CN113911177A - Linear reciprocating type RGV curve speed regulation method and system - Google Patents
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Abstract
The invention relates to a linear reciprocating type RGV curve speed regulation method and a system, wherein a starting position and an end position are firstly obtained, and a stroke value is further obtained; then comparing the stroke value with a curve set value, and if the stroke value is smaller than the curve set value, controlling the RGV to crawl; if the travel value is greater than or equal to the curve set value, trapezoidal addition and subtraction operation is carried out on the basis of the maximum running speed, the acceleration and the travel value to obtain a trapezoidal running curve; performing cosine fitting on the trapezoidal curve to obtain a cosine operation curve; and controlling RGV running based on the cosine running curve. The method determines the continuous guided running speed plan of the RGV based on the cosine curve, improves the running smoothness of the RGV, and reduces the performance requirement on the controller.
Description
Technical Field
The invention relates to the technical field of rail vehicles, in particular to a linear reciprocating type RGV curve speed regulation method and system.
Background
In recent years, with the increasing level of mechanical automation in the industry, Rail Guided Vehicles (RGVs) are beginning to play a significant role in the logistics industry, and the existing linear reciprocating RGV control method is usually based on two modes, namely controller positioning and driver positioning.
The controller positioning has the advantages that a high-performance driver with a positioning function is not required to be selected for the driving system, the controller refreshes the speed set value for driving through a fixed interpolation period, the position feedback sensor is naturally not limited by driving, and the overall cost is low. The defects are that the program is complex, the requirement on the performance of the controller is high, the final positioning is realized by crawling due to the limitation of the controller, 0-speed shutdown cannot be realized, the conventional method is sectional calculation, a connecting point is not conductive, and the speed has sudden change.
The positioning of the driver has the advantages that the control program is relatively simple, the positioning function can be realized only by setting the target position and speed by the program, and finally 0-speed shutdown can be realized. The position feedback sensor has the disadvantages that because the position feedback sensor needs to be matched with a driver to calculate the position, most position feedback sensors need to select SSI bus and other similar protocol versions, the cost of the driver is added, and the overall cost is high.
Disclosure of Invention
In view of this, the present invention provides a linear reciprocating RGV curve speed adjusting method and system, which release the performance resource occupation of the controller as much as possible to reduce the cost of the controller on the premise of ensuring the curve function.
In order to achieve the purpose, the invention provides the following scheme:
a linear reciprocating RGV curve speed regulation method comprises the following steps:
acquiring a starting position and an end position, and further acquiring a travel value;
comparing the travel value with a curve set value, and if the travel value is smaller than the curve set value, controlling the RGV to crawl; if the travel value is greater than or equal to the curve set value, executing the following steps;
performing trapezoidal addition and subtraction operation on the basis of the maximum driving speed, the acceleration and the stroke value to obtain a trapezoidal operation curve;
performing cosine fitting on the trapezoidal curve to obtain a cosine operation curve; and controlling RGV running based on the cosine running curve.
Preferably, the method further comprises:
and when the RGV is controlled to run based on the cosine running curve, obtaining a running error value in real time, and carrying out PID (proportion integration differentiation) adjustment on the RGV based on the running error value.
Preferably, the trapezoidal operation curve is obtained by performing trapezoidal addition and subtraction operation based on the acceleration, the starting point position and the ending point position, and specifically includes:
obtaining a first acceleration running time based on the maximum running speed and the acceleration, and further obtaining a first acceleration running displacement;
judging the first acceleration running displacement and the travel value;
when the two times of first acceleration running displacement is larger than the travel value, determining that RGV running is divided into an acceleration stage, a constant speed stage and a deceleration stage, and determining a first acceleration curve, a constant speed curve and a first deceleration curve by adopting a trapezoidal addition and subtraction method based on the maximum running speed, the travel value and the acceleration so as to obtain a first trapezoidal graph;
when the two times of the first acceleration running displacement is equal to the stroke value, determining that RGV running is divided into an acceleration stage and a deceleration stage, and determining a second acceleration curve and a second deceleration curve by adopting a trapezoidal addition and subtraction method based on the maximum running speed, the first acceleration running displacement and the acceleration so as to obtain a second trapezoidal graph;
when the two times of the first acceleration running displacement is smaller than the stroke value, determining that RGV running is divided into an acceleration stage and a deceleration stage, determining a second acceleration running displacement based on the stroke value, and determining a third acceleration curve and a third deceleration curve by adopting a trapezoidal addition and subtraction method based on the second acceleration running displacement and the acceleration so as to obtain a third trapezoidal graph; the trapezoidal operation curve is the first trapezoidal graph, the second trapezoidal graph or the third trapezoidal graph.
Preferably, the cosine fitting is performed on the trapezoidal curve to obtain a cosine operation curve; controlling RGV running based on the cosine running curve, specifically:
when the two times of first accelerated running displacement is larger than the stroke value, performing cosine fitting on the first trapezoidal graph to obtain a first cosine graph;
when the two times of the first accelerated running displacement is equal to the stroke value, performing cosine fitting on the second trapezoidal graph to obtain a second cosine graph;
when the two times of the first accelerated running displacement is smaller than the stroke value, performing cosine fitting on the third trapezoidal graph to obtain a third cosine graph; the cosine operation curve is the first cosine map, the second cosine map or the third cosine map;
and controlling RGV running based on the cosine running curve.
The invention also provides a linear reciprocating RGV curve speed regulating system, which comprises:
the travel value module is used for acquiring a starting point position and an end point position and further acquiring a travel value;
the judging module is used for comparing the stroke value with a curve set value, and controlling the RGV to crawl if the stroke value is smaller than the curve set value; if the stroke value is greater than or equal to the curve set value, executing a trapezoidal operation module;
the trapezoidal operation module is used for carrying out trapezoidal addition and subtraction operation on the basis of the maximum running speed, the acceleration and the stroke value to obtain a trapezoidal operation curve;
the cosine operation module is used for performing cosine fitting on the trapezoidal curve to obtain a cosine operation curve; and controlling RGV running based on the cosine running curve.
Preferably, the system further comprises:
and the PID adjusting module is used for acquiring an operation error value in real time when the RGV is controlled to run based on the cosine operation curve, and performing PID adjustment on the RGV based on the operation error value.
Preferably, the trapezoidal operation module specifically includes:
obtaining a first acceleration running time based on the maximum running speed and the acceleration, and further obtaining a first acceleration running displacement;
judging the first acceleration running displacement and the travel value;
when the two times of first acceleration running displacement is larger than the travel value, determining that RGV running is divided into an acceleration stage, a constant speed stage and a deceleration stage, and determining a first acceleration curve, a constant speed curve and a first deceleration curve by adopting a trapezoidal addition and subtraction method based on the maximum running speed, the travel value and the acceleration so as to obtain a first trapezoidal graph;
when the two times of the first acceleration running displacement is equal to the stroke value, determining that RGV running is divided into an acceleration stage and a deceleration stage, and determining a second acceleration curve and a second deceleration curve by adopting a trapezoidal addition and subtraction method based on the maximum running speed, the first acceleration running displacement and the acceleration so as to obtain a second trapezoidal graph;
when the two times of the first acceleration running displacement is smaller than the stroke value, determining that RGV running is divided into an acceleration stage and a deceleration stage, determining a second acceleration running displacement based on the stroke value, and determining a third acceleration curve and a third deceleration curve by adopting a trapezoidal addition and subtraction method based on the second acceleration running displacement and the acceleration so as to obtain a third trapezoidal graph; the trapezoidal operation curve is the first trapezoidal graph, the second trapezoidal graph or the third trapezoidal graph.
Preferably, the cosine operation module specifically includes:
when the two times of first accelerated running displacement is larger than the stroke value, performing cosine fitting on the first trapezoidal graph to obtain a first cosine graph;
when the two times of the first accelerated running displacement is equal to the stroke value, performing cosine fitting on the second trapezoidal graph to obtain a second cosine graph;
when the two times of the first accelerated running displacement is smaller than the stroke value, performing cosine fitting on the third trapezoidal graph to obtain a third cosine graph; the cosine operation curve is the first cosine map, the second cosine map or the third cosine map;
and controlling RGV running based on the cosine running curve.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention relates to a linear reciprocating type RGV curve speed regulation method and a system, wherein a starting position and an end position are firstly obtained, and a stroke value is further obtained; then comparing the stroke value with a curve set value, and if the stroke value is smaller than the curve set value, controlling the RGV to crawl; if the travel value is greater than or equal to the curve set value, trapezoidal addition and subtraction operation is carried out on the basis of the maximum running speed, the acceleration and the travel value to obtain a trapezoidal running curve; performing cosine fitting on the trapezoidal curve to obtain a cosine operation curve; and controlling RGV running based on the cosine running curve. The method determines the continuous guided running speed plan of the RGV based on the cosine curve, improves the running smoothness of the RGV, and reduces the performance requirement on the controller.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a flow chart of the linear reciprocating RGV curve speed regulation method of the present invention;
FIG. 2 is a schematic diagram of a first ladder diagram and a first cosine diagram according to the present invention;
FIG. 3 is a third ladder diagram and a third cosine diagram according to the present invention;
FIG. 4 is a structural diagram of the linear reciprocating RGV curve speed regulating system of the present invention.
Description of the symbols: the system comprises a 1-stroke value module, a 2-judgment module, a 3-trapezoidal operation module and a 4-cosine operation module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a linear reciprocating type RGV curve speed regulation method and system, which can release the performance resource occupation of a controller as much as possible on the premise of ensuring the curve function so as to reduce the cost of the controller.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
FIG. 1 is a flow chart of the linear reciprocating RGV curve speed regulation method of the present invention. As shown in the figure, the invention provides a linear reciprocating type RGV curve speed regulation method, which comprises the following steps:
in step S1, the start position and the end position are acquired, and the stroke value is further obtained. The starting position is an actual position value uploaded by a laser ranging or bar code locator; the destination position is the target point position of the current task stage, if the current task stage is empty, the target position is a goods taking coordinate, and if the current goods taking stage is finished, the target position is a target point to which the materials need to be transferred. The travel value calculation formula is as follows:
PL＝|PS-PE|；
in the formula, PLIs a run value, PSAs starting position, PEIs the end position.
Step S2, comparing the stroke value with a curve set value, if the stroke value is less than the curve set value, controlling the RGV to do mechanical crawling; if the stroke value is greater than or equal to the curve set value, "step S3" is executed. In this embodiment, the set value of the curve is 0.5 m.
And step S3, performing trapezoidal addition and subtraction operation based on the maximum driving speed, the acceleration and the travel value to obtain a trapezoidal operation curve.
As an optional implementation manner, the step S3 specifically includes:
obtaining a first acceleration running time based on the maximum running speed and the acceleration, and further obtaining a first acceleration running displacement;
and judging the first acceleration running displacement and the travel value.
And when the two times of first acceleration running displacement is larger than the travel value, determining that the RGV running is divided into an acceleration stage, a constant speed stage and a deceleration stage, and determining a first acceleration curve, a constant speed curve and a first deceleration curve by adopting a trapezoidal addition and subtraction method based on the maximum running speed, the travel value and the acceleration so as to obtain a first trapezoidal graph.
And when the two times of the first acceleration running displacement is equal to the stroke value, determining that the RGV running is divided into an acceleration stage and a deceleration stage, and determining a second acceleration curve and a second deceleration curve by adopting a trapezoidal addition and subtraction method based on the maximum running speed, the first acceleration running displacement and the acceleration so as to obtain a second trapezoidal graph.
When the two times of the first acceleration running displacement is smaller than the stroke value, determining that RGV running is divided into an acceleration stage and a deceleration stage, determining a second acceleration running displacement based on the stroke value, and determining a third acceleration curve and a third deceleration curve by adopting a trapezoidal addition and subtraction method based on the second acceleration running displacement and the acceleration so as to obtain a third trapezoidal graph; the trapezoidal operation curve is the first trapezoidal graph, the second trapezoidal graph or the third trapezoidal graph.
Step S4, performing cosine fitting on the trapezoidal curve to obtain a cosine operation curve; and controlling RGV running based on the cosine running curve.
As an optional implementation manner, the step S4 specifically includes:
and when the two times of first accelerated running displacement is larger than the stroke value, performing cosine fitting on the first trapezoidal graph to obtain a first cosine graph. Specifically, the calculation formula of the acceleration phase is:
in the formula: v. of(t)Is the running speed at time t, v0Is an initial velocity, vmAt maximum driving speed, tmTo speed up the time.
Since the starting position and the ending position of the task are obtained in advance every time the linear reciprocating type RGV executes the cultural relic, the initial speed and the ending speed of the moving process along the track direction are 0 and 0 respectively, so when v is equal to v0When 0, the above formula is simplified as:
and when the two times of the first accelerated running displacement is equal to the stroke value, performing cosine fitting on the second trapezoidal graph to obtain a second cosine graph. Constant velocity phase v(t)＝vm。
When the two times of the first accelerated running displacement is smaller than the stroke value, performing cosine fitting on the third trapezoidal graph to obtain a third cosine graph; the cosine operation curve is the first cosine map, the second cosine map or the third cosine map. The calculation formula of the deceleration stage is as follows:
and controlling RGV running based on the cosine running curve.
As an optional embodiment, the method of the present invention further comprises:
and when the RGV is controlled to run based on the cosine running curve, obtaining a running error value in real time, and carrying out PID (proportion integration differentiation) adjustment on the RGV based on the running error value.
In particular, for example, the current lineThe range value is 10m, and the acceleration is 1m/s2The first ladder diagram and the first cosine diagram at the maximum traveling speed of 2.67m/s are shown in FIG. 2.
When the stroke is 4m, the acceleration is 1m/s2The maximum speed is 2.67m/s, the vehicle cannot accelerate to the maximum speed, the vehicle starts to decelerate after reaching 2m/s, and a third ladder diagram and a third cosine diagram are shown in FIG. 3.
FIG. 4 is a structural diagram of the linear reciprocating RGV curve speed regulating system of the present invention. As shown in the figure, the invention provides a linear reciprocating type RGV curve speed regulating system, which comprises: the device comprises a travel value module 1, a judgment module 2, a trapezoid operation module 3 and a cosine operation module 4.
The travel value module 1 is used for acquiring a starting point position and an end point position and further acquiring a travel value.
The judging module 2 is used for comparing the stroke value with a curve set value, and if the stroke value is smaller than the curve set value, controlling the RGV to crawl; and if the stroke value is greater than or equal to the curve set value, executing the trapezoidal operation module 3.
The trapezoidal operation module 3 is used for performing trapezoidal addition and subtraction operation on the basis of the maximum running speed, the acceleration and the stroke value to obtain a trapezoidal operation curve.
The cosine operation module 4 is used for performing cosine fitting on the trapezoidal curve to obtain a cosine operation curve; and controlling RGV running based on the cosine running curve.
As an optional implementation, the system of the present invention further includes: and a PID adjusting module.
And the PID adjusting module is used for acquiring an operation error value in real time when the RGV is controlled to run based on the cosine operation curve, and performing PID adjustment on the RGV based on the operation error value.
As an optional implementation manner, the trapezoidal operation module 3 of the present invention specifically includes:
a first acceleration travel time is obtained based on the maximum travel speed and the acceleration, and a first acceleration travel displacement is further obtained.
And judging the first acceleration running displacement and the travel value.
And when the two times of first acceleration running displacement is larger than the travel value, determining that the RGV running is divided into an acceleration stage, a constant speed stage and a deceleration stage, and determining a first acceleration curve, a constant speed curve and a first deceleration curve by adopting a trapezoidal addition and subtraction method based on the maximum running speed, the travel value and the acceleration so as to obtain a first trapezoidal graph.
And when the two times of the first acceleration running displacement is equal to the stroke value, determining that the RGV running is divided into an acceleration stage and a deceleration stage, and determining a second acceleration curve and a second deceleration curve by adopting a trapezoidal addition and subtraction method based on the maximum running speed, the first acceleration running displacement and the acceleration so as to obtain a second trapezoidal graph.
When the two times of the first acceleration running displacement is smaller than the stroke value, determining that RGV running is divided into an acceleration stage and a deceleration stage, determining a second acceleration running displacement based on the stroke value, and determining a third acceleration curve and a third deceleration curve by adopting a trapezoidal addition and subtraction method based on the second acceleration running displacement and the acceleration so as to obtain a third trapezoidal graph; the trapezoidal operation curve is the first trapezoidal graph, the second trapezoidal graph or the third trapezoidal graph.
As an optional implementation manner, the cosine operation module 4 of the present invention specifically includes:
and when the two times of first accelerated running displacement is larger than the stroke value, performing cosine fitting on the first trapezoidal graph to obtain a first cosine graph.
And when the two times of the first accelerated running displacement is equal to the stroke value, performing cosine fitting on the second trapezoidal graph to obtain a second cosine graph.
When the two times of the first accelerated running displacement is smaller than the stroke value, performing cosine fitting on the third trapezoidal graph to obtain a third cosine graph; the cosine operation curve is the first cosine map, the second cosine map or the third cosine map.
And controlling RGV running based on the cosine running curve.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. A linear reciprocating type RGV curve speed regulation method is characterized by comprising the following steps:
acquiring a starting position and an end position, and further acquiring a travel value;
comparing the travel value with a curve set value, and if the travel value is smaller than the curve set value, controlling the RGV to crawl; if the travel value is greater than or equal to the curve set value, executing the following steps;
performing trapezoidal addition and subtraction operation on the basis of the maximum driving speed, the acceleration and the stroke value to obtain a trapezoidal operation curve;
performing cosine fitting on the trapezoidal curve to obtain a cosine operation curve; and controlling RGV running based on the cosine running curve.
2. The linearly reciprocating RGV curve governing method of claim 1, further comprising:
and when the RGV is controlled to run based on the cosine running curve, obtaining a running error value in real time, and carrying out PID (proportion integration differentiation) adjustment on the RGV based on the running error value.
3. The linear reciprocating RGV curve speed regulation method according to claim 1, wherein the trapezoidal addition and subtraction operation based on the acceleration, the starting point position, and the ending point position is to obtain a trapezoidal operation curve, specifically:
obtaining a first acceleration running time based on the maximum running speed and the acceleration, and further obtaining a first acceleration running displacement;
judging the first acceleration running displacement and the travel value;
when the two times of first acceleration running displacement is larger than the travel value, determining that RGV running is divided into an acceleration stage, a constant speed stage and a deceleration stage, and determining a first acceleration curve, a constant speed curve and a first deceleration curve by adopting a trapezoidal addition and subtraction method based on the maximum running speed, the travel value and the acceleration so as to obtain a first trapezoidal graph;
when the two times of the first acceleration running displacement is equal to the stroke value, determining that RGV running is divided into an acceleration stage and a deceleration stage, and determining a second acceleration curve and a second deceleration curve by adopting a trapezoidal addition and subtraction method based on the maximum running speed, the first acceleration running displacement and the acceleration so as to obtain a second trapezoidal graph;
when the two times of the first acceleration running displacement is smaller than the stroke value, determining that RGV running is divided into an acceleration stage and a deceleration stage, determining a second acceleration running displacement based on the stroke value, and determining a third acceleration curve and a third deceleration curve by adopting a trapezoidal addition and subtraction method based on the second acceleration running displacement and the acceleration so as to obtain a third trapezoidal graph; the trapezoidal operation curve is the first trapezoidal graph, the second trapezoidal graph or the third trapezoidal graph.
4. The method of claim 3, wherein the cosine fitting of the trapezoidal curve results in a cosine running curve; controlling RGV running based on the cosine running curve, specifically:
when the two times of first accelerated running displacement is larger than the stroke value, performing cosine fitting on the first trapezoidal graph to obtain a first cosine graph;
when the two times of the first accelerated running displacement is equal to the stroke value, performing cosine fitting on the second trapezoidal graph to obtain a second cosine graph;
when the two times of the first accelerated running displacement is smaller than the stroke value, performing cosine fitting on the third trapezoidal graph to obtain a third cosine graph; the cosine operation curve is the first cosine map, the second cosine map or the third cosine map;
and controlling RGV running based on the cosine running curve.
5. A linearly reciprocating RGV curve governor system, comprising:
the travel value module is used for acquiring a starting point position and an end point position and further acquiring a travel value;
the judging module is used for comparing the stroke value with a curve set value, and controlling the RGV to crawl if the stroke value is smaller than the curve set value; if the stroke value is greater than or equal to the curve set value, executing a trapezoidal operation module;
the trapezoidal operation module is used for carrying out trapezoidal addition and subtraction operation on the basis of the maximum running speed, the acceleration and the stroke value to obtain a trapezoidal operation curve;
the cosine operation module is used for performing cosine fitting on the trapezoidal curve to obtain a cosine operation curve; and controlling RGV running based on the cosine running curve.
6. The linearly reciprocating RGV curve governing system of claim 5, further comprising:
and the PID adjusting module is used for acquiring an operation error value in real time when the RGV is controlled to run based on the cosine operation curve, and performing PID adjustment on the RGV based on the operation error value.
7. The linearly reciprocating RGV curve speed regulation system of claim 5, wherein the trapezoidal arithmetic module is specifically:
obtaining a first acceleration running time based on the maximum running speed and the acceleration, and further obtaining a first acceleration running displacement;
judging the first acceleration running displacement and the travel value;
when the two times of first acceleration running displacement is larger than the travel value, determining that RGV running is divided into an acceleration stage, a constant speed stage and a deceleration stage, and determining a first acceleration curve, a constant speed curve and a first deceleration curve by adopting a trapezoidal addition and subtraction method based on the maximum running speed, the travel value and the acceleration so as to obtain a first trapezoidal graph;
when the two times of the first acceleration running displacement is equal to the stroke value, determining that RGV running is divided into an acceleration stage and a deceleration stage, and determining a second acceleration curve and a second deceleration curve by adopting a trapezoidal addition and subtraction method based on the maximum running speed, the first acceleration running displacement and the acceleration so as to obtain a second trapezoidal graph;
when the two times of the first acceleration running displacement is smaller than the stroke value, determining that RGV running is divided into an acceleration stage and a deceleration stage, determining a second acceleration running displacement based on the stroke value, and determining a third acceleration curve and a third deceleration curve by adopting a trapezoidal addition and subtraction method based on the second acceleration running displacement and the acceleration so as to obtain a third trapezoidal graph; the trapezoidal operation curve is the first trapezoidal graph, the second trapezoidal graph or the third trapezoidal graph.
8. The linear reciprocating RGV curve speed regulation system of claim 7, wherein the cosine operation module specifically is:
when the two times of first accelerated running displacement is larger than the stroke value, performing cosine fitting on the first trapezoidal graph to obtain a first cosine graph;
when the two times of the first accelerated running displacement is equal to the stroke value, performing cosine fitting on the second trapezoidal graph to obtain a second cosine graph;
when the two times of the first accelerated running displacement is smaller than the stroke value, performing cosine fitting on the third trapezoidal graph to obtain a third cosine graph; the cosine operation curve is the first cosine map, the second cosine map or the third cosine map;
and controlling RGV running based on the cosine running curve.
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