CN115167113A - Electric cylinder cooperative control method and device - Google Patents
Electric cylinder cooperative control method and device Download PDFInfo
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Abstract
The invention provides an electric cylinder cooperative control method and device, which can respectively determine control models of electric cylinders based on a preset displacement load spectrum, wherein each control model comprises a first control model and a second control model, and the displacement load spectrum represents the motion period of the electric cylinder, the target displacement of the electric cylinder and the waveform information for controlling the electric cylinder to switch between the first control model and the second control model. Two electronic jars are in different control models at the same moment, and first control model is based on the target displacement volume of electronic jar, the target elongation speed of an electronic jar of actual elongation output, adjusts the elongation speed of electronic jar according to the actual elongation speed of the electronic jar of gathering, the target elongation speed of electronic jar. The second control model outputs a target extension speed of the electric cylinder based on the target loading force, the real-time acquired actual loading force of the electric cylinder and the actual extension amount of the electric cylinder, wherein the target loading force is 0, and the compliance control of the electric cylinder is realized.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a cooperative control method and device for an electric cylinder.
Background
The electric cylinder is a modular product with an integrated design of a servo motor and a lead screw, and is increasingly applied to various control systems due to excellent dynamic response characteristics. With the increase of the complexity of the controlled object, a plurality of electric cylinders are usually required to work cooperatively to achieve the purpose of control.
Among them, the application of realizing the up-and-down alternate movement of both sides by simulating the action of stepping on the pedal by human legs is the most common. Accurate displacement control is respectively realized for the electric cylinders which need to be arranged on the left side and the right side of the application scene. In the prior art, displacement of the electric cylinders on two sides is controlled in a displacement closed-loop control mode. Pass through the actuating mechanism with the electronic jar of both sides and connect the back, because mechanical structure processing, the existence of link errors such as assembly, can make there be the clearance between the part, thereby lead to the inconsistent displacement variation volume of the electronic jar of the left and right sides, if when the electronic jar of left side extends 10cm, the electronic jar of right side should shorten 10cm, and because certain displacement distance has been offset in the existence in clearance, the distance that makes the electronic jar on right side shorten is less than 10cm, if 9.5cm, because displacement closed-loop control is all adopted to both sides, the electronic jar on right side can be because of shortening the distance and not reach 10cm and last afterburning, easily lead to actuating mechanism's deformation, cause the damage even.
Disclosure of Invention
In order to solve the problem that the executing mechanism is easy to deform and damage in the prior art, the invention provides an electric cylinder cooperative control method and device, which have the characteristics of avoiding damage to the executing mechanism while accurately controlling displacement and the like
According to a specific embodiment of the present invention, a cooperative control method for two electric cylinders is applied to two rigidly connected electric cylinders, and is used for implementing displacement control of the two electric cylinders, and the cooperative control method includes:
respectively determining control models of the electric cylinders based on preset displacement load spectrums, wherein the control models comprise a first control model and a second control model, and the displacement load spectrums represent the motion period of the electric cylinders, the target displacement of the electric cylinders and the waveform information for controlling the electric cylinders to switch between the first control model and the second control model;
the two electric cylinders are in different control models at the same time, the first control model outputs a target elongation speed of the electric cylinder based on the target displacement of the electric cylinder and the actual elongation of the electric cylinder, and the elongation speed of the electric cylinder is adjusted according to the collected actual elongation speed of the electric cylinder and the target elongation speed of the electric cylinder;
the second control model outputs the target extension speed of an electric cylinder based on the actual loading force of the electric cylinder, the actual extension amount of the electric cylinder, wherein the target loading force is 0, so as to ensure that the electric cylinder under the second control model is in a follow-up state, and in the same half motion period, the actual extension amount and the actual extension speed of the electric cylinder under different control models are opposite in the same direction.
Further, the electric cylinder cooperative control method further includes:
when the electric cylinder is switched out from the first control model, the other electric cylinder is switched into the first control model after delaying for a preset time.
Further, the first control model and the second control model each include: a PID control model, wherein the first control model comprises a first PID control model, the second control model comprises a second PID control model, inputs of the first PID control model comprise the target displacement and an actual elongation of a first side electric cylinder, and outputs of the first PID control model comprise a target elongation speed of the first electric cylinder;
the input of the second PID control model comprises a target loading force and an actual loading force of the second side electric cylinder, and the output of the second PID control model comprises a target extension speed of the second electric cylinder.
Further, the first control model includes: the input of the impedance model comprises the difference value between the target displacement and the actual elongation of the first side electric cylinder, the output of the impedance model comprises a loading force error, the input of the third PID control model comprises the loading force error, and the output of the third PID control model comprises the target elongation speed of the first electric cylinder.
Further, the second control model further comprises: an admittance control model, the input of which includes the target loading force of the second side electric cylinder and the difference of the actual loading force and the actual elongation of the second side electric cylinder, the output of which includes the target elongation rate of the second electric cylinder.
Further, the cooperative control method of the electric cylinder further includes:
adjusting the elongation speed of the first side electric cylinder based on a first PI control model, wherein the first PI control model inputs an actual elongation speed of the first side electric cylinder and a target elongation speed of the first electric cylinder and outputs a first current value;
adjusting the elongation speed of the second-side electric cylinder based on a second PI control model, wherein the input of the second PI control model comprises the actual elongation speed of the second-side electric cylinder and the target elongation speed of the second electric cylinder, and the output of the second PI control model comprises a second current value.
Further, the electric cylinder cooperative control method further includes:
adjusting the elongation speed of the first side electric cylinder based on a fourth PID control model, wherein the input of the fourth PID control model comprises the actual elongation speed of the first side electric cylinder and the target elongation speed of the first electric cylinder, and the output is a third current value.
Further, the cooperative control method of the electric cylinder further includes:
and adjusting the elongation speed of the second-side electric cylinder based on a fifth PID control model, wherein the input of the fifth PID control model comprises the actual elongation speed of the second-side electric cylinder and the target elongation speed of the second electric cylinder, and the output of the fifth PID control model is a fourth current value.
Further, the expression of the impedance model or the admittance control model comprises:
wherein, M d 、B d 、K d Inertia, damping and spring rate coefficients, respectively;
X (d) respectively the expected elongation acceleration, elongation speed and elongation displacement of the electric cylinder;
X (t) actual extension acceleration, extension speed and extension displacement, respectively; f (d) 、F (a) A desired loading force and an actual loading force;
in the impedance model, the difference value between the target displacement and the actual elongation of the electric cylinder is input, and the loading force error of the electric cylinder is output; in the admittance control model, the input is the difference value of the target loading force and the actual loading force of the electric cylinder, and the output is the expected speed of the electric cylinder, wherein the target loading force F (d) Is always 0.
According to a specific embodiment of the present invention, there is provided an electric cylinder cooperative control apparatus including:
the control module comprises a first control module and a second control module, wherein the displacement load spectrum represents the motion period of the electric cylinder, the target displacement of the electric cylinder and the waveform information for controlling the electric cylinder to switch between the first control module and the second control module; and
the first control model outputs a target extension speed of the electric cylinder based on the target displacement of the electric cylinder and the actual extension of the electric cylinder, and adjusts the extension speed of the electric cylinder according to the acquired actual extension speed of the electric cylinder and the target extension speed of the electric cylinder;
the second control model outputs the target extension speed of an electric cylinder based on the actual loading force of the electric cylinder, the actual extension amount of the electric cylinder, wherein the target loading force is 0, so as to ensure that the electric cylinder under the second control model is in a follow-up state, and in the same half motion period, the actual extension amount and the actual extension speed of the electric cylinder under different control models are opposite in the same direction.
The method for cooperatively controlling the electric cylinders can be applied to two rigidly connected electric cylinders and used for realizing displacement control of the two electric cylinders, and can comprise the steps of respectively determining control models of the electric cylinders based on preset displacement load spectrums, wherein the control models comprise a first control model and a second control model, and the displacement load spectrums represent the motion period of the electric cylinders, the target displacement of the electric cylinders and the waveform information for controlling the electric cylinders to be switched between the first control model and the second control model. Two electronic jars are in different control models at same moment, and first control model is based on the target displacement volume of electronic jar, the target elongation speed of an electronic jar of the actual elongation output, adjusts the elongation speed of electronic jar according to the actual elongation speed of the electronic jar of gathering, the target elongation speed of electronic jar. The second control model outputs a target extension speed of the electric cylinder based on the target loading force, the real loading force of the electric cylinder collected in real time and the real extension amount of the electric cylinder, wherein the target loading force is 0 to ensure that the electric cylinder under the second control model is in a follow-up state, and in the same half motion period, the actual extension amount and the actual extension speed of the electric cylinder under different control models are opposite in the same direction. The cooperative control method of the electric cylinders realizes that the electric cylinder on one side obtains the target moving speed by taking the target displacement and the real-time displacement of the electric cylinder on one side as input, and the moving speed of the electric cylinder is adjusted by taking the target moving speed and the actual moving speed as input to obtain the corresponding current value. And the other side takes the target moving speed after the inverse operation as an adjusting target, takes the target loading force and the real-time loading force as input, and adjusts the corresponding target moving speed by combining the actual moving speed under the condition that the loading force of the electric cylinder on the other side is zero, so that the speed of the electric cylinder on the other side is consistent with that of the electric cylinder on one side under the condition that the loading force is zero, and the electric cylinder on the other side is prevented from continuously outputting the loading force to deform the actuating mechanism.
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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 described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a block diagram of a prior art displacement closed-loop control provided in accordance with an exemplary embodiment;
FIG. 2 is a flow chart of an electric cylinder cooperative control method provided in accordance with an exemplary embodiment;
FIG. 3 is a displacement load spectrum of a one-sided electric cylinder provided in accordance with an exemplary embodiment;
FIG. 4 is a displacement load spectrum of the other side electric cylinder provided in accordance with an exemplary embodiment;
fig. 5 is a control block diagram of a first side electric cylinder employing an impedance control model and a second side electric cylinder employing an admittance control model provided in accordance with an exemplary embodiment;
fig. 6 is a control structure diagram of a first-side electric cylinder using an admittance control model and a second-side electric cylinder using an impedance control model according to an exemplary embodiment;
FIG. 7 is a block diagram of a first side electric cylinder employing position closed loop control and a second electric cylinder employing force closed loop control provided in accordance with an exemplary embodiment;
FIG. 8 is a block diagram of a first side electric cylinder employing closed-loop control of force and a second electric cylinder employing closed-loop control of position provided in accordance with an exemplary embodiment;
FIG. 9 is a schematic illustration of dead time provided in accordance with an exemplary embodiment;
fig. 10 is a structural diagram of an electric cylinder cooperative control apparatus provided in accordance with an example embodiment;
FIG. 11 is a block diagram of an apparatus provided in accordance with an example embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, in the control method in the prior art, displacement closed-loop control is adopted in electric cylinders on the left and right sides, each side is controlled by combining a position sensor and a force sensor, and when one side continuously outputs force due to the fact that closed-loop control of the position cannot be completed all the time, the loading force is borne by an actuating mechanism, so that deformation of parts of the actuating mechanism is caused, and even equipment is damaged.
In view of the defects of the existing control method, as shown in fig. 2, an embodiment of the present invention provides a cooperative control method for two electric cylinders, which can be applied to the two rigidly connected electric cylinders to implement displacement control of the two electric cylinders, and the method may include the following steps:
201. and respectively determining a control model of the electric cylinder based on a preset displacement load spectrum. The control model comprises a first control model and a second control model, wherein the displacement load spectrum represents the motion period of the electric cylinder, the target displacement of the electric cylinder and the waveform information for controlling the electric cylinder to switch between the first control model and the second control model.
Referring to fig. 3 and 4, a displacement load spectrum of the electric cylinder on the left and right sides is shown, taking a triangular displacement load spectrum as an example, where the abscissa is time and the ordinate is target elongation of the electric cylinder, and because the motion is symmetrical, the displacement load spectrum on one side can be obtained by inverting the displacement load spectrum on the other side, so that only the displacement load spectrum on any side needs to be obtained, and the corresponding displacement load spectrum on both sides is obtained, and the motion cycle of the electric cylinder, the target displacement (i.e., the target elongation), the target moving speed and other information in the motion cycle can be obtained from the displacement load spectrum. Of course, the displacement load spectrum is not limited to the triangular carrier, and may be any other type of carrier, and the invention is not limited thereto.
202. The two electric cylinders are in different control models at the same time, wherein the first control model outputs a target elongation speed of the electric cylinder based on the target displacement of the electric cylinder and the actual elongation of the electric cylinder, and adjusts the elongation speed of the electric cylinder according to the acquired actual elongation speed of the electric cylinder and the target elongation speed of the electric cylinder;
the second control model outputs a target extension speed of the electric cylinder based on the target loading force, the real loading force of the electric cylinder collected in real time and the real extension amount of the electric cylinder, wherein the target loading force is 0, so as to ensure that the electric cylinder under the second control model is in a follow-up state, and in the same half movement period, the real extension amount and the real extension speed of the electric cylinder under different control models are opposite in the same direction.
After the displacement load spectrum is obtained, the electric cylinders on the left side and the right side can be alternately controlled by different control models in the same half period when the electric cylinders operate according to the displacement load spectrum, so that the electric cylinders on the left side and the right side are always controlled by different control models.
The electric cylinder on the second side takes the target loading force as 0 as a target, takes the actual loading force of the electric cylinder on the second side and the actual moving speed of the electric cylinder as input, and adjusts the moving speed of the electric cylinder on the second side, so that the electric cylinder on the second side follows up under the condition of no output force, the electric cylinder on the other side realizes flexible control while the electric cylinder on one side accurately controls the displacement, and the damage to equipment caused by continuous force generation due to the fact that the electric cylinder is not moved in place is avoided.
As a possible implementation manner of the above embodiment, the first control model and the second control model may each include: a PID control model, wherein the first control model comprises a first PID control model and the second control model comprises a second PID control model. The input of the first PID control model comprises a target displacement and an actual extension of the first side electric cylinder, and the output of the first PID control model comprises a target extension speed of the first electric cylinder.
The input of the second PID control model comprises the target loading force and the actual loading force of the second side electric cylinder, and the output of the second PID control model comprises the target extension speed of the second electric cylinder.
Wherein, according to the actual elongation speed of the electronic jar of gathering, the target elongation speed of electronic jar adjusts the elongation speed of electronic jar in first control model, include:
adjusting the elongation speed of the first side electric cylinder based on a first PI control model, wherein the first PI control model inputs the actual elongation speed of the first side electric cylinder and the target elongation speed of the first electric cylinder and outputs a first current value;
and adjusting the elongation speed of the second-side electric cylinder in a second control model based on a second PI control model, wherein the input of the second PI control model comprises the actual elongation speed of the second-side electric cylinder and the target elongation speed of the second electric cylinder, and the output of the second PI control model comprises a second current value.
Specifically, referring to fig. 7 and 8, the first control model is formed by performing PID adjustment by using a PID control model with a target elongation speed input by a load spectrum and a real-time motion speed fed back by a position sensor as inputs, and further outputting a desired elongation speed, and forms an outer ring adjustment of a position, and the corresponding inner ring adjustment is performed by using a PI adjustment model with a real-time elongation speed output by the position sensor in real time and a desired elongation speed output after the PID adjustment as inputs, and a current value obtained by the PI adjustment controls a motor driver to adjust the elongation speed of the electric cylinder.
And for the second control model, PID (proportion integration differentiation) adjustment is carried out by taking the real-time movement speed and the loading force after direct inversion as input by a PID control model, the extension speed of the electric cylinder is kept consistent with that of the other side under the condition of ensuring that the output force of the electric cylinder is 0, outer ring control of the force is formed, the corresponding inner ring adjustment is also carried out by taking the real-time extension speed after inversion of the position sensor of the other side and the expected extension speed output after PID adjustment as input by a PI adjustment model, and the extension speed of the electric cylinder is adjusted by controlling a motor driver by a current value obtained through PI adjustment.
Therefore, the outer ring is a position closed ring or a force closed ring, the rotating speed of the motor driver is controlled by adjusting the output target extension speed to the current ring of the inner ring through the PI, the control of the left and right electric cylinders can be realized, and the continuous output condition is avoided.
It should be understood that PI regulation is used as a simplified control model based on PID regulation, and the PI regulation model may be replaced with a PID regulation model for control in specific implementation, and the present invention is not limited herein.
In another specific embodiment of the present invention, wherein the first control model may further be composed of an impedance model and a third PID control model, an input of the impedance model includes a difference between the target displacement amount and the actual elongation amount of the first side electric cylinder, an output of the impedance model includes a loading force error, an input of the third PID control model includes a loading force error, and an output of the third PID control model includes a target elongation speed of the first electric cylinder.
The second control model further comprises: the input of the admittance control model comprises the difference value of the target loading force and the actual loading force of the second-side electric cylinder and the actual elongation of the second-side electric cylinder, and the output of the admittance control model comprises the target elongation speed of the second electric cylinder.
The control method comprises the steps of adjusting the extension speed of the first side electric cylinder based on a fourth PID control model, inputting the fourth PID control model, outputting the input of the fourth PID control model to be a third current value, and inputting the target extension speed of the first side electric cylinder and the actual extension speed of the first side electric cylinder.
And adjusting the elongation speed of the second-side electric cylinder based on a fifth PID control model, wherein the input of the fifth PID control model comprises the actual elongation speed of the second-side electric cylinder and the target elongation speed of the second electric cylinder, and the output of the fifth PID control model is a fourth current value.
Specifically, referring to fig. 5 and 6, the inner loop of the control method is an impedance control model or an admittance control model, and the inner loop is a current control loop. The method belongs to two different working modes. The output quantity of the outer ring control logic is the expected value Speed _ DES of the elongation Speed of the electric cylinder, the inner ring is a Speed closed loop, the output quantity of the Speed closed loop is an analog quantity, and the output quantity is converted into a target current value inside a motor driver to control the motor to move.
When the left electric cylinder is the impedance control model, the right electric cylinder is the admittance control model. The displacement load spectrum of the electric cylinder under the impedance control model provides the target elongation Position-DES of the electric cylinder, the actual elongation of the electric cylinder is fed back in real time through a Position sensor on the cylinder body, a loading error is calculated based on the impedance control model, and the target moving speed of the electric cylinder is output to a speed closed-loop control system of an inner ring through the PID control model. Meanwhile, another electronic jar then is in under the control of admittance control model, through position sensor and force sensor with electronic jar loading power and displacement volume real-time collection, the electric jar's of position sensor real-time collection elongation (be real-time moving speed), the electric jar's of force sensor real-time collection loading power to calculate electronic jar target moving speed through admittance control model and give the electronic jar moving speed closed loop PID control model of inner ring and control. When the left electric cylinder is the admittance control model, the right electric cylinder is the impedance control model. And after the displacement load spectrum is inverted, the target elongation (target moving speed) of the right electric cylinder is given in real time, the actual elongation of the right electric cylinder is fed back in real time after being inverted by a position sensor of the left electric cylinder, the increment of the loading force is calculated based on the impedance control model, and the PID control model outputs the target elongation of the electric cylinder to the speed of the inner ring for closed-loop control and movement. And at the moment, the left electric cylinder is under the control of the admittance control model, the loading force and the displacement of the electric cylinder are collected in real time through the position sensor and the force sensor, and the rotation speed closed-loop control of the target rotation speed to the inner ring is calculated through the admittance control model.
The control of the impedance control model/admittance control model provided in the above embodiments can be designed by using a mathematical model of the mass-spring-damping system, and in general, the admittance controller can be designed by adjusting various parameters of the mass-spring-damping system to achieve desired dynamic characteristics and dynamic response effects. The impedance/admittance model expression is as follows:
in the formula, M d 、B d 、K d The inertia, damping and spring rate coefficients of the system are respectively;
X (d) are respectively asThe desired extension acceleration, extension speed, and extension displacement of the electric cylinder;
X (t) the actual extension acceleration, extension speed and extension displacement of the electric cylinder are respectively; f (d) 、F (a) The expected loading force and the actual loading force of the electric cylinder of the system.
For the impedance control model, the input is the difference between the target elongation and the actual elongation (i.e. the difference between the target speed and the real-time speed) of the electric cylinder, and the output is the loading force error of the electric cylinder. For the admittance control model, the input is the difference value (namely the loading force error) of the target loading force and the actual loading force of the electric cylinder, and the output is the expected speed of the electric cylinder, wherein the target loading force is constantly 0, so as to ensure that the electric cylinder under the admittance control is in a follow-up state.
In order to further optimize the technical solution, referring to fig. 9, the method for cooperative control of an electric cylinder according to the present invention further includes: when the electric cylinder is switched out from the first control model, another electric cylinder is switched into the first control model after delaying for a preset time.
Namely, when the application of the first control model or the second control model in the first half period is completed, the second control model or the first control model is correspondingly applied in the second half period after the preset time is prolonged.
Specifically, the preset time is not counted in the moving period, but is a dead time between two half periods of the moving period, i.e., a first half period and a second half period. The purpose of adding the dead time is to leave a certain redundancy to ensure that the left and right electric cylinders are not controlled by the same control model at the same time, so as to avoid the damage to the equipment. If no dead time is added, when the left electric cylinder is switched to the admittance control model from the control of the impedance control model for control, the right electric cylinder is also switched to the control of the impedance control model from the control of the admittance control model. Theoretically, the left and right electric cylinders are not under the control of the impedance control model at the same time. However, when the stability of the system is disturbed by the outside and the left side is not cut out from the impedance control model, the right side enters the mode of the impedance control model, the left electric cylinder and the right electric cylinder are in the active output state and output at the same time, and the instant overload of the force sensor can be caused. To avoid this, it is necessary to add dead time for buffering. The bold vertical line in fig. 9 is the dead time added during the first half cycle and the second half cycle, and when the control models are switched, the electric cylinder delays the dead time and then enters the control of the corresponding control model.
Based on the same design idea, referring to fig. 10, an embodiment of the present invention further provides an electric cylinder cooperative control apparatus for performing the steps of the electric cylinder cooperative control method provided by the above embodiment, where the apparatus may include:
the model selection module 1001 is used for determining control models of the electric cylinders respectively based on preset displacement load spectrums, each control model comprises a first control model and a second control model, and the displacement load spectrums represent the motion period of the electric cylinders, the target displacement of the electric cylinders and the waveform information for controlling the electric cylinders to switch between the first control model and the second control model. And
The second control model outputs a target extension speed of the electric cylinder based on the target loading force, the real loading force of the electric cylinder collected in real time and the real extension amount of the electric cylinder, wherein the target loading force is 0, so as to ensure that the electric cylinder under the second control model is in a follow-up state, and in the same half motion period, the real extension amount and the real extension speed of the electric cylinder under different control models are opposite in the same direction.
When the electric cylinder cooperative control device provided by the embodiment is implemented, the electric cylinder cooperative control device has the same beneficial effects as the electric cylinder cooperative control method provided by the embodiment, and the details are not repeated herein.
Referring to fig. 11, an embodiment of the present invention further provides an apparatus, including:
a memory 1101 and a processor 1102;
a memory 1101 for storing a program;
and a processor 1102 for executing a program to implement the steps of the electric cylinder cooperative control method according to the above embodiment.
The cooperative control method, the cooperative control device and the cooperative control equipment for the electric cylinders provided by the embodiment of the invention can realize that the electric cylinders on two sides can change the control mode at any time along with different loading waveforms, realize the alternate control effect that one side outputs force to move and the other side does not output force to follow, and the two electric cylinders share one position sensor, thereby reducing the cost and overcoming the defect that equipment is easy to damage due to inconsistent elongation of the left and right electric cylinders caused by errors in processing and assembling structural members of a system.
While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it will be appreciated by those skilled in the art that the claimed subject matter is not limited by the order of acts, as some steps may, in accordance with the claimed subject matter, occur in other orders and/or concurrently. Further, those skilled in the art will appreciate that the embodiments described in this specification are presently preferred and that no acts or modules are required by the invention.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device-like embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The steps in the method of each embodiment of the present invention may be sequentially adjusted, combined, and deleted according to actual needs, and the technical features described in each embodiment may be replaced or combined.
The modules and sub-modules in the device and the terminal of the embodiments of the present invention can be combined, divided and deleted according to actual needs.
In the embodiments provided in the present invention, it should be understood that the disclosed terminal, apparatus and method may be implemented in other ways. For example, the above-described terminal embodiments are merely illustrative, and for example, the division of a module or a sub-module is only one logical division, and there may be other divisions when the terminal is actually implemented, for example, a plurality of sub-modules or modules may be combined or integrated into another module, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
The modules or sub-modules described as separate components may or may not be physically separate, and the components described as modules or sub-modules may or may not be physical modules or sub-modules, may be located in one place, or may be distributed on a plurality of network modules or sub-modules. Some or all of the modules or sub-modules can be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, each functional module or sub-module in each embodiment of the present invention may be integrated into one processing module, or each module or sub-module may exist alone physically, or two or more modules or sub-modules may be integrated into one module. The integrated modules or sub-modules can be implemented in the form of hardware, and can also be implemented in the form of software functional modules or sub-modules.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software unit executed by a processor, or in a combination of the two. The software cells may be located in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
Finally, it should also be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A cooperative control method for two electric cylinders is characterized in that the cooperative control method is applied to two rigidly connected electric cylinders and used for realizing displacement control of the two electric cylinders, and comprises the following steps:
respectively determining control models of the electric cylinder based on a preset displacement load spectrum, wherein the control models comprise a first control model and a second control model, and the displacement load spectrum represents the motion cycle of the electric cylinder, the target displacement of the electric cylinder and the waveform information for controlling the electric cylinder to switch between the first control model and the second control model;
the two electric cylinders are in different control models at the same time, the first control model outputs a target elongation speed of the electric cylinder based on the target displacement of the electric cylinder and the actual elongation of the electric cylinder, and the elongation speed of the electric cylinder is adjusted according to the collected actual elongation speed of the electric cylinder and the target elongation speed of the electric cylinder;
the second control model outputs the target extension speed of the electric cylinder based on the target loading force, the actual loading force of the electric cylinder acquired in real time and the actual extension amount of the electric cylinder, wherein the target loading force is 0 to ensure that the electric cylinder under the second control model is in a follow-up state, and in the same half motion period, the actual extension amount and the actual extension speed of the electric cylinder under different control models are opposite in the same direction.
2. The method of claim 1, further comprising:
when the electric cylinder is switched out from the first control model, the other electric cylinder is switched into the first control model after delaying for a preset time.
3. The method of claim 1, wherein the first control model and the second control model each comprise: a PID control model, wherein the first control model comprises a first PID control model, the second control model comprises a second PID control model, inputs of the first PID control model comprise the target displacement and an actual elongation of a first side electric cylinder, and outputs of the first PID control model comprise a target elongation speed of the first electric cylinder;
the input of the second PID control model comprises a target loading force and an actual loading force of the second side electric cylinder, and the output of the second PID control model comprises a target extension speed of the second electric cylinder.
4. The method of claim 1, wherein the first control model comprises: the input of the impedance model comprises a difference value between the target displacement and the actual elongation of the first side electric cylinder, the output of the impedance model comprises a loading force error, the input of the third PID control model comprises the loading force error, and the output of the third PID control model comprises the target elongation speed of the first electric cylinder.
5. The method of claim 1, wherein the second control model further comprises: and the input of the admittance control model comprises a target loading force of the second side electric cylinder, a difference value of an actual loading force and an actual elongation of the second side electric cylinder, and the output of the admittance control model comprises a target elongation speed of the second electric cylinder.
6. The method of claim 3, further comprising:
adjusting the elongation speed of the first side electric cylinder based on a first PI control model, wherein the first PI control model inputs an actual elongation speed of the first side electric cylinder and a target elongation speed of the first electric cylinder and outputs a first current value;
adjusting the extension speed of the second side electric cylinder based on a second PI control model, wherein the input of the second PI control model comprises the actual extension speed of the second side electric cylinder and the target extension speed of the second side electric cylinder, and the output of the second PI control model comprises a second current value.
7. The method of claim 4, further comprising:
adjusting the elongation speed of the first side electric cylinder based on a fourth PID control model, wherein the input of the fourth PID control model comprises the actual elongation speed of the first side electric cylinder and the target elongation speed of the first electric cylinder, and the output of the fourth PID control model is a third current value.
8. The method of claim 5, further comprising:
and adjusting the elongation speed of the second-side electric cylinder based on a fifth PID control model, wherein the input of the fifth PID control model comprises the actual elongation speed of the second-side electric cylinder and the target elongation speed of the second electric cylinder, and the output of the fifth PID control model is a fourth current value.
9. The method of claim 4 or 5, wherein the expression of the impedance model or the admittance control model comprises:
wherein, M d 、B d 、K d Inertia, damping and spring rate coefficients, respectively;
X (d) respectively the expected elongation acceleration, elongation speed and elongation displacement of the electric cylinder;
X (t) actual extension acceleration, extension speed and extension displacement, respectively; f (d) 、F (a) A desired loading force and an actual loading force;
in the impedance model, the input is electricityOutputting the difference value between the target displacement and the actual elongation of the movable cylinder as the loading force error of the electric cylinder; in the admittance control model, the input is the difference value of the target loading force and the actual loading force of the electric cylinder, and the output is the expected speed of the electric cylinder, wherein the target loading force F (d) Is always 0.
10. An electric cylinder cooperative control apparatus characterized by comprising:
the model selection module is used for respectively determining control models of the electric cylinders based on preset displacement load spectrums, each control model comprises a first control model and a second control model, and the displacement load spectrums represent the motion period of the electric cylinders, the target displacement of the electric cylinders and the waveform information for controlling the electric cylinders to be switched between the first control model and the second control model; and
the first control model outputs a target extension speed of the electric cylinder based on the target displacement of the electric cylinder and the actual extension quantity of the electric cylinder, and adjusts the extension speed of the electric cylinder according to the acquired actual extension speed of the electric cylinder and the target extension speed of the electric cylinder;
the second control model outputs the target extension speed of the electric cylinder based on the target loading force, the actual loading force of the electric cylinder acquired in real time and the actual extension amount of the electric cylinder, wherein the target loading force is 0 to ensure that the electric cylinder under the second control model is in a follow-up state, and in the same half motion period, the actual extension amount and the actual extension speed of the electric cylinder under different control models are opposite in the same direction.
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