CN114035623B - Method, device and computer readable medium for controlling reciprocating motion of equipment - Google Patents
Method, device and computer readable medium for controlling reciprocating motion of equipment Download PDFInfo
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- CN114035623B CN114035623B CN202111115669.1A CN202111115669A CN114035623B CN 114035623 B CN114035623 B CN 114035623B CN 202111115669 A CN202111115669 A CN 202111115669A CN 114035623 B CN114035623 B CN 114035623B
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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Abstract
The invention provides a method, a device and a computer readable medium for controlling equipment to reciprocate, wherein the method comprises the steps of determining a deceleration point displacement value of equipment, wherein the deceleration point displacement value is used for representing a displacement value of a position of the equipment for starting deceleration relative to a preset initial position, determining a real-time displacement value of a current position of the equipment relative to the initial position, generating a steering instruction of the equipment according to the deceleration point displacement value and the real-time displacement value, wherein the steering instruction is used for representing an instruction of the equipment for starting deceleration, and controlling the equipment to reciprocate according to the steering instruction. The scheme can reduce the cost of reciprocating motion of the control equipment.
Description
Technical Field
The present invention relates to the field of mechanical control technology, and in particular, to a method, an apparatus, and a computer readable medium for controlling reciprocating motion of a device.
Background
In the motion control of mechanical devices, a large number of devices have a need for positioning control, including the positioning requirements of reciprocating motion machines.
However, when controlling the mechanical device to reciprocate, the device needs to be positioned because the control device is required to constantly steer and change speed. And the positioning means such as encoders and a plurality of contact switches, which are generally used, are relatively costly.
Disclosure of Invention
The invention provides a method, a device and a computer readable medium for controlling reciprocating motion of equipment, which can reduce the cost of controlling the equipment to perform reciprocating motion.
In a first aspect, an embodiment of the present invention provides a method for controlling reciprocation of a device, including:
determining a deceleration point displacement value of the equipment, wherein the deceleration point displacement value is used for representing a displacement value of a position of the equipment starting to decelerate relative to a preset initial position;
Determining a real-time displacement value of the current position of the device relative to the initial position;
Generating a steering instruction of the equipment according to the deceleration point displacement value and the real-time displacement value, wherein the steering instruction is used for representing an instruction of the equipment which needs to start deceleration;
and controlling the equipment to reciprocate according to the steering instruction.
In one 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 parameter.
In one possible implementation, the operation parameters include a first displacement set point s set_f, a first rotation speed set point n set_f, a maximum rotation speed value n max of the motor, a diameter d of a driving wheel for driving the device to move, a slope time t of the device and a reduction ratio i between the motor and a speed reducer for adjusting the rotation speed output by the motor;
the step of calculating the deceleration point displacement value according to the operation parameter comprises the following steps:
calculating the maximum linear velocity v max of the driving wheel according to the maximum rotation speed value n max of the motor, the reduction ratio i and the diameter d of the driving wheel;
Calculating the acceleration a of the equipment according to the maximum linear velocity v max and the ramp time t;
Calculating a first deceleration time t dec_f of a deceleration stage when the equipment operates in a first direction according to the first rotation speed set value n set_f, the slope time t and the maximum rotation speed value n max;
Calculating a first deceleration stroke s dec_f of a deceleration stage when the device is operated in a first direction according to the acceleration a of the device and the first deceleration time t dec_f;
And calculating the difference between the first displacement set value s set_f and the first deceleration stroke s dec_f to obtain a first deceleration point displacement value s thr_f when the equipment operates in the first direction.
In one possible implementation, the operation parameters include a second displacement set point s set_b, a second rotation speed set point n set_b, a maximum rotation speed value n max of the motor, a diameter d of a driving wheel driving the equipment to move, a slope time t of a load and a reduction ratio i between the motor and a speed reducer for adjusting the rotation speed output by the motor;
the step of calculating the deceleration point displacement value according to the operation parameter comprises the following steps:
calculating the maximum linear velocity v max of the driving wheel according to the maximum rotation speed value n max of the motor, the reduction ratio i and the diameter d of the driving wheel;
Calculating the acceleration a of the equipment according to the maximum linear velocity v max and the ramp time t;
calculating a second deceleration time t dec_b of a deceleration stage when the equipment operates in a second direction according to the second rotation speed set value n set_b, the ramp time t and the maximum rotation speed value n max;
Calculating a second deceleration stroke s dec_b of a deceleration stage when the device is operated in a second direction according to the acceleration a of the device and the second deceleration time t dec_b;
and calculating the difference between the second displacement set value s set_b and the second deceleration stroke s dec_b to obtain a second deceleration point displacement value s thr_b when the equipment operates in the second direction.
In one possible implementation, the step of determining the 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;
Wherein d is used for representing the diameter of the driving wheel, i is used for representing the reduction ratio between the motor and a speed reducer for adjusting the rotation 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 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 smaller than the first deceleration point displacement value or not;
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 number of the groups of groups,
The deceleration point displacement value includes a second deceleration point displacement value, and the step of generating a 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 larger than the second deceleration point displacement value;
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 a possible implementation manner, the controlling the device to reciprocate according to the steering command includes:
controlling the device to decelerate when generating the instruction for decelerating the device in the first direction and accelerating the operation in the second direction when the speed of the device is reduced to 0, and
And controlling the equipment to decelerate when the instruction for decelerating the equipment in the second direction is generated, and accelerating the operation 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 a device for controlling reciprocation of an apparatus, where the device includes a deceleration point displacement determining module, a real-time displacement determining module, a steering instruction generating module, and a reciprocation control module;
The deceleration point displacement determining module is used for determining a deceleration point displacement value of the equipment, wherein the deceleration point displacement value is used for representing a displacement value of a position of the equipment for starting deceleration relative to a preset initial position;
the real-time displacement determining module is used for determining a real-time displacement value of the current position of the equipment relative to the initial position;
The device comprises a deceleration point displacement determining module, a real-time displacement determining module, a steering instruction generating module and a control module, wherein the deceleration point displacement determining module is used for determining the deceleration point displacement value of the device;
And the reciprocating motion control module is used for controlling the equipment to reciprocate according to the steering instruction generated by the steering instruction generation module.
In one possible implementation, 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 parameter.
In one possible implementation, the operation parameters include a first displacement set point s set_f, a first rotation speed set point n set_f, a maximum rotation speed value n max of the motor, a diameter d of a driving wheel for driving the device to move, a slope time t of the device and a reduction ratio i between the motor and a speed reducer for adjusting the rotation 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:
calculating the maximum linear velocity v max of the driving wheel according to the maximum rotation speed value n max of the motor, the reduction ratio i and the diameter d of the driving wheel;
Calculating the acceleration a of the equipment according to the maximum linear velocity v max and the ramp time t;
Calculating a first deceleration time t dec_f of a deceleration stage when the equipment operates in a first direction according to the first rotation speed set value n set_f, the slope time t and the maximum rotation speed value n max;
Calculating a first deceleration stroke s dec_f of a deceleration stage when the device is operated in a first direction according to the acceleration a of the device and the first deceleration time t dec_f;
And calculating the difference between the first displacement set value s set_f and the first deceleration stroke s dec_f to obtain a first deceleration point displacement value s thr_f when the equipment operates in the first direction.
In one possible implementation, the operation parameters include a second displacement set point s set_b, a second rotation speed set point n set_b, a maximum rotation speed value n max of the motor, a diameter d of a driving wheel driving the equipment to move, a slope time t of a load and a reduction ratio i between the motor and a speed reducer for adjusting the rotation 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:
calculating the maximum linear velocity v max of the driving wheel according to the maximum rotation speed value n max of the motor, the reduction ratio i and the diameter d of the driving wheel;
Calculating the acceleration a of the equipment according to the maximum linear velocity v max and the ramp time t;
calculating a second deceleration time t dec_b of a deceleration stage when the equipment operates in a second direction according to the second rotation speed set value n set_b, the ramp time t and the maximum rotation speed value n max;
Calculating a second deceleration stroke s dec_b of a deceleration stage when the device is operated in a second direction according to the acceleration a of the device and the second deceleration time t dec_b;
and calculating the difference between the second displacement set value s set_b and the second deceleration stroke s dec_b to obtain a second deceleration point displacement value s thr_b when the equipment operates in the second direction.
In one possible implementation, the real-time displacement determination module, when determining a real-time displacement value of the current location of the device relative to the initial location, 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;
Wherein d is used for representing the diameter of the driving wheel, i is used for representing the reduction ratio between the motor and a speed reducer for adjusting the rotation 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, the steering instruction generation module is configured to perform the following operations when the deceleration point displacement value includes a first deceleration point displacement value, and generate the steering instruction of the apparatus according to the deceleration point displacement value and the real-time displacement value:
judging whether the real-time displacement value is not smaller than the first deceleration point displacement value or not;
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 number of the groups of groups,
The steering instruction generation module is configured to perform the following operations when the deceleration point displacement value includes a second deceleration point displacement value, and generates a steering instruction of the apparatus according to the deceleration point displacement value and the real-time displacement value:
judging whether the real-time displacement value is not larger than the second deceleration point displacement value;
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, when controlling the apparatus to reciprocate according to the steering command, is configured to perform the following operations:
controlling the device to decelerate when generating the instruction for decelerating the device in the first direction and accelerating the operation in the second direction when the speed of the device is reduced to 0, and
And controlling the equipment to decelerate when the instruction for decelerating the equipment in the second direction is generated, and accelerating the operation in the first direction when the speed of the equipment is reduced to 0.
In a third aspect, embodiments of the present invention also provide a computing device comprising at least one memory and at least one processor;
the at least one memory for storing 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, embodiments of the present invention also provide 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 the first aspects.
In a fifth aspect, embodiments of the present invention also provide a computer program product comprising a computer program which, when executed by a processor, implements the method of any 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, namely the position where the equipment 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. Further, a steering instruction for decelerating the device can be generated according to the deceleration point displacement value representing the position of the device for decelerating and the real-time displacement value representing the real-time current position of the device. Thus, by using the steering command, the apparatus can be controlled to reciprocate. Therefore, the scheme is that the speed reduction point displacement value is set, then the speed reduction point displacement value is compared with the real-time displacement value of the equipment, the moment when the equipment needs to start to be decelerated can be accurately determined through the comparison result, and the steering instruction is generated. In this way, the device can decelerate at the exact deceleration moment according to the steering command. In 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 for steering, so that the cost of 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 that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained based on these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for controlling reciprocation of a device according to one embodiment of the present invention;
FIG. 2 is a flow chart of a method for determining a deceleration point displacement value of an apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a reciprocating system provided by one embodiment of the present invention;
FIG. 4 is a schematic diagram of a device for controlling the reciprocating motion of an apparatus according to one 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 the deceleration Point Displacement value of the device
102 Determining a real-time displacement value of the current position of the device relative to the 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, Controlling the equipment to reciprocate according to the steering instruction
201 Acquiring operation parameters of reciprocating motion of control device
202, Calculating the displacement value of the deceleration point according to the operation parameters
301, Motor 302, speed reducer 303, driving wheel
304 First displacement set point 305 first deceleration point displacement value 306 first deceleration stroke
307 Second deceleration set point 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 reciprocating motion control module 501 memory
Processor 500, computing device 100, method for controlling reciprocating motion of seed device
300 Reciprocating motion system 400 seed equipment reciprocating motion control device
Detailed Description
In the motion control of mechanical equipment, a large number of equipment has a need for positioning control, including the positioning requirements of reciprocating motion machines, such as tower pumping units, reciprocating conveyors, and the like. In reciprocating motion, the accuracy of positioning control generally directly determines the running performance and reliability of the mechanical equipment, and the reciprocating motion machinery needs to continuously turn and change speed, so that the control accuracy is lower.
Currently, there are two main methods commonly used in positioning control. The first is a positioning control method using feedback with an encoder. For example, by adopting the basic positioning function of the frequency converter, the frequency converter integrates a positioning controller and then receives the actual position value and the actual speed value fed back by the encoder, thereby realizing positioning control. The second approach is to employ a proximity switch to trigger the reverse run. However, in both the first method and the second method, a fault point needs to be added, for example, an encoder for feeding back position information needs to be added in the first method, and the encoder is easy to be interfered during field operation, so that control accuracy is reduced. Also, the second method requires the addition of a plurality of proximity switches, and the more the proximity switches are, the more the failure points are, and the greater the possibility of causing a decrease in control accuracy. More importantly, the first mode requires an additional encoder, and the cost of the encoder is high, and the second mode also requires a plurality of proximity switches to trigger the reverse operation, so that the method has high cost and is not beneficial to popularization to industrialization.
Based on the method, the deceleration point displacement value is determined by considering the consideration, and then the real-time displacement value is compared with the deceleration point displacement value, so that the moment at which the equipment needs to start decelerating is determined. Therefore, steering triggering through a proximity switch is not needed, and position information feedback through an encoder is not needed, so that the cost of reciprocating motion of the control equipment can be reduced.
Methods, apparatuses and computer readable media for controlling reciprocation of a device according to 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 reciprocating motion of a device, which may include the steps of:
Step 101, determining a deceleration point displacement value of equipment, wherein the deceleration point displacement value is used for representing a displacement value of a position of the equipment starting to decelerate relative to a preset initial position;
102, determining a real-time displacement value of the current position of the equipment relative to the 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, wherein the steering instruction is used for representing an instruction of the equipment which needs to start deceleration;
And 104, controlling the equipment to reciprocate according to the steering instruction.
In this embodiment, when controlling the reciprocating motion of the device, the displacement value of the deceleration point of the device may be determined first, 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. Further, a steering instruction for decelerating the device can be generated according to the deceleration point displacement value representing the position of the device for decelerating and the real-time displacement value representing the real-time current position of the device. Thus, by using the steering command, the apparatus can be controlled to reciprocate. Therefore, the scheme is that the speed reduction point displacement value is set, then the speed reduction point displacement value is compared with the real-time displacement value of the equipment, the moment when the equipment needs to start to be decelerated can be accurately determined through the comparison result, and the steering instruction is generated. In this way, the device can decelerate at the exact deceleration moment according to the steering command. In 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 for steering, so that the cost of controlling the equipment to reciprocate can be effectively reduced.
Wherein the deceleration point displacement value is relative to a displacement value of a preset initial position. For example, the middle position in the round trip may be set as the initial position throughout the round trip, so that the displacement value of each position in the trip relative to the initial position may be known. And the displacement value of the deceleration point of the equipment is determined, and the position where the equipment needs to start decelerating is determined. In this way, by accurately determining the deceleration point displacement value, it is ensured that the device is able to reduce the speed to 0 when reaching the furthest distance of one of the ends. In this way, the device can only travel in the other direction if it reduces the speed to 0 at the furthest distance, thus enabling the device to reciprocate.
For example, for a path that the device needs to travel, based on the initial position, it is determined that displacement values at the farthest ends of the path are-250 cm and 250cm respectively, that is, the farthest displacement value in the first direction is 250cm, and the farthest displacement value in the second direction is 250cm. According to the operation parameters of the equipment, the displacement value which occurs when the equipment reduces the speed to 0 is determined to be 50cm, then the displacement value of the deceleration point when the equipment operates in the first direction can be determined to be-200 cm, and the displacement value of the deceleration point when the equipment operates in the second direction can be determined to be 200cm. 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, when the device is operated in the first direction, it is determined whether the real-time displacement value of the device reaches the deceleration point displacement value of 200cm in the first direction, and if so, the device is decelerated, so that it is ensured that the device is decelerated to 0 when reaching 250cm in the first direction, and thus steering can be achieved and operation in the second direction is performed. Further, when the device runs in the second direction, whether the real-time displacement value of the device reaches the deceleration point displacement value-200 cm in the second direction is judged, if so, the device starts to decelerate, so that the device is ensured to reduce the speed to 0 when reaching the position of-250 cm in the second direction, steering can be realized, the device runs in the first direction, and reciprocating motion of the device is realized.
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 have other angles, such as 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 with an included angle of 120 ° respectively, and so on.
In this embodiment, the real-time displacement value of the device may be estimated by considering the current rotation speed of the motor through the frequency converter, and then the real-time displacement value of the device is obtained through calculation through a corresponding algorithm.
In determining the deceleration point displacement value of the device at step 101, in one possible implementation, as shown in fig. 2, this may be achieved by:
Step 201, acquiring operation parameters of reciprocating motion of control equipment;
and 202, calculating a deceleration point displacement value according to the operation parameters.
When determining the deceleration point displacement value of the equipment, the deceleration point displacement value is accurately calculated by considering various operation parameters of the equipment. Therefore, when the displacement value of the deceleration point begins to decelerate, the device can reduce the speed to 0 when reaching the furthest displacement value set in the running direction, and further the reciprocating motion of the device 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 the furthest displacement value set in the first direction is a first displacement set value 304, the speed reduction point displacement value is a first speed reduction point displacement value 305, the speed reduction displacement of the device is a first speed reduction stroke 306 based on an initial position 310, the furthest displacement value set in the second direction is a second displacement set value 307, the speed reduction point displacement value is a second speed reduction point displacement value 308, and the speed reduction displacement of the device is a second speed reduction stroke 309. In this way, when the device is operating in the first direction, deceleration begins when the device reaches the first deceleration point displacement value 305, and is able to reduce the speed to 0 when the first displacement set point 304 is reached, i.e. just reduce the speed to 0 in the first deceleration stroke 306. Then the device starts to run in the second direction and starts to decelerate when the device reaches the second deceleration point displacement, and can reduce the speed to 0 when the second displacement set value 307 is reached, and just reduce the speed to 0 in the second deceleration stroke 309, so that the reciprocating motion of the device can be realized.
For example, in one possible implementation, the operating parameters may include a first displacement set point s set_f, a first rotational speed set point n set_f, a maximum rotational speed value n max of the motor, a drive wheel diameter d for driving the movement of the device, a ramp time t of the device, and a reduction ratio i between the motor and a speed reducer for adjusting the rotational speed output by the motor;
Step 202 may be implemented by calculating the deceleration point displacement value according to the operation parameter as follows:
202A, calculating the maximum linear velocity v max of the driving wheel according to the maximum rotation speed value n max of the motor, the reduction ratio i and the diameter d of the driving wheel;
for example, the maximum linear velocity v max of the drive wheel is calculated according to the following expression:
step 202B, calculating the acceleration a of the equipment according to the maximum linear velocity v max and the slope time t;
for example, the acceleration a of the device may be calculated according to the following equation:
Step 202C, calculating a first deceleration time t dec_f of a deceleration stage when the equipment operates in a first direction according to a first rotation speed set value n set_f, a slope time t and a maximum rotation speed value n max;
For example, the first deceleration time t dec_f for the deceleration phase may be calculated as follows for a three-computing device operating in a first direction:
Step 202D, calculating a first deceleration stroke s dec_f of a deceleration stage when the equipment runs in a first direction according to the acceleration a of the equipment and a first deceleration time t dec_f;
For example, the first deceleration stroke s dec_f of the deceleration phase when the device is running in the first direction may be calculated according to the following equation:
Step 202E, calculating a difference between the first displacement set value s set_f and the first deceleration stroke s dec_f to obtain a first deceleration point displacement value s thr_f when the device operates in the first direction.
For example, the first deceleration point displacement value s thr_f when the device is operated in the first direction is calculated by the following calculation formula five:
sthr_f＝sset_f-sdec_f
As another example, in one possible implementation, the operating parameters may include a second displacement setting s set_b, a second rotational speed setting n set_b, a maximum rotational speed value n max of the motor, a drive wheel diameter d for driving the device motion, a ramp time t of the load, and a reduction ratio i between the motor and a speed reducer for adjusting the rotational speed output by the motor;
Step 202 may be implemented by calculating the deceleration point displacement value according to the operation parameter as follows:
202a, calculating the maximum linear velocity v max of the driving wheel according to the maximum rotation speed value n max of the motor, the reduction ratio i and the diameter d of the driving wheel;
for example, the maximum linear velocity v max of the drive wheel can be calculated using the following equation:
Step 202b, calculating the acceleration a of the equipment according to the maximum linear velocity v max and the slope time t;
for example, the acceleration a of the device may be calculated using the following equation:
Step 202c, calculating a second deceleration time t dec_b of a deceleration stage when the equipment operates in a second direction according to a second rotation speed set value n set_b, a slope time t and a maximum rotation speed value n max;
for example, the second deceleration time t dec_b of the deceleration phase when the device is running in the second direction may be calculated using the following equation six:
Step 202d, calculating a second deceleration stroke s dec_b of a deceleration stage when the equipment runs in a second direction according to the acceleration a of the equipment and a second deceleration time t dec_b;
For example, the second deceleration stroke s dec_b of the deceleration phase when running in the second direction may be calculated using the following equation seven:
Step 202e, calculating the difference between the second displacement set value s set_b and the second deceleration stroke s dec_b to obtain a second deceleration point displacement value s thr_b when the device operates in the second direction.
For example, the second deceleration point displacement value s thr_b when the apparatus is operated in the first direction is calculated by the following calculation formula:
sthr_b＝sset_b-sdec_b
it can be seen that, according to the operation parameters of the device, 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 above calculation formulas one to eight. The reciprocating motion of the equipment is controlled by the accurate displacement value of the deceleration point obtained through calculation, so that the aim of improving the reciprocating motion control precision of the equipment can be fulfilled.
For example, in one embodiment, the given operating parameters are 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 the first direction, the maximum speed of the drive wheel can be calculated according to step 202A Further, the acceleration of the device can be calculated according to step 202BThen, according to step 202C, a first deceleration time of the device in a deceleration phase may be calculatedFrom this, the first deceleration stroke of the deceleration stage can be calculatedThe first deceleration point of the device in this first direction is displaced by s thr_f＝sset_f-sdec_f = 2.5-0.4pi = 1.24m, i.e. the device is run in the first direction to a position 1.24m from the initial position, the device starts decelerating, the speed of the device drops to 0 over a period of 5s, and then runs in the second direction. The calculation process based on the above operation parameters in the second direction is the same as the calculation process in the first direction, and will not be described here again.
It is noted that a sensor may be installed as a zero point switch at an initial position in the reciprocating stroke. Therefore, the initial zero return of the equipment can be realized when the equipment passes through the zero switch at the initial position, even if the position information is calculated from 0, the accumulated error generated in the reciprocating motion process can be eliminated, and the control precision of the reciprocating motion of the equipment is further improved. In addition, in this 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 scenarios can be satisfied, and additional devices are not required to be added.
In one possible implementation, step 102 may be considered to be implemented in determining a real-time displacement value of the current location of the device relative to the initial location by:
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;
Wherein d is used for representing the diameter of the driving wheel, i is used for representing the reduction ratio between the motor and the speed reducer for adjusting the rotation 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 taking into consideration the current rotational speed of the motor, and the real-time displacement value of the device can be further obtained by integrating the current linear velocity. By integrating the linear velocity, the real-time displacement value of the equipment can be obtained, and an additional position detection device, such as an encoder for feeding back position information, is not needed, so that the equipment fault point is reduced, the running performance of the system is improved, and the cost of the whole control system is reduced.
In one possible implementation, when the deceleration point displacement value includes the first deceleration point displacement value, then step 103 may consider first determining whether the real-time displacement value is not less than the first deceleration point displacement value when generating the steering command of the apparatus according to the deceleration point displacement value and the real-time displacement value, and generating the command for decelerating the apparatus in the first direction when the real-time displacement value is not less than the first deceleration point displacement value. That is, when the apparatus is operated in the first direction, it is necessary to determine whether the real-time displacement value of the apparatus has reached the first deceleration point displacement value, and if the first deceleration point displacement value has been reached, the apparatus is required to decelerate, and if the apparatus has not reached the first deceleration point displacement value, the apparatus may be required to continue the acceleration state or the constant-speed operation state. And when the deceleration point displacement value includes a second deceleration point displacement value, determining whether the real-time displacement value is not greater than the second deceleration point displacement value may be considered, and when the real-time displacement value is not greater than the second deceleration point displacement value, generating an instruction for decelerating the apparatus in the second direction. Since the first direction is set for a positive direction with respect to the initial position, i.e. its displacement value is positive, and the second direction is a negative direction with respect to the initial position, i.e. its displacement value is negative, due to the consideration of the reciprocating motion. Therefore, when the device is operated in the second direction, whether the real-time displacement value is not larger than the second deceleration point displacement value is judged, and when the device reaches the second deceleration point displacement value, the device starts decelerating. Otherwise, the equipment is in a continuous acceleration state or a uniform running state. In this embodiment, the generation of the steering instruction is performed by considering the logic determination by the RS flip-flop when implementing.
It is noted that the device, when reaching the first deceleration point displacement value or the second deceleration point displacement value, needs to reach the set running speed, i.e. the speed meets the above set first rotation speed set value and second rotation speed set value. When the device operates in the first direction, after the operating speed of the device reaches the maximum value of the set operating speed, the device does not reach the first deceleration point displacement value, and then the device operates at the maximum operating speed until the device reaches the first deceleration point displacement value to start decelerating. When the device operates in the second direction, after the operating speed of the device reaches the maximum value of the set operating speed, the device does not reach the second deceleration point displacement value, and then the device operates at the maximum operating speed until reaching the second deceleration point displacement value to start decelerating.
In a possible implementation, step 104, in controlling the device to reciprocate according to the steering command, when a command for decelerating the device in the first direction is generated, it is required to control the device to decelerate and accelerate the operation in the second direction when the speed of the device drops to 0. When an instruction for decelerating the device in the second direction is generated, it is necessary to control the device to decelerate and accelerate the operation in 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 stroke, so that the steering and acceleration of the equipment are realized, and the reciprocating motion of the equipment is further realized.
As shown in fig. 4, the embodiment of the present invention further provides a device reciprocation control apparatus 400, which may include a deceleration displacement determination module 401, a real-time displacement determination module 402, a steering command generation module 403, and a reciprocation control module 404;
A deceleration point displacement determining module 401, configured to determine a deceleration point displacement value of the device, where the deceleration point displacement value is used to characterize a displacement value of a position where the device starts decelerating 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 turning instruction generating module 403, configured to generate a turning 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, where the turning instruction is used to characterize an instruction that the device needs to start decelerating;
and a reciprocation control module 404 for controlling the apparatus to reciprocate according to the steering command generated by the steering command 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 of reciprocating motion of control equipment;
and calculating a deceleration point displacement value according to the operation parameters.
In one possible implementation, the operation parameters include a first displacement set point s set_f, a first rotational speed set point n set_f, a maximum rotational speed value n max of the motor, a driving wheel diameter d for driving the device to move, a ramp time t of the device, and a reduction ratio i between the motor and a speed reducer for adjusting the rotational speed output by the motor;
The deceleration point displacement determination module 401, when calculating the deceleration point displacement value from the operating parameters, is configured to perform the following operations:
Calculating the maximum linear speed v max of the driving wheel according to the maximum rotating speed value n max of the motor, the reduction ratio i and the diameter d of the driving wheel;
Calculating the acceleration a of the equipment according to the maximum linear velocity v max and the slope time t;
Calculating a first deceleration time t dec_f of a deceleration stage when the device is operated in a first direction according to the first rotation speed set value n set_f, the ramp time t and the maximum rotation speed value n max;
Calculating a first deceleration stroke s dec_f of a deceleration stage when the device is running in a first direction according to the acceleration a of the device and the first deceleration time t dec_f;
The difference between the first displacement set value s set_f and the first deceleration stroke s dec_f is calculated to obtain a first deceleration point displacement value s thr_f when the apparatus is operated in the first direction.
In one possible implementation, the operating parameters include a second displacement set point s set_b, a second rotational speed set point n set_b, a maximum rotational speed value n max of the motor, a driving wheel diameter d of the driving device movement, a ramp time t of the load, and a reduction ratio i between the motor and a speed reducer for adjusting the rotational speed output by the motor;
The deceleration point displacement determination module 401, when calculating the deceleration point displacement value from the operating parameters, is configured to perform the following operations:
Calculating the maximum linear speed v max of the driving wheel according to the maximum rotating speed value n max of the motor, the reduction ratio i and the diameter d of the driving wheel;
Calculating the acceleration a of the equipment according to the maximum linear velocity v max and the slope time t;
calculating a second deceleration time t dec_b of the deceleration stage when the device is operated in the second direction according to the second rotation speed set value n set_b, the ramp time t and the maximum rotation speed value n max;
calculating a second deceleration stroke s dec_b of the deceleration phase when the device is running in the second direction according to the acceleration a of the device and the second deceleration time t dec_b;
The difference between the second displacement set value s set_b and the second deceleration stroke s dec_b is calculated to obtain a second deceleration point displacement value s thr_b when the apparatus is operated in the second direction.
In one possible implementation, the real-time displacement determination module 402, when determining the real-time displacement value of the current location of the device relative to the initial location, 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;
Wherein d is used for representing the diameter of the driving wheel, i is used for representing the reduction ratio between the motor and the speed reducer for adjusting the rotation 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 apparatus 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 smaller 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 apparatus 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 larger than the displacement value of the second deceleration point;
And if the real-time displacement value is not greater than the displacement value of the second deceleration point, 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 generating an instruction for decelerating the device in a first direction, controlling the device to decelerate and accelerate the operation in a second direction when the speed of the device is reduced to 0, and
The control device decelerates when generating an instruction to decelerate the device in the second direction, and accelerates the operation in the first direction when the speed of the device falls to 0.
As shown in FIG. 5, one 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 the machine readable program to perform the method 100 for controlling reciprocation of a device provided in any of the embodiments described above.
The present invention also provides a computer readable medium having stored thereon computer instructions which, when executed by a processor, cause the processor to perform the method 100 of controlling the reciprocating motion of a device provided in any of the embodiments described above. The invention also provides a computer program product comprising a computer program which when executed by a processor implements a method of controlling the reciprocation of any of the apparatus described above. Specifically, a system or apparatus provided with a storage medium on which a software program code realizing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or apparatus may be caused to read out and execute the program code stored in the storage medium.
In this case, the program code itself read from the storage medium may realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code form part of the present invention.
Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (e.g., CD-ROMs, CD-R, CD-RWs, DVD-ROMs, DVD-RAMs, DVD-RWs, DVD+RWs), magnetic tapes, nonvolatile memory cards, and ROMs. Alternatively, the program code may be downloaded from a server computer by a communication network.
Further, it should be apparent that the functions of any 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 part or all of the actual operations based on the instructions of the program code.
Further, it is understood that the program code read out by the storage medium is written into a memory provided in an expansion board inserted into a computer or into a memory provided in an expansion module connected to the computer, and then a CPU or the like mounted on the expansion board or the expansion module is caused to perform part and all of actual operations based on instructions of the program code, thereby realizing the functions of any of the above embodiments.
It should be noted that not all the steps and modules in the above processes and the structure diagrams of the devices are necessary, and some steps or modules may be omitted according to actual needs. The execution sequence 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 multiple physical entities, or may be implemented jointly by some components in multiple independent devices. Wherein the device and the method for controlling the reciprocating motion of the equipment are based on the same invention conception.
In the above embodiments, the hardware module may be mechanically or electrically implemented. For example, a hardware module may include permanently dedicated circuitry or logic (e.g., a dedicated processor, FPGA, or ASIC) to perform the corresponding operations. The hardware modules 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 particular implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.
While the invention has been illustrated and described in detail in the drawings and in the preferred embodiments, the invention is not limited to the disclosed embodiments, and it will be appreciated by those skilled in the art that the code audits of the various embodiments described above may be combined to produce further embodiments of the invention, which are also within the scope of the invention.
Claims (15)
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| CN104133490A (en) * | 2014-07-28 | 2014-11-05 | 安徽马钢自动化信息技术有限公司 | Automatic position control method in automatic system of round billet roughing mill |
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| CN106444762A (en) * | 2016-10-18 | 2017-02-22 | 北京京东尚科信息技术有限公司 | Automatic guide transport vehicle AGV, and motion control method and apparatus thereof |
| CN109098696A (en) * | 2018-07-03 | 2018-12-28 | 深圳市蓝海华腾技术股份有限公司 | A kind of tower shelf type oil pumping machine position control method |
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