CN111977571A - Speed control method and device for lifting mechanism - Google Patents

Speed control method and device for lifting mechanism Download PDF

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Publication number
CN111977571A
CN111977571A CN201910422800.5A CN201910422800A CN111977571A CN 111977571 A CN111977571 A CN 111977571A CN 201910422800 A CN201910422800 A CN 201910422800A CN 111977571 A CN111977571 A CN 111977571A
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stage
lifting
lifting mechanism
speed
acceleration
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张丽
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Beijing Jingdong Qianshi Technology Co Ltd
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Beijing Jingdong Century Trading Co Ltd
Beijing Jingdong Shangke Information Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07581—Remote controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention discloses a speed control method and device for a lifting mechanism, and relates to the technical field of computers. One embodiment of the method comprises: the following steps are repeatedly executed according to a set period: determining which of the acceleration stage, the constant speed stage, the deceleration stage or the second lifting stage the lifting mechanism is currently located in; and determining the current target speed of the lifting mechanism according to the current stage of the lifting mechanism, and controlling the lifting speed of the lifting mechanism to reach the target speed by outputting a speed control instruction, so that the lifting speed of the lifting mechanism is in an acceleration state in an acceleration stage, is in a deceleration state in a deceleration stage, and is in a constant speed state in a constant speed stage and a second lifting stage. This embodiment can realize the accurate parking of lift process, and can compromise the stability and the rapidity of lift process simultaneously.

Description

Speed control method and device for lifting mechanism
Technical Field
The invention relates to the technical field of computers, in particular to a speed control method and device for a lifting mechanism.
Background
An Automated Guided Vehicle (AGV), which is an Automated Guided Vehicle, is a Vehicle equipped with an electromagnetic or optical automatic guide device, and capable of traveling along a predetermined guide path, and having safety protection and various transfer functions. Is a transport tool which is developed rapidly in the warehouse logistics industry and workshop inside a factory at present. AGVs generally include a vehicle body, a running gear, and a load bed disposed on the vehicle body. For the AGV needing to be lifted, the bearing platform is assembled on the automobile body through the lifting mechanism in a lifting mode, and the lifting speed of the lifting mechanism is controlled, so that the bearing platform can quickly and stably reach the lifting height.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art: at present, the lifting process of the AGV lifting mechanism has no integral speed planning, and whether the lifting stroke is in place or not is identified only by a limit switch, so that the lifting speed is switched. However, when a limit signal is detected, the lifting stroke is basically in place, so that stroke overshoot inevitably exists, the speed control process is stiff, accurate parking in the lifting process is difficult to realize, and the stability is poor.
Therefore, there is a need for a method and an apparatus for controlling the speed of a lifting mechanism, which can achieve accurate parking in the lifting process and simultaneously achieve stability and rapidity in the lifting process.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for controlling a speed of a lifting mechanism, which can achieve accurate parking in a lifting process and can simultaneously consider stability and rapidity of the lifting process.
In order to achieve the above object, according to an aspect of an embodiment of the present invention, there is provided a speed control method of a lifting mechanism, wherein a lifting process of the lifting mechanism sequentially includes: first lift stage and second lift stage, first lift stage includes in proper order: acceleration stage, at the uniform velocity stage and deceleration stage, or first lift stage includes in proper order: the average speed of the lifting mechanism in the first lifting stage is higher than that in the second lifting stage;
The method comprises the following steps: the following steps are repeatedly executed according to a set period:
determining which of the acceleration stage, the constant speed stage, the deceleration stage or the second lifting stage the lifting mechanism is currently located in;
and determining the current target speed of the lifting mechanism according to the current stage of the lifting mechanism, and controlling the lifting speed of the lifting mechanism to reach the target speed by outputting a speed control instruction, so that the lifting speed of the lifting mechanism is in an acceleration state in an acceleration stage, is in a deceleration state in a deceleration stage, and is in a constant speed state in a constant speed stage and a second lifting stage.
Further, the method further comprises:
determining the travel of an acceleration section of the lifting mechanism from a static state to set a first acceleration uniform acceleration to a set first speed;
determining a deceleration section stroke of the lifting mechanism from the set first speed to set second acceleration uniform deceleration to set second speed, wherein the lifting speed of the lifting mechanism in the second lifting stage is the set second speed;
judging whether the sum of the stroke of the acceleration section and the stroke of the deceleration section is smaller than the total stroke of the first lifting stage, if so, determining that the first lifting stage sequentially comprises the following steps: an acceleration stage, a uniform speed stage and a deceleration stage, otherwise, determining that the first lifting stage sequentially comprises: an acceleration phase and a deceleration phase.
Optionally, when the first lifting stage sequentially includes: the step of determining which of the acceleration stage, the constant speed stage, the deceleration stage, or the second lifting stage the lifting mechanism is currently located in includes:
acquiring the current stroke of the lifting mechanism;
if the current stroke of the lifting mechanism is smaller than the stroke of the acceleration stage, determining that the lifting mechanism is currently located in the acceleration stage;
if the current stroke of the lifting mechanism is greater than or equal to the stroke of the acceleration stage and less than or equal to the difference between the total stroke of the first lifting stage and the stroke of the deceleration stage, determining that the lifting mechanism is currently positioned in the uniform speed stage;
if the current stroke of the lifting mechanism is larger than the difference between the total stroke of the first lifting stage and the stroke of the deceleration stage and is smaller than or equal to the total stroke of the first lifting stage, determining that the lifting mechanism is currently positioned in the deceleration stage;
and if the current stroke of the lifting mechanism is larger than the total stroke of the first lifting stage, determining that the lifting mechanism is currently positioned in the second lifting stage.
Optionally, the determining the current target speed of the lifting mechanism according to the current stage of the lifting mechanism includes:
If the lifting mechanism is currently located in the acceleration stage, determining that the current target speed of the lifting mechanism is the product of the set first acceleration and a first time length, wherein the first time length is the time length between the time when the lifting mechanism enters the acceleration stage and the current time;
if the lifting mechanism is currently located in the uniform speed stage, determining that the current target speed of the lifting mechanism is the set first speed;
if the lifting mechanism is currently located in the deceleration stage, determining that the current target speed of the lifting mechanism is the difference of the set first speed minus the product of a set second acceleration and a second time length, wherein the second time length is the time length between the time when the lifting mechanism enters the deceleration stage and the current time;
and if the lifting mechanism is currently positioned in the second lifting stage, determining that the current target speed of the lifting mechanism is the set second speed.
Optionally, when the first lifting stage sequentially includes: an acceleration phase and a deceleration phase, wherein the step of determining which of the acceleration phase, the uniform velocity phase, the deceleration phase, or the second lifting phase the lifting mechanism is currently located in comprises:
Acquiring the current stroke of the lifting mechanism;
if the current stroke of the lifting mechanism is smaller than the stroke of the acceleration stage, determining that the lifting mechanism is currently located in the acceleration stage;
if the current stroke of the lifting mechanism is greater than or equal to the stroke of the acceleration stage and less than or equal to the total stroke of the first lifting stage, determining that the lifting mechanism is currently positioned in the deceleration stage;
and if the current stroke of the lifting mechanism is larger than the total stroke of the first lifting stage, determining that the lifting mechanism is currently positioned in the second lifting stage.
Optionally, the determining the current target speed of the lifting mechanism according to the current stage of the lifting mechanism includes:
if the lifting mechanism is currently located in the acceleration stage, determining that the current target speed of the lifting mechanism is the product of the set first acceleration and a first time length, wherein the first time length is the time length between the time when the lifting mechanism enters the acceleration stage and the current time;
if the lifting mechanism is currently located in the deceleration stage, determining that the current target speed of the lifting mechanism is the difference of a third speed minus the product of a set second acceleration and a second time length, wherein the second time length is the time length between the time when the lifting mechanism enters the deceleration stage and the current time, and the third speed is determined according to the following expression:
Figure BDA0002066545410000041
VmaxFor the third speed, a is set to a first acceleration, b is set to a second acceleration, S12For the total stroke of the first lifting stage, VopenA second speed;
and if the lifting mechanism is currently positioned in the second lifting stage, determining that the current target speed of the lifting mechanism is the set second speed.
In order to achieve the above object, according to another aspect of the embodiments of the present invention, there is also provided a speed control device of a lifting mechanism, wherein a lifting process of the lifting mechanism sequentially includes: first lift stage and second lift stage, first lift stage includes in proper order: acceleration stage, at the uniform velocity stage and deceleration stage, or first lift stage includes in proper order: the average speed of the lifting mechanism in the first lifting stage is higher than that in the second lifting stage;
the device comprises: a real-time speed determination module that repeatedly executes the following steps according to a set period:
determining which of the acceleration stage, the constant speed stage, the deceleration stage or the second lifting stage the lifting mechanism is currently located in;
and determining the current target speed of the lifting mechanism according to the current stage of the lifting mechanism, and controlling the lifting speed of the lifting mechanism to reach the target speed by outputting a speed control instruction, so that the lifting speed of the lifting mechanism is in an acceleration state in an acceleration stage, is in a deceleration state in a deceleration stage, and is in a constant speed state in a constant speed stage and a second lifting stage.
Further, the apparatus further comprises: the speed planning module is used for determining an acceleration section stroke of the lifting mechanism from a static state to set a first acceleration uniform acceleration to a first speed;
determining a deceleration section stroke of the lifting mechanism from the set first speed to set second acceleration uniform deceleration to set second speed, wherein the lifting speed of the lifting mechanism in the second lifting stage is the set second speed;
judging whether the sum of the stroke of the acceleration section and the stroke of the deceleration section is smaller than the total stroke of the first lifting stage, if so, determining that the first lifting stage sequentially comprises the following steps: an acceleration stage, a uniform speed stage and a deceleration stage, otherwise, determining that the first lifting stage sequentially comprises: an acceleration phase and a deceleration phase.
Optionally, when the first lifting stage sequentially includes: the real-time speed determining module is further used for acquiring the current stroke of the lifting mechanism;
if the current stroke of the lifting mechanism is smaller than the stroke of the acceleration stage, determining that the lifting mechanism is currently located in the acceleration stage;
if the current stroke of the lifting mechanism is greater than or equal to the stroke of the acceleration stage and less than or equal to the difference between the total stroke of the first lifting stage and the stroke of the deceleration stage, determining that the lifting mechanism is currently positioned in the uniform speed stage;
If the current stroke of the lifting mechanism is larger than the difference between the total stroke of the first lifting stage and the stroke of the deceleration stage and is smaller than or equal to the total stroke of the first lifting stage, determining that the lifting mechanism is currently positioned in the deceleration stage;
and if the current stroke of the lifting mechanism is larger than the total stroke of the first lifting stage, determining that the lifting mechanism is currently positioned in the second lifting stage.
Optionally, the real-time speed determining module is further configured to determine, if the lifting mechanism is currently located in the acceleration stage, that the current target speed of the lifting mechanism is a product of the set first acceleration and a first duration, where the first duration is a duration between a time when the lifting mechanism enters the acceleration stage and a current time;
if the lifting mechanism is currently located in the uniform speed stage, determining that the current target speed of the lifting mechanism is the set first speed;
if the lifting mechanism is currently located in the deceleration stage, determining that the current target speed of the lifting mechanism is the difference of the set first speed minus the product of a set second acceleration and a second time length, wherein the second time length is the time length between the time when the lifting mechanism enters the deceleration stage and the current time;
And if the lifting mechanism is currently positioned in the second lifting stage, determining that the current target speed of the lifting mechanism is the set second speed.
Optionally, when the first lifting stage sequentially includes: the real-time speed determining module is further used for acquiring the current stroke of the lifting mechanism;
if the current stroke of the lifting mechanism is smaller than the stroke of the acceleration stage, determining that the lifting mechanism is currently located in the acceleration stage;
if the current stroke of the lifting mechanism is greater than or equal to the stroke of the acceleration stage and less than or equal to the total stroke of the first lifting stage, determining that the lifting mechanism is currently positioned in the deceleration stage;
and if the current stroke of the lifting mechanism is larger than the total stroke of the first lifting stage, determining that the lifting mechanism is currently positioned in the second lifting stage.
Optionally, the real-time speed determining module is further configured to determine, if the lifting mechanism is currently located in the acceleration stage, that the current target speed of the lifting mechanism is a product of the set first acceleration and a first duration, where the first duration is a duration between a time when the lifting mechanism enters the acceleration stage and a current time;
If the lifting mechanism is currently located in the deceleration stage, determining that the current target speed of the lifting mechanism is the difference of a third speed minus the product of a set second acceleration and a second time length, wherein the second time length is the time length between the time when the lifting mechanism enters the deceleration stage and the current time, and the third speed is determined according to the following expression:
Figure BDA0002066545410000071
Vmaxfor the third speed, a is set to a first acceleration, b is set to a second acceleration, S12For the total stroke of the first lifting stage, VopenA second speed;
and if the lifting mechanism is currently positioned in the second lifting stage, determining that the current target speed of the lifting mechanism is the set second speed.
To achieve the above object, according to another aspect of an embodiment of the present invention, there is also provided a lifting mechanism speed control electronic device including:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for controlling the speed of the lifting mechanism provided by the invention.
To achieve the above object, according to another aspect of the embodiments of the present invention, there is also provided a computer-readable medium having a computer program stored thereon, the program, when executed by a processor, implementing the method for controlling the speed of the elevator mechanism provided by the present invention.
According to the speed control method and device for the lifting mechanism, the lifting process of the lifting mechanism is divided into two stages, the first lifting stage is a fast lifting stage, and the second lifting stage is a slow lifting stage. The lifting mechanism rapidly completes most lifting routes through the rapid lifting stage, and then enters the slow lifting stage. And the slow lifting stage is used for planning the lifting mechanism to a slower crawling speed so as to wait for the hardware limiting signal and ensure that the lifting mechanism can be quickly braked after receiving the hardware limiting signal. Divide into above-mentioned two stages with the lift process, compromise the stability and the rapidity of lift process simultaneously to realize the accurate parking after receiving the spacing signal of hardware, both can avoid the inaccurate problem of encoder location, can guarantee again that the parking is level and smooth soft. Simultaneously, the first lifting stage is planned into an acceleration section, a deceleration section and a uniform speed section, so that the instruction speed of the lifting mechanism is planned smoothly and in real time, the sudden start and sudden stop are avoided, the impact on a servo motor system and a mechanical mechanism is avoided, the user experience is improved, and the service lives of electric and mechanical parts are prolonged.
Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
fig. 1 is a schematic diagram of a main flow of a method for controlling a speed of a lifting mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a speed profile for one implementation of a first lift phase provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a speed profile of another embodiment of a first lift phase provided by an example of the present invention;
fig. 4 is a schematic diagram of an application flow of a method for controlling the speed of the lifting mechanism according to an embodiment of the present invention;
fig. 5 is a schematic diagram of main blocks of a speed control apparatus of a lifting mechanism according to an embodiment of the present invention;
FIG. 6 is an exemplary system architecture diagram in which embodiments of the present invention may be employed;
FIG. 7 is a block diagram of a computer system suitable for use with the electronic device to implement an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The embodiment of the invention provides a speed control method of a lifting mechanism, which can be applied to real-time control of the lifting speed in the lifting process of the lifting mechanism. For example, the AGV vehicle-mounted lifting mechanism is controlled, so that a bearing platform on the lifting mechanism can quickly and stably reach the lifting height.
In the method of the invention, the lifting process of the lifting mechanism sequentially comprises the following steps: a first lifting stage and a second lifting stage. It should be noted that the lifting process may be a process of lifting the lifting mechanism, and may also be a process of lowering the lifting mechanism. The first lifting stage comprises in sequence: acceleration stage, at the uniform velocity stage and deceleration stage, or first lift stage includes in proper order: the average speed of the lifting mechanism in the first lifting stage is higher than that in the second lifting stage. Namely, the invention provides that the lifting process of the lifting mechanism is divided into two stages, wherein the first lifting stage is a rapid lifting stage, and the second lifting stage is a slow lifting stage. The lifting mechanism rapidly completes most lifting routes through the rapid lifting stage, and then enters the slow lifting stage. And the slow lifting stage is used for planning the lifting mechanism to a slower crawling speed so as to wait for the hardware limiting signal and ensure that the lifting mechanism can be quickly braked after receiving the hardware limiting signal. The lifting process is divided into the two stages, the stability and the rapidity of the lifting process are considered simultaneously, and accurate parking after the hardware limiting signal is received is achieved.
As shown in fig. 1, the method for controlling the speed of the lifting mechanism provided by the present invention includes: the following steps S101 and S102 are repeatedly performed according to a set cycle.
In step S101, it is determined in which of the acceleration stage, the uniform velocity stage, the deceleration stage, or the second lift stage the lift mechanism is currently located. In the present invention, there are two situations in the first lifting stage, and in the first situation, the first lifting stage sequentially includes: accelerating stage, at the uniform velocity stage and deceleration stage, under the second kind of circumstances, first lift stage includes in proper order: an acceleration phase and a deceleration phase.
In the first case, the lifting mechanism is at t, as shown in figure 21The moment is accelerated from a stationary speed of 0 until at t12Is accelerated to the maximum speed V at any momentpathThen, the constant speed is carried out for a period of time to t at the set speed13At the end of the time, start decelerating to t2At the moment, the lifting speed V of the second lifting stage is reachedopen，t2Time to t3Is the duration of the second lift phase. That is, the first situation is that the total lifting stroke is usually long, and is limited by the maximum speed of the lifting mechanism, and the lifting mechanism needs to run at the maximum speed for a period of time and then start to decelerate, so as to ensure that the lifting stroke is finished quickly.
As shown in FIG. 3, in the second case, the lifting mechanism is at t, relative to the first case1The moment is accelerated from a stationary speed of 0 until at t12Accelerating to a set speed VmaxThen starts to decelerate to t2The lifting speed V of the second lifting stage is reached at any momentopen，t2Time to t3The time length of the second lifting stage is the time length, namely the lifting mechanism can finish the lifting stroke without the process of uniform speed operation.
In the step, the stage of the lifting mechanism in the current period is determined, so that the lifting speed of the lifting mechanism is controlled in the subsequent step according to the speed control method of the stage of the lifting mechanism.
In step S102, a current target speed of the elevator is determined according to a stage where the elevator is currently located, and the elevator is controlled to reach the target speed by outputting a speed control command.
By repeatedly executing the above steps S101 and S102 in each cycle, the lifting speed of the lifting mechanism is in an acceleration state in the acceleration stage, that is, the target speed output in each cycle in the acceleration stage is increased gradually, is in a deceleration state in the deceleration stage, that is, the target speed output in each cycle in the deceleration stage is decreased gradually, and is in a constant speed state in the constant speed stage and the second lifting stage, that is, the target speed output in each cycle in the constant speed stage and the second lifting stage is not changed.
As shown in fig. 2, fig. 3 and fig. 4, the overall process of the method for controlling the speed of the lifting mechanism according to the embodiment of the present invention includes: at t1Receiving a lifting command at any moment, then sending a brake release command to a lifting mechanism servo and giving an enabling signal, and then repeatedly executing the step S101 and the step S102 until the step t is finished2At the moment, the first lifting stage stroke is finished, and the lifting speed reaches the lifting speed V of the second lifting stageopenAnd waiting for a hardware limit signal. At t3And after receiving the hardware limiting signal, sending a brake command to the lifting mechanism servo, and enabling a signal to brake the lifting mechanism.
The invention also provides a process for determining whether the first lifting phase belongs to the first situation or the second situation. The method comprises the following specific steps: assuming maximum allowance of lifting travel issued by main controlVelocity VpathI.e. maximum value of speed at run time is VpathThe acceleration is a, i.e., the first acceleration is set, and the deceleration is b, i.e., the second acceleration is set.
Determining the stroke of an acceleration section of the lifting mechanism from a static state to set a first acceleration uniform acceleration to a set first speed as follows:
Figure BDA0002066545410000111
determining that the lifting mechanism uniformly decelerates from the set first speed to the set second acceleration to the set second speed V openThe stroke of the deceleration section is as follows:
Figure BDA0002066545410000112
the lifting speed of the lifting mechanism in the second lifting stage is set as a second speed Vopen。
Judging the stroke S of the acceleration section1And a deceleration section stroke S2Whether the sum is less than the total stroke S of the first lifting stage12If yes, determining that the first lifting stage sequentially comprises: accelerating stage, uniform velocity stage and decelerating stage, otherwise, determining that the first lifting stage sequentially comprises: an acceleration phase and a deceleration phase.
I.e. if S1+S2<S12Due to acceleration up to a maximum speed VpathCan not walk over S12Then the maximum speed V is neededpathThe speed variation curve is shown in fig. 2, where a constant speed section is formed by walking a constant speed distance. The uniform speed time can be calculated as follows:
Figure BDA0002066545410000113
in such a case where there is a constant speed stage, the step of determining in step S101 which stage of the acceleration stage, the constant speed stage, the deceleration stage, or the second lift stage the lift mechanism is currently located includes:
and acquiring the current stroke of the lifting mechanism.
And if the current stroke of the lifting mechanism is smaller than the stroke of the acceleration stage, determining that the lifting mechanism is currently positioned in the acceleration stage.
And if the current stroke of the lifting mechanism is greater than or equal to the stroke in the acceleration stage and less than or equal to the difference between the total stroke of the first lifting stage and the stroke in the deceleration stage, determining that the lifting mechanism is currently positioned in the uniform speed stage.
And if the current stroke of the lifting mechanism is larger than the difference between the total stroke of the first lifting stage and the stroke of the deceleration stage and is smaller than or equal to the total stroke of the first lifting stage, determining that the lifting mechanism is currently positioned in the deceleration stage.
And if the current stroke of the lifting mechanism is larger than the total stroke of the first lifting stage, determining that the lifting mechanism is currently positioned in the second lifting stage.
Corresponding to the above steps, the process of step S102 specifically includes: and if the lifting mechanism is currently positioned in the acceleration stage, determining that the current target speed of the lifting mechanism is the product of a set first acceleration and a first time length, wherein the first time length is the time length between the time when the lifting mechanism enters the acceleration stage and the current time.
And if the lifting mechanism is currently positioned in the constant speed stage, determining that the current target speed of the lifting mechanism is the set first speed.
If the lifting mechanism is currently positioned in the deceleration stage, determining that the current target speed of the lifting mechanism is the difference of the set first speed minus the product of the set second acceleration and a second time length, wherein the second time length is the time length between the time when the lifting mechanism enters the deceleration stage and the current time;
and if the lifting mechanism is currently positioned in the second lifting stage, determining that the current target speed of the lifting mechanism is the set second speed.
If S1+ S2> S12, acceleration to the maximum speed value Vpath is likely to overshoot, there is no uniform velocity segment, the speed variation curve is as shown in FIG. 3, and Vmax < Vpath. The travel distance of the acceleration section is as follows:
Figure BDA0002066545410000121
the travel distance of the deceleration section is as follows:
Figure BDA0002066545410000122
order: s1+ S2 ═ S12, namely:
Figure BDA0002066545410000123
determining a third speed, V, according to the expressionmaxAt a third speed, a is set to a first acceleration, b is set to a second acceleration, S12For the total stroke of the first lifting stage, VopenIs the second speed.
In the case of such a non-uniform speed stage, the step of determining in step S101 which stage of the acceleration stage, the uniform speed stage, the deceleration stage, or the second lift stage the lift mechanism is currently located in includes:
and acquiring the current stroke of the lifting mechanism.
And if the current stroke of the lifting mechanism is smaller than the stroke of the acceleration stage, determining that the lifting mechanism is currently positioned in the acceleration stage.
And if the current stroke of the lifting mechanism is greater than or equal to the stroke in the acceleration stage and less than or equal to the total stroke in the first lifting stage, determining that the lifting mechanism is currently positioned in the deceleration stage.
And if the current stroke of the lifting mechanism is larger than the total stroke of the first lifting stage, determining that the lifting mechanism is currently positioned in the second lifting stage.
Corresponding to the above steps, the process of determining the current target speed of the lifting mechanism according to the stage where the lifting mechanism is currently located in step S102 specifically includes:
And if the lifting mechanism is currently positioned in the acceleration stage, determining that the current target speed of the lifting mechanism is the product of a set first acceleration and a first time length, wherein the first time length is the time length between the time when the lifting mechanism enters the acceleration stage and the current time.
And if the lifting mechanism is currently positioned in the deceleration stage, determining that the current target speed of the lifting mechanism is the difference of the third speed minus the product of the set second acceleration and a second time length, wherein the second time length is the time length between the time when the lifting mechanism enters the deceleration stage and the current time.
And if the lifting mechanism is currently positioned in the second lifting stage, determining that the current target speed of the lifting mechanism is the set second speed.
The embodiment of the invention also provides a speed control device of the lifting mechanism, and the lifting process of the lifting mechanism sequentially comprises the following steps: first lift stage and second lift stage, first lift stage includes in proper order: acceleration stage, at the uniform velocity stage and deceleration stage, or first lift stage includes in proper order: the average speed of the lifting mechanism in the first lifting stage is higher than that in the second lifting stage.
As shown in fig. 5, the apparatus includes: the real-time speed determining module 501, the real-time speed determining module 501 repeatedly executes the following steps according to a set period:
It is determined in which of the acceleration phase, the uniform velocity phase, the deceleration phase or the second lifting phase the lifting mechanism is currently located.
Determining the current target speed of the lifting mechanism according to the current stage of the lifting mechanism, and controlling the lifting speed of the lifting mechanism to reach the target speed by outputting a speed control instruction, so that the lifting speed of the lifting mechanism is in an acceleration state in an acceleration stage, is in a deceleration state in a deceleration stage, and is in a constant speed state in a constant speed stage and a second lifting stage.
As shown in fig. 5, the apparatus further includes: the speed planning module 502 is used for determining an acceleration section stroke of the lifting mechanism from a static state to set a first acceleration level and set a first speed.
And determining the travel of a deceleration section of the lifting mechanism from the set first speed to the set second speed by uniformly decelerating the lifting mechanism at the set second acceleration, wherein the lifting speed of the lifting mechanism in the second lifting stage is the set second speed.
Judging whether the sum of the travel of the acceleration section and the travel of the deceleration section is smaller than the total travel of the first lifting stage, if so, determining that the first lifting stage sequentially comprises the following steps: accelerating stage, uniform velocity stage and decelerating stage, otherwise, determining that the first lifting stage sequentially comprises: an acceleration phase and a deceleration phase.
In the invention, when the first lifting stage comprises the following steps in sequence: the real-time speed determining module is also used for acquiring the current stroke of the lifting mechanism;
if the current stroke of the lifting mechanism is smaller than the stroke of the acceleration stage, determining that the lifting mechanism is currently positioned in the acceleration stage;
if the current stroke of the lifting mechanism is greater than or equal to the stroke in the acceleration stage and less than or equal to the difference between the total stroke of the first lifting stage and the stroke in the deceleration stage, determining that the lifting mechanism is currently positioned in the uniform speed stage;
if the current stroke of the lifting mechanism is larger than the difference between the total stroke of the first lifting stage and the stroke of the deceleration stage and is smaller than or equal to the total stroke of the first lifting stage, determining that the lifting mechanism is currently positioned in the deceleration stage;
and if the current stroke of the lifting mechanism is larger than the total stroke of the first lifting stage, determining that the lifting mechanism is currently positioned in the second lifting stage.
In the present invention, the real-time speed determining module is further configured to determine that the current target speed of the lifting mechanism is a product of a set first acceleration and a first duration, where the first duration is a duration between a time when the lifting mechanism enters the acceleration stage and a current time, if the lifting mechanism is currently located in the acceleration stage.
And if the lifting mechanism is currently positioned in the constant speed stage, determining that the current target speed of the lifting mechanism is the set first speed.
And if the lifting mechanism is currently positioned in the deceleration stage, determining that the current target speed of the lifting mechanism is the difference of the set first speed minus the product of the set second acceleration and a second time length, wherein the second time length is the time length between the time when the lifting mechanism enters the deceleration stage and the current time.
And if the lifting mechanism is currently positioned in the second lifting stage, determining that the current target speed of the lifting mechanism is the set second speed.
In the invention, when the first lifting stage comprises the following steps in sequence: and in the acceleration stage and the deceleration stage, the real-time speed determining module is also used for acquiring the current stroke of the lifting mechanism.
And if the current stroke of the lifting mechanism is smaller than the stroke of the acceleration stage, determining that the lifting mechanism is currently positioned in the acceleration stage.
And if the current stroke of the lifting mechanism is greater than or equal to the stroke in the acceleration stage and less than or equal to the total stroke in the first lifting stage, determining that the lifting mechanism is currently positioned in the deceleration stage.
And if the current stroke of the lifting mechanism is larger than the total stroke of the first lifting stage, determining that the lifting mechanism is currently positioned in the second lifting stage.
In the present invention, the real-time speed determining module is further configured to determine that the current target speed of the lifting mechanism is a product of a set first acceleration and a first duration, where the first duration is a duration between a time when the lifting mechanism enters the acceleration stage and a current time, if the lifting mechanism is currently located in the acceleration stage.
If the lifting mechanism is currently located in the deceleration stage, determining that the current target speed of the lifting mechanism is the difference of a third speed minus the product of a set second acceleration and a second time length, wherein the second time length is the time length between the time when the lifting mechanism enters the deceleration stage and the current time, and determining the third speed according to the following expression:
Figure BDA0002066545410000151
Vmaxat a third speed, a is set to a first acceleration, b is set to a second acceleration, S12For the total stroke of the first lifting stage, VopenA second speed;
and if the lifting mechanism is currently positioned in the second lifting stage, determining that the current target speed of the lifting mechanism is the set second speed.
According to the speed control method and device for the lifting mechanism, the lifting process of the lifting mechanism is divided into two stages, the first lifting stage is a fast lifting stage, and the second lifting stage is a slow lifting stage. The lifting mechanism rapidly completes most lifting routes through the rapid lifting stage, and then enters the slow lifting stage. And the slow lifting stage is used for planning the lifting mechanism to a slower crawling speed so as to wait for the hardware limiting signal and ensure that the lifting mechanism can be quickly braked after receiving the hardware limiting signal. Divide into above-mentioned two stages with the lift process, compromise the stability and the rapidity of lift process simultaneously to realize the accurate parking after receiving the spacing signal of hardware, both can avoid the inaccurate problem of encoder location, can guarantee again that the parking is level and smooth soft. Simultaneously, the first lifting stage is planned into an acceleration section, a deceleration section and a uniform speed section, so that the instruction speed of the lifting mechanism is planned smoothly and in real time, the sudden start and sudden stop are avoided, the impact on a servo motor system and a mechanical mechanism is avoided, the user experience is improved, and the service lives of electric and mechanical parts are prolonged.
Fig. 6 illustrates an exemplary system architecture 600 to which the lift mechanism speed control method or lift mechanism speed control apparatus of embodiments of the present invention may be applied.
As shown in fig. 6, the system architecture 600 may include terminal devices 601, 602, 603, a network 604, and a server 605. The network 604 serves to provide a medium for communication links between the terminal devices 601, 602, 603 and the server 605. Network 604 may include various types of connections, such as wire, wireless communication links, or fiber optic cables, to name a few.
A user may use the terminal devices 601, 602, 603 to interact with the server 605 via the network 604 to receive or send messages or the like. Various communication client applications can be installed on the terminal devices 601, 602, 603.
The terminal devices 601, 602, 603 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.
The server 605 may be a server that provides various services, such as a background management server that controls elevator speed.
It should be noted that the method for controlling the speed of the elevator mechanism according to the embodiment of the present invention is generally executed by the server 605, and accordingly, the elevator mechanism speed control device is generally installed in the server 605.
It should be understood that the number of terminal devices, networks, and servers in fig. 6 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
Referring now to FIG. 7, shown is a block diagram of a computer system 700 suitable for use with a terminal device implementing an embodiment of the present invention. The terminal device shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 7, the computer system 700 includes a Central Processing Unit (CPU)701, which can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data necessary for the operation of the system 700 are also stored. The CPU 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
The following components are connected to the I/O interface 705: an input portion 706 including a keyboard, a mouse, and the like; an output section 707 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 708 including a hard disk and the like; and a communication section 709 including a network interface card such as a LAN card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. A drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read out therefrom is mounted into the storage section 708 as necessary.
In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 709, and/or installed from the removable medium 711. The computer program performs the above-described functions defined in the system of the present invention when executed by the Central Processing Unit (CPU) 701.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present invention may be implemented by software or hardware. The described modules may also be provided in a processor, which may be described as: a processor includes a real-time speed determination module and a speed planning module. Wherein the names of the modules do not in some cases constitute a limitation of the module itself.
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to comprise:
the lifting process of the lifting mechanism sequentially comprises: first lift stage and second lift stage, first lift stage includes in proper order: acceleration stage, at the uniform velocity stage and deceleration stage, or first lift stage includes in proper order: the average speed of the lifting mechanism in the first lifting stage is higher than that in the second lifting stage; the following steps are repeatedly executed according to a set period:
determining which of the acceleration stage, the constant speed stage, the deceleration stage or the second lifting stage the lifting mechanism is currently located in;
and determining the current target speed of the lifting mechanism according to the current stage of the lifting mechanism, and controlling the lifting speed of the lifting mechanism to reach the target speed by outputting a speed control instruction, so that the lifting speed of the lifting mechanism is in an acceleration state in an acceleration stage, is in a deceleration state in a deceleration stage, and is in a constant speed state in a constant speed stage and a second lifting stage.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A speed control method of a lifting mechanism is characterized in that the lifting process of the lifting mechanism sequentially comprises the following steps: first lift stage and second lift stage, first lift stage includes in proper order: acceleration stage, at the uniform velocity stage and deceleration stage, or first lift stage includes in proper order: the average speed of the lifting mechanism in the first lifting stage is higher than that in the second lifting stage;
the method comprises the following steps: the following steps are repeatedly executed according to a set period:
determining which of the acceleration stage, the constant speed stage, the deceleration stage or the second lifting stage the lifting mechanism is currently located in;
and determining the current target speed of the lifting mechanism according to the current stage of the lifting mechanism, and controlling the lifting speed of the lifting mechanism to reach the target speed by outputting a speed control instruction, so that the lifting speed of the lifting mechanism is in an acceleration state in an acceleration stage, is in a deceleration state in a deceleration stage, and is in a constant speed state in a constant speed stage and a second lifting stage.
2. The method of claim 1, further comprising:
determining the travel of an acceleration section of the lifting mechanism from a static state to set a first acceleration uniform acceleration to a set first speed;
determining a deceleration section stroke of the lifting mechanism from the set first speed to set second acceleration uniform deceleration to set second speed, wherein the lifting speed of the lifting mechanism in the second lifting stage is the set second speed;
judging whether the sum of the stroke of the acceleration section and the stroke of the deceleration section is smaller than the total stroke of the first lifting stage, if so, determining that the first lifting stage sequentially comprises the following steps: an acceleration stage, a uniform speed stage and a deceleration stage, otherwise, determining that the first lifting stage sequentially comprises: an acceleration phase and a deceleration phase.
3. The method according to claim 2, characterized in that when the first lifting phase comprises in sequence: the step of determining which of the acceleration stage, the constant speed stage, the deceleration stage, or the second lifting stage the lifting mechanism is currently located in includes:
acquiring the current stroke of the lifting mechanism;
if the current stroke of the lifting mechanism is smaller than the stroke of the acceleration stage, determining that the lifting mechanism is currently located in the acceleration stage;
If the current stroke of the lifting mechanism is greater than or equal to the stroke of the acceleration stage and less than or equal to the difference between the total stroke of the first lifting stage and the stroke of the deceleration stage, determining that the lifting mechanism is currently positioned in the uniform speed stage;
if the current stroke of the lifting mechanism is larger than the difference between the total stroke of the first lifting stage and the stroke of the deceleration stage and is smaller than or equal to the total stroke of the first lifting stage, determining that the lifting mechanism is currently positioned in the deceleration stage;
and if the current stroke of the lifting mechanism is larger than the total stroke of the first lifting stage, determining that the lifting mechanism is currently positioned in the second lifting stage.
4. The method of claim 3, wherein determining the current target speed of the lift mechanism based on the stage in which the lift mechanism is currently located comprises:
if the lifting mechanism is currently located in the acceleration stage, determining that the current target speed of the lifting mechanism is the product of the set first acceleration and a first time length, wherein the first time length is the time length between the time when the lifting mechanism enters the acceleration stage and the current time;
if the lifting mechanism is currently located in the uniform speed stage, determining that the current target speed of the lifting mechanism is the set first speed;
If the lifting mechanism is currently located in the deceleration stage, determining that the current target speed of the lifting mechanism is the difference of the set first speed minus the product of a set second acceleration and a second time length, wherein the second time length is the time length between the time when the lifting mechanism enters the deceleration stage and the current time;
and if the lifting mechanism is currently positioned in the second lifting stage, determining that the current target speed of the lifting mechanism is the set second speed.
5. The method according to claim 2, characterized in that when the first lifting phase comprises in sequence: an acceleration phase and a deceleration phase, wherein the step of determining which of the acceleration phase, the uniform velocity phase, the deceleration phase, or the second lifting phase the lifting mechanism is currently located in comprises:
acquiring the current stroke of the lifting mechanism;
if the current stroke of the lifting mechanism is smaller than the stroke of the acceleration stage, determining that the lifting mechanism is currently located in the acceleration stage;
if the current stroke of the lifting mechanism is greater than or equal to the stroke of the acceleration stage and less than or equal to the total stroke of the first lifting stage, determining that the lifting mechanism is currently positioned in the deceleration stage;
And if the current stroke of the lifting mechanism is larger than the total stroke of the first lifting stage, determining that the lifting mechanism is currently positioned in the second lifting stage.
6. The method of claim 5, wherein determining the current target speed of the lift mechanism based on the stage in which the lift mechanism is currently located comprises:
if the lifting mechanism is currently located in the acceleration stage, determining that the current target speed of the lifting mechanism is the product of the set first acceleration and a first time length, wherein the first time length is the time length between the time when the lifting mechanism enters the acceleration stage and the current time;
if the lifting mechanism is currently located in the deceleration stage, determining that the current target speed of the lifting mechanism is the difference of a third speed minus the product of a set second acceleration and a second time length, wherein the second time length is the time length between the time when the lifting mechanism enters the deceleration stage and the current time, and the third speed is determined according to the following expression:
Figure FDA0002066545400000031
Vmaxfor the third speed, a is set to a first acceleration, b is set to a second acceleration, S12For the total stroke of the first lifting stage, VopenA second speed;
And if the lifting mechanism is currently positioned in the second lifting stage, determining that the current target speed of the lifting mechanism is the set second speed.
7. The speed control device of the lifting mechanism is characterized in that the lifting process of the lifting mechanism sequentially comprises the following steps: first lift stage and second lift stage, first lift stage includes in proper order: acceleration stage, at the uniform velocity stage and deceleration stage, or first lift stage includes in proper order: the average speed of the lifting mechanism in the first lifting stage is higher than that in the second lifting stage;
the device comprises: a real-time speed determination module that repeatedly executes the following steps according to a set period:
determining which of the acceleration stage, the constant speed stage, the deceleration stage or the second lifting stage the lifting mechanism is currently located in;
and determining the current target speed of the lifting mechanism according to the current stage of the lifting mechanism, and controlling the lifting speed of the lifting mechanism to reach the target speed by outputting a speed control instruction, so that the lifting speed of the lifting mechanism is in an acceleration state in an acceleration stage, is in a deceleration state in a deceleration stage, and is in a constant speed state in a constant speed stage and a second lifting stage.
8. The apparatus of claim 7, further comprising: the speed planning module is used for determining an acceleration section stroke of the lifting mechanism from a static state to set a first acceleration uniform acceleration to a first speed;
determining a deceleration section stroke of the lifting mechanism from the set first speed to set second acceleration uniform deceleration to set second speed, wherein the lifting speed of the lifting mechanism in the second lifting stage is the set second speed;
judging whether the sum of the stroke of the acceleration section and the stroke of the deceleration section is smaller than the total stroke of the first lifting stage, if so, determining that the first lifting stage sequentially comprises the following steps: an acceleration stage, a uniform speed stage and a deceleration stage, otherwise, determining that the first lifting stage sequentially comprises: an acceleration phase and a deceleration phase.
9. An elevator mechanism speed control electronic device, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-6.
10. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-6.
CN201910422800.5A 2019-05-21 2019-05-21 Speed control method and device for lifting mechanism Pending CN111977571A (en)

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Application publication date: 20201124