CN113238588B - Swing arm synchronous control method and swing gate - Google Patents
Swing arm synchronous control method and swing gate Download PDFInfo
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- CN113238588B CN113238588B CN202110373264.1A CN202110373264A CN113238588B CN 113238588 B CN113238588 B CN 113238588B CN 202110373264 A CN202110373264 A CN 202110373264A CN 113238588 B CN113238588 B CN 113238588B
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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Abstract
The embodiment of the invention discloses a swing arm synchronous control method and a swing gate. Through the mode, the swing arm can be accurately controlled to run to the final position.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a swing arm synchronous control method and a swing gate.
Background
At present, a swing gate in a channel gate is a channel management device, is used for managing people flow or traffic flow and standardizing the access of the people flow or the traffic flow, and is mainly applied to occasions for charging and entrance guard such as subways, stations, airports, customs, markets, scenic spots, stadiums, office buildings, communities and the like, and the most basic and most core function is to realize that only one person (car) passes at a time. Wherein, be provided with two swing arms in the swing gate, through controlling two swing arms in order to realize above-mentioned function.
However, in the prior art, the two swing arms in the swing gate may often cause an operation between the two swing arms to be out of synchronization due to an inaccurate stop position of the swing arms or to shake at the time of stop.
Disclosure of Invention
The embodiment of the invention aims to provide a swing arm synchronous control method and a swing gate, which can control the swing arm to run to a final position more accurately.
To achieve the above object, in a first aspect, the present invention provides a swing arm synchronization control method, including:
acquiring a current position of a motor for controlling the swing arm;
acquiring a target position of the motor based on a preset motor driving model;
calculating a target running speed of the motor based on the current position and the target position;
acquiring the current running speed of the motor;
calculating an input current of the motor based on the current operating speed and the target operating speed;
controlling an operating speed of the motor based on the input current.
In an optional manner, the obtaining the target position of the motor based on the preset motor driving model includes:
acquiring acceleration, total running time and total running stroke of a preset motor driving model;
and acquiring a target position of the motor at any moment based on the acceleration, the total running time and the total running stroke of the preset motor driving model.
In an alternative manner, the preset motor driving model is a T-shaped curve, and the T-shaped curve satisfies the following formula:wherein TS1 is the total travel of the motor operation, a1 is the acceleration value of the motor during uniform acceleration, a2 is the acceleration value of the motor during uniform deceleration, t1 is the time of the motor during uniform acceleration, t2 is the time of the motor during uniform speed, t3 is the time of the motor during uniform deceleration, and t1=t3, a1= -a2, v1 is the speed of the motor during uniform speed operation.
In an alternative manner, the preset motor driving model is an S-shaped curve, and the S-shaped curve satisfies the following formula:wherein TS2 is the total travel of the motor, a3 is the acceleration value of the motor during variable acceleration, a4 is the acceleration value of the motor during variable deceleration, t4 is the time of the motor during variable acceleration, t5 is the time of the motor at constant speed, t6 is the time of the motor during variable deceleration, and t4=t6, a3= -a4, v2 is the speed of the motor during constant speed operation.
In an alternative manner, the calculating the target running speed of the motor based on the current position and the target position includes:
and calculating the current position and the target position through a PID algorithm to calculate the target running speed of the motor.
In an alternative manner, the calculating the input current of the motor based on the present operation speed and the target operation speed includes:
and calculating the current running speed and the target running speed through a PID algorithm to calculate the input current of the motor.
In an alternative manner, the controlling the operation speed of the motor based on the input current includes:
carrying out current loop control of the motor in a preset period;
calculating the voltages of three phases of the motor by adopting a space vector modulation method;
and driving the motor according to the voltages of the three phases of the motor so as to control the running speed of the motor.
In a second aspect, the present invention provides a swing gate comprising:
the two swing arms are respectively used for controlling two motors of the two swing arms;
a control processing unit for controlling the motor, the control processing unit comprising:
at least one processor and a memory communicatively coupled to the at least one processor, the memory storing instructions executable by the at least one processor to enable the at least one processor to perform the method as described above.
In an alternative, the swing gate further comprises a driver;
the driver is respectively connected with the control processing unit and the motor, and is used for controlling the motor based on the control signal output by the control processing unit.
In a third aspect, the present invention provides a non-transitory computer readable storage medium storing computer executable instructions that, when executed by a swing gate, cause the swing gate to perform a method as described above.
In a fourth aspect, the present invention provides a computer program product comprising a computer program stored on a computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method as described above.
The embodiment of the invention has the beneficial effects that: the swing arm synchronous control method comprises the steps of obtaining the current position of a motor for controlling the swing arm, obtaining the target position of the motor based on a preset motor driving model, calculating the target running speed of the motor based on the current position and the target position, obtaining the current running speed of the motor, calculating the input current of the motor based on the current running speed and the target running speed, and controlling the running speed of the motor based on the input current.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings are not to be taken in a limiting sense, unless otherwise indicated.
FIG. 1 is a schematic diagram of a swing gate according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a swing gate according to another embodiment of the present invention;
fig. 3 is a flowchart of a swing arm synchronization control method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a T-shaped curve according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an S-shaped curve according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a swing arm synchronous control device according to an embodiment of the present invention.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a swing gate according to an embodiment of the invention. As shown in fig. 1, the swing gate includes two swing arms, namely a swing arm A1 and a swing arm A2, and two motors, namely a motor M1 and a motor M2, wherein the motor M1 is used for controlling the swing arm A1, and the motor M2 is used for controlling the swing arm A2.
The swing gate further comprises a control processing unit 11, and the control processing unit 11 controls the motor M1 and the motor M2. Among them, the control processing unit 11 may employ a micro control unit (Microcontroller Unit, MCU) or a digital signal processing (Digital Signal Processing, DSP) controller, etc.
The control processing unit 11 includes at least one processor 111 and a memory 112, where the memory 112 may be built in the control processing unit 11, or may be external to the control processing unit 11, and the memory 112 may also be a remotely located memory, and connected to the control processing unit 11 through a network.
The memory 112 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. Memory 112 may include a storage program area that may store an operating system, at least one application program required for functionality, and a storage data area; the storage data area may store data created according to the use of the terminal, etc. In addition, memory 112 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 112 may optionally include memory located remotely from processor 111, which may be connected to the terminal via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The processor 111 executes various functions of the terminal and processes the data by running or executing software programs and/or modules stored in the memory 112 and invoking the data stored in the memory 112, thereby performing overall monitoring of the terminal, for example, implementing the swing arm synchronization control method according to any of the embodiments of the present invention.
The number of processors 111 may be one or more, one processor 111 being illustrated in fig. 1. The processor 111 and the memory 112 may be connected by a bus or other means. The processor 111 may include a Central Processing Unit (CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a controller, a Field Programmable Gate Array (FPGA) device, and the like. The processor 11 may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
It should be understood that the hardware configuration of the swing gate as shown in fig. 1 is only one example, and that the swing gate may have more or fewer components than shown in the figures, may combine two or more components, or may have different component configurations, the various components shown in the figures may be implemented in hardware, software, or a combination of hardware and software including one or more signal processing and/or application specific integrated circuits. For example, in one embodiment, the swing gate further includes a driver, where the driver is connected to the control processing unit and the motor, and one driver is connected to one motor, and the driver is used to control the motor connected to the swing gate according to the control signal output by the control processing unit.
The control processing unit 11 controls the motor M1 will be described as an example. As shown in fig. 2, the driver 12 in the swing gate is respectively connected to the control processing unit 11 and the motor M1, wherein the driver 12 receives a control signal issued by the control processing unit 11, and drives the motor M1 through the motor driving and current detecting unit 122 in the driver 12, and the motor driving and current detecting unit 122 can also detect the current magnitude of the motor M1 in real time, so as to detect whether the motor M1 fails in real time during the operation of the motor M1. The sensor 123 in the driver 12 can obtain the number of pulses output by the motor through one turn through the encoder 13 arranged on the motor M1, and obtain the number of revolutions of the motor according to the counted number of pulses, and then obtain the running speed of the motor.
Meanwhile, the motor M1 is connected with the decelerator 14, and is sequentially connected with the output shaft 15, the coupling 16, the gear 17 and the drum 18, and the drum 18 is connected with the swing arm A1 through the link 19. The motor M1 rotates to drive the speed reducer 14, the output shaft 15, the coupling 16 and the gear 17 to rotate, and the gear 17 is controlled by the clutch control unit 121 to control the running speed of the drum 18. The roller 18 drives the swing arm A1 to operate through the connecting rod 19, that is, the motor M1 controls the operation speed and direction of the roller 18, that is, the operation speed and direction of the swing arm A1 are correspondingly controlled.
In practical application, when the control processing unit 11 needs to control the swing arm A1 to swing, first, the control processing unit 11 outputs a control signal to the driver 12, the motor driving and current detecting unit 122 in the driver 12 controls the motor M1 to rotate, meanwhile, the motor driving and current detecting unit 122 detects the current of the motor M1 in real time, and the sensor 123 can detect the rotation speed of the motor M1 through the encoder, so that the rotation speed of the motor M1 can be adjusted in real time through the motor driving and current detecting unit 122. In the rotation process of the motor M1, the speed reducer 14, the output shaft 15, the coupler 16 and the gear 17 are driven to rotate, so that the driven roller 18 rotates, namely the swing arm A1 is driven to rotate by the connecting rod 19, and the control process of the swing arm A1 is realized. It is understood that the control process for the swing arm A2 is similar to that of the swing arm A1, which is within the range easily understood by those skilled in the art, and will not be described herein.
Fig. 3 is a flow chart of a swing arm synchronization control method according to an embodiment of the present invention, where the method may be performed by the swing gate shown in fig. 1 or fig. 2, as shown in fig. 3, and the method includes:
301: the current position of a motor for controlling the swing arm is obtained.
The current position of the motor of the swing arm can be obtained from the accumulated count value from the start of motor drive to the current control period encoder. For example, when the motor is just started, the initial position of the motor is recorded as 0, and then the accumulated count value of the encoder is directly read at any time, namely the current position value of the motor. The encoder can convert angular displacement or linear displacement into an electric signal, so that the accumulated count value of the encoder can be obtained by reading the electric signal output by the encoder, the displacement value of the motor can be obtained, and then the current position value of the motor can be known.
302: and acquiring a target position of the motor based on a preset motor driving model.
The preset motor driving model is a model for planning the whole running process of the swing arm in advance so that the swing arm can run to a preset position, wherein the preset position is the target position of the motor.
In an embodiment, the acceleration, the total running time and the total running travel of the preset motor driving model are firstly required to be obtained, wherein parameters such as the acceleration, the total running time and the total running travel of the preset motor driving model can be preset in a control processing unit for controlling the running of the motor, and can also be obtained by directly reading the parameters of the motor by the control processing unit. Then, the acceleration, the total running time and the total running travel of the preset motor driving model are substituted into the preset motor driving model, so that the target position of the motor at any moment can be obtained.
In one embodiment, the preset motor driving model is a T-shaped curve, as shown in fig. 4, and the T-shaped curve satisfies the following formula:wherein, TS1 is the total travel of the motor, and ts1=ts11+ts12+ts13, TS11 is the travel of the motor during uniform acceleration, TS12 is the travel of the motor during uniform speed, and TS13 is the travel of the motor during uniform deceleration. a1 is an acceleration value of the motor during uniform acceleration, a2 is an acceleration value of the motor during uniform deceleration, the acceleration a1 and the acceleration a2 corresponding to the acceleration a2 are all known values, and a1= -a2 is obtained. T1 is the time of the motor in uniform acceleration, T2 is the time of the motor in uniform speed, T3 is the time of the motor in uniform deceleration, t1=t3, t1+t2+t3 is the total running time (denoted as T1) of the obtained preset motor driving model. v1 is the speed of the motor when it is running at constant speed.
Therefore, by the above-described means, the target position TSn of the motor can be calculated at any time Tn.
The specific implementation process is as follows: when the motor is started, the motor enters a uniform acceleration stage, and the relationship between the running stroke of the motor and time at the moment is as follows:
at this time, TSn is less than or equal to TS11, and Tn is less than or equal to t1.
When the running speed of the motor reaches the set maximum value, controlling the motor to enter a constant-speed running stage, wherein the relation between the running stroke of the motor and the time is as follows:
tsn=ts11+v1× (Tn-t 1) =ts11+a1×t1× (Tn-t 1), where TSn is greater than or equal to TS11 and less than or equal to TS12, and Tn is greater than or equal to t1 and less than or equal to t2.
When the time of uniform running reaches, namely, the motor is controlled to enter a uniform deceleration stage, at the moment, the relation between the running stroke of the motor and the time is as follows:
at this time, TSn is greater than or equal to (ts11+ts12) and less than or equal to TS1, tn is greater than or equal to (t1+t2) and less than or equal to T1.
In summary, after the acceleration value (a 1 or a 2) of the motor, the total operation time T1 of the motor, and the total operation stroke TS1 of the motor are obtained, the known parameters are substituted into the corresponding relational expressions, so that the target position TSn of the motor at any time Tn of the motor can be calculated correspondingly.
It should be noted that, the T-type curve is a preferable preset motor driving model provided in the embodiment of the present application, but the preset motor driving model is not limited to the T-type curve, and the preset motor driving model may be designed correspondingly by the practical application process, so long as the motor can be realized when the motor runs to the end of the total running stroke, and the speed is also 0.
For example, in another embodiment, the preset motor driving model may be further configured as an S-shaped curve, as shown in fig. 5, which satisfies the following formula:wherein, TS2 is the total travel of the motor, and ts2=ts21+ts22+ts23, TS21 is the travel of the motor during uniform acceleration, TS22 is the travel of the motor during uniform speed, and TS23 is the travel of the motor during uniform deceleration. a3 is an acceleration value of the motor during variable acceleration, a4 is an acceleration value of the motor during variable deceleration, the acceleration a3 and the acceleration a4 corresponding to the acceleration a4 are all known values, and a3= -a 4. T4 is the time of the motor during variable acceleration, T5 is the time of the motor at constant speed, T6 is the time of the motor during variable deceleration, t4=t6, t1+t2+t3 is the total running time (denoted as T2) of the obtained preset motor driving model. V2 is the constant speed operation of the motorSpeed.
It is also assumed that the target position TSn of the motor is at any instant Tn. A3=tn×k, where K is a constant, when Tn is less than t4/2, when Tn is greater than t4/2 and less than t4,and the value of a4 can be obtained by a3= -a 4. Then, similarly to the above embodiment, the actual acceleration value (a 3 or a 4) of the motor, the total running time T2 and the total travel TS2 are substituted into the above formula, and then the target position TSn of the motor at any time Tn can be calculated correspondingly. The specific implementation process is similar to the above embodiment, and is not repeated herein, insofar as it is easily understood by those skilled in the art.
The motor driving model is preset such as a T-shaped curve or an S-shaped curve, and the motor driving model is used for enabling the speed of the swing arm to be 0 when the swing arm moves from the initial position to the final position, so that the swing arm can be accurately stopped at the final position. Specifically, the running position of the swing arm in the whole running process can be planned in advance by setting the preset motor driving model, and the target position which the swing arm needs to reach at each moment is obtained, so that the swing arm can be accurately stopped at the final position only by controlling the swing arm to run to the target position at each moment in real time in the running process of the swing arm.
303: based on the current position and the target position, a target running speed of the motor is calculated.
According to the embodiment, the current position can be obtained by reading the accumulated count value of the encoder, and the target position is obtained according to the preset motor driving model, so that in order to control the swing arm more accurately, the current position needs to be moved to the target position, if the swing arm can be moved to the target position at any time, the operation process of the swing arm is described to accord with the preset motor driving model, then the swing arm can be stopped at the final position according to the preset motor driving model, namely, the speed of the swing arm can be reduced to 0 at the same time when the swing arm is moved to the final position. At this time, the swing arm does not shake after reaching the final position, or stops shaking rapidly after shaking slightly due to inertia, so that the swing arm is controlled accurately.
It should be understood that in the present application, the final position of the swing arm is the end position to be reached by the swing arm, i.e. the position where the swing arm should stop.
In one embodiment, the target operating speed of the motor may be obtained by a position loop. Specifically, the current position and the target position are calculated in real time through a PID algorithm, so that the target running speed of the motor is adjusted in real time. The PID algorithm is a control mode for correcting according to output feedback of a control object, and corrects according to a quota or standard when the deviation between the actual and the plan is measured, the PID algorithm comprises a proportional control link, an integral control link and a differential control link, wherein the proportional control link is used for reflecting a deviation signal of a control system in proportion, once the deviation is generated, a control function is immediately generated to reduce the deviation, the integral control link is used for eliminating static difference so as to improve the no-difference degree of the system, and the differential control link is used for introducing an effective early correction signal into the system before the value of the deviation signal becomes too large, so that the action speed of the system is accelerated, and the adjustment time is shortened.
It can be seen that, in the running process of the PID algorithm, if the current position of the motor is smaller than the target position and there is a gap between the two, the greater the gap is, the greater the error in the position control process of the system is, the more the target running speed should be increased, so that the current position of the motor can be increased more rapidly to approach the target position continuously, and when the two are equal, the target running speed at this time is maintained. If the current position of the motor is larger than the target position and a gap exists between the current position and the target position, if the gap is larger, the target running speed is reduced more, so that the current position is faster and smaller to approach the target position, and the target running position at the moment is kept until the current position and the target position are equal.
Meanwhile, when the gap between the current position and the target position of the motor is increased, the correction capability of the system is increased, and correspondingly, the adjustment value of the target running speed is increased, whereas when the gap between the current position and the target position of the motor is decreased, the correction force of the system is decreased, and correspondingly, the adjustment value of the target running speed is decreased, so that oscillation is avoided.
It is appreciated that in other embodiments, the target operating speed of the motor may be obtained by other algorithms to reduce the difference between the current position of the motor and the target position, such as PI algorithm.
304: the current running speed of the motor is obtained.
305: and calculating the input current of the motor based on the current running speed and the target running speed.
After the target running speed of the motor is obtained through calculation, the current running speed of the motor needs to be close to the target running speed so as to realize accurate position control.
Alternatively, the current running speed of the motor may be obtained by reading the value of the encoder in each control period of the motor, subtracting the value of the encoder in the control period of the previous motor from the value to obtain a difference value as the total count of the encoder in one control period, and calculating the ratio of the total count of the encoder in one control period to the control period of the motor.
Thus, in one embodiment, the input current to the motor may be obtained through a speed loop. Specifically, the current running speed and the target running speed are calculated in real time through a PID algorithm, so that the input current of the motor is adjusted in real time, namely, the input current of the motor is calculated in real time.
Similarly, in the running process of the PID algorithm, if the current running speed of the motor is smaller than the target running speed and a gap exists between the current running speed and the target running speed, the larger the gap is, the larger the speed control process error of the system is, the more the input current of the motor is increased, so that the running speed of the motor can be increased faster to be continuously close to the target running speed, and when the current running speed and the current running speed are equal, the input current is maintained. If the current running speed of the motor is greater than the target running speed and a gap exists between the current running speed and the target running speed, if the gap is greater, the input current of the motor is reduced more, so that the running speed is faster and smaller, the current approaches the target running speed, and the input current is kept until the current and the current are equal.
Meanwhile, when the difference between the current running speed and the target running speed of the motor is increased, the correction capability of the system is increased, namely the adjustment value of the input current is correspondingly increased, otherwise, when the difference between the current running speed and the target running speed of the motor is decreased, the correction force of the system is reduced, namely the adjustment value of the input current is correspondingly decreased.
It will be appreciated that in other embodiments, the input current to the motor may be derived by other algorithms to reduce the difference between the target operating speed and the actual operating speed of the motor, such as PI algorithms.
306: the operating speed of the motor is controlled based on the input current.
In one embodiment, the actual running speed of the motor is controlled by performing current loop control of the motor in a preset period, calculating the voltage of three phases of the motor by adopting a space vector modulation method, and finally driving the motor according to the calculated voltage of the three phases of the motor. The main idea of space vector modulation is to use ideal flux linkage circles of a three-phase symmetrical motor stator when three-phase symmetrical sine wave voltage is used as a reference standard, and to properly switch different switching modes of a three-phase inverter, so that PWM waves are formed, and the formed actual flux linkage vectors are used for tracking the accurate flux linkage circles. Therefore, the space vector modulation method can consider the inversion system and the asynchronous motor as a whole, has a simple model and is convenient for the real-time control of a microprocessor.
In summary, after the swing arm receives the running instruction, firstly, the acceleration, the total running time and the total running travel of the preset motor driving model are substituted into the preset motor driving model, so as to obtain the target position of the motor at any moment. Next, the target running speed is obtained by the position loop (i.e., the current position and the target position are calculated by the PID algorithm). Then, the input current of the motor is obtained through a speed loop (i.e., the current operation speed and the target operation speed are calculated through a PID algorithm). Finally, the current loop control of the motor is carried out in a preset period, the voltage of the three phases of the motor is calculated by adopting a space vector modulation method, and the motor is driven according to the calculated voltage of the three phases of the motor, so that the actual running speed of the motor is controlled. The motor is driven by a space vector modulation method after triple PID control of the position loop, the speed loop and the current loop respectively, so that uniform deceleration of the motor before reaching a final position can be realized, and the motor speed is ensured to be zero through theoretical calculation when the motor runs to a final position.
Further, even when the motor is running to the final position, the swing arm still keeps the control of the position ring, the speed ring and the current ring at the moment when the swing arm is slightly swayed due to inertia and the like, the swing arm can be quickly adjusted, and the swing arm is stabilized at the final position.
As is well known in the prior art, the speed of the current position of the motor is calculated by the position of the swing arm, and a table is made, so that the speed in the table is used as a target running speed to control the motor to run during the control process of the motor. However, in the control process of the above solution, on one hand, depending on the final position of the swing arm, multiple times of table re-making may be required, and the operation process is complicated. On the other hand, the speed in the table is directly used as the running speed of the motor, and the motor is not controlled in real time, so that the control process is rough, and the final position of the swing arm is inaccurate or the swing arm shakes at the final position.
In the above embodiment of the present application, the acceleration, the total running time and the total running travel of the preset motor driving model are substituted into the preset motor driving model, and the target running position of the motor is obtained in real time through the preset motor driving model, so that the target running position of the motor can be automatically obtained no matter how the final running position (i.e. the total running travel) of the swing arm is changed, and the operation process is simple.
Meanwhile, the current input by the motor obtained through the current loop can control the current running speed of the motor to be the target running speed, and the target running speed is obtained through the position loop, namely, the target running speed can control the swing arm to run to the target position at each moment, so that the swing arm can be accurately stopped at the final position when the speed is 0. Therefore, through the mode, as long as the actual input current of the control motor is the obtained motor input current, the motor can be controlled to run to the target position at any moment in real time, so that the swing arm is accurately stopped at the final position. The whole process is a real-time control process, the control process is accurate, and the situations that the final position of the swing arm is inaccurate or the swing arm shakes at the final position can be avoided.
Furthermore, when the method is applied to two swing arms at the same time, synchronous operation between the two swing arms can be realized, and the two swing arms can be stopped at the final position accurately at the same time.
Fig. 6 is a schematic structural diagram of a swing arm synchronization control method device according to an embodiment of the present invention. As shown in fig. 6, the swing arm synchronization control method apparatus 600 includes a first position acquisition unit 601, a second position acquisition unit 602, a first calculation unit 603, a first speed acquisition unit 604, a second calculation unit 605, and a speed control unit 606. The first position acquisition unit 601 is used for acquiring a current position of a motor for controlling the swing arm, the second position acquisition unit 602 is used for acquiring a target position of the motor based on a preset motor driving model, the first calculation unit 603 is used for calculating a target running speed of the motor based on the current position and the target position, the first speed acquisition unit 604 is used for acquiring a current running speed of the motor, the second calculation unit 605 is used for calculating an input current of the motor based on the current running speed and the target running speed, and the speed control unit 606 is used for controlling the running speed of the motor based on the input current.
Since the apparatus embodiments and the method embodiments are based on the same concept, on the premise that the contents do not conflict with each other, the contents of the apparatus embodiments may refer to the method embodiments, which are not described herein.
Embodiments of the present invention also provide a non-transitory computer readable storage medium storing computer executable instructions that, when executed by a swing gate, cause the swing gate to perform a method as in any of the embodiments above.
Embodiments of the present invention also provide a computer program product comprising a computer program stored on a computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method of any of the embodiments above.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the invention, the steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.
Claims (9)
1. The swing arm synchronous control method is characterized by comprising the following steps of:
acquiring a current position of a motor for controlling the swing arm;
acquiring acceleration, total running time and total running stroke of a preset motor driving model;
acquiring a target position of the motor at any moment based on the acceleration, the total running time and the total running stroke of the preset motor driving model;
calculating a target running speed of the motor based on the current position and the target position;
acquiring the current running speed of the motor;
calculating an input current of the motor based on the current operating speed and the target operating speed;
controlling an operating speed of the motor based on the input current.
2. The swing arm synchronization control method according to claim 1, wherein,
the preset motor driving model is a T-shaped curve, and the T-shaped curve meets the following formula:wherein TS1 is the total travel of the motor operation, a1 is the acceleration value of the motor during uniform acceleration, a2 is the acceleration value of the motor during uniform deceleration, t1 is the time of the motor during uniform acceleration, t2 is the time of the motor during uniform speed, t3 is the time of the motor during uniform deceleration, and t1=t3, a1= -a2, v1 is the speed of the motor during uniform speed operation.
3. The swing arm synchronization control method according to claim 1, wherein,
the preset motor driving model is an S-shaped curve, and the S-shaped curve meets the following formula:wherein TS2 is the total travel of the motor, a3 is the acceleration value of the motor during variable acceleration, a4 is the acceleration value of the motor during variable deceleration, t4 is the time of the motor during variable acceleration, t5 is the time of the motor at constant speed, t6 is the time of the motor during variable deceleration, and t4=t6, a3= -a4, v2 is the speed of the motor during constant speed operation.
4. The swing arm synchronization control method according to claim 1, wherein the calculating the target running speed of the motor based on the current position and the target position includes:
and calculating the current position and the target position through a PID algorithm to calculate the target running speed of the motor.
5. The swing arm synchronization control method according to claim 1, wherein the calculating the input current of the motor based on the present operation speed and the target operation speed includes:
and calculating the current running speed and the target running speed through a PID algorithm to calculate the input current of the motor.
6. The swing arm synchronization control method according to claim 1, wherein said controlling the operation speed of the motor based on the input current includes:
carrying out current loop control of the motor in a preset period;
calculating the voltages of three phases of the motor by adopting a space vector modulation method;
and driving the motor according to the voltages of the three phases of the motor so as to control the running speed of the motor.
7. A swing gate, comprising:
the two swing arms are respectively used for controlling two motors of the two swing arms;
a control processing unit for controlling the motor, the control processing unit comprising:
at least one processor and a memory communicatively coupled to the at least one processor, the memory storing instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.
8. The swing gate according to claim 7,
the swing gate also comprises a driver;
the driver is respectively connected with the control processing unit and the motor, and is used for controlling the motor based on the control signal output by the control processing unit.
9. A non-transitory computer readable storage medium storing computer executable instructions which, when executed by a swing gate, cause the swing gate to perform the method of any of claims 1-6.
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