CN115793720A

CN115793720A - Method, device and equipment for controlling position of swing rod and storage medium

Info

Publication number: CN115793720A
Application number: CN202211600582.8A
Authority: CN
Inventors: 吴志敏
Original assignee: Shenzhen Inovance Technology Co Ltd
Current assignee: Shenzhen Inovance Technology Co Ltd
Priority date: 2022-12-12
Filing date: 2022-12-12
Publication date: 2023-03-14

Abstract

The application discloses a method, a device, equipment and a storage medium for controlling the position of a swing rod, wherein the method for controlling the position of the swing rod comprises the following steps: acquiring position feedback and a target position of the oscillating bar, and determining a target speed of the oscillating bar according to the position feedback and the target position; acquiring a feedback speed of the oscillating bar, and determining a target tension of the oscillating bar based on the target speed and the feedback speed; and determining the required magnetic powder set moment according to the target tension so as to control the swing rod to be positioned at the target position. The application belongs to the technical field of industrial control, and the closed-loop control loop for controlling the position of the oscillating bar by the torque is decomposed into two independent closed-loop control loops, namely a speed control loop and a position control loop, so that the moving speed of the oscillating bar can be controlled, the oscillating bar is stably moved to a target position, and the stability of oscillating bar control is improved.

Description

Method, device and equipment for controlling position of swing rod and storage medium

Technical Field

The present disclosure relates to the field of industrial control technologies, and in particular, to a method, an apparatus, a device, and a storage medium for controlling a position of a swing rod.

Background

In the fields of printing, papermaking, plastic film manufacturing and the like, reel materials are widely adopted, a large amount of processing equipment is needed, a swing rod mechanism is often used for storing materials and feeding back tension in the winding and unwinding control of the processing equipment, and referring to fig. 4, in the operation process of the equipment, the swing rod needs to be controlled to stably operate to a target position and be stabilized at the target position.

The control scheme in the prior art is as follows: referring to fig. 5, a feedback position deviation is obtained according to the position feedback and the target position of the swing link, and then the moment of the magnetic powder is adjusted by PID based on the deviation, so that the swing link reaches the target position and stably runs. However, the scheme can cause unstable moving speed of the swing rod in the adjusting process, so that poor stability of swing rod control is caused.

Disclosure of Invention

The application mainly aims to provide a method, a device, equipment and a storage medium for controlling the position of a swing rod, and aims to solve the technical problem of poor stability of swing rod control in the prior art.

In order to achieve the above object, the present application provides a method for controlling a position of a swing link, the method comprising:

acquiring position feedback and a target position of the oscillating bar, and determining a target speed of the oscillating bar according to the position feedback and the target position;

acquiring a feedback speed of the oscillating bar, and determining a target tension of the oscillating bar based on the target speed and the feedback speed;

and determining the required magnetic powder set moment according to the target tension so as to control the swing rod to be positioned at the target position.

Optionally, the step of obtaining a feedback speed of the swing link, and determining a target tension of the swing link based on the target speed and the feedback speed includes:

judging whether the target speed is greater than a preset amplitude limiting speed or not;

and if the target speed is greater than or equal to a preset amplitude limiting speed, determining the target tension of the oscillating bar based on the preset amplitude limiting speed and the feedback speed.

Optionally, after the step of determining the target tension of the swing link based on the preset limiting speed and the feedback speed if the target speed is greater than the preset limiting speed, the method includes:

and if the target speed is less than the preset amplitude limiting speed, determining the target tension of the oscillating bar based on the target speed and the feedback speed.

Optionally, the step of determining the target speed of the swing link according to the position feedback and the target position includes:

calculating a difference value between the position feedback and the target position according to the position feedback and the target position to obtain a position difference;

and calculating the product of the position difference and the pre-adjusted proportion P parameter to obtain the target speed of the oscillating bar.

Optionally, the step of determining the target tension of the swing link based on the target speed and the feedback speed comprises:

calculating a difference value between the target speed and the feedback speed based on the target speed and the feedback speed to obtain a speed difference;

and (4) performing product calculation on the speed difference, the pre-adjusted proportion and integral PI parameters to obtain the target tension of the oscillating bar.

Optionally, before the step of obtaining the position feedback and the target position of the swing link and determining the target speed of the swing link according to the position feedback and the target position, the method includes:

obtaining a speed debugging sample;

debugging the P parameter based on the speed debugging sample to obtain a debugged P parameter;

and debugging the I parameter based on the debugged P parameter and the speed debugging sample to obtain a debugged I parameter.

Optionally, the step of debugging the P parameter based on the speed debugging sample to obtain a debugged P parameter includes:

acquiring an initial P parameter;

determining a speed response time of feedback based on the initial P parameter and the speed debugging sample;

judging whether the feedback speed response time meets a response standard indicated by a preset response time threshold range;

and if the feedback speed response time does not meet the response standard indicated by the preset response time threshold range, adjusting the initial P parameter, and returning to the step of determining the feedback speed response time based on the initial P parameter and the speed debugging sample until the feedback speed response time meets the response standard indicated by the preset response time threshold range to obtain the debugged P parameter.

The present application further provides a swing rod position control device, the swing rod position control device includes: a memory, a processor, and a program stored on the memory for implementing the swing link position control method,

the memory is used for storing programs for realizing the swing rod position control method;

the processor is used for executing the program for realizing the swing rod position control method so as to realize the steps of the swing rod position control method.

The present application also provides a storage medium having stored thereon a program for implementing the method for controlling a position of a swing link, the program being executed by a processor to implement the steps of the method for controlling a position of a swing link.

Compared with the prior art that the stability of the control of the oscillating bar is poor due to unstable moving speed of the oscillating bar in the adjusting process, the position feedback and the target position of the oscillating bar are obtained, and the target speed of the oscillating bar is determined according to the position feedback and the target position; acquiring a feedback speed of the oscillating bar, and determining a target tension of the oscillating bar based on the target speed and the feedback speed; and determining the required magnetic powder set moment according to the target tension so as to control the swing rod to be positioned at the target position. In the application, a closed-loop control loop for controlling the position of the swing rod by the moment is divided into two independent closed-loop control loops, namely a speed control loop and a position control loop, so that the moving speed of the swing rod can be controlled, the swing rod can be stably moved to a target position, and the stability of swing rod control is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and, together with the description, serve to explain the principles of the application. In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

FIG. 1 is a schematic diagram of an apparatus architecture of a hardware operating environment according to an embodiment of the present application;

FIG. 2 is a schematic flowchart of a first embodiment of a method for controlling a position of a swing link according to the present application;

FIG. 3 is a block diagram of a pendulum position control apparatus according to the present application;

FIG. 4 is a schematic view illustrating a scene of stabilizing a swing rod to a fixed position by controlling the magnitude of the moment of magnetic powder in the prior art;

FIG. 5 is a schematic diagram of a prior art module for adjusting the torque of magnetic particles;

FIG. 6 is a block diagram illustrating a first exemplary embodiment of a method for controlling a position of a swing link according to the present application;

FIG. 7 is a block diagram of a speed loop of the present application for a pendulum position control method;

fig. 8 is a block diagram of a position loop and a speed loop of the present application for a pendulum position control method.

The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

As shown in fig. 1, fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present application.

The terminal in the embodiment of the application may be a PC, or may be a mobile terminal device having a display function, such as a smart phone, a tablet computer, an e-book reader, an MP3 (Moving Picture Experts Group Audio Layer III, motion video Experts compression standard Audio Layer 3) player, an MP4 (Moving Picture Experts Group Audio Layer IV, motion video Experts compression standard Audio Layer 4) player, a portable computer, or the like.

As shown in fig. 1, the terminal may include: a processor 1001, e.g. a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory such as a disk memory. The memory 1005 may alternatively be a storage device separate from the processor 1001 described previously.

Optionally, the terminal may further include a camera, a Radio Frequency (RF) circuit, a sensor, an audio circuit, a WiFi module, and the like. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that may adjust the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that may turn off the display screen and/or the backlight when the mobile terminal is moved to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally three axes), detect the magnitude and direction of gravity when the mobile terminal is stationary, and can be used for applications (such as horizontal and vertical screen switching, related games, magnetometer attitude calibration), vibration recognition related functions (such as pedometer and tapping) and the like for recognizing the attitude of the mobile terminal; of course, the mobile terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which are not described herein again.

Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.

As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating device, a network communication module, a user interface module, and a swing lever position control program.

In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be used to invoke a pendulum position control program stored in the memory 1005.

Referring to fig. 2, an embodiment of the present application provides a method for controlling a position of a swing link, where the method for controlling the position of the swing link includes:

s100, acquiring position feedback and a target position of the oscillating bar, and determining a target speed of the oscillating bar according to the position feedback and the target position;

step S200, obtaining the feedback speed of the swing rod, and determining the target tension of the swing rod based on the target speed and the feedback speed;

and step S300, determining the required magnetic powder set moment according to the target tension so as to control the swing rod to be located at the target position.

In this embodiment, the specific application scenarios may be:

the control scheme in the prior art is as follows: and obtaining the feedback position deviation according to the position feedback and the target position of the oscillating bar, and adjusting the moment of the magnetic powder through PID according to the deviation to ensure that the oscillating bar reaches the target position and stably runs. However, the scheme can cause unstable moving speed of the swing rod in the adjusting process, so that poor stability of swing rod control is caused.

The method comprises the following specific steps:

in the present embodiment, the swing link position control method is applied to a swing link position control device.

In this embodiment, the position feedback of the swing link is feedback data of a current position of the swing link, and the target position of the swing link is set data of a position where the swing link arrives, that is, position data that a user (or a developer) sets that the swing link needs to arrive.

In this embodiment, the method for acquiring the target position of the swing link by the device may be to receive target position information sent (or uploaded) by a user (or a developer), or may be to extract corresponding target position information from a database storing the target position information.

In this embodiment, the manner for the device to obtain the position feedback of the swing link is to receive real-time swing link position feedback data sent by a preset swing link position sensor.

In this embodiment, the apparatus determines the target speed of the swing link according to the position feedback and the target position, where the target speed is calculated based on the swing link position feedback and the target position, that is, the swing link speed data for adjusting the swing link from the current position to the target position, for example, the current position of the swing link is P, the target position is P0, and the target speed data is 5cm/s by performing a proportional operation on P and P0, that is, the target speed of the swing link for adjusting the swing link from P to P0 is 5cm/s.

In this embodiment, the device determines the target speed of the swing link according to the position feedback and the target position by calculating through a preset speed control loop, specifically, a proportional (P) control is provided on the preset speed control loop, wherein the proportional control is a simple control method, and the output of the speed control loop (i.e. the controller) is proportional to the input error signal.

In this embodiment, the apparatus performs P-ratio operation on the target position and the position feedback based on a preset speed control loop to obtain a target speed, where a value of a P parameter in the ratio P operation is preset by the apparatus.

Specifically, the step S100 includes the following steps S110 to S120:

step S110, calculating a difference value between the position feedback and the target position according to the position feedback and the target position to obtain a position difference;

in this embodiment, a difference between the position feedback and the target position is calculated according to the position feedback and the target position, so as to obtain a position difference, for example, if the target position is X0, and the position feedback is X, the position difference is | X-X0|.

And step S120, calculating the product of the position difference and the pre-debugged proportion P parameter to obtain the target speed of the oscillating bar.

In this embodiment, the device multiplies the position difference by a pre-adjusted proportional P parameter to obtain a target speed of the swing link, for example, if the position difference is | X-X0|, the target speed data is | X-X0| × P, where a value of the P parameter in the proportional P operation is pre-adjusted by the device.

in this embodiment, the feedback speed of the swing link is the current swing link moving speed data that is fed back, and the manner of obtaining the feedback speed of the swing link by the apparatus is to receive the speed feedback data of the swing link sent by a preset swing link speed sensor.

In this embodiment, the target tension of the swing link is data of the tension required for moving the swing link from the current position to the target position.

In this embodiment, the apparatus determines the target tension of the swing link based on the target speed and the feedback speed, and specifically, the apparatus is preset with a position control loop, which is a closed loop control loop, and the preset position control loop is provided with a Proportional Integral (PI) control, wherein in the integral control, the output of the controller is in a direct proportion to the integral of the input error signal. For an automatic control System, if there is a Steady-state Error after entering a Steady state, the control System is called as a System with a Steady-state Error or a System with a difference Error for short. To eliminate steady state errors, an "integral term" must be introduced into the controller. The integral term integrates the error over time, increasing with time. Thus, even if the error is small, the integral term increases with time, which drives the output of the controller to increase further reducing the steady state error until it approaches zero. Therefore, the Proportional Integral (PI) controller can enable the system to have almost no steady-state error after the system enters a steady state.

In this embodiment, the apparatus calculates the target speed and the feedback speed based on a preset position control loop, so as to obtain the target tension of the swing link.

Specifically, the step S200 includes the following steps S210 to S220:

step S210, calculating a difference value between the target speed and the feedback speed based on the target speed and the feedback speed to obtain a speed difference;

in this embodiment, the apparatus calculates a difference between the target speed and the feedback speed based on the target speed and the feedback speed to obtain a speed difference, for example, if the target speed is Y0 and the feedback speed is Y, the speed difference is | Y-Y0|.

And step S220, calculating the product of the speed difference and the pre-adjusted proportional and integral PI parameters to obtain the target tension of the oscillating bar.

In this embodiment, the speed difference is multiplied by the pre-adjusted proportional and integral PI parameters to obtain the target tension of the swing link, for example, if the speed difference is | Y-Y0|, the tension data is | Y-Y0|. PI.

In this embodiment, the magnetic powder setting moment has a value initially, and the device increases or decreases the initial magnetic powder setting moment according to the target tension, so as to meet the requirement of controlling the swing rod to be located at the target position. For example, the initial magnetic powder setting moment is 5N, the target tension required by the device to move the swing rod from the current position to the target position is 10N, and the required magnetic powder setting moment is set to be 10N to control the swing rod to be located at the target position.

In summary, referring to fig. 6, a P-ratio operation is performed on the target and the feedback position to obtain a target speed; and performing PI proportional and integral operation on the target speed and the feedback speed to obtain target tension of the oscillating bar (namely the tension required on the material), and finally returning position feedback data to the device by the oscillating bar for cyclic processing so that the oscillating bar stably moves to the target position.

Compared with the prior art that the moving speed of the oscillating rod is unstable in the adjusting process, so that the stability of oscillating rod control is poor, the oscillating rod position control method provided by the application obtains the position feedback and the target position of the oscillating rod, and determines the target speed of the oscillating rod according to the position feedback and the target position; acquiring the feedback speed of the oscillating bar, and determining the target tension of the oscillating bar based on the target speed and the feedback speed; and determining the required magnetic powder set moment according to the target tension so as to control the swing rod to be positioned at the target position. In the application, a closed-loop control loop for controlling the position of the swing rod by the moment is divided into two independent closed-loop control loops, namely a speed control loop and a position control loop, so that the moving speed of the swing rod can be controlled, the swing rod can be stably moved to a target position, and the stability of swing rod control is improved.

Based on the above first embodiment, the present application further provides another embodiment, where the method for controlling a position of a swing link includes:

the step S100 comprises the following steps A100-A300:

step A100, judging whether the target speed is greater than a preset amplitude limiting speed;

in this embodiment, the apparatus performs amplitude limiting processing on the target speed data to obtain limited target speed data, where the amplitude limiting processing is to limit the target speed data within a certain range so that the swing link can stably move to the target position to prevent the target speed from being too high.

In this embodiment, the method for the device to perform the amplitude limiting processing on the target speed data is specifically that the device determines whether the target speed is greater than a preset amplitude limiting speed, where the amplitude limiting speed threshold is set by a user (or a developer), and may be fixed or adjustable, for example, if the target speed data is 20cm/s and the preset amplitude limiting speed threshold is 10cm/s, the device determines that the target speed data is greater than the preset amplitude limiting speed threshold.

And A200, if the target speed is greater than or equal to a preset amplitude limiting speed, determining the target tension of the oscillating bar based on the preset amplitude limiting speed and the feedback speed.

In this embodiment, if the target speed is greater than or equal to a preset clipping speed, the apparatus determines the preset clipping speed as target speed data after clipping, and determines a target tension of the swing link based on the preset clipping speed and the feedback speed, for example, if the target speed data is 20cm/s and the preset clipping speed threshold is 10cm/s, the apparatus determines that the target speed data is greater than the preset clipping speed threshold, and determines 10cm/s as the target speed data after clipping.

And A300, if the target speed is less than a preset amplitude limiting speed, determining the target tension of the oscillating bar based on the target speed and the feedback speed.

In this embodiment, if the target speed is less than a preset amplitude limiting speed, the current target speed and the feedback speed are taken to determine the target tension of the swing link.

In the embodiment, the device limits the target speed in the process of adjusting the position of the oscillating bar, so that the oscillating bar cannot be unstable due to overlarge adjusting speed, and the stability of oscillating bar control is improved.

Based on the first embodiment and the second embodiment, the present application further provides another embodiment, and the method for controlling a position of a swing link includes:

in the step S100, before the step of obtaining the position feedback and the target position of the swing link and determining the target speed of the swing link according to the position feedback and the target position, the method includes the following steps B100-B300:

step B100, obtaining a speed debugging sample;

in this embodiment, the speed debugging samples are speed samples used for debugging PI parameters in the position control loop, including target debugging speed samples and feedback debugging speed.

In this embodiment, the manner of acquiring the speed debugging sample by the apparatus may be to receive a target debugging speed sample and a feedback debugging speed sent (or uploaded) by a user (or a developer), or to extract a corresponding target debugging speed sample and a corresponding feedback debugging speed from a database in which the speed debugging sample is stored.

B200, debugging the P parameter based on the speed debugging sample to obtain a debugged P parameter;

in this embodiment, the apparatus debugs the P parameter based on the speed debugging sample, to obtain a debugged P parameter.

Specifically, the step B200 includes the following steps B210 to B240:

step B210, obtaining an initial P parameter;

in this embodiment, the initial P parameter is a value of a P parameter that is initially set, and may be 0 or another parameter value that is set by default.

In this embodiment, the manner for the device to obtain the initial P parameter may be to receive an initial P parameter value sent (or uploaded) by a user (or a developer), or to extract a corresponding default initial P parameter from a database in which the initial P parameter is stored.

Step B220, determining the feedback speed response time based on the initial P parameter and the speed debugging sample;

in this embodiment, the apparatus determines the feedback speed response time based on the initial P parameter and the speed debugging sample, and specifically, the apparatus substitutes the speed debugging sample into the position control loop with the initial P parameter to obtain the speed difference between the target debugging speed sample and the feedback debugging speed and the feedback speed response time, where the smaller the speed difference between the target debugging speed sample and the feedback debugging speed, the shorter the feedback speed response time is, and conversely, the larger the speed difference between the target debugging speed sample and the feedback debugging speed, the longer the feedback speed response time is.

Step B230, judging whether the feedback speed response time meets the response standard indicated by a preset response time threshold range;

in this embodiment, the response criterion indicated by the preset response time threshold range is a speed response time threshold range, and the condition of the speed response time value is that if the response criterion is greater than the speed response time value, an overshoot phenomenon, that is, the maximum instantaneous deviation from the final steady-state value of the output variable, is generated, and in short, the feedback response indicating the speed is stable within the speed response time threshold range.

Step B240, if the feedback speed response time does not meet the response standard indicated by the preset response time threshold range, adjusting the initial P parameter, and returning to the step of determining the feedback speed response time based on the initial P parameter and the speed debugging sample until the feedback speed response time meets the response standard indicated by the preset response time threshold range, so as to obtain the debugged P parameter.

In this embodiment, if the feedback speed response time does not meet the response standard indicated by the preset response time threshold range, the initial P parameter is adjusted, and the step of determining the feedback speed response time based on the initial P parameter and the speed debugging sample is returned until the feedback speed response time meets the response standard indicated by the preset response time threshold range, so as to obtain the debugged P parameter, that is, the P parameter is cyclically adjusted until the feedback speed response time meets the response standard indicated by the preset response time threshold range, and then the adjustment of the P parameter is completed.

And B300, debugging the I parameter based on the debugged P parameter and the speed debugging sample to obtain a debugged I parameter.

In this embodiment, the apparatus debugs the I parameter based on the debugged P parameter and the speed debugging sample to obtain the debugged I parameter, specifically, the PI parameter in the position control loop is to adjust the P parameter first and then adjust the I parameter, so that the position control loop is stable and has a reasonable bandwidth response, where the adjustment of the I parameter refers to the above steps B210-B240.

In this embodiment, the apparatus further needs to debug the P parameter in the speed control loop, and the method refers to steps B100 to B300, and only needs to replace the speed debug sample with the position debug sample, which is not described herein again.

In this embodiment, the device debugs a P proportional parameter and a PI proportional-integral parameter in a preset speed control loop and a preset position control loop respectively until the P proportional parameter and the PI proportional-integral parameter meet a response standard indicated by a preset response time threshold range, wherein the speed control loop is provided with proportional (P) control, the proportional control includes the P proportional parameter, the position control loop is provided with proportional-integral (PI) control, the PI proportional-integral control includes the PI proportional parameter, and before the speed control loop and the position control loop operate, the P proportional parameter and the PI proportional-integral parameter need to be subjected to parameter adjustment processing to obtain accurate operation values (i.e., a target speed and a target tension), the P proportional parameter is hereinafter referred to as the P parameter for short, and the PI proportional-integral parameter is referred to the PI parameter for short.

Specifically, referring to fig. 7, the device first debugs the PI parameter, where the debugging method mainly includes inputting a preset speed debugging sample (i.e., a feedback speed V1 and a target speed V0) to a position control loop, where the position control loop includes a preset initial PI parameter, observing an output speed response time, if the speed response time does not satisfy a response standard indicated by a preset response time threshold range, adjusting the initial PI parameter, and determining a feedback speed response time based on the initial P parameter and the speed debugging sample until the feedback speed response time satisfies the response standard indicated by the preset response time threshold range, so as to obtain a debugged PI parameter and obtain a currently debugged PI parameter. Similarly, referring to fig. 8, the P parameter is debugged to obtain the currently debugged P parameter, so as to obtain the speed control loop and the position control loop.

In this embodiment, since the "differential D" in the closed-loop control loop may affect the "proportion P" and the "integral I" that have been debugged, which results in high complexity of debugging parameters of the closed-loop control loop in the prior art, the debugging parameters of the present application only include the "proportion P" of the speed control loop and the "proportion P" and the "integral I" of the position control loop, and compared with the "proportion P", "integral I" and the "differential D" that need to debug the closed-loop control loop in the prior art, the debugging of parameters is simpler, and the complexity of parameter debugging of the PID control loop is reduced.

The present application further provides a swing rod position control device, swing rod position control device includes:

the speed determining module 10 is configured to obtain a position feedback and a target position of the swing link, and determine a target speed of the swing link according to the position feedback and the target position;

the tension determining module 20 is configured to obtain a feedback speed of the swing link, and determine a target tension of the swing link based on the target speed and the feedback speed;

and the control module 30 is used for determining the required magnetic powder set moment according to the target tension so as to control the swing rod to be located at the target position.

Optionally, the tension determining module 20 includes:

the judging module is used for judging whether the target speed is greater than a preset amplitude limiting speed or not;

and the first amplitude limiting module is used for determining the target tension of the oscillating bar based on the preset amplitude limiting speed and the feedback speed if the target speed is greater than or equal to the preset amplitude limiting speed.

Optionally, the tension determining module 20 further includes:

and the second amplitude limiting module is used for determining the target tension of the oscillating bar based on the target speed and the feedback speed if the target speed is less than the preset amplitude limiting speed.

Optionally, the speed determination module 10 includes:

the position difference calculation module is used for calculating the difference value between the position feedback and the target position according to the position feedback and the target position to obtain a position difference;

and the proportion operation module is used for calculating the product of the position difference and the pre-debugged proportion P parameter to obtain the target speed of the oscillating bar.

Optionally, the tension determination module 20 comprises:

the speed difference calculating module is used for calculating the difference value between the target speed and the feedback speed based on the target speed and the feedback speed to obtain a speed difference;

and the proportional and integral operation module is used for calculating the product of the speed difference and the proportional and integral PI parameters after pre-debugging to obtain the target tension of the oscillating bar.

Optionally, the swing link position control device further includes:

the sample acquisition module is used for acquiring a speed debugging sample;

the proportional parameter debugging module is used for debugging the P parameter based on the speed debugging sample to obtain a debugged P parameter;

and the integral parameter debugging module is used for debugging the I parameter based on the debugged P parameter and the speed debugging sample to obtain the debugged I parameter.

Optionally, the proportional parameter debugging module includes:

the initial parameter acquisition module is used for acquiring an initial P parameter;

a speed response time determination module for determining a speed response time for feedback based on the initial P parameter and the speed debugging sample;

the response time judging module is used for judging whether the feedback speed response time meets the response standard indicated by a preset response time threshold range;

and the circulating debugging module is used for adjusting the initial P parameter if the feedback speed response time does not meet the response standard indicated by the preset response time threshold range, returning to the step of determining the feedback speed response time based on the initial P parameter and the speed debugging sample until the feedback speed response time meets the response standard indicated by the preset response time threshold range, and obtaining the debugged P parameter.

Referring to fig. 1, fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present application.

As shown in fig. 1, the terminal may include: a processor 1001, e.g. a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.

Optionally, the swing link position control device may further include a rectangular user interface, a network interface, a camera, an RF (Radio Frequency) circuit, a sensor, an audio circuit, a WiFi module, and the like. The rectangular user interface may comprise a Display screen (Display), an input sub-module such as a Keyboard (Keyboard), and the optional rectangular user interface may also comprise a standard wired interface, a wireless interface. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface).

Those skilled in the art will appreciate that the pendulum position control device configuration shown in fig. 1 does not constitute a limitation of the pendulum position control device, and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.

As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, and a swing lever position control program. The operating system is a program that manages and controls the hardware and software resources of the pendulum position control device, supporting the operation of the pendulum position control program as well as other software and/or programs. The network communication module is used to enable communication between the various components within the memory 1005, as well as with other hardware and software in the pendulum position control system.

In the swing lever position control apparatus shown in fig. 1, the processor 1001 is configured to execute a swing lever position control program stored in the memory 1005, and implement the steps of the swing lever position control method according to any one of the above.

The specific implementation of the swing link position control device in the present application is substantially the same as that of each embodiment of the swing link position control method described above, and is not described herein again.

The present application also provides a storage medium having stored thereon a program for implementing a method of controlling a position of a swing link, the program being executed by a processor to implement the method of controlling a position of a swing link as follows:

Optionally, the step of obtaining a feedback speed of the swing link and determining a target tension of the swing link based on the target speed and the feedback speed includes:

obtaining a speed debugging sample;

acquiring an initial P parameter;

judging whether the feedback speed response time meets the response standard indicated by a preset response time threshold value range;

The specific implementation of the storage medium of the present application is substantially the same as that of each embodiment of the aforementioned method for controlling the position of the swing link, and is not described herein again.

The present application also provides a computer program product, comprising a computer program, which when executed by a processor, performs the steps of the method for controlling a position of a swing link as described above.

The specific implementation of the computer program product of the present application is substantially the same as the embodiments of the method for controlling the position of the swing link, and is not described herein again.

It should be noted that, in this document, 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 component of' 8230; \8230;" does not exclude the presence of another like element in a process, method, article, or apparatus that comprises the element.

The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.

The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.

Claims

1. A method for controlling the position of a swing rod is characterized by comprising the following steps:

2. The method of claim 1, wherein said step of obtaining a feedback velocity of the swing link and determining a target tension of the swing link based on said target velocity and said feedback velocity comprises:

3. The method of claim 2, wherein after the step of determining the target tension of the rocker based on the preset clipping speed and the feedback speed if the target speed is greater than the preset clipping speed, the method comprises:

4. The method of claim 1, wherein said step of determining a target speed of the swing link based on said position feedback and a target position comprises:

and calculating the product of the position difference and the pre-debugged proportion P parameter to obtain the target speed of the oscillating bar.

5. The method of claim 1, wherein said step of determining a target pendulum tension based on said target speed and said feedback speed comprises:

6. The method of claim 1, wherein said step of obtaining a position feedback and a target position of the swing link, and determining the target speed of the swing link based on said position feedback and target position is preceded by the step of:

obtaining a speed debugging sample;

7. The method for controlling a position of a swing link according to claim 6, wherein the step of adjusting the P parameter based on the speed adjustment sample to obtain an adjusted P parameter comprises:

acquiring an initial P parameter;

determining a velocity response time for feedback based on the initial P parameter and the velocity debug sample;

8. A swing link position control device, characterized by comprising:

the speed determination module is used for acquiring position feedback and a target position of the oscillating bar and determining the target speed of the oscillating bar according to the position feedback and the target position;

the tension determining module is used for acquiring the feedback speed of the swing rod and determining the target tension of the swing rod based on the target speed and the feedback speed;

and the control module is used for determining the required magnetic powder set moment according to the target tension so as to control the oscillating bar to be positioned at the target position.

9. A swing link position control apparatus, characterized by comprising: a memory, a processor, and a program stored on the memory for implementing the swing link position control method,

the memory is used for storing a program for realizing the swing rod position control method;

the processor is configured to execute a program for implementing the method for controlling a position of a swing link, so as to implement the steps of the method for controlling a position of a swing link according to any one of claims 1 to 7.

10. A storage medium, characterized in that the storage medium has stored thereon a program for implementing a method of controlling a position of a swing link, the program being executed by a processor to implement the steps of the method of controlling a position of a swing link according to any one of claims 1 to 7.