CN114035623A - Method and device for controlling reciprocating motion of equipment and computer readable medium - Google Patents

Method and device for controlling reciprocating motion of equipment and computer readable medium Download PDF

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Publication number
CN114035623A
CN114035623A CN202111115669.1A CN202111115669A CN114035623A CN 114035623 A CN114035623 A CN 114035623A CN 202111115669 A CN202111115669 A CN 202111115669A CN 114035623 A CN114035623 A CN 114035623A
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displacement value
deceleration
equipment
value
time
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李欣然
张忠权
薛龙
马天祥
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Siemens Factory Automation Engineering Ltd
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Siemens Factory Automation Engineering Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • 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 invention provides a method, a device and a computer readable medium for controlling the reciprocating motion of equipment, wherein the method comprises the following steps: determining a deceleration point displacement value of the equipment; the deceleration point displacement value is used for representing a displacement value of a position where the equipment starts to decelerate relative to a preset initial position; determining a real-time displacement value of a current position of the device relative to an initial position; generating a steering instruction of the equipment according to the displacement value of the deceleration point and the real-time displacement value; the steering command is used for representing a command that the equipment needs to start decelerating; according to the steering instruction, the control device performs reciprocating motion. This scheme can reduce controlgear and carry out reciprocating motion's cost.

Description

Method and device for controlling reciprocating motion of equipment and computer readable medium
Technical Field
The present invention relates to the field of mechanical control technologies, and in particular, to a method and an apparatus for controlling a reciprocating motion of a device, and a computer readable medium.
Background
In the motion control of mechanical equipment, a large number of devices have positioning control requirements, including those of reciprocating motion machines.
However, when the control mechanism performs the reciprocating motion, the control mechanism needs to perform continuous steering and speed changing, so that the control mechanism needs to be positioned. The positioning means, such as encoders and a plurality of contact switches, which are usually employed, are costly.
Disclosure of Invention
The invention provides a method and a device for controlling the reciprocating motion of equipment and a computer readable medium, which can reduce the cost for controlling the equipment to reciprocate.
In a first aspect, an embodiment of the present invention provides a method for controlling reciprocation of a device, where the method includes:
determining a deceleration point displacement value of the equipment; the deceleration point displacement value is used for representing a displacement value of a position where the equipment starts to decelerate relative to a preset initial position;
determining a real-time displacement value of a current position of the device relative to the initial position;
generating a steering instruction of the equipment according to the displacement value of the deceleration point and the real-time displacement value; wherein the steering command is used to characterize a command that the device needs to start decelerating;
and controlling the equipment to reciprocate according to the steering command.
In a possible implementation manner, the step of determining the deceleration point displacement value of the device includes:
acquiring operation parameters for controlling the equipment to reciprocate;
and calculating the displacement value of the deceleration point according to the operation parameters.
In one possible implementation, the operating parameters include: first displacement set value sset_fA first rotational speed set value nset_fMaximum rotation speed value n of motormaxThe device comprises a motor, a driving wheel, a slope time t and a speed reduction ratio i, wherein the driving wheel drives the device to move;
the step of calculating the deceleration point displacement value according to the operation parameters comprises the following steps:
according to the maximum rotating speed value n of the motormaxThe reduction ratio i and the diameter d of the driving wheel, calculating the maximum linear velocity v of the driving wheelmax；
According to said maximum linear velocity vmaxAnd the ramp time t, calculating the acceleration a of the device;
according to the first rotating speed set valuenset_fThe ramp time t and the maximum rotational speed value nmaxCalculating a first deceleration time t of the deceleration phase when the device is operating in the first directiondec_f；
According to the acceleration a of the equipment and the first deceleration time tdec_fCalculating a first deceleration stroke s of the deceleration phase when the device is operating in the first directiondec_f；
Calculating the first displacement set value sset_fAnd the first deceleration stroke sdec_fObtaining a first deceleration point displacement value s of the equipment when the equipment runs in the first directionthr_f。
In one possible implementation, the operating parameters include: second displacement set value sset_bA second rotation speed set value nset_bMaximum rotation speed value n of motormaxThe device comprises a driving wheel, a speed reduction ratio i, a load, a speed reduction ratio control unit and a control unit, wherein the diameter d of the driving wheel is used for driving the device to move, the slope time t of the load, and the speed reduction ratio between a motor and a speed reducer used for adjusting the rotating speed output by the motor;
the step of calculating the deceleration point displacement value according to the operation parameters comprises the following steps:
according to the maximum rotating speed value n of the motormaxThe reduction ratio i and the diameter d of the driving wheel, calculating the maximum linear velocity v of the driving wheelmax；
According to said maximum linear velocity vmaxAnd the ramp time t, calculating the acceleration a of the device;
according to the second rotating speed set value nset_bThe ramp time t and the maximum rotational speed value nmaxCalculating a second deceleration time t of the deceleration phase when the device is operating in the second directiondec_b；
According to the acceleration a of the equipment and the second deceleration time tdec_bCalculating a second deceleration stroke s of the deceleration phase when the device is operated in the second directiondec_b；
Calculating the second displacement set value sset_bAnd the second deceleration stroke sdec_bThe difference between the first direction and the second direction is used for obtaining a second deceleration point displacement value s when the equipment runs in the second directionthr_b。
In one possible implementation, the step of determining a real-time displacement value of the current position of the device relative to the initial position includes:
acquiring the current rotating speed n (t) of a motor for driving the driving wheel to move;
calculating the current linear speed v (t) of the driving wheel corresponding to the current rotating speed n (t) by using the following calculation formula;
Figure BDA0003275163400000031
d is used for representing the diameter of the driving wheel, and i is used for representing the reduction ratio between the motor and a speed reducer for adjusting the rotating speed output by the motor;
calculating the integral of the current linear velocity v (t) with respect to time to obtain a real-time displacement value of the current position of the device relative to the initial position.
In a possible implementation manner, the deceleration point displacement value includes a first deceleration point displacement value, and the step of generating the steering instruction of the device according to the deceleration point displacement value and the real-time displacement value includes:
judging whether the real-time displacement value is not less than the displacement value of the first deceleration point;
if the real-time displacement value is not smaller than the first deceleration point displacement value, generating an instruction for decelerating the equipment in a first direction;
and/or the presence of a gas in the gas,
if the deceleration point displacement value includes a second deceleration point displacement value, the step of generating the steering command of the device according to the deceleration point displacement value and the real-time displacement value includes:
judging whether the real-time displacement value is not greater than the second deceleration point displacement value or not;
and if the real-time displacement value is not greater than the second deceleration point displacement value, generating an instruction for decelerating the equipment in a second direction.
In one possible implementation, the controlling the device to reciprocate according to the steering instruction includes:
when an instruction that the equipment decelerates in a first direction is generated, controlling the equipment to decelerate, and accelerating to run in a second direction when the speed of the equipment is reduced to 0; and the number of the first and second groups,
and when an instruction that the equipment decelerates in a second direction is generated, controlling the equipment to decelerate, and accelerating to run in the first direction when the speed of the equipment is reduced to 0.
In a second aspect, an embodiment of the present invention provides an apparatus for controlling reciprocation of a device, the apparatus including: the device comprises a deceleration point displacement determining module, a real-time displacement determining module, a steering instruction generating module and a reciprocating motion control module;
the deceleration point displacement determining module is used for determining a deceleration point displacement value of the equipment; the deceleration point displacement value is used for representing a displacement value of a position where the equipment starts to decelerate relative to a preset initial position;
the real-time displacement determination module is used for determining a real-time displacement value of the current position of the equipment relative to the initial position;
the steering instruction generating module is configured to generate a steering instruction of the device according to the deceleration point displacement value determined by the deceleration point displacement determining module and the real-time displacement value determined by the real-time displacement determining module; wherein the steering command is used to characterize a command that the device needs to start decelerating;
and the reciprocating motion control module is used for controlling the equipment to reciprocate according to the steering instruction generated by the steering instruction generating module.
In one possible implementation manner, the deceleration point displacement determination module, when determining the deceleration point displacement value of the device, is configured to perform the following operations:
acquiring operation parameters for controlling the equipment to reciprocate;
and calculating the displacement value of the deceleration point according to the operation parameters.
In one possible implementation, the operating parameters include: first displacement set value sset_fA first rotational speed set value nset_fMaximum rotation speed value n of motormaxThe device comprises a motor, a driving wheel, a slope time t and a speed reduction ratio i, wherein the driving wheel drives the device to move;
the deceleration point displacement determination module is configured to perform the following operations when calculating the deceleration point displacement value according to the operation parameter:
according to the maximum rotating speed value n of the motormaxThe reduction ratio i and the diameter d of the driving wheel, calculating the maximum linear velocity v of the driving wheelmax；
According to said maximum linear velocity vmaxAnd the ramp time t, calculating the acceleration a of the device;
according to the first rotating speed set value nset_fThe ramp time t and the maximum rotational speed value nmaxCalculating a first deceleration time t of the deceleration phase when the device is operating in the first directiondec_f；
According to the acceleration a of the equipment and the first deceleration time tdec_fCalculating a first deceleration stroke s of the deceleration phase when the device is operating in the first directiondec_f；
Calculating the first displacement set value sset_fAnd the first deceleration stroke sdec_fObtaining a first deceleration point displacement value s of the equipment when the equipment runs in the first directionthr_f。
In one possible implementation, the operating parameters include: second displacement set value sset_bA second rotation speed set value nset_bMaximum rotation speed value n of motormaxDiameter d of a driving wheel driving the device to move, ramp time t of a load, and motor and speed reduction for adjusting the rotating speed output by the motorA reduction ratio i between machines;
the deceleration point displacement determination module is configured to perform the following operations when calculating the deceleration point displacement value according to the operation parameter:
according to the maximum rotating speed value n of the motormaxThe reduction ratio i and the diameter d of the driving wheel, calculating the maximum linear velocity v of the driving wheelmax；
According to said maximum linear velocity vmaxAnd the ramp time t, calculating the acceleration a of the device;
according to the second rotating speed set value nset_bThe ramp time t and the maximum rotational speed value nmaxCalculating a second deceleration time t of the deceleration phase when the device is operating in the second directiondec_b；
According to the acceleration a of the equipment and the second deceleration time tdec_bCalculating a second deceleration stroke s of the deceleration phase when the device is operated in the second directiondec_b；
Calculating the second displacement set value sset_bAnd the second deceleration stroke sdec_bThe difference between the first direction and the second direction is used for obtaining a second deceleration point displacement value s when the equipment runs in the second directionthr_b。
In one possible implementation, the real-time displacement determination module, when determining the real-time displacement value of the current position of the device relative to the initial position, is configured to perform the following operations:
acquiring the current rotating speed n (t) of a motor for driving the driving wheel to move;
calculating the current linear speed v (t) of the driving wheel corresponding to the current rotating speed n (t) by using the following calculation formula;
Figure BDA0003275163400000051
d is used for representing the diameter of the driving wheel, and i is used for representing the reduction ratio between the motor and a speed reducer for adjusting the rotating speed output by the motor;
calculating the integral of the current linear velocity v (t) with respect to time to obtain a real-time displacement value of the current position of the device relative to the initial position.
In a possible implementation manner, when the deceleration point displacement value includes a first deceleration point displacement value, and the steering instruction of the device is generated according to the deceleration point displacement value and the real-time displacement value, the steering instruction generation module is configured to perform the following operations:
judging whether the real-time displacement value is not less than the displacement value of the first deceleration point;
if the real-time displacement value is not smaller than the first deceleration point displacement value, generating an instruction for decelerating the equipment in a first direction;
and/or the presence of a gas in the gas,
the steering instruction generation module is configured to execute the following operations when the deceleration point displacement value includes a second deceleration point displacement value and the steering instruction of the device is generated according to the deceleration point displacement value and the real-time displacement value:
judging whether the real-time displacement value is not greater than the second deceleration point displacement value or not;
and if the real-time displacement value is not greater than the second deceleration point displacement value, generating an instruction for decelerating the equipment in a second direction.
In one possible implementation, the reciprocation control module, when controlling the apparatus to reciprocate according to the steering command, is configured to perform the following operations:
when an instruction that the equipment decelerates in a first direction is generated, controlling the equipment to decelerate, and accelerating to run in a second direction when the speed of the equipment is reduced to 0; and the number of the first and second groups,
and when an instruction that the equipment decelerates in a second direction is generated, controlling the equipment to decelerate, and accelerating to run in the first direction when the speed of the equipment is reduced to 0.
In a third aspect, an embodiment of the present invention further provides a computing device, including: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor is configured to invoke the machine-readable program to perform the method of any of the first aspects.
In a fourth aspect, the present invention also provides a computer-readable medium, on which computer instructions are stored, and when executed by a processor, the computer instructions cause the processor to execute the method according to any one of the first aspect.
In a fifth aspect, the present invention further provides a computer program product, which includes a computer program that, when executed by a processor, implements the method of any one of the first aspects.
According to the technical scheme, when the reciprocating motion of the equipment is controlled, the displacement value of the deceleration point of the equipment can be determined firstly, namely the position where the equipment needs to start deceleration is determined. And then determining the real-time displacement value of the equipment, namely determining the real-time current position of the equipment. Furthermore, a steering instruction for enabling the equipment to start decelerating can be generated according to the deceleration point displacement value of the position representing the equipment to start decelerating and the real-time displacement value of the real-time current position representing the equipment. Thus, by using the steering command, the apparatus can be controlled to reciprocate. Therefore, according to the scheme, the deceleration point displacement value is set, then the deceleration point displacement value is compared with the real-time displacement value of the equipment, the time when the equipment needs to start deceleration can be accurately determined according to the comparison result, and the steering instruction is generated. Thus, the device can decelerate at an accurate deceleration time according to the steering command. According to the scheme, the encoder does not need to be added for feeding back position information, and the equipment does not need to be controlled by a plurality of contact switches to steer, so that the cost for controlling the equipment to reciprocate can be effectively reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a flow chart of a method for controlling reciprocation of an apparatus according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for determining a displacement value of a deceleration point of a device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a reciprocating system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a control device for controlling the reciprocation of an apparatus according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a computing device provided by one embodiment of the invention.
List of reference numerals
101: determining a deceleration point displacement value of a device
102: determining a real-time displacement value of a current position of a device relative to an initial position
103: generating a steering instruction of the equipment according to the displacement value of the deceleration point and the real-time displacement value
104: according to the steering instruction, the control equipment performs reciprocating motion
201: obtaining the operating parameters of the control device for reciprocating motion
202: calculating the displacement value of the deceleration point according to the operation parameters
301: the motor 302: speed reducer 303: driving wheel
304: first displacement set value 305: first deceleration point displacement value 306: first deceleration stroke
307: second displacement setting value 308: second deceleration point displacement value 309: second deceleration stroke
310: initial position 401: deceleration point displacement determination module 402: real-time displacement determination module
403: steering instruction generation module 404: the reciprocation control module 501: memory device
502: the processor 500: the computing device 100: control of reciprocating motion of seed planting equipment
Preparation method
300: reciprocating system 400: device for controlling reciprocating motion of equipment
Detailed Description
In the motion control of mechanical equipment, a large number of equipment have positioning control requirements, including the positioning requirements of reciprocating motion machines, such as a tower pumping unit, a reciprocating conveyor and the like. In the reciprocating motion, the accuracy of the positioning control usually directly determines the operation performance and reliability of the mechanical equipment, and the reciprocating motion machine needs to perform steering and speed changing continuously, so that the control precision is low.
At present, when positioning control is carried out, two methods are generally adopted. The first is a position control method using feedback from the encoder. For example, the basic positioning function of the frequency converter is adopted, the frequency converter integrates a positioning controller, and then the position actual value and the speed actual value fed back by the encoder are received, so that the positioning control is realized. The second method is to use a proximity switch to trigger the reverse mode of operation. However, in both the first method and the second method, a fault point needs to be increased, for example, in the first method, an encoder for position information feedback needs to be added, and the encoder is prone to interference when operating in the field, thereby causing a reduction in control accuracy. Also, the second method requires the addition of a plurality of proximity switches, and the more proximity switches cause more failure points, and thus the more the possibility of causing a decrease in control accuracy. More importantly, the first mode needs to be added with an additional encoder, the cost of the encoder is high, and the second mode needs to be triggered to run reversely through a plurality of proximity switches, so that the cost is high, and the popularization to the industrialization is not facilitated.
Based on the method, the displacement value of the deceleration point is determined, and then the real-time displacement value is compared with the displacement value of the deceleration point, so that the time when the equipment needs to decelerate is determined. Thus, the steering trigger through a proximity switch is not needed, and the position information feedback of an encoder is also not needed, so that the cost of reciprocating motion of the control equipment can be reduced.
The method, apparatus and computer readable medium for controlling the reciprocating motion of the device according to the embodiments of the present invention are described in detail below with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present invention provides a method 100 for controlling the reciprocating motion of a device, which may include the following steps:
step 101: determining a deceleration point displacement value of the equipment; the deceleration point displacement value is used for representing a displacement value of a position where the equipment starts to decelerate relative to a preset initial position;
step 102: determining a real-time displacement value of a current position of the device relative to an initial position;
step 103: generating a steering instruction of the equipment according to the displacement value of the deceleration point and the real-time displacement value; the steering command is used for representing a command that the equipment needs to start decelerating;
step 104: according to the steering instruction, the control device performs reciprocating motion.
In this embodiment, when controlling the reciprocating motion of the device, first, the displacement value of the deceleration point of the device may be determined, that is, the position where the device needs to start decelerating is determined. And then determining the real-time displacement value of the equipment, namely determining the real-time current position of the equipment. Furthermore, a steering instruction for enabling the equipment to start decelerating can be generated according to the deceleration point displacement value of the position representing the equipment to start decelerating and the real-time displacement value of the real-time current position representing the equipment. Thus, by using the steering command, the apparatus can be controlled to reciprocate. Therefore, according to the scheme, the deceleration point displacement value is set, then the deceleration point displacement value is compared with the real-time displacement value of the equipment, the time when the equipment needs to start deceleration can be accurately determined according to the comparison result, and the steering instruction is generated. Thus, the device can decelerate at an accurate deceleration time according to the steering command. According to the scheme, the encoder does not need to be added for feeding back position information, and the equipment does not need to be controlled by a plurality of contact switches to steer, so that the cost for controlling the equipment to reciprocate can be effectively reduced.
The deceleration point displacement value is relative to a displacement value of a preset initial position. For example, during the entire round trip, the intermediate position in the trip may be set as the initial position, so that the displacement value of each position in the trip with respect to the initial position is known. And the displacement value of the deceleration point of the equipment is determined, and the position where the equipment needs to start deceleration is also determined. Thus, by accurately determining the displacement value of the deceleration point, the device is ensured to be capable of reducing the speed to 0 when reaching the farthest distance of one end. In this way, the apparatus can be operated in the other direction only by reducing the speed to 0 at the farthest distance, thereby enabling the apparatus to perform a reciprocating motion.
For example, for a distance that the device needs to make a round trip, it is determined that the displacement values at the farthest positions of the two ends of the distance are-250 cm and 250cm respectively based on the initial position, that is, the farthest displacement value is 250cm in the first direction, and the farthest distance is 250cm in the second direction. According to the operation parameters of the equipment, the displacement value of the equipment when the speed is reduced to 0 is determined to be 50cm, then the displacement value of the deceleration point when the equipment runs in the first direction can be determined to be-200 cm, and the displacement value of the deceleration point when the equipment runs in the second direction is determined to be 200 cm. Further, whether the real-time displacement value reaches the deceleration point displacement value in the direction is judged according to the real-time displacement value of the equipment, a steering instruction is generated when the deceleration point displacement value is reached, and deceleration is started, so that the speed of the equipment is reduced to 0 when the equipment reaches the farthest distance in the direction. That is to say, when the device runs in the first direction, it is determined whether the real-time displacement value of the device reaches the displacement value of 200cm of the deceleration point in the first direction, and if so, the device starts to decelerate, so that the speed of the device is reduced to 0 when the device reaches the position of 250cm in the first direction, and thus, the steering can be realized and the device runs in the second direction. Further, when the device runs in the second direction, whether the real-time displacement value of the device reaches the displacement value of-200 cm of the deceleration point in the second direction is judged, if so, the device starts to decelerate, so that the speed of the device is reduced to 0 when the device reaches the position of-250 cm in the second direction, the steering can be realized, the device runs in the first direction, and the reciprocating motion of the device is realized by reciprocating.
It will of course be readily appreciated that in the above-mentioned embodiments, the first direction and the second direction are respectively opposite directions, i.e. the angle between the first direction and the second direction is 180 °. In other embodiments, the first direction and the second direction may also be two directions with other included angles, for example, the first direction and the second direction are perpendicular to each other. For another example, the first direction and the second direction are two directions having an angle of 120 °, respectively.
In this embodiment, the real-time displacement value of the device may be estimated by estimating the current rotation speed of the motor through the frequency converter, and then calculating the real-time displacement value of the device through a corresponding algorithm.
When determining the deceleration point displacement value of the device in step 101, in one possible implementation, as shown in fig. 2, the following steps may be performed:
step 201: acquiring operation parameters for controlling the reciprocating motion of equipment;
step 202: and calculating the displacement value of the deceleration point according to the operation parameters.
When the deceleration point displacement value of the equipment is determined, the deceleration point displacement value is accurately calculated by considering various operation parameters of the equipment. Therefore, when the equipment starts to decelerate at the displacement value of the deceleration point, the speed can be reduced to 0 when the farthest displacement value set in the running direction is reached, and the reciprocating motion of the equipment can be realized. Therefore, the control precision of the reciprocating motion of the equipment can be improved by accurately calculating the displacement value of the deceleration point of the equipment by using the operation parameters of the equipment.
A schematic of a reciprocating system 300 is shown in fig. 3. The device is controlled by the motor 301, the speed reducer 302 and the driving wheel 303 to reciprocate in a first direction and a second direction, wherein based on the initial position 310, the farthest displacement value set in the first direction is a first displacement set value 304, the deceleration point displacement value is a first deceleration point displacement value 305, and the displacement of the device during deceleration is a first deceleration stroke 306; in the second direction, the set farthest displacement value is the second displacement set value 307, the deceleration point displacement value is the second deceleration point displacement value 308, and the displacement at which the apparatus decelerates is the second deceleration stroke 309. In this manner, when the device is operating in the first direction, it begins to decelerate when it reaches the first deceleration point displacement value 305 and is able to decelerate to 0 when it reaches the first displacement set point 304, i.e. just to decelerate to 0 in the first deceleration stroke 306. The device then starts to move in the second direction and starts to decelerate when the device reaches the second deceleration point displacement and is able to reduce the speed to 0 when reaching the second displacement set point 307 and will just reduce the speed to 0 during the second deceleration stroke 309, thus reciprocating the device.
For example, in one possible implementation, the operating parameters may include: first displacement set value sset_fA first rotational speed set value nset_fMaximum rotation speed value n of motormaxThe speed reduction ratio i is the diameter d of a driving wheel for driving equipment to move, the slope time t of the equipment and the speed reduction ratio i between a motor and a speed reducer for adjusting the rotating speed output by the motor;
when the step 202 calculates the displacement value of the deceleration point according to the operation parameter, the following method may be used:
step 202A: according to the maximum rotating speed value n of the motormaxA reduction ratio i and a diameter d of the driving wheel, and calculating the maximum linear velocity v of the driving wheelmax；
For example, the maximum linear velocity v of the drive wheel is calculated according to the following calculation formulamax：
Figure BDA0003275163400000111
Step 202B: according to maximum linear velocity vmaxAnd a ramp time t, calculating the acceleration a of the device;
for example, the acceleration a of the device may be calculated according to the following equation two:
Figure BDA0003275163400000112
step 202C: according to a first speed set value nset_fRamp time t and maximum speed value nmaxA first deceleration time t of the deceleration phase when the computing device is operating in the first directiondec_f；
For example, the first deceleration time t of the deceleration phase when the device is operating in the first direction may be calculated according to the following equationdec_f：
Figure BDA0003275163400000113
Step 202D: according to the acceleration a and the first deceleration time t of the equipmentdec_fA first deceleration stroke s of the deceleration phase when the computing device is operating in the first directiondec_f；
For example, the first deceleration stroke s of the deceleration phase may be calculated according to the following formula when the fourth calculation device is operated in the first directiondec_f：
Figure BDA0003275163400000114
Step 202E: calculating a first displacement set value sset_fAnd a first deceleration stroke sdec_fThe difference value between the first deceleration point and the second deceleration point obtains a first deceleration point displacement value s when the equipment runs in the first directionthr_f。
For example, the first deceleration point displacement s of the device operating in the first direction is calculated by the following formulathr_f：
sthr_f＝sset_f-sdec_f
For another example, in one possible implementation, the operating parameters may include: second displacement set value sset_bSecond rotation speedSet value nset_bMaximum rotation speed value n of motormaxThe speed reduction ratio i is the diameter d of a driving wheel for driving equipment to move, the slope time t of a load and the speed reduction ratio i between a motor and a speed reducer for adjusting the rotating speed output by the motor;
when the step 202 calculates the displacement value of the deceleration point according to the operation parameter, the following method may be used:
step 202 a: according to the maximum rotating speed value n of the motormaxA reduction ratio i and a diameter d of the driving wheel, and calculating the maximum linear velocity v of the driving wheelmax；
For example, the maximum linear velocity v of the drive wheel can be calculated using the following calculation equationmax：
Figure BDA0003275163400000121
Step 202 b: according to maximum linear velocity vmaxAnd a ramp time t, calculating the acceleration a of the device;
for example, the acceleration a of the device may be calculated using the following calculation formula two:
Figure BDA0003275163400000122
step 202 c: according to a second rotation speed set value nset_bRamp time t and maximum speed value nmaxA second deceleration time t of the deceleration phase when the computing device is operating in the second directiondec_b；
For example, the second deceleration time t of the deceleration phase may be calculated using the following equation when the device is operated in the second directiondec_b：
Figure BDA0003275163400000123
Step 202 d: according to the acceleration a and the second deceleration time t of the equipmentdec_bA second deceleration stroke of the deceleration phase when the computing device is operating in the second directionsdec_b；
For example, the second deceleration stroke s of the deceleration phase may be calculated by operating the device in the second direction using the following formuladec_b：
Figure BDA0003275163400000131
Step 202 e: calculating a second displacement set value sset_bAnd a second deceleration stroke sdec_bThe difference value between the first direction and the second direction is obtained to obtain a second deceleration point displacement value s when the equipment runs in the second directionthr_b。
For example, the second deceleration point displacement s of the device in the first direction is calculated by the following formulathr_b：
sthr_b＝sset_b-sdec_b
Therefore, according to the operation parameters of the equipment, the deceleration point displacement value in the first direction and the deceleration point displacement value in the second direction can be calculated by combining the first calculation formula to the eighth calculation formula. Therefore, the reciprocating motion of the equipment is controlled through the accurate deceleration point displacement value obtained through calculation, and the purpose of improving the reciprocating motion control precision of the equipment can be achieved.
For example, in one embodiment, the given operating parameters are as shown in the following table:
nmax t nset_f nset_b sset_f sset_b i d
750rpm 5s 600rpm 600rpm 2.5m 2.5m 50 1m
then, in a first direction, a maximum speed of the drive wheel may be calculated according to step 202A
Figure BDA0003275163400000132
Further, the acceleration of the device may be calculated according to step 202B
Figure BDA0003275163400000133
Then, according to step 202C, a first deceleration time of the device in the deceleration phase may be calculated
Figure BDA0003275163400000134
From this, the first deceleration stroke of the deceleration stage can be calculated
Figure BDA0003275163400000135
The first deceleration point displacement of the device in this first direction is then sthr_f＝sset_f-sdec_f2.5-0.4 pi 1.24m, i.e. the equipment is operated in a first directionTraveling to a position 1.24m from the initial position, the device begins to decelerate, the speed of the device drops to 0 over a period of 5s, and then travels in the second direction. The calculation process based on the above operation parameters in the second direction is the same as that in the first direction, and is not described herein again.
It is noted that a sensor may be installed as a zero switch at an initial position in the reciprocating stroke. Therefore, the initial zero return can be realized when the equipment passes through the zero switch at the initial position every time, even if the position information is calculated from 0, so that the accumulated error generated in the reciprocating motion process every time can be eliminated, and the control precision of the reciprocating motion of the equipment is further improved. In addition, in the embodiment, the first displacement setting value, the second displacement setting value, the first rotation speed setting value, the second rotation speed setting value and the like can be set and adjusted according to requirements, so that more application scenes can be met, and additional devices do not need to be added.
In one possible implementation, step 102 may be considered to be implemented by, when determining a real-time displacement value of the current position of the device relative to the initial position:
acquiring the current rotating speed n (t) of a motor for driving a driving wheel to move;
calculating the current linear speed v (t) of the driving wheel corresponding to the current rotating speed n (t) by using the following calculation formula;
Figure BDA0003275163400000141
d is used for representing the diameter of the driving wheel, and i is used for representing the reduction ratio between the motor and the speed reducer for adjusting the rotating speed output by the motor;
and calculating the integral of the current linear velocity v (t) with respect to time to obtain a real-time displacement value of the current position of the equipment relative to the initial position.
In this embodiment, when determining the real-time displacement value of the device, the current linear velocity of the corresponding driving wheel is calculated by using the current rotation speed of the motor, and the real-time displacement value of the device can be further obtained by integrating the current linear velocity. Therefore, by integrating the linear speed, not only can the real-time displacement value of the equipment be obtained, but also an additional position detection device is not required to be added, for example, an encoder for feeding back position information is not required to be added, so that the equipment fault points can be reduced, the running performance of the system is improved, and the cost of the whole control system is reduced.
In a possible implementation manner, when the deceleration point displacement value includes the first deceleration point displacement value, then when the steering instruction of the device is generated according to the deceleration point displacement value and the real-time displacement value in step 103, it may be considered to first determine whether the real-time displacement value is not less than the first deceleration point displacement value, and when the real-time displacement value is not less than the first deceleration point displacement value, the instruction for decelerating the device in the first direction is generated. That is to say, when the device runs in the first direction, it needs to be determined whether the real-time displacement value of the device reaches the first deceleration point displacement value, if the real-time displacement value reaches the first deceleration point displacement value, the device is required to decelerate, and if the real-time displacement value does not reach the first deceleration point displacement value, the device may need to continue the acceleration state or the uniform speed running state. When the deceleration point displacement value includes the second deceleration point displacement value, it may be considered to determine whether the real-time displacement value is not greater than the second deceleration point displacement value, and when the real-time displacement value is not greater than the second deceleration point displacement value, an instruction for the device to decelerate in the second direction is generated. Since the present solution sets the first direction to be positive with respect to the initial position, i.e. the displacement value is positive, and the second direction to be negative with respect to the initial position, i.e. the displacement value is negative, in view of the reciprocating motion. Therefore, when the vehicle runs in the second direction, it is determined whether the real-time displacement value is not greater than the second deceleration point displacement value, and it is determined whether the vehicle reaches the second deceleration point displacement value, and when the vehicle reaches the second deceleration point displacement value, the vehicle starts to decelerate. Otherwise, the equipment is in a continuous acceleration state or a constant speed running state. In this embodiment, it is considered that logical judgment is performed by the RS flip-flop at the time of implementation, and thus generation of the steering command is performed by the logical judgment of the flip-flop.
It should be noted that when the device reaches the first deceleration point displacement value or the second deceleration point displacement value, the speed of the device needs to reach the set operation speed, that is, the speed meets the set first rotation speed value and the set second rotation speed value. When the equipment runs in the first direction, the running speed of the equipment reaches the maximum value of the set running speed, and the equipment does not reach the first deceleration point displacement value, the equipment runs at the maximum running speed until the first deceleration point displacement value is reached, and then the equipment starts to decelerate. And when the equipment runs in the second direction, the running speed of the equipment reaches the maximum value of the set running speed, and the equipment does not reach the second deceleration point displacement value, so that the equipment runs at the maximum running speed until the equipment reaches the second deceleration point displacement value and starts to decelerate.
In one possible implementation, step 104, in controlling the device to reciprocate according to the steering command, when a command is generated to decelerate the device in the first direction, it is necessary to control the device to decelerate and to accelerate the device in the second direction when the speed of the device decreases to 0. When an instruction for decelerating the device in the second direction is generated, the device needs to be controlled to decelerate and to accelerate to the first direction when the speed of the device is reduced to 0. Therefore, the speed of the equipment is reduced to 0 at two ends in the reciprocating travel, so that the equipment is steered and accelerated, and the equipment reciprocates.
As shown in fig. 4, an embodiment of the present invention further provides a device 400 for controlling reciprocation of an apparatus, which may include: a deceleration point displacement determining module 401, a real-time displacement determining module 402, a steering instruction generating module 403 and a reciprocating motion control module 404;
a deceleration point displacement determining module 401, configured to determine a deceleration point displacement value of the device; the deceleration point displacement value is used for representing a displacement value of a position where the equipment starts to decelerate relative to a preset initial position;
a real-time displacement determination module 402, configured to determine a real-time displacement value of a current position of the device relative to an initial position;
a steering instruction generating module 403, configured to generate a steering instruction of the device according to the deceleration point displacement value determined by the deceleration point displacement determining module 401 and the real-time displacement value determined by the real-time displacement determining module 402; the steering command is used for representing a command that the equipment needs to start decelerating;
and a reciprocating motion control module 404, configured to control the device to perform reciprocating motion according to the steering instruction generated by the steering instruction generation module 403.
In one possible implementation, the deceleration point displacement determination module 401, when determining the deceleration point displacement value of the device, is configured to perform the following operations:
acquiring operation parameters for controlling the reciprocating motion of equipment;
and calculating the displacement value of the deceleration point according to the operation parameters.
In one possible implementation, the operating parameters include: first displacement set value sset_fA first rotational speed set value nset_fMaximum rotation speed value n of motormaxThe speed reduction ratio i is the diameter d of a driving wheel for driving equipment to move, the slope time t of the equipment and the speed reduction ratio i between a motor and a speed reducer for adjusting the rotating speed output by the motor;
the deceleration point displacement determination module 401, when calculating the deceleration point displacement value according to the operation parameters, is configured to perform the following operations:
according to the maximum rotating speed value n of the motormaxA reduction ratio i and a diameter d of the driving wheel, and calculating the maximum linear velocity v of the driving wheelmax；
According to maximum linear velocity vmaxAnd a ramp time t, calculating the acceleration a of the device;
according to a first speed set value nset_fRamp time t and maximum speed value nmaxA first deceleration time t of the deceleration phase when the computing device is operating in the first directiondec_f；
According to the acceleration a and the first deceleration time t of the equipmentdec_fA first deceleration stroke s of the deceleration phase when the computing device is operating in the first directiondec_f；
Calculating a first displacement set value sset_fAnd a first deceleration stroke sdec_fThe difference value between the first deceleration point and the second deceleration point obtains a first deceleration point displacement value s when the equipment runs in the first directionthr_f。
In one possible implementation, the operating parameters include: second displacement set value sset_bA second rotation speed set value nset_bMaximum rotation speed value n of motormaxThe speed reduction ratio i is the diameter d of a driving wheel for driving equipment to move, the slope time t of a load and the speed reduction ratio i between a motor and a speed reducer for adjusting the rotating speed output by the motor;
the deceleration point displacement determination module 401, when calculating the deceleration point displacement value according to the operation parameters, is configured to perform the following operations:
according to the maximum rotating speed value n of the motormaxA reduction ratio i and a diameter d of the driving wheel, and calculating the maximum linear velocity v of the driving wheelmax；
According to maximum linear velocity vmaxAnd a ramp time t, calculating the acceleration a of the device;
according to a second rotation speed set value nset_bRamp time t and maximum speed value nmaxA second deceleration time t of the deceleration phase when the computing device is operating in the second directiondec_b；
According to the acceleration a and the second deceleration time t of the equipmentdec_bA second deceleration stroke s of the deceleration phase when the computing device is operating in the second directiondec_b；
Calculating a second displacement set value sset_bAnd a second deceleration stroke sdec_bThe difference value between the first direction and the second direction is obtained to obtain a second deceleration point displacement value s when the equipment runs in the second directionthr_b。
In one possible implementation, the real-time displacement determination module 402, in determining the real-time displacement value of the current position of the device relative to the initial position, is configured to perform the following operations:
acquiring the current rotating speed n (t) of a motor for driving a driving wheel to move;
calculating the current linear speed v (t) of the driving wheel corresponding to the current rotating speed n (t) by using the following calculation formula;
Figure BDA0003275163400000171
d is used for representing the diameter of the driving wheel, and i is used for representing the reduction ratio between the motor and the speed reducer for adjusting the rotating speed output by the motor;
and calculating the integral of the current linear velocity v (t) with respect to time to obtain a real-time displacement value of the current position of the equipment relative to the initial position.
In one possible implementation, when the deceleration point displacement value includes a first deceleration point displacement value, and the steering instruction of the device is generated according to the deceleration point displacement value and the real-time displacement value, the steering instruction generation module 403 is configured to perform the following operations:
judging whether the real-time displacement value is not less than the displacement value of the first deceleration point;
if the real-time displacement value is not smaller than the first deceleration point displacement value, generating an instruction for decelerating the equipment in the first direction;
in one possible implementation, when the deceleration point displacement value includes the second deceleration point displacement value, and the steering instruction of the device is generated according to the deceleration point displacement value and the real-time displacement value, the steering instruction generation module 403 is configured to perform the following operations:
judging whether the real-time displacement value is not greater than the displacement value of the second deceleration point;
and if the real-time displacement value is not greater than the second deceleration point displacement value, generating an instruction for decelerating the equipment in the second direction.
In one possible implementation, the reciprocation control module 404, when controlling the apparatus to reciprocate according to the steering command, is configured to perform the following operations:
when an instruction that the equipment decelerates in a first direction is generated, the control equipment decelerates and accelerates to run in a second direction when the speed of the equipment is reduced to 0; and the number of the first and second groups,
when an instruction for the apparatus to decelerate in the second direction is generated, the control apparatus decelerates and accelerates to the first direction when the speed of the apparatus drops to 0.
As shown in FIG. 5, an embodiment of the invention also provides a computing device 500, comprising: at least one memory 501 and at least one processor 502;
at least one memory 501 for storing a machine readable program;
at least one processor 502, coupled to the at least one memory 501, is configured to invoke a machine readable program to perform the method 100 for controlling the reciprocation of the device provided by any of the above embodiments.
The invention also provides a computer readable medium, which stores computer instructions, when executed by a processor, causes the processor to execute the method 100 for controlling the reciprocating motion of the device provided by any one of the above embodiments. The invention also provides a computer program product comprising a computer program which, when executed by a processor, implements a method of controlling reciprocation of an apparatus as described in any one of the preceding claims. Specifically, a system or an apparatus equipped with a storage medium on which software program codes that realize the functions of any of the above-described embodiments are stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program codes stored in the storage medium.
In this case, the program code itself read from the storage medium can realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.
Examples of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer via a communications network.
Further, it should be clear that the functions of any one of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform a part or all of the actual operations based on instructions of the program code.
Further, it is to be understood that the program code read out from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then causes a CPU or the like mounted on the expansion board or the expansion module to perform part or all of the actual operations based on instructions of the program code, thereby realizing the functions of any of the above-described embodiments.
It should be noted that not all steps and modules in the above flow and device structure diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution order of the steps is not fixed and can be adjusted as required. The system structure described in the above embodiments may be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by a plurality of physical entities, or some components in a plurality of independent devices may be implemented together. The device for controlling the reciprocating motion of the equipment and the method for controlling the reciprocating motion of the equipment are based on the same inventive concept.
In the above embodiments, the hardware module may be implemented mechanically or electrically. For example, a hardware module may comprise permanently dedicated circuitry or logic (such as a dedicated processor, FPGA or ASIC) to perform the corresponding operations. A hardware module may also include programmable logic or circuitry (e.g., a general-purpose processor or other programmable processor) that may be temporarily configured by software to perform the corresponding operations. The specific implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.
While the invention has been shown and described in detail in the drawings and in the preferred embodiments, it is not intended to limit the invention to the embodiments disclosed, and it will be apparent to those skilled in the art that various combinations of the code auditing means in the various embodiments described above may be used to obtain further embodiments of the invention, which are also within the scope of the invention.

Claims (17)

1. A method of controlling reciprocation of an apparatus, comprising:
determining a deceleration point displacement value of the equipment; the deceleration point displacement value is used for representing a displacement value of a position where the equipment starts to decelerate relative to a preset initial position;
determining a real-time displacement value of a current position of the device relative to the initial position;
generating a steering instruction of the equipment according to the displacement value of the deceleration point and the real-time displacement value; wherein the steering command is used to characterize a command that the device needs to start decelerating;
and controlling the equipment to reciprocate according to the steering command.
2. The method of claim 1, wherein the step of determining a deceleration point displacement value for a device comprises:
acquiring operation parameters for controlling the equipment to reciprocate;
and calculating the displacement value of the deceleration point according to the operation parameters.
3. The method of claim 2, wherein the operating parameters comprise: first displacement set value sset_fA first rotational speed set value nset_fMaximum rotation speed value n of motormaxThe device comprises a motor, a driving wheel, a slope time t and a speed reduction ratio i, wherein the driving wheel drives the device to move;
the step of calculating the deceleration point displacement value according to the operation parameters comprises the following steps:
according to the maximum rotating speed value n of the motormaxThe reduction ratio i and the diameter d of the driving wheel, calculating the maximum linear velocity v of the driving wheelmax；
According toSaid maximum linear velocity vmaxAnd the ramp time t, calculating the acceleration a of the device;
according to the first rotating speed set value nset_fThe ramp time t and the maximum rotational speed value nmaxCalculating a first deceleration time t of the deceleration phase when the device is operating in the first directiondec_f；
According to the acceleration a of the equipment and the first deceleration time tdec_fCalculating a first deceleration stroke s of the deceleration phase when the device is operating in the first directiondec_f；
Calculating the first displacement set value sset_fAnd the first deceleration stroke sdec_fObtaining a first deceleration point displacement value s of the equipment when the equipment runs in the first directionthr_f。
4. The method of claim 2, wherein the operating parameters comprise: second displacement set value sset_bA second rotation speed set value nset_bMaximum rotation speed value n of motormaxThe device comprises a driving wheel, a speed reduction ratio i, a load, a speed reduction ratio control unit and a control unit, wherein the diameter d of the driving wheel is used for driving the device to move, the slope time t of the load, and the speed reduction ratio between a motor and a speed reducer used for adjusting the rotating speed output by the motor;
the step of calculating the deceleration point displacement value according to the operation parameters comprises the following steps:
according to the maximum rotating speed value n of the motormaxThe reduction ratio i and the diameter d of the driving wheel, calculating the maximum linear velocity v of the driving wheelmax；
According to said maximum linear velocity vmaxAnd the ramp time t, calculating the acceleration a of the device;
according to the second rotating speed set value nset_bThe ramp time t and the maximum rotational speed value nmaxCalculating a second deceleration time t of the deceleration phase when the device is operating in the second directiondec_b；
According to the acceleration a of the equipment and the second deceleration time tdec_bComputing stationA second deceleration stroke s of the deceleration phase during operation of the apparatus in the second directiondec_b；
Calculating the second displacement set value sset_bAnd the second deceleration stroke sdec_bThe difference between the first direction and the second direction is used for obtaining a second deceleration point displacement value s when the equipment runs in the second directionthr_b。
5. The method of claim 1, wherein the step of determining a real-time displacement value of the current position of the device relative to the initial position comprises:
acquiring the current rotating speed n (t) of a motor for driving the driving wheel to move;
calculating the current linear speed v (t) of the driving wheel corresponding to the current rotating speed n (t) by using the following calculation formula;
Figure FDA0003275163390000021
d is used for representing the diameter of the driving wheel, and i is used for representing the reduction ratio between the motor and a speed reducer for adjusting the rotating speed output by the motor;
calculating the integral of the current linear velocity v (t) with respect to time to obtain a real-time displacement value of the current position of the device relative to the initial position.
6. The method of claim 1,
if the deceleration point displacement value includes a first deceleration point displacement value, the step of generating the steering command of the device according to the deceleration point displacement value and the real-time displacement value includes:
judging whether the real-time displacement value is not less than the displacement value of the first deceleration point;
if the real-time displacement value is not smaller than the first deceleration point displacement value, generating an instruction for decelerating the equipment in a first direction;
and/or the presence of a gas in the gas,
if the deceleration point displacement value includes a second deceleration point displacement value, the step of generating the steering command of the device according to the deceleration point displacement value and the real-time displacement value includes:
judging whether the real-time displacement value is not greater than the second deceleration point displacement value or not;
and if the real-time displacement value is not greater than the second deceleration point displacement value, generating an instruction for decelerating the equipment in a second direction.
7. The method of claim 6, wherein controlling the device to reciprocate in accordance with the steering command comprises:
when an instruction that the equipment decelerates in a first direction is generated, controlling the equipment to decelerate, and accelerating to run in a second direction when the speed of the equipment is reduced to 0; and the number of the first and second groups,
and when an instruction that the equipment decelerates in a second direction is generated, controlling the equipment to decelerate, and accelerating to run in the first direction when the speed of the equipment is reduced to 0.
8. Control device of the reciprocal motion of equipment, characterized by comprising: the device comprises a deceleration point displacement determining module, a real-time displacement determining module, a steering instruction generating module and a reciprocating motion control module;
the deceleration point displacement determining module is used for determining a deceleration point displacement value of the equipment; the deceleration point displacement value is used for representing a displacement value of a position where the equipment starts to decelerate relative to a preset initial position;
the real-time displacement determination module is used for determining a real-time displacement value of the current position of the equipment relative to the initial position;
the steering instruction generating module is configured to generate a steering instruction of the device according to the deceleration point displacement value determined by the deceleration point displacement determining module and the real-time displacement value determined by the real-time displacement determining module; wherein the steering command is used to characterize a command that the device needs to start decelerating;
and the reciprocating motion control module is used for controlling the equipment to reciprocate according to the steering instruction generated by the steering instruction generating module.
9. The apparatus of claim 8, wherein the deceleration point displacement determination module, in determining the deceleration point displacement value for the device, is configured to:
acquiring operation parameters for controlling the equipment to reciprocate;
and calculating the displacement value of the deceleration point according to the operation parameters.
10. The apparatus of claim 9, wherein the operating parameters comprise: first displacement set value sset_fA first rotational speed set value nset_fMaximum rotation speed value n of motormaxThe device comprises a motor, a driving wheel, a slope time t and a speed reduction ratio i, wherein the driving wheel drives the device to move;
the deceleration point displacement determination module is configured to perform the following operations when calculating the deceleration point displacement value according to the operation parameter:
according to the maximum rotating speed value n of the motormaxThe reduction ratio i and the diameter d of the driving wheel, calculating the maximum linear velocity v of the driving wheelmax；
According to said maximum linear velocity vmaxAnd the ramp time t, calculating the acceleration a of the device;
according to the first rotating speed set value nset_fThe ramp time t and the maximum rotational speed value nmaxCalculating a first deceleration time t of the deceleration phase when the device is operating in the first directiondec_f；
According to the acceleration a of the equipment and the first deceleration time tdec_fCalculating a first deceleration stroke s of the deceleration phase when the device is operating in the first directiondec_f；
Calculating the first displacement set value sset_fAnd the first deceleration stroke sdec_fObtaining a first deceleration point displacement value s of the equipment when the equipment runs in the first directionthr_f。
11. The apparatus of claim 9, wherein the operating parameters comprise: second displacement set value sset_bA second rotation speed set value nset_bMaximum rotation speed value n of motormaxThe device comprises a driving wheel, a speed reduction ratio i, a load, a speed reduction ratio control unit and a control unit, wherein the diameter d of the driving wheel is used for driving the device to move, the slope time t of the load, and the speed reduction ratio between a motor and a speed reducer used for adjusting the rotating speed output by the motor;
the deceleration point displacement determination module is configured to perform the following operations when calculating the deceleration point displacement value according to the operation parameter:
according to the maximum rotating speed value n of the motormaxThe reduction ratio i and the diameter d of the driving wheel, calculating the maximum linear velocity v of the driving wheelmax；
According to said maximum linear velocity vmaxAnd the ramp time t, calculating the acceleration a of the device;
according to the second rotating speed set value nset_bThe ramp time t and the maximum rotational speed value nmaxCalculating a second deceleration time t of the deceleration phase when the device is operating in the second directiondec_b；
According to the acceleration a of the equipment and the second deceleration time tdec_bCalculating a second deceleration stroke s of the deceleration phase when the device is operated in the second directiondec_b；
Calculating the second displacement set value sset_bAnd the second deceleration stroke sdec_bThe difference between the first direction and the second direction is used for obtaining a second deceleration point displacement value s when the equipment runs in the second directionthr_b。
12. The apparatus of claim 8, wherein the real-time displacement determination module, when determining the real-time displacement value for the current position of the device relative to the initial position, is configured to:
acquiring the current rotating speed n (t) of a motor for driving the driving wheel to move;
calculating the current linear speed v (t) of the driving wheel corresponding to the current rotating speed n (t) by using the following calculation formula;
Figure FDA0003275163390000051
d is used for representing the diameter of the driving wheel, and i is used for representing the reduction ratio between the motor and a speed reducer for adjusting the rotating speed output by the motor;
calculating the integral of the current linear velocity v (t) with respect to time to obtain a real-time displacement value of the current position of the device relative to the initial position.
13. The apparatus of claim 8, wherein the steering instruction generation module, when the deceleration point displacement value comprises a first deceleration point displacement value and generating the steering instruction for the device from the deceleration point displacement value and the real-time displacement value, is configured to:
judging whether the real-time displacement value is not less than the displacement value of the first deceleration point;
if the real-time displacement value is not smaller than the first deceleration point displacement value, generating an instruction for decelerating the equipment in a first direction;
and/or the presence of a gas in the gas,
the steering instruction generation module is configured to execute the following operations when the deceleration point displacement value includes a second deceleration point displacement value and the steering instruction of the device is generated according to the deceleration point displacement value and the real-time displacement value:
judging whether the real-time displacement value is not greater than the second deceleration point displacement value or not;
and if the real-time displacement value is not greater than the second deceleration point displacement value, generating an instruction for decelerating the equipment in a second direction.
14. The apparatus of claim 13, wherein the reciprocation control module, when controlling the device to reciprocate in accordance with the steering command, is configured to:
when an instruction that the equipment decelerates in a first direction is generated, controlling the equipment to decelerate, and accelerating to run in a second direction when the speed of the equipment is reduced to 0; and the number of the first and second groups,
and when an instruction that the equipment decelerates in a second direction is generated, controlling the equipment to decelerate, and accelerating to run in the first direction when the speed of the equipment is reduced to 0.
15. A computing device, comprising: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor, configured to invoke the machine readable program to perform the method of any of claims 1 to 7.
16. A computer readable medium having stored thereon computer instructions which, when executed by a processor, cause the processor to perform the method of any of claims 1 to 7.
17. Computer program product, comprising a computer program, characterized in that the computer program realizes the method of any of claims 1 to 7 when executed by a processor.
CN202111115669.1A 2021-09-23 2021-09-23 Method and device for controlling reciprocating motion of equipment and computer readable medium Pending CN114035623A (en)

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