CN115328011A - Detection and calibration control method for stroke and position of operating mechanism - Google Patents
Detection and calibration control method for stroke and position of operating mechanism Download PDFInfo
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Abstract
The invention relates to the technical field of electrical control, in particular to a method for detecting, calibrating and controlling the stroke and the position of a running mechanism, which comprises the steps of marking the position of each calibration point of a position encoder according to the known distance interval; marking the position of a static magnetic grid calibration point corresponding to each calibration point of the position encoder; the PLC/controller detects the position encoder data and the static magnetic grid data of the operating mechanism, and calibrates the linear calculation relational expression of the position encoder and the stroke of the operating mechanism in real time in a signal edge triggering mode; and the PLC/controller accurately controls the preset target point of the operating mechanism according to the position of the operating mechanism calculated by the corresponding stroke relation. The technical scheme adopts the position encoder to combine the dual detection data of the static magnetic grid sensor to carry out real-time multi-point dynamic calibration and accurate control on the operating mechanism.
Description
Technical Field
The invention relates to the technical field of electrical control, in particular to a method for detecting, calibrating and controlling the stroke and position of an operating mechanism.
Background
The travel and position detection of the crane or other transport machinery operating mechanisms usually adopts a mode of 'wheels/rollers + encoders', but the detection cannot solve errors caused by slipping and abrasion, so the detection is mainly used for travel detection or travel deviation detection with low requirements on precision and reliability; in addition, the method adopts different forms of full stroke installation sensors to detect the stroke or stroke deviation, the detection precision is obviously improved, but the cost and the system complexity are increased, and part of detection methods have the defect of poor environmental adaptability. In view of the above, chinese patent document CN203889920U discloses a deviation rectification control device for a large-span gantry crane, which collects two position information of a position encoder and a deviation rectification position travel switch, and controls calibration and zero clearing through a processor, so as to eliminate short-distance accumulated errors. Because the detection of the position encoder belongs to indirect detection, the wheel is easy to slip and wear in the rotating process, in the long-distance detection, the position encoder cannot eliminate the accumulated deviation in time, the detection precision is lower and lower until the next calibration is cleared; moreover, if the running mechanism does not reciprocate but does not clear the zero point, the position encoder cannot be calibrated and cleared, and the accumulated deviation caused by slippage and abrasion cannot be eliminated; finally, the proximity switch has detection errors and is influenced by speed, and the accuracy of zero point calibration cannot be guaranteed. Based on the reasons, the correction control device of the large-span gantry crane cannot completely and effectively guarantee the detection precision and reliability of the position encoder.
Based on the defects of the prior art, chinese patent publication No. CN109883445A discloses a method for detecting and calibrating the stroke and position of an operating mechanism, which is used to overcome the corresponding defects, but the method also has the following defects:
1) The zero position of the operating mechanism is not modified after calibration. Therefore, the error caused by the slipping and the abrasion of the running mechanism can cause the drift of the reference zero point, the detection reference zero point of the running mechanism after the deviation is inconsistent with the actual reference zero point, and the influence of the drift of the reference zero point is generated when the stroke relational expression is calculated, so that the precision is reduced and the data near the reference zero point is abnormal;
2) And the relational expression of the position of the operating mechanism and the code value signal of the displacement encoder is determined by calculating L = Ln/(Xn-Xo) X-Ln X Xo/(Xn-Xo), wherein Ln is the position of the preset magnetic steel, and Xn is the code value signal value of the displacement encoder corresponding to the position of the preset magnetic steel. And the relation is deduced from a reference zero point L0=0, and the linear relation of calibration points except the reference zero point is corrected by adopting the multi-point preset magnetic steel position and the encoder code value. Because of the problem of data refresh period of the encoder and the static grid, the calibration point of the static grid cannot be accurately identified in the detection, but only a certain area near the calibration point, namely, a calibration area, can be identified, the calibration area is influenced by the speed of the operating mechanism, and the larger the speed area is, the larger the area is, the higher the fluctuation of data is, and the larger the error is after the calculation of the stroke relation is.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a method for detecting, calibrating and controlling the stroke and the position of a running mechanism, which is realized by the following technical scheme:
a detection and calibration control method for travel and position of a running mechanism comprises the following steps:
s1, mounting a position encoder on a wheel set of an operating mechanism, enabling the position encoder to synchronously rotate along with wheels, and detecting code value data of the position encoder in real time by utilizing a PLC (programmable logic controller);
s2, a plurality of magnetic steel position points are arranged at intervals in the length direction of the track at known distances, magnetic steel is installed on the ground below the track corresponding to the magnetic steel position points, a magnetic steel calibration point is determined according to the magnetic steel position points, and then a static magnetic grating sensor is installed at the lower end of a wheel set of the running mechanism;
s3, starting the running mechanism, marking the position of each calibration point of the position encoder based on the magnetic steel calibration point in the moving process of the running mechanism, and inputting the position data of each calibration point of the encoder into the PLC/controller; marking the position of a static magnetic grid calibration point corresponding to each calibration point of the position encoder, and inputting the position of each magnetic steel calibration point read by a static magnetic grid sensor into the PLC/controller;
s4, acquiring running mechanism position encoder data and static magnetic grid sensor data by using a PLC/controller, and calibrating a linear calculation relation of a running mechanism position encoder and an offset correction relation of the running mechanism position encoder in real time by adopting a signal edge triggering mode; the linear calculation relationship is determined by the position of a position encoder calibration point and the position of a magnetic steel calibration point which are arranged at the corresponding positions of the first magnetic steel and the last magnetic steel, and the offset correction relationship is determined by the position of a position encoder calibration point and the position of a magnetic steel calibration point which are arranged at the corresponding positions of the magnetic steels except the first magnetic steel and the last magnetic steel; during the period, when the static magnetic grid sensor passes through one magnetic steel, the position detected by the position encoder is calibrated once through the position of the static magnetic grid calibration point, and the relational expression between the position encoder and the stroke is updated, so that the detection, calibration and control of the stroke and the position of the operating mechanism are completed;
and S5, accurately controlling a preset target point of the operating mechanism by utilizing the operating mechanism position calculated by the PLC/controller according to the calibrated stroke relation of the position encoder.
Preferably, in the step S1, the position encoder is connected to the wheel set through a coupler, the wheel set drives the position encoder to rotate through the coupler, and the position encoder converts the rotation angle into a position variation of the operating mechanism.
Preferably, in step S3, the calibration point of the position encoder is a position of the position encoder, where the magnetic sensor is just below the static magnetic grating sensor in a stop state of the operating mechanism, the position encoder corresponds to the installation position of the magnetic steel, and the PLC/controller reads the code value signal of the current position encoder, that is, the code value signal value of the position encoder corresponding to the installation position of the current magnetic steel, that is, the calibration point position of the position encoder.
Preferably, in step S3, the static magnetic grid calibration point refers to that when the static magnetic grid sensor moves to a position right above the magnetic steel along with the operating mechanism, the vertical distance between the static magnetic grid sensor and the magnetic steel is 0-15 mm, the static magnetic grid sensor senses magnetic field information of the magnetic steel, the static magnetic grid sensor senses magnetic field signals at different positions on the body of the static magnetic grid sensor, and finally outputs specific calibration point data of the magnetic steel below the static magnetic grid sensor, and the static magnetic grid sensor reads magnetic steel calibration point data sensed by the static magnetic grid sensor, that is, the position of the static magnetic grid calibration point, according to the position of each calibration point of the position encoder.
Preferably, in step S4, a signal edge triggering mode is adopted, and when the stroke mechanism passes through the first magnetic steel, the linear calculation relation between the position encoder and the stroke calculated by the PLC/controller is as follows: y = k × X + b; wherein Y represents position data of the running gear; k and b are coefficients in a linear calculation relation; and X is code value data of the position encoder read by the PLC/controller.
Preferably, in step S4, when the stroke mechanism passes through the first magnetic steel, in the linear calculation relation,
M1＝L1+P1′-J1；
when the stroke mechanism passes through the last magnetic steel, in the linear calculation relation,
Mn＝Ln+Pn′-Jn；
ln is magnetic steel calibration point data of the nth magnetic steel, and M1 is an actual detection magnetic steel calibration point position of the 1 st magnetic steel; xn is code value data of a position encoder corresponding to the position of the calibration point of the marked nth magnetic steel, and n is equal to the total number of the magnetic steels; x1' is position encoder code value data read by the PLC/controller in real time when the travel mechanism reaches the 1 st magnetic steel calibration point; l1 is magnetic steel calibration point data of the 1 st magnetic steel, and P1' is static magnetic grid sensor position data read by the PLC/controller in real time when the stroke mechanism reaches the 1 st magnetic steel calibration point position; j1 is static magnetic grid sensor position data for marking the 1 st magnetic steel calibration point position; mn is the actual detection magnetic steel calibration point position of the nth magnetic steel; pn' is static magnetic grid sensor position data read by the PLC/controller in real time when the stroke mechanism reaches the nth magnetic steel calibration point position; jn is the static magnetic grid sensor position data for marking the calibration point position of the nth magnetic steel.
Preferably, in step S4, the offset amount correction relation between the position encoder and the stroke is:
Y＝k×X+b+ΔY；
ΔY＝Lm-Ym-Jm+Pm，1＜m＜n；
Δ Y is the offset of the position encoder from the stroke; ym is position encoder position data calculated by a PLC/controller through a linear calculation relation used when the stroke mechanism reaches the position of the mth magnetic steel calibration point, lm is magnetic steel calibration point data of the mth magnetic steel, pm' is static magnetic grid position data read by the PLC/controller in real time when the stroke mechanism reaches the position of the mth magnetic steel calibration point, and Jm is static magnetic grid position data marking the position of the mth magnetic steel calibration point.
The invention has the beneficial effects that:
1) The technical scheme includes that a PLC/controller is used for detecting position encoder data and static magnetic grid data of an operating mechanism, a signal edge triggering mode is adopted for calibrating a linear calculation relation of a position encoder of the operating mechanism in real time, and the linear calculation relation is determined by a position of a position encoder calibration point and a position of a magnetic steel calibration point which correspond to a first magnetic steel and a last magnetic steel; and calibrating the offset correction relation of the position encoder of the running mechanism in real time by adopting a signal edge triggering mode, wherein the offset correction relation is determined by the position of the position encoder calibration point corresponding to the magnetic steel in the middle part and the position of the magnetic steel calibration point. From this, this technical scheme adopts position encoder to combine the dual detection data of static magnetic grid sensor to carry out real-time multiple spot dynamic calibration and accurate control to operating device, still adopts two kinds of different position calibration mechanisms in addition, can effectively eliminate two big defect problems of corresponding prior art.
2) In the invention, because the magnetic steel position point, namely the magnetic steel calibration point, is fixed in advance, the error of the displacement encoder can be effectively corrected by knowing the fixed magnetic steel calibration point, and the relational expression of the position of the operating mechanism and the code value signal of the displacement encoder is corrected, thereby improving the precision of the displacement encoder; compared with other prior art, the double data of the displacement encoder and the static magnetic grid sensor are adopted to carry out real-time dynamic calibration and accurate control on the running mechanism, so that the detection precision and reliability are obviously improved, and the method has the characteristics of convenience in operation and good adaptability.
3) A plurality of magnetic steels are installed on the ground below the track along the preset position of the length direction of the track, the magnetic steels are close to one side of the rail web of the track, the displacement encoder is installed on the wheel of the running mechanism, and the static magnetic grid sensor is installed at the lower end of the frame of the running mechanism.
4) In the invention, when the static magnetic grid sensor passes through one magnetic steel, the position detected by the position encoder is calibrated once through the position of the static magnetic grid calibration point, the relational expression between the position encoder and the stroke is updated, and the like, the detection calibration control of the stroke and the position of the running mechanism is completed, and the deviation caused by the diameter abrasion change of the wheel and the running slip can be effectively eliminated through real-time calibration, so that the precision and the reliability of the position detection of the running mechanism can be obviously improved.
Drawings
FIG. 1 is a schematic diagram of the field implementation of the present solution;
FIG. 2 is a first magnetic steel calibration real-time diagram I;
FIG. 3 is a first magnetic steel calibration real-time diagram II;
FIG. 4 is a real-time calibration chart I of the last piece of magnetic steel;
FIG. 5 is a final magnetic steel calibration real-time diagram II;
FIG. 6 is a real-time calibration chart I of the magnetic steel in the middle part;
FIG. 7 is a real-time calibration chart II of the magnetic steel in the middle part;
FIG. 8 is a real-time graph III of the magnetic steel calibration of the middle part;
FIG. 9 is a real-time calibration graph IV of the magnetic steel in the middle part;
in the figure:
1. an operating mechanism; 2. a position encoder; 3. magnetic steel; 4. a static magnetic grid sensor; 5. a track.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention.
Thus, the following detailed description of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
Example 1
The embodiment discloses a method for detecting, calibrating and controlling the stroke and the position of an operating mechanism, which is a preferred implementation scheme of the invention and comprises the following steps of:
s1, as shown in figure 1, a position encoder is installed on a wheel set of a running mechanism and is enabled to rotate synchronously along with wheels, specifically, the position encoder is connected with the wheel set through a coupler, the wheel set drives the position encoder to rotate through the coupler, the position encoder converts a rotation angle into a position variation of the running mechanism, and then code value data of the position encoder is detected in real time through a PLC/controller.
And S2, as shown in the figure 1, arranging a plurality of magnetic steel position points at known intervals along the length direction of the track (as shown in the figure 1, the distance from L0 to L1, the distance from L1 to L2 and the like are consistent), installing magnetic steel on the ground below the track corresponding to the magnetic steel position points, determining a magnetic steel calibration point according to the magnetic steel position points, and then installing a static magnetic grid sensor at the lower end of a wheel set of the running mechanism.
S3, starting the running mechanism, marking the position of each calibration point of the position encoder based on the magnetic steel calibration point in the moving process of the running mechanism, and inputting the position data of each calibration point of the encoder into the PLC/controller; marking the static magnetic grid calibration point position corresponding to each calibration point position of the position encoder, and inputting each magnetic steel calibration point position read by the static magnetic grid sensor into the PLC/controller; the static magnetic grid sensor comprises a static magnetic grid source (magnetic steel) and a static magnetic grid ruler (static magnetic grid), and when the static magnetic grid source (magnetic steel) does non-contact relative motion along the axis of the static magnetic grid ruler, the static magnetic grid ruler (static magnetic grid) analyzes the digital position information.
S4, acquiring running mechanism position encoder data and static magnetic grid sensor data by using a PLC/controller, and calibrating a linear calculation relation of a running mechanism position encoder and an offset correction relation of the running mechanism position encoder in real time by adopting a signal edge triggering mode; the linear calculation relationship is determined by the position of a position encoder calibration point and the position of a magnetic steel calibration point which are arranged at the corresponding positions of the first magnetic steel and the last magnetic steel, and the offset correction relationship is determined by the position of a position encoder calibration point and the position of a magnetic steel calibration point which are arranged at the corresponding positions of the magnetic steels except the first magnetic steel and the last magnetic steel; during the period, when the static magnetic grid sensor passes through one magnetic steel, the position detected by the position encoder is calibrated once through the position of the static magnetic grid calibration point, the relational expression between the position encoder and the stroke is updated, and the detection, calibration and control of the stroke and the position of the operating mechanism are finished by analogy.
The edge triggers a transition from high level to low level, or vice versa, and this transition triggers a signaling action. The operating mechanism operates at a high speed, a signal processing period exists in the position encoder and the static magnetic grid sensor, the signal processing period may cause that the system cannot read data, namely, dead zones are generated, in order to eliminate the influence of the dead zones, calibration points of the static magnetic grid sensor are used as middle points, dead zone positions are arranged in front of and behind the calibration points, high levels are arranged outside the dead zone positions, and low levels are arranged inside the dead zone positions.
And S5, accurately controlling a preset target point of the operating mechanism by utilizing the operating mechanism position calculated by the PLC/controller according to the calibrated stroke relation of the position encoder.
The technical scheme includes that a PLC/controller is used for detecting position encoder data and static magnetic grid data of an operating mechanism, a signal edge triggering mode is adopted for calibrating a linear calculation relation of the position encoder of the operating mechanism in real time, and the linear calculation relation is determined by a position encoder calibration point position and a magnetic steel calibration point position which correspond to a first magnetic steel and a last magnetic steel; and calibrating the offset correction relation of the position encoder of the running mechanism in real time by adopting a signal edge triggering mode, wherein the offset correction relation is determined by the position of a position encoder calibration point and the position of a magnetic steel calibration point corresponding to the arranged middle part of magnetic steel (except the first magnetic steel and the last magnetic steel). In conclusion, the technical scheme adopts the position encoder to combine the dual detection data of the static magnetic grid sensor to carry out real-time multi-point dynamic calibration and accurate control on the operating mechanism, and in addition, two different position calibration mechanisms are adopted, so that two problems of defects in the corresponding prior art can be effectively solved.
Example 2
The embodiment discloses a method for detecting, calibrating and controlling the stroke and the position of an operating mechanism, which is a preferred implementation scheme of the invention and comprises the following steps of:
a detection and calibration control method for travel and position of a running mechanism is characterized by comprising the following steps:
s1, a position encoder is installed on a wheel set of an operating mechanism, the position encoder is enabled to rotate synchronously along with wheels, and code value data of the position encoder are detected in real time by a PLC/controller.
And S2, arranging a plurality of magnetic steel position points at intervals in the length direction of the track at known distances, installing magnetic steel on the ground below the track corresponding to the magnetic steel position points, determining a magnetic steel calibration point according to the magnetic steel position points, and then installing the static magnetic grating sensor at the lower end of a wheel set of the running mechanism.
And S3, starting the running mechanism, marking the position of each calibration point of the position encoder based on the magnetic steel calibration point in the moving process of the running mechanism, and inputting the position data of each calibration point of the encoder into the PLC/controller. And marking the position of the static magnetic grid calibration point corresponding to the position of each calibration point of the position encoder, and inputting the position of each magnetic steel calibration point read by the static magnetic grid sensor into the PLC/controller.
The calibration point of the position encoder is that under the stop state of the running mechanism, the magnetic steel is just positioned below the static magnetic grating sensor, the position encoder corresponds to the installation position of the magnetic steel, the PLC/controller reads the code value signal of the current position encoder, and the code value signal value of the position encoder corresponding to the installation position of the current magnetic steel is obtained, namely the position encoder calibration point position.
The static magnetic grid calibration point is that when the static magnetic grid sensor moves to the position right above the magnetic steel along with the running mechanism, the vertical distance between the static magnetic grid sensor and the magnetic steel is 0-15 mm, the static magnetic grid sensor senses the magnetic field information of the magnetic steel, the static magnetic grid sensor senses magnetic field signals at different positions on the body of the static magnetic grid sensor, and finally specific calibration point data of the magnetic steel below the static magnetic grid sensor is output, and the static magnetic grid sensor reads the magnetic steel calibration point data sensed by the static magnetic grid sensor according to the calibration point positions of the position encoder, namely the static magnetic grid calibration point position.
S4, acquiring running mechanism position encoder data and static magnetic grid sensor data by using a PLC/controller, and calibrating a linear calculation relation of a running mechanism position encoder and an offset correction relation of the running mechanism position encoder in real time by adopting a signal edge triggering mode; the linear calculation relationship is determined by the position of a position encoder calibration point and the position of a magnetic steel calibration point which are arranged corresponding to a first magnetic steel and a last magnetic steel, and the offset correction relationship is determined by the position of a position encoder calibration point and the position of a magnetic steel calibration point which correspond to a magnetic steel except the first magnetic steel and the last magnetic steel; during the period, when the static magnetic grid sensor passes through one magnetic steel, the position detected by the position encoder is calibrated once through the position of the static magnetic grid calibration point, the relational expression between the position encoder and the stroke is updated, and the detection, calibration and control of the stroke and the position of the operating mechanism are finished by analogy.
And S5, accurately controlling a preset target point of the operating mechanism by utilizing the operating mechanism position calculated by the PLC/controller according to the calibrated stroke relation of the position encoder.
Example 3
The embodiment discloses a method for detecting, calibrating and controlling the stroke and the position of a running mechanism, which is a preferable embodiment of the invention and comprises the following steps:
s1, a position encoder is installed on a wheel set of an operating mechanism, the position encoder is enabled to rotate synchronously along with wheels, and code value data of the position encoder are detected in real time by a PLC/controller.
And S2, arranging a plurality of magnetic steel position points at intervals in the length direction of the track at known distances, installing magnetic steel on the ground below the track corresponding to the magnetic steel position points, determining a magnetic steel calibration point according to the magnetic steel position points, and then installing the static magnetic grating sensor at the lower end of a wheel set of the running mechanism.
S3, starting the running mechanism, marking the position of each calibration point of the position encoder based on the magnetic steel calibration point in the moving process of the running mechanism, and inputting the position data of each calibration point of the encoder into the PLC/controller; and marking the static magnetic grid calibration point position corresponding to each calibration point position of the position encoder, and inputting the magnetic steel calibration point position read by the static magnetic grid sensor into the PLC/controller.
S4, acquiring running mechanism position encoder data and static magnetic grid sensor data by using a PLC/controller, and calibrating a linear calculation relation of a running mechanism position encoder and an offset correction relation of the running mechanism position encoder in real time by adopting a signal edge triggering mode; the linear calculation relationship is determined by the position of a position encoder calibration point and the position of a magnetic steel calibration point which are arranged at the corresponding positions of the first magnetic steel and the last magnetic steel, and the offset correction relationship is determined by the position of a position encoder calibration point and the position of a magnetic steel calibration point which are arranged at the corresponding positions of the magnetic steels except the first magnetic steel and the last magnetic steel; during the period, when the static magnetic grid sensor passes through one magnetic steel, the position detected by the position encoder is calibrated once through the position of the static magnetic grid calibration point, the relational expression between the position encoder and the stroke is updated, and the detection, calibration and control of the stroke and the position of the operating mechanism are finished by analogy.
Wherein, the signal edge is adopted to trigger, when the stroke mechanism passes through the first magnetic steel, the linear calculation relational expression of the position encoder and the stroke calculated by the PLC/controller is as follows: y = k × X + b; wherein Y represents position data of the running gear; k and b are coefficients in a linear calculation relation; and X is code value data of the position encoder read by the PLC/controller.
Further, based on the linear calculation relationship, when the stroke mechanism passes through the first magnetic steel, as shown in fig. 2 and 3, the linear calculation relationship includes the following calculation formula group one:
further, based on the above linear calculation relationship, when the stroke mechanism passes through the last magnetic steel, as shown in fig. 4 and 5, the following calculation formula group two is included in the linear calculation relationship:
ln is magnetic steel calibration point data of the nth magnetic steel, and M1 is an actual detection magnetic steel calibration point position of the 1 st magnetic steel; xn is position encoder code value data corresponding to the position of the calibration point of the marked nth piece of magnetic steel, and n is equal to the total number of the magnetic steel; x1' is position encoder code value data read by the PLC/controller in real time when the travel mechanism reaches the 1 st magnetic steel calibration point; l1 is magnetic steel calibration point data of the 1 st magnetic steel, and P1' is static magnetic grid sensor position data read by the PLC/controller in real time when the stroke mechanism reaches the 1 st magnetic steel calibration point position; j1 is static magnetic grid sensor position data for marking the 1 st magnetic steel calibration point position; mn is the actual detection magnetic steel calibration point position of the nth magnetic steel; pn' is static magnetic grating sensor position data read in real time by the PLC/controller when the stroke mechanism reaches the nth magnetic steel calibration point position; jn is the static magnetic grid sensor position data for marking the calibration point position of the nth magnetic steel block.
Further, the offset correction relation between the position encoder and the stroke is as follows:
Y＝k×X+b+ΔY；
wherein, the first and the second end of the pipe are connected with each other,
Δ Y is the offset of the position encoder from the stroke; ym is position encoder position data calculated by a PLC/controller through a linear calculation relation used when the stroke mechanism reaches the position of the mth magnetic steel calibration point, lm is magnetic steel calibration point data of the mth magnetic steel, pm' is static magnetic grid position data read by the PLC/controller in real time when the stroke mechanism reaches the position of the mth magnetic steel calibration point, and Jm is static magnetic grid position data marking the position of the mth magnetic steel calibration point.
The values of k and b in the offset correction relational expression of the position encoder and the stroke are determined by a calculation formula group I and a calculation formula group II in a linear calculation relational expression formula, and when the PLC/controller is calibrated to be the linear calculation relation of the 1 st magnetic steel, the values of k and b are determined by the calculation formula group I; and when the PLC/controller is calibrated to the linear calculation relation of the nth magnetic steel, k and b calculate a formula group II to determine.
And S5, accurately controlling a preset target point of the operating mechanism by utilizing the position of the operating mechanism calculated by the PLC/controller according to the stroke relation of the calibrated position encoder.
Claims (7)
1. A detection and calibration control method for travel and position of a running mechanism is characterized by comprising the following steps:
s1, mounting a position encoder on a wheel set of an operating mechanism, enabling the position encoder to synchronously rotate along with wheels, and detecting code value data of the position encoder in real time by utilizing a PLC (programmable logic controller);
s2, arranging a plurality of magnetic steel position points at intervals in the length direction of the track at known distances, installing magnetic steel on the ground below the track corresponding to the magnetic steel position points, determining magnetic steel calibration points according to the magnetic steel position points, and installing a static magnetic grid sensor at the lower end of a wheel set of the running mechanism;
s3, starting the running mechanism, marking the position of each calibration point of the position encoder based on the magnetic steel calibration point in the moving process of the running mechanism, and inputting the position data of each calibration point of the encoder into the PLC/controller; marking the static magnetic grid calibration point position corresponding to each calibration point position of the position encoder, and inputting each magnetic steel calibration point position read by the static magnetic grid sensor into the PLC/controller;
s4, acquiring running mechanism position encoder data and static magnetic grid sensor data by using a PLC/controller, and calibrating a linear calculation relation of a running mechanism position encoder and an offset correction relation of the running mechanism position encoder in real time by adopting a signal edge triggering mode; the linear calculation relationship is determined by the position of a position encoder calibration point and the position of a magnetic steel calibration point which are arranged at the corresponding positions of the first magnetic steel and the last magnetic steel, and the offset correction relationship is determined by the position of a position encoder calibration point and the position of a magnetic steel calibration point which are arranged at the corresponding positions of the magnetic steels except the first magnetic steel and the last magnetic steel; during the period, when the static magnetic grid sensor passes through one magnetic steel, the position detected by the position encoder is calibrated once through the position of the static magnetic grid calibration point, and the relational expression between the position encoder and the stroke is updated, so that the detection, calibration and control of the stroke and the position of the operating mechanism are completed;
and S5, accurately controlling a preset target point of the operating mechanism by utilizing the position of the operating mechanism calculated by the PLC/controller according to the stroke relation of the calibrated position encoder.
2. A method for detecting and calibrating the stroke and position of an operating mechanism as claimed in claim 1, wherein: in the step S1, the position encoder is connected to the wheel set through the coupling, the wheel set drives the position encoder to rotate through the coupling, and the position encoder converts the rotation angle into a position variation of the operating mechanism.
3. A method for detecting, calibrating and controlling the stroke and position of an operating mechanism according to claim 1, wherein: in the step S3, the calibration point of the position encoder refers to the mounting position of the position encoder corresponding to the magnetic steel when the running mechanism is in a stopped state and the magnetic steel is just below the static magnetic grating sensor, and the PLC/controller reads the code value signal of the current position encoder to obtain the code value signal value of the position encoder corresponding to the mounting position of the current magnetic steel, that is, the calibration point position of the position encoder.
4. A method for detecting and calibrating the stroke and position of an operating mechanism as claimed in claim 1, wherein: in the step S3, the static magnetic grid calibration point refers to a position of the magnetic steel calibration point sensed by the static magnetic grid sensor, which is a position of the static magnetic grid calibration point, and is read according to the position of each calibration point of the position encoder.
5. A method for detecting and calibrating the stroke and position of an operating mechanism as claimed in claim 1, wherein: in the step S4, a signal edge triggering mode is adopted, and when the stroke mechanism passes through the first magnetic steel, the linear calculation relation between the position encoder and the stroke calculated by the PLC/controller is as follows: y = k × X + b; wherein Y represents position data of the running gear; k and b are coefficients in a linear calculation relation; and X is code value data of the position encoder read by the PLC/controller.
6. The control method for detecting and calibrating the stroke and the position of the operating mechanism according to claim 5, wherein: in step S4, when the stroke mechanism passes through the first magnetic steel, in the linear calculation relational expression,
M1＝L1+P1′-J1；
when the stroke mechanism passes through the last magnetic steel, in the linear calculation relational expression,
Mn＝Ln+Pn′-Jn；
ln is magnetic steel calibration point data of the nth magnetic steel, and M1 is an actual detection magnetic steel calibration point position of the 1 st magnetic steel; xn is code value data of a position encoder corresponding to the position of the calibration point of the marked nth magnetic steel, and n is equal to the total number of the magnetic steels; x1' is position encoder code value data read by the PLC/controller in real time when the travel mechanism reaches the 1 st magnetic steel calibration point; l1 is magnetic steel calibration point data of the 1 st magnetic steel, and P1' is static magnetic grid sensor position data read by the PLC/controller in real time when the stroke mechanism reaches the 1 st magnetic steel calibration point position; j1 is static magnetic grid sensor position data for marking the position of the 1 st magnetic steel calibration point; mn is the actual detection magnetic steel calibration point position of the nth magnetic steel; pn' is static magnetic grid sensor position data read by the PLC/controller in real time when the stroke mechanism reaches the nth magnetic steel calibration point position; jn is the static magnetic grid sensor position data for marking the calibration point position of the nth magnetic steel.
7. The method for detecting and calibrating the stroke and the position of the operating mechanism according to claim 6, wherein: in step S4, the offset correction relation between the position encoder and the stroke is as follows:
Y＝k×X+b+ΔY；
ΔY＝Lm-Ym-Jm+Pm，1＜m＜n；
Δ Y is the offset of the position encoder from the stroke; ym is position encoder position data calculated by the PLC/controller through a linear calculation relation used when the stroke mechanism reaches the position of the mth magnetic steel calibration point, lm is magnetic steel calibration point data of the mth magnetic steel, pm' is static magnetic grid position data read in real time by the PLC/controller when the stroke mechanism reaches the position of the mth magnetic steel calibration point, and Jm is static magnetic grid position data marking the position of the mth magnetic steel calibration point.
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| CN115993104A (en) * | 2023-03-23 | 2023-04-21 | 杭州百子尖科技股份有限公司 | Method for positioning thickness measuring defect code spraying of new energy battery pole piece production line |
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| CN115993104A (en) * | 2023-03-23 | 2023-04-21 | 杭州百子尖科技股份有限公司 | Method for positioning thickness measuring defect code spraying of new energy battery pole piece production line |
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