control system for executing control method according to the present invention.
Specific embodiment
The control method of the invention based on frequency converter and control system are described in detail with reference to the accompanying drawing.
Fig. 1 illustrates the basic ideas of the high accuracy positioning control method based on transducer drive, as shown in Figure 1, this hair
The basic ideas of the control method of bright offer are as follows: firstly, the target position of sports equipment and the difference of initial position are calculated, and
And ramp generator mathematical model is established for frequency converter, which is included in target position and initial position
Between, frequency converter frequency and sports equipment speed there are several continuous sections of linear relationship.It is then detected that sports equipment
Current location determines the sports equipment currently locating area in ramp generator mathematical model according to the current location of sports equipment
Section, and current desired sports equipment speed is calculated with the current location of sports equipment according to ramp generator mathematical model.
Finally, according to the linear pass for being presently in frequency converter frequency and sports equipment speed in section in ramp generator mathematical model
System calculates required frequency converter frequency with sports equipment speed.
The present invention will correspond to velocity and acceleration of the sports equipment from starting stopping and change, in ramp generator mathematics
In model be provided with seven sections: add accelerating sections, even accelerating sections, subtract accelerating sections, at the uniform velocity section, accelerating and decelerating part, even braking section, subtract
Fast section, in the fullpath from initial position to target position, sports equipment includes seven sections as described above.
In the control method of the invention, when the practical speed of the frequency converter frequency corresponding speed calculated value and sports equipment
When spending inconsistent, PID adjusting is carried out, rate-adaptive pacemaker next time is corrected, so that in the ramp generator mathematical model
The actual speed of frequency converter frequency and sports equipment meets linear relationship.
After sports equipment stops, it is at a distance from target position according to the collected location information judgement of position sensor
It is no to have been moved to position if it is, being judged as within the scope of assigned error, if do not missed given at a distance from target position
It is in poor range, then even according to the accelerating sections that adds for automatically falling back on the ramp generator mathematical model at a distance from target position
Accelerating sections, subtract accelerating sections, at the uniform velocity section, accelerating and decelerating part, even braking section, the respective section subtracted in braking section walks on.
Control method provided by the invention establishes frequency converter ramp generator model, can calculate current institute in real time
The speed needed exports corresponding frequency, so as to accurately reach target position, realizes the optimum control of high-precision and time.
Fig. 2 and Fig. 3 is typical Siemens G120 frequency converter extension ramp generator and typical Siemens G120 respectively
The basic ramp generator of frequency converter.Fig. 4 is known parameter in the model of ramp generator.In ramp generator mathematical model
As shown in figure be provided with seven sections: add accelerating sections, even accelerating sections, subtract accelerating sections, at the uniform velocity section, accelerating and decelerating part, even braking section,
Subtract braking section.Frequency converter is according to different sections and then exports different frequencies.
Because every section of process is all separate clocking and calculating, when doing model analysis, the terminal of every section of process longitudinal axis is worked as
At the starting point of the longitudinal axis of next section of process.
Known parameters are as follows: add the runing time d of accelerating sectionst_2S, the slope b mm/s of even accelerating sections2, subtract the fortune of accelerating sections
Row time dt_3S, maximum speed VmaxMm/s, the runing time d of accelerating and decelerating partt_4S, the slope d mm/s of even braking section2, subtract
The runing time d of braking sectiont_5s.It can be found in shown in Fig. 4.
Known target position is STargetMm, initial position SInitiallymm.Its relative distance SRelativelyAre as follows:
SRelatively=| STarget-SInitially| mm
If total distance of currently having walked is SIt has walkedMm, program can be done by the distance walked real-time accumulation calculating come
To SIt has walkedmm.The distance walked being located in accelerating and decelerating part is S6 have walkedMm, the time passed are t6s.It is located at even braking section
In the distance walked be S7 have walkedMm, the time passed are t7s.Being located at the distance walked subtracted in braking section is
S8 have walkedMm, the time passed are t8 s。
If plus the real-time speed of accelerating sections is V2Mm/s, the distance that this section of process is walked are S2mm.If even accelerating sections
Real-time speed is V3Mm/s, the distance that this section of process is walked are S3mm.If the real-time speed for subtracting accelerating sections is v4Mm/s, this
The distance that section process is walked is S4mm.If the real-time speed of at the uniform velocity section is V5Mm/s, the distance that this section of process is walked are S5
mm.If the real-time speed of accelerating and decelerating part is V6Mm/s, the distance that this section of process is walked are S6mm.If even braking section is real-time
Speed is V7Mm/s, the distance that this section of process is walked are S7mm.If the real-time speed of deceleration is V8Mm/s, this section of process
The distance walked is S8 mm。
Ramp up time T is obtained from Fig. 3upFor
Effective ramp up time T is learnt from Fig. 2up_effFor
I.e.
Ramp-down time T is obtained from Fig. 3dnFor
Effective ramp-down time T is learnt from Fig. 2dn_effFor
I.e.
Seven sections in ramp generator mathematical model are analyzed in detail below:
Add accelerating sections mathematical model
If the parabolic equation of this section of curve are as follows:
Its first derivative are as follows:
∵ parabolaCross point (0,0)
∴
∵Cross point (0,0)
∴
∵ is in t=dt_2When, V2' (t)=b
∴
∴
I.e.
The total distance of this section of curve are as follows:
I.e.
Even accelerating sections mathematical model
If this section of linear equation is v3=bt+C2(known to slope b) mm/s
∵ is in t=dt_2When, with the parabola for adding accelerating sectionsIntersection
∴
∴
I.e.
Its first derivative are as follows: v '3(t)=b mm/s2
The walking total distance of even accelerating sections are as follows:
It can be obtained after arrangement:
Subtract accelerating sections mathematical model
It can be by this section of parabola at the parabola for being originMove right dt3S moves up Vmaxmm/s.It can must subtract
Accelerating sections parabolic equation are as follows:
Its first derivative are as follows:
It can be obtained from Fig. 2, the first derivative for subtracting accelerating sections intersects with the first derivative of even accelerating sections at 0 s moment, therefore
It can obtain:
It can be calculated:
Therefore subtract the rate equation of accelerating sections are as follows:
The total distance of this section of curve can be can be calculated by following equation:
It can be obtained after arrangement:
At the uniform velocity section mathematical model
The rate equation of at the uniform velocity section can be obtained from Fig. 2 are as follows:
v5(t)=Vmax mm/s
In the travel distance of at the uniform velocity section are as follows:
S5=SRelatively-S8-S7-S6 mm
Accelerating and decelerating part mathematical model
It can be by this section of parabola at the parabola for being originMove up Vmaxmm/s.It can must subtract accelerating sections parabola
Equation are as follows:
Its first derivative equation are as follows:
In t=dt_4When, V6' (t)=- d
It can obtain:
The total distance of this section of curve are as follows:
It can be obtained after arrangement:
It needs to find out S under fetchingIt has walkedWith real-time speed v6Relationship.
S6 have walked=SIt has walked-S2-S3-S4-S5 mm
By t6It brings into equation, and 0≤t6≤dt4,
It can be obtained after arrangement:
I.e.
This simple cubic equation is solved, is needed using the red formula of card.
It can be obtained according to the red formula of card:
According to judging formula
Δ < 0 can be solved, therefore there are three not grade real roots.
Wherein
By S6 have walkedThe value for being in close proximity to 0 and the value for going to midpoint are brought into three real roots, it is possible to find only x3Meet and is actually subjected to
It asks, x1And x2Equal over range.
To x3It is arranged:
By x3It brings intoReal-time speed V can be obtained6
Even braking section mathematical model
If this straightway equation is v7(t)=- dt+C7(known to slope d)
As shown in Figure 2 in dt4Moment, accelerating and decelerating part intersect with even braking section, it may be assumed that
It can solve:
Therefore linear equation are as follows:
It needs to find out S under fetchingIt has walkedWith real-time speed v7Relationship.
S7 have walked=SIt has walked-S2-S3-S4-S5-S6 mm
By t7It brings into equation, and
Solving equation can obtain:
∵
∴
∴
Bring rate equation intoIt can obtain:
Subtract braking section mathematical model
This section of parabola can be regarded as to the parabola of originMove to right dt_5s.It can must subtract accelerating sections parabola side
Journey are as follows:
Its first derivative are as follows:
In t=0, v8' (t)=- d
It can obtain:
Therefore:
It needs to find out S under fetchingIt has walkedWith real-time speed v8Relationship.
S8 have walked=SIt has walked-S2-S3-S4-S5One S6-S7 mm
By t8It brings into equation, and 0≤t8≤dt_5:
It can solve:
Bring rate equation intoIt can obtain:
Therefore, adding accelerating sections, even accelerating sections subtracts accelerating sections, and temporally t calculates current speed.In accelerating and decelerating part,
Even braking section slows down, having walked distance and calculate current speed using corresponding segment.
Current speed is calculated by the location information of time and displacement sensor acquisition.By control, it is recorded in just
Anti- both direction can make the frequency converter minimum output frequency of equipment generation minimum speed.In order to enable frequency and speed meet linearly
Relationship is repeatedly walked using frequency segmentation as much as possible in both forward and reverse directions, and the specific speed being recorded under specific frequency is average
Value.
According to the corresponding friction speed of the minimum speed of travel and different frequency found out, corresponded to according to linear scale defeated
Frequency (Hz) out.When the speed of output and inconsistent actual speed, PID adjusting is carried out, rate-adaptive pacemaker next time is corrected,
Guarantee that output speed curve and actual speed curve are coincide
Seven sections of distances are covered, and after stopping, in error range, being then judged as in place.If not in error range, according to away from
The corresponding stage is automatically fallen back on from S to walk on.
Fig. 5 illustrates the control system for executing control method according to the present invention, as shown, the control system is used
In to sports equipment progress high accuracy positioning, comprising:
Instruction input unit, the instruction input unit can be used in inputting initial position and the target position of the sports equipment
It sets, such as PLC or computer；
Position sensor, the position sensor are used to detect the current location of the sports equipment；
Communication module, the communication module are suitable for receiving the current location that position sensor detects and work as detected
Front position sends control logic to；
Ramp generator, which, which is used to establish between target position and initial position, corresponds to sports equipment
The ramp generator mathematical model that velocity and acceleration from starting stopping changes, the ramp generator mathematical model are included in
Between target position and initial position, frequency converter frequency and sports equipment speed have several continuous sections of linear relationship；
Control logic, the control logic are suitable for determining the sports equipment currently in institute according to the current location of sports equipment
State locating section in ramp generator mathematical model, and according in the ramp generator mathematical model locating section to move
The current location of equipment calculates current desired sports equipment speed, and according to currently in the ramp generator mathematical model
The linear relationship of frequency converter frequency and sports equipment speed in locating section calculates required change with required sports equipment speed
Frequency device frequency；
Frequency converter, the frequency converter frequency work which is suitable for determining with the control logic；
Motor, the motor are suitable for driving the sports equipment according to the signal of the frequency converter.
After control method provided by the invention based on frequency converter is used for above-mentioned control system, in the technical effect obviously
It is controlled better than traditional close to switch control or high low speed, solves the high accuracy positioning problem on the track of equipment moving.
Describe the preferred embodiment of the present invention above, but the spirit and scope of the present invention be not limited to it is disclosed herein
Particular content.Those skilled in the art can introduction any combination according to the present invention and extension the various embodiments described above and in this hair
More embodiments and application are made in bright spirit and scope.The spirit and scope of the present invention are not limited by specific embodiment
It is fixed, and be defined by the claims.
Claims (12)
1. a kind of control method based on frequency converter, which is used to carry out high accuracy positioning to sports equipment, including such as
Lower step:
The target position of sports equipment and the difference of initial position are calculated,
Ramp generator mathematical model is established for frequency converter, which is included in target position and initial bit
Between setting, frequency converter frequency and sports equipment speed have several continuous sections of linear relationship,
The current location of sports equipment is detected,
The sports equipment currently locating area in the ramp generator mathematical model is determined according to the current location of sports equipment
Section, and current desired sports equipment speed is calculated with the current location of sports equipment according to the ramp generator mathematical model
Degree
According to the line for being presently in frequency converter frequency and sports equipment speed in section in the ramp generator mathematical model
Sexual intercourse calculates required frequency converter frequency with sports equipment speed.
2. control method according to claim 1, which is characterized in that in each section of the ramp generator mathematical model
In, frequency converter frequency and the linear relationship of sports equipment speed are accomplished in that
Record can make sports equipment generate the frequency converter minimum output of the minimum speed of travel in positive and negative two direction of motion frequently
Rate；
Make the multiple row in sports equipment piecewise in positive and negative direction by frequency converter with multiple frequency converter frequency driving motors
It walks, corresponding speed meter of each specific speed average value as the frequency converter frequency being recorded under each particular frequency converter frequency
Calculation value；
According to the minimum speed of travel found out and the corresponding friction speed calculated value of different frequency converter frequencies, according to linear scale
The frequency converter frequency in the ramp generator mathematical model is determined, when the corresponding speed calculated value of the frequency converter frequency and movement
When the actual speed of equipment is inconsistent, PID adjusting is carried out, rate-adaptive pacemaker next time is corrected, so that the ramp generator
The actual speed of frequency converter frequency and sports equipment in mathematical model meets linear relationship.
3. control method according to claim 1 or 2, which is characterized in that corresponding to sports equipment from starting stopping
Velocity and acceleration variation, the ramp generator mathematical model is divided into seven sections: add accelerating sections, even accelerating sections, subtract plus
Fast section, at the uniform velocity section, even braking section, subtract braking section at accelerating and decelerating part.
4. control method according to claim 3, which is characterized in that
Adding accelerating sections, even accelerating sections subtracts accelerating sections, and elapsed time calculates current speed after starting by the sports equipment
Degree.
5. control method according to claim 3, which is characterized in that
In accelerating and decelerating part, even braking section subtracts braking section, uses the sports equipment having walked distance and calculate in respective section
Current speed.
6. control method according to claim 3, which is characterized in that
Whole plus accelerating sections is covered in the sports equipment, even accelerating sections subtracts accelerating sections, at the uniform velocity section, accelerating and decelerating part, even deceleration
Whether section after subtracting braking section and stopping, being located at a distance from target position according to the collected location information judgement of position sensor
In within the scope of assigned error, position is had been moved to if it is, being judged as, if not in assigned error model at a distance from target position
In enclosing, then according to automatically fall back on the ramp generator mathematical model at a distance from target position plus accelerating sections, even acceleration
Section, subtract accelerating sections, at the uniform velocity section, accelerating and decelerating part, even braking section, the respective section subtracted in braking section walks on.
7. a kind of control system based on frequency converter, which is used to carry out high accuracy positioning to sports equipment, comprising:
Instruction input unit, the instruction input unit can be used in inputting initial position and the target position of the sports equipment；
Ramp generator, which, which is used to establish between target position and initial position, corresponds to sports equipment from
The ramp generator mathematical model of the velocity and acceleration variation of stopping is moved, which is included in target
Between position and initial position, frequency converter frequency and sports equipment speed have several continuous sections of linear relationship；
Position sensor, the position sensor are used to detect the current location of the sports equipment；
Control logic, the control logic are suitable for being determined the sports equipment currently described oblique according to the current location of sports equipment
Locating section in the generator mathematical model of slope, and according in the ramp generator mathematical model locating section with sports equipment
Current location calculate current desired sports equipment speed, and according to currently in the ramp generator mathematical model it is locating
The linear relationship of frequency converter frequency and sports equipment speed in section calculates required frequency converter with required sports equipment speed
Frequency；
Communication module, the communication module are suitable for receiving the current location that detects of position sensor and by detected present bits
It sets and sends control logic to；
Frequency converter, the frequency converter frequency work which is suitable for determining with the control logic；
Motor, the motor are suitable for driving the sports equipment according to the signal of the frequency converter.
8. control system according to claim 7, which is characterized in that described instruction input unit is PLC or computer, puts down
In plate computer, hand-hold electronic equipments at least any one.
9. control system according to claim 7, which is characterized in that the ramp generator mathematical model is divided into seven
Section: add accelerating sections, even accelerating sections, subtract accelerating sections, at the uniform velocity section, accelerating and decelerating part, even braking section, subtract braking section.
10. control system according to claim 7, which is characterized in that the control logic calculates the sports equipment and rises
Elapsed time after dynamic, and in the accelerating sections that adds of the ramp generator mathematical model, even accelerating sections subtracts accelerating sections described in
Elapsed time calculates current speed after sports equipment starts.
11. control system according to claim 7, which is characterized in that control logic calculates the sports equipment corresponding
Section has walked distance, and in the accelerating and decelerating part of the ramp generator mathematical model, even braking section subtracts braking section described in
Sports equipment has walked distance and calculates current speed respective section.
12. control system according to claim 7, which is characterized in that the control logic is suitable in the sports equipment
Cover whole plus accelerating sections, even accelerating sections, subtract accelerating sections, at the uniform velocity section, accelerating and decelerating part, even braking section, subtract braking section and stop
Afterwards, whether it is within the scope of assigned error at a distance from target position according to the collected location information judgement of position sensor,
Position is had been moved to if it is, being judged as, if at a distance from target position not within the scope of assigned error, basis and target
The distance of position automatically falls back on the ramp generator mathematical model plus accelerating sections, even accelerating sections subtract accelerating sections, at the uniform velocity
Section, accelerating and decelerating part, even braking section, the respective section subtracted in braking section walk on.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111324127A (en) * | 2020-03-12 | 2020-06-23 | 安德里茨（中国）有限公司 | Control method based on frequency converter and control device for walking positioning equipment |
| CN113979305A (en) * | 2021-11-15 | 2022-01-28 | 湖南天桥嘉成智能科技有限公司 | Rope length variable unmanned vehicle anti-swing control method and system controlled by multi-section acceleration and deceleration motion |
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