CN114408148A - Throttle control system and method for power unit of pontoon bridge - Google Patents
Throttle control system and method for power unit of pontoon bridge Download PDFInfo
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- CN114408148A CN114408148A CN202111567787.6A CN202111567787A CN114408148A CN 114408148 A CN114408148 A CN 114408148A CN 202111567787 A CN202111567787 A CN 202111567787A CN 114408148 A CN114408148 A CN 114408148A
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000006243 chemical reaction Methods 0.000 claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 230000004044 response Effects 0.000 abstract description 3
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
- B63H21/213—Levers or the like for controlling the engine or the transmission, e.g. single hand control levers
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D15/00—Movable or portable bridges; Floating bridges
- E01D15/14—Floating bridges, e.g. pontoon bridges
- E01D15/145—Floating bridges, e.g. pontoon bridges displaceable or with sections movable to allow passing of water-borne traffic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
- B63H2021/216—Control means for engine or transmission, specially adapted for use on marine vessels using electric control means
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
Abstract
The invention relates to the technical field of emergency equipment, and discloses a system and a method for controlling an accelerator of a power unit of a pontoon bridge, wherein the target position of the power unit is determined through a differential positioning module, and the current position is measured; receiving the target position and the current position through a comparison and judgment module, obtaining a deviation value of the target position and the current position, comparing the deviation value with a set steady-state error, and outputting a comparison result to a position controller; outputting the current position to a conversion module by a position controller according to the received comparison result when the comparison result does not meet the requirement; converting the current position into a target rotating speed through a conversion module; detecting the current rotating speed of the servo motor through a rotating speed feedback module; and receiving the target rotating speed and the current rotating speed through a PID control module, obtaining a speed difference value, carrying out PID operation, continuously adjusting to enable the speed difference value to be zero, outputting a speed adjusting signal, controlling the servo motor to run to reach the target speed, and driving the accelerator actuating mechanism to act. The invention can improve the response speed and the positioning precision.
Description
Technical Field
The invention relates to the technical field of emergency equipment, in particular to a system and a method for controlling an accelerator of a power unit of a pontoon bridge.
Background
The pontoon bridge is used as emergency engineering equipment, the working environment is extremely complex, the requirement on the operation time is strict, and the conventional control mode of the accelerator of the power unit is that a driver operates the pontoon bridge through a pedal or a handle, and the rotating speed of a main engine of the power unit needs to be manually increased or decreased in real time according to the actual situation, so that the navigation speed and the position of the pontoon bridge are adjusted. In the above occasions, the operator needs to control the state of the accelerator by manpower constantly and act at any time so as to be convenient for adjustment, and the original mechanism and control method are not suitable for the occasions needing to remotely control or automatically adjust the accelerator.
The accelerator actuator is an important part of the power unit and is used to control the opening of the accelerator. The traditional accelerator actuating mechanism mainly uses a push rod type and a chain type, the push rod type accelerator actuator driven by a traditional motor can generate amplified shaking, and the power output of the pontoon bridge is unstable. The throttle actuating mechanism adopting the chain transmission mode has lower positioning precision and limited response speed.
Disclosure of Invention
The invention aims to provide a control system and a control method for a power unit throttle of a pontoon bridge, aiming at solving the technical problems in the prior art, and the control system and the control method can realize automatic control on the power unit throttle and have high reliability in control response speed and positioning precision.
In order to solve the problems proposed above, the technical scheme adopted by the invention is as follows:
the invention provides a throttle control system of a power unit of a pontoon bridge, which comprises a differential positioning module, a comparison and judgment module, a position controller, a conversion module, a PID (proportion integration differentiation) control module, a rotating speed feedback module, a throttle actuating mechanism and a servo motor, wherein the comparison and judgment module, the position controller, the conversion module, the PID control module, the rotating speed feedback module and the throttle actuating mechanism are arranged on the power unit;
the differential positioning module is used for determining the target position of the power unit and measuring the current position of the power unit;
the comparison and judgment module receives the target position and the current position of the power unit, obtains a deviation value of the target position and the current position, compares the deviation value with a set steady-state error, and outputs a comparison result to the position controller;
the position controller controls the self-locking of the servo motor when the comparison result meets the requirement according to the received comparison result; when the current position does not meet the requirement, the current position is output to a conversion module;
the conversion module converts the current position into a target rotating speed; the rotating speed feedback module detects the current rotating speed of the servo motor;
and the PID control module receives the target rotating speed and the current rotating speed, obtains a speed difference value of the target rotating speed and the current rotating speed, performs PID operation, continuously adjusts the speed difference value to be zero, outputs a speed adjusting signal, controls the servo motor to run to reach the target speed, drives the accelerator actuating mechanism to act, and adjusts the position of the pontoon bridge.
Further, the position controller controls the servo motor to self-lock if the deviation value is smaller than the steady-state error according to the comparison result of the received deviation value and the steady-state error; and if the deviation value is larger than the steady-state error, outputting the current position of the power unit to a conversion module.
Furthermore, the control system also comprises a current amplifier which is used for receiving the speed adjusting signal output by the PID control module, converting the speed adjusting signal into a current signal and outputting the current signal to the servo motor.
Furthermore, the differential positioning module comprises a satellite and a base station, and a receiver of the power unit is in radio communication with the satellite and the base station respectively, sends a signal to the satellite and sends a position coordinate to the base station; and the base station receives the signal fed back by the satellite, obtains the current position according to the received position coordinate of the power unit and also determines the target position of the power unit.
Furthermore, the accelerator actuating mechanism further comprises a guide pipe, a linear actuating assembly and an accelerator pull rod, wherein the power output end of the servo motor is connected with the power input end of the linear actuating assembly, the linear actuating assembly is connected with the guide pipe, the guide pipe is connected with the accelerator pull rod, and the accelerator pull rod controls the opening degree of the accelerator.
Further, the linear executing assembly is matched with a gear and a rack, the gear is connected with the servo motor, and the rack is connected with the guide pipe.
The invention also provides a control method of the throttle of the power unit of the pontoon bridge, which comprises the following steps:
when the pontoon bridge starts to be erected, the control system is powered on, the servo motor is reset, and a control instruction is waited;
the differential positioning module determines the target position of the power unit and measures the current position of the power unit;
the comparison and judgment module receives the current position and the target position, obtains a deviation value of the current position and the target position, and compares the deviation value with a set steady-state error;
judging whether the deviation value is larger than the steady-state error or not, and if not, controlling the self-locking of the servo motor by the position controller; if yes, the position controller outputs the current position to the conversion module;
the conversion module converts the current position of the power unit into a target rotating speed; the rotating speed feedback module detects the current rotating speed of the servo motor;
the PID control module receives the target rotating speed and the current rotating speed, obtains a speed difference value of the target rotating speed and the current rotating speed, performs PID operation adjustment on the speed difference value to zero, and outputs a speed adjustment signal to the servo motor;
and the servo motor operates to reach the target speed according to the speed adjusting signal, drives the accelerator actuating mechanism to act and adjusts the pontoon bridge to move to the target position.
Compared with the prior art, the invention has the beneficial effects that:
the invention can reliably realize the speed control of the servo motor and further realize the control of the accelerator through the comparison and judgment module, the position controller, the conversion module, the PID control module and the rotating speed feedback module which are arranged on the power unit, and can drive the adjustment of the position of the pontoon bridge through the pontoon bridge engine.
Drawings
In order to illustrate the solution of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are some embodiments of the invention, and that other drawings may be derived from these drawings by a person skilled in the art without inventive effort. Wherein:
FIG. 1 is a schematic diagram of the throttle control system of the power unit of the pontoon bridge according to the invention.
FIG. 2 is a partial schematic view of the throttle control system of the power unit of the pontoon bridge according to the invention.
FIG. 3 is a schematic diagram of a differential positioning module according to the present invention.
FIG. 4 is a schematic structural diagram of the throttle actuator of the present invention.
FIG. 5 is a flow chart of the throttle control method of the power unit of the pontoon bridge according to the invention.
The reference numerals are explained below: the system comprises a 1-guide pipe, a 2-linear executing assembly, a 3-servo motor, a 4-accelerator pull rod, a 10-satellite, a 20-base station, a 30-power unit, a 40-receiver, a 50-differential positioning module, a 60-comparison judging module, a 70-position controller, an 80-conversion module, a 90-PID control module, a 100-rotating speed feedback module and a 110-current amplifier.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs; the terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention, e.g., the terms "length," "width," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc., refer to an orientation or position based on that shown in the drawings, are for convenience of description only and are not to be construed as limiting of the present disclosure.
The terms "including" and "having," and any variations thereof, in the description and claims of this invention and the description of the above figures are intended to cover non-exclusive inclusions; the terms "first," "second," and the like in the description and in the claims, or in the drawings, are used for distinguishing between different objects and not necessarily for describing a particular sequential order. In the description and claims of the present invention and in the description of the above figures, when an element is referred to as being "fixed" or "mounted" or "disposed" or "connected" to another element, it may be directly or indirectly located on the other element. For example, when an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element.
Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1, the invention provides a throttle control system of a power unit of a pontoon bridge, which comprises a differential positioning module 50, a comparison and judgment module 60 arranged on the power unit 30, a position controller 70, a conversion module 80, a PID control module 90, a rotating speed feedback module 100, a throttle actuating mechanism and a servo motor 3 positioned on the throttle actuating mechanism.
The differential positioning module 50 is used to determine the precise target location of the power unit 30 and to instantaneously determine the current location of the power unit 30.
The comparing and determining module 60 receives the target position and the current position of the power unit 30 and obtains a deviation value therebetween, compares the deviation value with a set steady-state error, and outputs the comparison result to the position controller 70.
The position controller 70 controls the self-locking of the servo motor 3 of the throttle actuator when the comparison result meets the requirement according to the received comparison result, and completes the position control; if the requirements are not met, the current position of the power unit 10 is output to the switching module 80 and enters the speed control loop.
The conversion module 80 converts the current position of the power unit 10 to a target rotational speed and outputs the target rotational speed to the PID control module 90.
The rotating speed feedback module 100 is used for detecting the current rotating speed of the servo motor 3 on the accelerator actuating mechanism and outputting the current rotating speed to the PID control module 90.
The PID control module 90 performs PID operation on the speed difference between the target rotation speed and the current rotation speed, continuously adjusts the speed difference until the speed difference is zero, outputs a speed adjustment signal, controls the servo motor 3 to operate until the target speed is reached, drives the accelerator actuator to act, and adjusts the pontoon bridge to move to the target position.
In the speed control loop of the embodiment, the PID control module 90 drives the accelerator actuator to operate to obtain an accelerator signal by controlling the target speed of the servo motor 3, and converts the accelerator signal into power of the pontoon engine, so as to drive the pontoon to move and change the position of the pontoon, i.e. adjust the pontoon to move to the target position, thereby completing the position control by speed control.
Further, the position controller 70 controls the servo motor to self-lock and complete the position control if the offset value is smaller than the set steady-state error (i.e. the offset value | Δ Y | ≦ 100mm) according to the comparison result between the received offset value and the set steady-state error; if the deviation value is greater than the set steady state error, the current position of the power unit 10 is output to the conversion module 80 and enters a speed control loop.
Further, referring to fig. 2, the control system further includes a current amplifier 110, configured to receive the speed adjustment signal output by the PID control module 90, convert the speed adjustment signal into a current signal, and output the current signal to the servo motor 3.
Further, referring to fig. 3, the differential positioning module includes a satellite 10 and a base station 20, and the receiver 40 of the power unit 30 performs radio communication with the satellite 10 and the base station 20, respectively, transmits a signal to the satellite 10, and transmits a position coordinate to the base station 20; the base station 20 receives the signals fed back by the satellite 10, obtains the current position according to the received position coordinates of the power unit 30, and determines the target position of the power unit 30.
In this embodiment, the power unit 30 is located on the pontoon bridge, the position change of the power unit 30 is equal to the position change of the pontoon bridge, and the current position and the target position of the power unit 30 can be obtained by acquiring the current position and the target position of the pontoon bridge. The position coordinates of the power unit 30 are received by the base station 20, and since the reference coordinates of the base station 20 are known and accurate, the relative positions of the base station 20 and the power unit 30 can be obtained according to the signals sent by the power unit 30 fed back by the satellite 10, that is, the current position of the power unit 30 can be accurately measured, so that the power unit 30 can be accurately positioned by the satellite 10 and the base station 20, and the reliability and effectiveness of the control system can be ensured.
Further, referring to fig. 4, the accelerator actuator of the power unit 30 includes a guide pipe 1, a linear actuator 2, a servo motor 3 and an accelerator pull rod 4, a power output end of the servo motor 3 is connected to a power input end of the linear actuator, the linear actuator is connected to the guide pipe 1, the guide pipe 1 is connected to the accelerator pull rod 4, and the accelerator pull rod 4 controls the opening degree of the accelerator.
Further, the linear executing component 2 is matched with a gear and a rack, the gear is connected with the servo motor 3, and the rack is connected with the guide pipe 1.
In the embodiment, the rotation torque of the servo motor 3 is converted into a control signal of the accelerator, that is, the rotation of the servo motor 3 is converted into the linear motion of the rack on the linear executing component 2, and the rack is connected with the accelerator pull rod 4 through the conduit 1, that is, the linear motion of the rack can drive the accelerator pull rod 4 to move, so that the opening of the accelerator is controlled, the rotation speed of the pontoon bridge engine is changed, and the pontoon bridge is driven to move, and the operation is simple and reliable.
Referring to fig. 5, the invention further provides a control method of the throttle of the power unit of the pontoon bridge, which comprises the following specific steps:
step S1: when the pontoon bridge is erected, the control system is powered on, the servo motor 3 is reset, and a control command is waited, namely a pontoon bridge position adjusting command is carried out.
Step S2: the differential positioning module 50 determines the precise target location of the power unit 30 and determines the current location of the power unit 30.
Step S3: the comparing and determining module 60 receives the current position and the target position, obtains a deviation value of the current position and the target position, and compares the deviation value with the set steady-state error.
Step S4: judging whether the deviation value is larger than the steady-state error or not, if the deviation value is smaller than or equal to the steady-state error, controlling the servo motor 3 to carry out self-locking by the position controller 70, and finishing position control; and if the error is larger than the steady-state error, entering a speed control loop and executing the next step.
Step S5: the position controller 70 outputs the current position of the power unit 10 to the conversion module 80, and the conversion module 80 converts the current position into a target rotation speed and outputs the target rotation speed to the PID control module 90; meanwhile, the rotating speed feedback module 100 detects the current rotating speed of the servo motor 3 and outputs the current rotating speed to the PID control module 90;
step S6: the PID control module 90 receives the target rotation speed and the current rotation speed and obtains a speed difference value between the target rotation speed and the current rotation speed, performs PID operation adjustment on the speed difference value to reach that the speed difference value is zero, and outputs a speed adjustment signal to the servo motor 3.
Step S7: and the servo motor 3 operates to reach the target speed according to the speed adjusting signal, drives the accelerator actuating mechanism to act and adjusts the pontoon bridge to move to the target position. Returning to step S2, the current position is acquired again, and the position control process is performed.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (7)
1. The throttle control system of the power unit of the pontoon bridge is characterized in that: the control system comprises a differential positioning module, a comparison and judgment module, a position controller, a conversion module, a PID control module, a rotating speed feedback module, an accelerator actuating mechanism and a servo motor, wherein the comparison and judgment module, the position controller, the conversion module, the PID control module, the rotating speed feedback module and the accelerator actuating mechanism are arranged on a power unit;
the differential positioning module is used for determining the target position of the power unit and measuring the current position of the power unit;
the comparison and judgment module receives the target position and the current position of the power unit, obtains a deviation value of the target position and the current position, compares the deviation value with a set steady-state error, and outputs a comparison result to the position controller;
the position controller controls the self-locking of the servo motor when the comparison result meets the requirement according to the received comparison result; when the current position does not meet the requirement, the current position is output to a conversion module;
the conversion module converts the current position into a target rotating speed; the rotating speed feedback module detects the current rotating speed of the servo motor;
and the PID control module receives the target rotating speed and the current rotating speed, obtains a speed difference value of the target rotating speed and the current rotating speed, performs PID operation, continuously adjusts the speed difference value to be zero, outputs a speed adjusting signal, controls the servo motor to run to reach the target speed, drives the accelerator actuating mechanism to act, and adjusts the position of the pontoon bridge.
2. The wippen power unit throttle control system of claim 1, wherein: the position controller controls the servo motor to self-lock if the deviation value is smaller than the steady-state error according to the comparison result of the received deviation value and the steady-state error; and if the deviation value is larger than the steady-state error, outputting the current position of the power unit to a conversion module.
3. The wippen power unit throttle control system of claim 1, wherein: the control system also comprises a current amplifier which is used for receiving the speed adjusting signal output by the PID control module, converting the speed adjusting signal into a current signal and outputting the current signal to the servo motor.
4. The wippen power unit throttle control system of claim 1, wherein: the differential positioning module comprises a satellite and a base station, and a receiver of the power unit is in radio communication with the satellite and the base station respectively, sends signals to the satellite and sends position coordinates to the base station; and the base station receives the signal fed back by the satellite, obtains the current position according to the received position coordinate of the power unit and also determines the target position of the power unit.
5. The wippen power unit throttle control system of claim 1, wherein: the accelerator actuating mechanism further comprises a guide pipe, a linear actuating assembly and an accelerator pull rod, wherein the power output end of the servo motor is connected with the power input end of the linear actuating assembly, the linear actuating assembly is connected with the guide pipe, the guide pipe is connected with the accelerator pull rod, and the accelerator pull rod controls the opening degree of the accelerator.
6. The wippen power unit throttle control system of claim 5, wherein: the linear executing assembly is matched with a gear and a rack, the gear is connected with the servo motor, and the rack is connected with the guide pipe.
7. A control method of the throttle control system of the pontoon bridge power unit according to any one of claims 1-6, characterized in that: the control method comprises the following specific steps:
when the pontoon bridge starts to be erected, the control system is powered on, the servo motor is reset, and a control instruction is waited;
the differential positioning module determines the target position of the power unit and measures the current position of the power unit;
the comparison and judgment module receives the current position and the target position, obtains a deviation value of the current position and the target position, and compares the deviation value with a set steady-state error;
judging whether the deviation value is larger than the steady-state error or not, and if not, controlling the self-locking of the servo motor by the position controller; if yes, the position controller outputs the current position to the conversion module;
the conversion module converts the current position of the power unit into a target rotating speed; the rotating speed feedback module detects the current rotating speed of the servo motor;
the PID control module receives the target rotating speed and the current rotating speed, obtains a speed difference value of the target rotating speed and the current rotating speed, performs PID operation adjustment on the speed difference value to zero, and outputs a speed adjustment signal to the servo motor;
and the servo motor operates to reach the target speed according to the speed adjusting signal, drives the accelerator actuating mechanism to act and adjusts the pontoon bridge to move to the target position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111567787.6A CN114408148A (en) | 2021-12-20 | 2021-12-20 | Throttle control system and method for power unit of pontoon bridge |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111567787.6A CN114408148A (en) | 2021-12-20 | 2021-12-20 | Throttle control system and method for power unit of pontoon bridge |
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| CN114408148A true CN114408148A (en) | 2022-04-29 |
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