CN111997820A - Wave energy acquisition and conversion device based on multi-channel lifting control and control method - Google Patents

Wave energy acquisition and conversion device based on multi-channel lifting control and control method Download PDF

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CN111997820A
CN111997820A CN202010767933.9A CN202010767933A CN111997820A CN 111997820 A CN111997820 A CN 111997820A CN 202010767933 A CN202010767933 A CN 202010767933A CN 111997820 A CN111997820 A CN 111997820A
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control
lifting platform
force
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controller
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CN111997820B (en
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方子帆
洪俊鹏
刘进
谢志恒
谢雪媛
王佳佳
熊飞
吴祖双
孔博
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China Three Gorges University CTGU
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03B—MACHINES OR ENGINES FOR LIQUIDS
    • F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
    • F03B13/12—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy
    • F03B13/14—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy
    • F03B13/16—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy using the relative movement between a wave-operated member, i.e. a "wom" and another member, i.e. a reaction member or "rem"
    • F03B13/18—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy using the relative movement between a wave-operated member, i.e. a "wom" and another member, i.e. a reaction member or "rem" where the other member, i.e. rem is fixed, at least at one point, with respect to the sea bed or shore
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03B—MACHINES OR ENGINES FOR LIQUIDS
    • F03B15/00—Controlling
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/30—Energy from the sea, e.g. using wave energy or salinity gradient

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  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
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Abstract

The invention discloses a wave energy collecting and converting device based on multi-channel lifting control, which comprises a lifting platform, a wave energy collecting mechanism connected with the lifting platform, a plurality of piles for supporting the lifting platform, a climbing mechanism and a control unit. The lifting platform is I-shaped, through holes for installing the pile columns are formed in 4 corners of the lifting platform respectively, and a climbing mechanism is arranged at the through holes. The control unit comprises an inner ring controller and an outer ring controller, the outer ring controller comprises a vertical motion controller, a pitching motion controller and a side-tipping motion controller, the inner ring controller outputs a control signal of control force according to the speed and the relative speed of the lifting platform, and the outer ring controller is connected with the inner ring controller through a variable converter. The invention also discloses a corresponding control method. The device has the advantages that the lifting stability is high, and the energy conversion efficiency of the wave energy collecting mechanism is improved; the control method of the invention has high control precision and good reliability.

Description

Wave energy acquisition and conversion device based on multi-channel lifting control and control method
Technical Field
The invention belongs to the field of marine special equipment engineering, and particularly relates to a wave energy collecting and converting device based on multi-channel lifting control and a control method.
Background
With the increasing demand of ocean energy, the safety of ocean platforms is more and more emphasized, and the research and development of the lifting control system of the ocean platforms are particularly important. In a severe marine environment, the platform needs to be lifted and lowered to ensure the safety and stability of the whole platform. In traditional lift, the ubiquitous lift is unstable, work efficiency is low, the energy consumption loss is big scheduling problem.
Therefore, a synchronous lifting control method for the ocean platform lifting mechanism, which can enable the platform to continuously and synchronously lift, is high in control precision and good in stability, is urgently needed to be designed.
Disclosure of Invention
The invention aims to solve the problems and provides a wave energy collecting and converting device based on multi-channel lifting control and a control method thereof.
The technical scheme includes that the wave energy collecting and converting device based on multi-channel lifting control comprises a lifting platform, a wave energy collecting mechanism connected with the lifting platform, a plurality of piles for supporting the lifting platform, climbing mechanisms which are in one-to-one correspondence with the piles and used for ascending or descending of the lifting platform, and a control unit, wherein the control unit detects the pitching angle and the side inclination angle of the lifting platform, respectively outputs control signals to the climbing mechanisms of the piles, controls the posture of the lifting platform through the independent control of motors of the climbing mechanisms of the piles, and improves the energy conversion efficiency of the wave energy collecting mechanism.
The lifting platform is I-shaped, through holes for installing the pile columns are formed in 4 corners of the lifting platform respectively, and a climbing mechanism is arranged at the through holes.
The climbing mechanism comprises a motor, a gear, a rack, a pulley and a guide sliding rail, wherein a base and the pulley of the motor are fixedly connected with the lifting platform respectively, the rack and the guide sliding rail are fixedly connected with the pile respectively, the gear is connected with a rotating shaft of the motor, and a control end of the motor is electrically connected with the control unit.
The control unit comprises an inner ring controller and an outer ring controller, the outer ring controller comprises a vertical motion controller, a pitching motion controller and a side-tipping motion controller, the inner ring controller outputs a control signal of control force according to the speed and the relative speed of the lifting platform, and the outer ring controller is connected with the inner ring controller through a variable converter.
The inner ring controller comprises a first pile controller, a second pile controller, a third pile controller and a fourth pile controller which are respectively connected with the control end of the climbing mechanism of the lifting platform.
The control method of the wave energy collecting and converting device based on the multichannel lifting control comprises the following steps:
detecting a pitch angle, a roll angle and a vertical displacement of the lifting platform as input of an outer ring controller, and obtaining vertical, roll and pitch motion control forces of the lifting platform according to the output of the outer ring controller;
the vertical, side-tipping and pitching motion control forces of the lifting platform are converted into the sub-control forces of each climbing mechanism by using the decoupler;
the inner ring controller outputs control force signals of all climbing mechanisms according to the speed and the relative speed of the lifting platform;
and calculating to obtain an ideal control force signal of each climbing mechanism according to the branch control force of each climbing mechanism output by the decoupler and the control force signal of each climbing mechanism output by the inner ring controller, inputting the ideal control force signal to the control end of each climbing mechanism, and enabling each climbing mechanism to act to realize the lifting control of the lifting platform.
Furthermore, the control method of the wave energy collecting and converting device based on the multi-channel lifting control comprises the following steps,
step 1: detecting roll angle displacement theta and pitch angle displacement of lifting platform
Figure BDA0002615393160000021
And vertical displacement z as input of the outer ring controller, and obtaining the vertical motion control force f of the lifting platform according to the output of the outer ring controllerzRoll motion control force fθAnd pitch motion control force
Figure BDA0002615393160000022
Step 2: control of vertical motion force f using a decouplerzRoll motion control force fθAnd pitch motion control force
Figure BDA0002615393160000023
Converting the force f into the partial control force f of 4 climbing mechanisms of the lifting platform1、f2、f3、f4；
And step 3: the inner ring controller outputs control force P of 4 climbing mechanisms according to the speed and the relative speed of the lifting platform1、P2、P3、P4；
And 4, step 4: according to a partial control force f1、f2、f3、f4And a control force P1、P2、P3、P4Synthesizing to obtain the ideal control force F of 4 climbing mechanismsd1、Fd2、Fd3、Fd4The control signal is input to the motor control end of each climbing mechanism;
and 5: detecting the actual control force F of the motors of the 4 climbing mechanisms1、F2、F3、F4With an ideal control force Fd1、Fd2、Fd3、Fd4And comparing and calculating force errors, and controlling motors of the climbing mechanisms according to the force errors to realize the lifting control of the lifting platform.
In step 1, the outer ring controller detects the vertical movement displacement z and the vertical movement speed of the lifting platform
Figure BDA0002615393160000024
Angular displacement theta and angular velocity of roll motion
Figure BDA0002615393160000025
Angular displacement of pitching motion
Figure BDA0002615393160000026
And angular displacement of pitch motion
Figure BDA0002615393160000027
The outer ring control model is adopted to obtain the vertical motion control force f of the lifting platformzRoll motion control force fθAnd pitch motion control force
Figure BDA0002615393160000028
The outer ring control model includes a vertical motion control model, a pitch motion control model, and a roll motion control model.
Vertical motion control model
Figure BDA0002615393160000029
In the formula KzControlling the proportionality coefficient for the displacement of vertical motion, CzFor the control coefficient of the vertical motion controller, zdIs the ideal vertical motion displacement of the lifting platform.
Pitching motion control model
Figure BDA00026153931600000210
In the formula
Figure BDA0002615393160000031
The scaling factor is controlled for the pitch motion,
Figure BDA0002615393160000032
for the control coefficients of the pitch motion controller,
Figure BDA0002615393160000033
is the ideal pitching motion angular displacement of the lifting platform.
Roll motion control model
Figure BDA0002615393160000034
In the formula KθControlling the proportionality coefficient for roll movement, CθFor the control coefficient of the roll motion controller, thetadIs the ideal roll motion angular displacement of the lifting platform.
In step 3, the inner ring controller adopts a fuzzy control algorithm to obtain the control force P of 4 climbing mechanisms1、P2、P3、P4。
In step 5, the motors of the climbing mechanisms are controlled according to the force errors, and when the force errors are positive and large, a PID control algorithm is adopted to drive the motors to output large control force; when the force error is negative and large, the motor is controlled to zero the motor current.
The PID control algorithm, force error ef＝Fd-F，Fd＝[Fd1Fd2Fd3Fd4],F＝[F1F2F3F4]；
Force error control model
Figure BDA0002615393160000035
Wherein KP、KD、KIRespectively, the control coefficients of the PID control algorithm.
Compared with the prior art, the invention has the beneficial effects that:
1) the wave energy collecting and converting device realizes multi-channel lifting control of the lifting platform, has good stability, can adjust the height, the pitch angle and the roll angle of the lifting platform according to the requirement, enables the wave energy collecting mechanism to be at the most appropriate height and angle, and improves the energy conversion efficiency of the wave energy collecting mechanism;
2) the climbing mechanism of the lifting platform adopts a double-guide and gear-rack three-point control transmission design, and the lifting platform has larger bearing capacity and higher stability due to the structure;
3) the gear rack transmission is adopted to replace the existing hydraulic jacking transmission, so that the reliability is higher;
4) the control method of the invention combines the outer ring control and the inner ring control, controls the motor of the climbing mechanism according to the force error, and has high control precision and good robustness.
Drawings
The invention is further illustrated by the following figures and examples.
Fig. 1 is a schematic structural diagram of a wave energy collecting and converting device according to an embodiment of the invention.
Fig. 2 is a schematic structural view of a climbing mechanism according to an embodiment of the present invention.
Fig. 3 is a control block diagram of a control method according to an embodiment of the present invention.
FIG. 4 is a diagram illustrating the combination of outer loop control and inner loop control according to an embodiment of the present invention.
Fig. 5 is a schematic input/output diagram of an inner-loop controller according to an embodiment of the present invention.
Fig. 6 is a schematic input/output diagram of a vertical motion controller according to an embodiment of the invention.
Fig. 7 is an input/output schematic diagram of a roll motion controller according to an embodiment of the present invention.
Fig. 8 is an input/output diagram of a pitching motion controller according to an embodiment of the present invention.
Detailed Description
As shown in fig. 1, the wave energy collecting and converting device based on multi-channel lifting control comprises an i-shaped lifting platform 1, a wave energy collecting mechanism 4 connected with the i-shaped lifting platform, 4 piles 2 for supporting the lifting platform, climbing mechanisms 3 which are in one-to-one correspondence with the piles and used for ascending or descending of the lifting platform, and a control unit.
As shown in fig. 2, the climbing mechanism 3 includes a motor 5, a gear 6, a rack 7, a pulley 9, a guide slide rail 8, an inclination sensor 10 and a height sensor 11, the base of the motor 5, the pulley 9 is respectively and fixedly connected with the lifting platform 1, the rack 7 and the guide slide rail 8 are respectively and fixedly connected with the pile 2, the gear 6 is connected with a rotating shaft of the motor 5, the control end of the motor 5 is electrically connected with the control unit, the inclination sensors 10 are arranged on two diagonal lines of the lifting platform 1, the height sensor 11 is arranged on the climbing mechanism 3, and both the inclination sensor 10 and the height sensor 11 are connected with the input end of the control unit.
As shown in fig. 4, the control unit includes an inner ring controller and an outer ring controller, the outer ring controller includes a vertical motion controller, a pitch motion controller, and a roll motion controller, and the input and output of the outer ring controller are shown in fig. 6 to 8; the inner ring controller outputs a control signal of control force according to the speed and the relative speed of the lifting platform, and the outer ring controller is connected with the inner ring controller through the variable converter.
The control unit obtains the vertical motion displacement z and the vertical motion speed of the lifting platform according to the height signals of the climbing mechanism output by the 4 height sensors and the angle signals output by the inclination angle sensors and by combining the geometric dimension of the lifting platform
Figure BDA0002615393160000041
Angular displacement theta and angular velocity of roll motion
Figure BDA0002615393160000042
Angular displacement of pitching motion
Figure BDA0002615393160000043
And angular displacement of pitch motion
Figure BDA0002615393160000044
The inner ring controller comprises a first pile controller, a second pile controller, a third pile controller and a fourth pile controller, the first pile controller, the second pile controller, the third pile controller and the fourth pile controller are respectively connected with control ends of a first motor, a second motor, a third motor and a fourth motor which drive the 4 climbing mechanisms of the lifting platform, and the input and the output of the inner ring controller are shown in figure 5.
As shown in fig. 3, the method for controlling the wave energy collecting and converting device based on multi-channel lifting control comprises the following steps,
step 1: detecting vertical motion displacement z and vertical motion speed of lifting platform
Figure BDA0002615393160000045
Angular displacement theta and angular velocity of roll motion
Figure BDA0002615393160000046
Angular displacement of pitching motion
Figure BDA0002615393160000047
And angular displacement of pitch motion
Figure BDA0002615393160000048
As the input of the outer ring controller, the outer ring controller calculates and outputs the vertical motion control force f of the lifting platform according to the outer ring control modelzRoll motion control force fθAnd pitch motion control force
Figure BDA0002615393160000049
Step 2: control of vertical motion force f using a decouplerzRoll motion control force fθAnd pitch motion control force
Figure BDA0002615393160000051
Converted into the sub-control force f of the first motor, the second motor, the third motor and the fourth motor1、f2、f3、f4；
And step 3: the inner ring controller calculates and outputs the control force P of the 4 climbing mechanisms by adopting a fuzzy control algorithm according to the speed and the relative speed of the lifting platform1、P2、P3、P4；
And 4, step 4: according to a partial control force f1、f2、f3、f4And a control force P1、P2、P3、P4Synthesizing to obtain the ideal control force F of 4 climbing mechanismsd1、Fd2、Fd3、Fd4The control signals are input to the control ends of the first motor, the second motor, the third motor and the fourth motor as control signals;
and 5: detecting actual control forces F of the first motor, the second motor, the third motor and the fourth motor1、F2、F3、F4With an ideal control force Fd1、Fd2、Fd3、Fd4Comparing and calculating force errors, and controlling motors of all climbing mechanisms according to the force errors to realize the lifting control of the lifting platform; when the force error is positive and large, a PID control algorithm is adopted, and a driving motor outputs large control force; when the force error is negative and large, the motor is controlled to zero the motor current.
The outer ring control model includes a vertical motion control model, a pitch motion control model, and a roll motion control model.
Vertical motion control model
Figure BDA0002615393160000052
In the formula KzControlling the proportionality coefficient for the displacement of vertical motion, CzFor the control coefficient of the vertical motion controller, zdIs the ideal vertical motion displacement of the lifting platform.
Pitching motion control model
Figure BDA0002615393160000053
In the formula
Figure BDA0002615393160000054
The scaling factor is controlled for the pitch motion,
Figure BDA0002615393160000055
for the control coefficients of the pitch motion controller,
Figure BDA0002615393160000056
is the ideal pitching motion angular displacement of the lifting platform.
Roll motion control model
Figure BDA0002615393160000057
In the formula KθControlling the proportionality coefficient for roll movement, CθFor the control coefficient of the roll motion controller, thetadIs the ideal roll motion angular displacement of the lifting platform.
The decoupling algorithm of the decoupler and the fuzzy control algorithm of the inner ring controller refer to the decoupling algorithm and the fuzzy control algorithm disclosed in the paper ' research on semi-active suspension control method based on MR damper ' of the square sail '.
In step 5, force error ef＝FdF, given control force Fd＝[Fd1 Fd2 Fd3 Fd4]The actual control force F ═ F1F2 F3 F4]；
Force error control model
Figure BDA0002615393160000061
In the formula KP、KD、KIRespectively, the control coefficients of the PID control algorithm.
The wave energy collecting mechanism 4 of the embodiment adopts a power generation device disclosed in a Chinese patent 'bird wing-like oscillating wave energy power generation device' with the application number of CN 201820942424.3.
The above-mentioned embodiments are merely preferred technical solutions of the present invention, and should not be construed as limiting the present invention. The protection scope of the present invention is defined by the claims, and includes equivalents of technical features of the claims. I.e., equivalent alterations and modifications within the scope hereof, are also intended to be within the scope of the invention.

Claims (10)

1. The wave energy collecting and converting device based on multi-channel lifting control is characterized by comprising a lifting platform (1), a wave energy collecting mechanism (4) connected with the lifting platform, a plurality of piles (2) for supporting the lifting platform, climbing mechanisms (3) which are in one-to-one correspondence with the piles and used for ascending or descending of the lifting platform, and a control unit;
the control unit detects the pitch angle and the side inclination angle of the lifting platform, respectively outputs control signals to the climbing mechanisms of the piles, controls the posture of the lifting platform through independent control of motors of the climbing mechanisms of the piles, enhances the stability of the lifting platform, and improves the energy conversion efficiency of the wave energy collecting mechanism.
2. The wave energy collecting and converting device based on the multichannel lifting control as claimed in claim 1, wherein the climbing mechanism (3) comprises a motor (5), a gear (6), a rack (7), a pulley (9) and a guide slide rail (8), the base of the motor (5) and the pulley (9) are respectively and fixedly connected with the lifting platform (1), the rack (7) and the guide slide rail (8) are respectively and fixedly connected with the pile (2), the gear (6) is connected with a rotating shaft of the motor (5), and the control end of the motor (5) is electrically connected with the control unit.
3. The wave energy collecting and converting device based on multichannel lifting control as claimed in claim 1, characterized in that the lifting platform (1) is i-shaped, through holes for installing piles are respectively arranged at 4 corners of the lifting platform, and climbing mechanisms (3) are respectively arranged at the through holes.
4. The wave energy collecting and converting device based on multichannel lifting control as claimed in claim 3, characterized in that the control unit comprises an inner ring controller and an outer ring controller, the outer ring controller comprises a vertical motion controller, a pitching motion controller and a rolling motion controller, the inner ring controller outputs a control signal to the climbing mechanism according to the speed and the relative speed of the lifting platform, and the outer ring controller is connected with the inner ring controller through a variable converter; the inner ring controller comprises a first pile controller, a second pile controller, a third pile controller and a fourth pile controller which are respectively connected with the control end of the climbing mechanism of the lifting platform.
5. The wave energy collecting and converting device based on multichannel lifting control as claimed in claim 1, characterized in that height sensors (11) are respectively arranged outside the climbing mechanism (3), an inclination sensor (10) is arranged in the center of the lifting platform (1), and both the inclination sensor (10) and the height sensor (11) are connected with the control unit.
6. A control method for a wave energy collecting and converting device based on multi-channel lifting control according to any of claims 1-5, characterized by comprising:
detecting a pitch angle, a roll angle and a vertical displacement of the lifting platform as input of an outer ring controller, and obtaining vertical, roll and pitch motion control forces of the lifting platform according to the output of the outer ring controller;
the vertical, side-tipping and pitching motion control forces of the lifting platform are converted into the sub-control forces of each climbing mechanism by using the decoupler;
the inner ring controller outputs control force signals of all climbing mechanisms according to the speed and the relative speed of the lifting platform;
and calculating to obtain an ideal control force signal of each climbing mechanism according to the branch control force of each climbing mechanism output by the decoupler and the control force signal of each climbing mechanism output by the inner ring controller, inputting the ideal control force signal to the control end of each climbing mechanism, and enabling each climbing mechanism to act to realize the lifting control of the lifting platform.
7. The control method according to claim 6, characterized by comprising the step of,
step 1: detecting roll angle displacement theta and pitch angle displacement of lifting platform
Figure FDA0002615393150000021
And vertical displacement z as input of the outer ring controller, and obtaining the vertical motion control force f of the lifting platform according to the output of the outer ring controllerzRoll motion control force fθAnd pitch motion control force
Figure FDA0002615393150000022
Step 2: control of vertical motion force f using a decouplerzRoll motion control force fθAnd pitch motion control force
Figure FDA00026153931500000215
Converting the force f into the partial control force f of 4 climbing mechanisms of the lifting platform1、f2、f3、f4；
And step 3: the inner ring controller outputs control force P of 4 climbing mechanisms according to the speed and the relative speed of the lifting platform1、P2、P3、P4；
And 4, step 4: according to a partial control force f1、f2、f3、f4And a control force P1、P2、P3、P4Synthesizing to obtain the ideal control force F of 4 climbing mechanismsd1、Fd2、Fd3、Fd4The control signal is input to the motor control end of each climbing mechanism;
and 5: detecting the actual control force F of the motors of the 4 climbing mechanisms1、F2、F3、F4With an ideal control force Fd1、Fd2、Fd3、Fd4And comparing and calculating force errors, and controlling motors of the climbing mechanisms according to the force errors to realize the lifting control of the lifting platform.
8. The control method according to claim 7, wherein in step 1, the outer ring controller detects the vertical movement displacement z and the vertical movement speed of the lifting platform
Figure FDA00026153931500000216
Angular displacement theta and angular velocity of roll motion
Figure FDA00026153931500000214
Angular displacement of pitching motion
Figure FDA00026153931500000217
And angular displacement of pitch motion
Figure FDA0002615393150000026
Obtaining the vertical motion control force f of the lifting platform according to the control modelzRoll motion control force fθAnd pitch motion control force
Figure FDA0002615393150000027
Vertical motion control model
Figure FDA0002615393150000028
In the formula KzControlling the proportionality coefficient for the displacement of vertical motion, CzFor the control coefficient of the vertical motion controller of the lifting platform, zdIs ideal vertical movement displacement of the lifting platform;
pitching motion control model
Figure FDA0002615393150000029
In the formula
Figure FDA00026153931500000210
The scaling factor is controlled for the pitch motion,
Figure FDA00026153931500000211
for the control coefficients of the heave platform pitch motion controller,
Figure FDA00026153931500000212
ideal pitching motion angular displacement of the lifting platform;
roll motion control model
Figure FDA00026153931500000213
In the formula KθControlling the proportionality coefficient for roll movement, CθControl factor, theta, for the roll motion control of the lifting platformdIs the ideal roll motion angular displacement of the lifting platform.
9. The control method according to claim 7, wherein in step 5, the motor of each climbing mechanism is controlled according to the force error, and when the force error is positive and large, a PID control algorithm is adopted to drive the motor to output large control force; when the force error is negative and large, the motor is controlled to zero the motor current.
10. Control method according to claim 9, characterized in that the PID control algorithm, force error ef＝Fd-F，Fd＝[Fd1 Fd2 Fd3 Fd4]，F＝[F1 F2 F3 F4]；
Force error control model
Figure FDA0002615393150000031
Wherein KP、KD、KIRespectively, the control coefficients of the PID control algorithm.
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