KR102269212B1 - Calitration control apparatus of bogie system and method thereof - Google Patents

Abstract

The present technology discloses an apparatus and method for calibrating a bogie system. According to a specific example of the present technology, based on the original signal data of the encoder and the original signal data of the barcode while the bogie is running, a scale factor representing the slip or calculation error of the motor is derived when the bogie is stopped, and the correction generated by the derived scale factor By controlling the motor by the difference between the signal and the target position of the bogie control device, it is possible to prevent overshoot or undershoot of the motor while the bogie is stopped, thereby reducing the risk of safety accidents, and also real-time bogie system calibration Do.

Description

CALITRATION CONTROL APPARATUS OF BOGIE SYSTEM AND METHOD THEREOF

The present invention relates to an apparatus and method for controlling correction of a bogie system, and more particularly, deriving a correction signal based on an error between the original signal data of a barcode sensor acquired while the bogie is running and the original position data of an encoder mounted on a motor. Accordingly, it is possible to prevent overshoot or undershoot of the motor during stopping of the bogie, thereby reducing the risk of a safety accident, and relates to a technology capable of real-time correction of the bogie system.

While the reception period of the barcode position data measured by the barcode sensor is 1 ~ 2 msec for the most advanced system at present, the current balance control is performed with a reception cycle of 0.5 msec or 0.1 msec. Calibration reached a difficult limit.

In addition, in controlling the bogie system using the barcode sensor, if the position data of the bogie is not updated within the control loop time, a problem occurs in the system performance and thus the high-speed responsiveness is deteriorated.

However, in the case of a very fast bogie, it moves at a speed of 4m per second, and the speed of the bogie system is gradually increasing with productivity improvement, and the current fastest barcode sensor does not meet the real-time control requirements.

In addition, the barcode sensor is widely used due to the advantage that there is no risk of runaway because it has an alarm function of the barcode sensor. However, unlike the feedback control device attached to the motor, since it is exposed to the outside space, stability problems may occur. It is common, and in the case of optical systems, the signal may be interrupted by foreign objects or obstructions.

In addition, the device that controls the running of the bogie system using such a barcode sensor and the encoder of the motor is driven based on the barcode position data obtained from the barcode sensor when the car is almost stopped, and when the bogie is being transported, the encoder of the encoder attached to the motor Although driving is controlled by location data, real-time control is not possible according to the reception period of the above-described barcode sensor.

In addition, due to the control characteristics, if the motor overshoots or undershoots when the target position data is reached, wheel slip and position deviation occur, and the risk of safety accidents due to slipping is inherent.

The present invention can prevent overshoot or undershoot of the motor during bogie stop by correcting the target position supplied from the outside by reflecting the slip or position deviation of the motor while the bogie is running, thereby reducing the risk of safety accidents. , to provide a correction apparatus and method for a bogie system capable of real-time correction of the bogie system.

According to an aspect of an embodiment for achieving the above object,

a bogie control device that generates a target position of the bogie and transmits it to the motor; at least one encoder for outputting a rotation angle of a motor for rotating each wheel of the bogie; and a correction device for generating a correction signal for correcting the target position of the bogie based on the original signal data of the encoder,

It further comprises at least one barcode sensor installed on the bogie,

The correction device is

and generating the correction signal for correcting the target position of the bogie based on the original signal data of the barcode sensor and the original signal data of the encoder.

Preferably, the calibration device generates the virtual signal data of the barcode sensor and then adds the generated virtual signal data between the original signal data of the barcode, so that the reception period of the original signal data of the barcode sensor and the encoder It may include a reception period synchronizer that matches the reception period of the original signal data.

Preferably, the virtual signal data may be generated based on an average value of the original signal data of the barcode sensor and a predetermined reception period.

Preferably, the correction device comprises: a barcode signal processing unit for calculating each of a current position, a current speed, and a current acceleration of the bogie from the original signal data of the barcode sensor of the reception period synchronizer;

a motor signal processing unit for calculating a current position, a current speed, and a current acceleration of the bogie based on the original signal data of the encoder in the form of a pulse; and

A scale factor representing the slip or position deviation of the motor from the error of the current position, current speed, and current acceleration of the bogie output by the barcode signal processing unit and the current position, current speed, and current acceleration of the bogie output by the motor signal processing unit (SF: Scale Factor) and may include a correction signal generating unit for generating a correction signal for correcting the target position of the bogie with the derived scale factor.

Preferably, the scale factor (SF) is a current position, a current velocity, and a current acceleration derived for each reception time point (n, n+1, ...) of the barcode original signal data and a reception time point (n, n+1, ...) derived current position, current velocity, and current acceleration deviation for each time point, and derived using the derived current position, current speed, and current acceleration deviation for each time point. have.

Preferably, the barcode signal processing unit derives the current position of the bogie from the original signal data of the barcode sensor, derives the current velocity by differentiating the derived current position, and then filters a predetermined low frequency component of the derived current velocity. It may be provided to derive a current acceleration by differentiating the current velocity.

Preferably, the motor signal processing unit includes: a position conversion module for converting the rotation angle of the encoder in the pulse form into a moving distance of the bogie and then deriving the current position of the bogie; and deriving the current position of the bogie from the position conversion module, differentiating the derived current position to derive the current velocity, filtering a predetermined low frequency component of the derived current velocity, and then differentiating the current velocity to derive the current acceleration It may be provided to include a motor signal calculation module.

Preferably, the correction signal generator is configured to derive a scale coefficient representing the slip or operation error of the motor based on the errors of the current position, the current speed, and the current acceleration for each time point, and then transmit the derived scale coefficient to the position conversion module. can be provided.

According to an aspect of another embodiment for achieving the above object, in the compensation device of the bogie system, the original signal data of the encoder for obtaining the rotation angle of the motor mounted on the bogie and the raw signal data of the barcode sensor mounted on the bogie obtaining;

adding generated virtual signal data to the obtained original signal data of the barcode sensor to match the reception period of the original signal data of the encoder with the reception period of the original signal data of the barcode sensor;

deriving a current position, a current speed, and a current acceleration of the bogie from the original signal data of the barcode sensor in which the reception period is matched;

converting the original signal data of the encoder in the form of a pulse into a movement distance of the bogie, then deriving a current position of the bogie, and deriving each of a current speed and a current acceleration from the derived current position of the bogie;

The current position, current speed, and current acceleration of the bogie for each time point of the encoder derived above and the error of the current position, current speed, and current acceleration of the bogie for each time point derived from the original signal data of the barcode sensor are derived to drive the motor. deriving a scale factor indicative of slip or positional deviation; and

and generating a correction signal by using the scale factor and transmitting the generated correction signal and a signal of the sum of the target position to the motor.

The following drawings attached to this specification illustrate preferred embodiments of the present invention, and serve to further understand the technical spirit of the present invention together with the detailed description of the present invention to be described later, so the present invention is a matter described in such drawings should not be construed as being limited only to
1 is a block diagram illustrating an apparatus for controlling a bogie system according to an exemplary embodiment.
2 is a detailed configuration diagram of a calibration device of a system according to an exemplary embodiment.
3 is a flowchart illustrating a correction process of a bogie system according to another embodiment.

Hereinafter, embodiments of the present invention will be described in more detail with reference to the drawings.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the art to which the present invention pertains It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims.

Terms used in this specification will be briefly described, and the present invention will be described in detail.

The terms used in the present invention have been selected as currently widely used general terms as possible while considering the functions in the present invention, but these may vary depending on the intention or precedent of a person skilled in the art, the emergence of new technology, and the like. In addition, in specific cases, there are also terms arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the corresponding invention. Therefore, the term used in the present invention should be defined based on the meaning of the term and the overall content of the present invention, rather than the name of a simple term.

When a part "includes" a certain element throughout the specification, this means that other elements may be further included, rather than excluding other elements, unless otherwise stated. Also, as used herein, the term “unit” refers to a hardware component such as software, FPGA, or ASIC, and “unit” performs certain roles. However, "part" is not meant to be limited to software or hardware. A “unit” may be configured to reside on an addressable storage medium and may be configured to refresh one or more processors.

Thus, by way of example, “part” includes components such as software components, object-oriented software components, class components, and task components, processes, functions, properties, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays and variables. The functionality provided within components and “parts” may be combined into a smaller number of components and “parts” or further divided into additional components and “parts”.

Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those of ordinary skill in the art can easily carry out the embodiments of the present invention. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description will be omitted.

An embodiment prevents overshoot or undershoot of the motor when the bogie is stopped by generating a correction signal for correcting the target position of the bogie based on the original signal data of the barcode sensor and the original signal data of the encoder while the bogie is running This can be done, and thus safety accidents can be prevented, and the bogie system can be calibrated in real time.

1 is a block diagram showing the overall configuration of a balance system according to an embodiment, and FIG. 2 is a detailed configuration diagram of the correction device shown in FIG. 1 . Referring to FIGS. 2 and 3 , the balance system of an embodiment is a balance control The device 100 may include at least one encoder 200 , at least one barcode sensor 300 , and a calibration device 400 .

The bogie control device 100 generates a target position of the motor M and transmits it to the motor M, whereby the motor M rotates based on the target position, and the wheel of the bogie receives the rotational motion of the motor M The rotational motion of the motor M is converted into a linear motion to move to the target position. Accordingly, the motor rotates based on the position, speed, and speed control supplied to the motor M.

Here, the balance control apparatus 100 may include a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array (FPA), a programmable logic unit (PLU), a microprocessor, or It may be implemented using one or more general purpose computers or special purpose computers, such as any other device capable of executing and responding to instructions.

In addition, the rotation angle of the motor M may be obtained based on at least one encoder 200 provided at a predetermined position of the motor M, and is in the form of a pulse. Accordingly, a module for converting the original signal data of the encoder 200 in the form of a pulse into the moving distance of the bogie is separately required.

That is, the at least one encoder 200 may be provided at a predetermined position of the motor M installed for each wheel of the bogie and output the rotation angle of the motor M for rotating each wheel of the bogie. Since the rotation angle of the motor M is generated in the form of a pulse, the current position of the bogie must be derived by converting the rotation angle of the pulse form into a distance.

Accordingly, the compensating device 400 provided on the output side of the encoder 200 may further include a motor signal processing unit 10 including a position conversion module 11 and a motor signal operation module 12 . Here, the position conversion module 11 may derive the current position of the bogie by converting the rotation angle in the form of a pulse received from the encoder 200 to the moving distance of the bogie. For example, it is possible to convert the moving distance of the bogie with the number of encoder original signal data received per rotation of the motor.

On the other hand, the motor signal calculation module 12 derives the current speed of the bogie by time-varying differentiation with respect to the current position of the bogie of the position conversion module 11, and removes a predetermined low frequency component for the derived current speed of the bogie and then derives it It is possible to derive the current acceleration of the bogie by time-variantly differentiating the current velocity.

Meanwhile, at least one barcode sensor 300 may be installed on the bogie and acquire original signal data indicating the current position of the moving bogie at a predetermined period.

At this time, the reception cycle of the original signal data of the barcode sensor 300 and the reception cycle of the original signal data extracted from the encoder 200 are different. For example, when 10 pieces of raw signal data of the barcode sensor 300 are received in 1 minute, while 30 pieces of original signal data of the encoder 200 are received per minute, the original signal data of the barcode sensor and the encoder In order to generate the correction signal of the bogie using the original signal data of the deed, the reception period of the two original signal data must be matched.

Accordingly, the correction apparatus 400 may further include a reception period synchronizer 20 . The reception cycle synchronizer 20 generates the virtual signal data of the barcode sensor 300 and then adds the generated virtual signal data between the original signal data of the barcode sensor 300, so that the barcode sensor 300 The reception period of the original signal data of the encoder 200 is synchronized with the reception period of the original signal data of the encoder 200 . Here, the virtual signal data may be generated based on an average value of the original signal data of the barcode sensor and a predetermined reception period.

For example, when 10 pieces of raw signal data of the barcode sensor 300 are received in 1 minute and 30 pieces of original signal data of the encoder 200 are received per minute, the virtual signal data of the barcode sensor is 20 pieces. The original signal data of the barcode signal 300 is inserted into 20 virtual signal data, so that the reception cycle of the original signal data of the barcode sensor 300 and the reception cycle of the original signal data of the encoder 2000 are 30 in mode 1 minute. are matched

Meanwhile, the calibration device 400 includes a barcode signal processing unit 30, and the barcode signal processing unit 30 determines the current position of the bogie from the original signal data of the barcode sensor 300 received from the reception period synchronizer 20. The current acceleration of the bogie is derived by time-variant differentiation with respect to the derived current position of the bogie, and the current acceleration of the bogie is obtained by controlling the low-frequency component of the derived current speed of the bogie, and then time-variantly differentiating the derived current speed. can be derived.

And the correction device 400 further includes a correction signal generating unit 40, the motor signal processing unit 10 and the barcode signal processing unit 30, respectively, output at a predetermined time point (1, 2, .. n, n+1) ..) Each of the current position, the current speed, and the current acceleration of each bogie is transmitted to the correction signal generating unit 40 .

Accordingly, the correction signal generating unit 40 calculates an error for each time point for each of the current position, the current speed, and the current acceleration of the bogie for each predetermined time point (1, 2, .. n, n+1..), It is possible to obtain a scale factor (SF) indicating slip or position deviation of the motor when the bogie is stopped from the errors of each of the calculated current position, current speed, and current acceleration of the bogie for each time point.

And, the correction signal generating unit 40 transfers the obtained scale factor (SF) to the position conversion module 11, whereupon the position change module 11 is corrected based on the moving distance of the bogie and the scale factor (SF) output a signal. The control signal of the sum of the correction signal and the target position of the bogie control device 100 is transmitted to the motor (M).

Accordingly, the motor M is driven by a control signal of the sum of the target position of the bogie control device 100 and the correction signal.

According to an embodiment, a scale factor representing slip or calculation error of the motor is derived when the bogie is stopped based on the original signal data of the encoder and the original signal data of the barcode while the bogie is running, and the derived scale coefficient and the moving distance of the bogie are used. By controlling the motor by the difference between the generated correction signal and the target position of the bogie control device, it is possible to prevent overshoot or undershoot of the motor while the bogie is stopped, thereby reducing the risk of safety accidents, and also real-time bogie system can be corrected.

3 is a flowchart illustrating an operation of correcting a target position during movement of a bogie in the correction apparatus according to an exemplary embodiment. A computer-readable recording medium in which a program for executing a calibration method of a bogie system according to an embodiment is recorded may be provided. The program may include at least one of an application program storing an item recommendation method, a device driver, firmware, middleware, a dynamic link library (DLL), and an applet. The correction apparatus may include a processor, and the processor may execute the correction method of the bogie system by reading a recording medium in which the correction method of the bogie system is recorded. For example, the correction method may be performed by the correction apparatus 400 of FIG. 2 .

Referring to FIG. 3 , in steps S11 to S14 , the correction device of the bogie system according to an embodiment converts the rotation angle of the motor obtained from the encoder into the moving distance of the bogie, and then derives and derives the current position of the bogie It is possible to derive the current velocity of the bogie by differentiating the current position of the bogie in a time-variant manner, filtering the derived current velocity by a predetermined low-frequency component, and then differentiating it to the base to derive the current acceleration of the bogie.

On the other hand, in the steps (S21 and S22), the correction device of the balance system according to an embodiment virtual signal data to match the reception period of the original signal data of the encoder and the original signal data of the encoder obtained from the barcode sensor to be received. As the original signal data of the barcode sensor is added to the generated virtual signal data, the reception cycle of the original signal data of the barcode sensor and the reception cycle of the original signal data of the encoder can be matched.

And, in step (S23), the correction device of the bogie system according to an embodiment derives the current position of the bogie from the original signal data of the corrected barcode sensor, and time-variantly differentiates the derived current position of the bogie to differentiate the present position of the bogie. A speed may be derived, and the current acceleration of the bogie may be derived by filtering the derived current speed with a predetermined low frequency component and then differentiating it with a variable.

In steps S31 and S32, the correction device of the bogie system according to an embodiment derives the current position, current speed, and current acceleration of the bogie for each predetermined time point derived from the original signal data of the encoder and the original signal data of the barcode sensor For the current position, current speed, and current acceleration of the bogie for each predetermined time point, the error of the current position, current speed, and current acceleration of the bogie for each time is derived, and based on the derived error, the wheel slip or calculation error is displayed. A scale factor can be derived.

And, in step (S33), the correction device of the bogie system according to an embodiment generates a correction signal using the moving distance of the bogie converted from the scale factor and the rotation angle of the encoder, and uses the generated correction signal to The target position is corrected, and the corrected target position is transmitted to the motor (M).

According to an embodiment, a scale coefficient representing slip or calculation error of the motor is derived when the bogie is stopped based on the original signal data of the encoder and the original signal data of the barcode while the bogie is running, and from the derived scale coefficient and the rotation angle of the encoder By controlling the motor by the difference between the compensation signal generated by the changed moving distance of the bogie and the target position of the bogie control device, overshoot or undershoot of the motor while the bogie is stopped, thereby reducing the risk of safety accidents. Also, it is possible to calibrate the real-time balance system.

Based on the encoder's original signal data and barcode's original signal data while the bogie is running, a scale factor representing motor slip or arithmetic error when the bogie is stopped is derived, and the moving distance of the bogie changed from the derived scale coefficient and the encoder's rotation angle By controlling the motor by the difference between the compensation signal generated by the , and the target position of the bogie control device, it is possible to prevent overshoot or undershoot of the motor while the bogie is stopped, thereby reducing the risk of safety accidents, and also real-time bogie It can bring a very big improvement in terms of accuracy and reliability of operation of the correction device and method of the bogie system that can calibrate the system, and furthermore, in terms of performance efficiency, and the possibility of commercialization or sales of the bogie system is sufficient and clearly implemented in reality It is an invention that has industrial applicability because it can be done.

Claims (9)

a bogie control device that generates a target position of the bogie and transmits it to the motor; at least one encoder for outputting a rotation angle of a motor for rotating each wheel of the bogie; and a correction device for generating a correction signal for correcting the target position of the bogie based on the original signal data of the encoder,
It further comprises at least one barcode sensor installed on the bogie,
The correction device is
Provided to generate the correction signal for correcting the target position of the bogie based on the original signal data of the barcode sensor and the original signal data of the encoder,
By generating the virtual signal data of the barcode sensor and then adding the generated virtual signal data between the original signal data of the barcode, the reception period of the original signal data of the barcode sensor matches the reception period of the original signal data of the encoder a receiving cycle synchronizer;
a barcode signal processing unit for calculating each of a current position, a current speed, and a current acceleration of the bogie from the original signal data of the barcode sensor of the receiving period synchronizer;
a motor signal processing unit that calculates a current position, a current speed, and a current acceleration of the bogie based on the original signal data of the encoder in the form of a pulse; and
A scale factor representing the slip or position deviation of the motor from the error of the current position, current speed, and current acceleration of the bogie output by the barcode signal processing unit and the current position, current speed, and current acceleration of the bogie output by the motor signal processing unit (SF: Scale Factor) and a correction signal generating unit for deriving and transmitting to the motor signal processing unit. delete The method of claim 1, wherein the virtual signal data is
Calibration device for a balance system, characterized in that it is generated based on an average value of the original signal data of the barcode sensor and a predetermined reception period. delete According to claim 1, wherein the scale factor (SF) is
The current position, current speed, and current acceleration derived for each reception time point (n, n+1, ...) of the barcode original signal data and the encoder's original signal data reception time point (n, n+1, ...) derived by each reception time point (n, n+1, ...) A correction device for a bogie system, characterized in that it is provided to derive the deviation of the current position, current speed, and current acceleration for each time point, and to derive it using the derived current position, current speed, and current acceleration deviation for each time point . According to claim 1, wherein the barcode signal processing unit,
Deriving the current position of the bogie from the original signal data of the barcode sensor and differentiating the derived current position by hour and minute to derive the current speed
After filtering the determined low frequency component of the derived current speed
The compensation device for a bogie system, characterized in that it is provided to derive a current acceleration by differentiating the current speed. According to claim 1, wherein the motor signal processing unit,
a position conversion module for deriving the moving distance of the bogie with the rotation angle of the encoder in the pulse form; and
The current position of the bogie is derived from the position conversion module, the current velocity is derived by differentiating the derived current position, and then the determined low frequency component of the derived current velocity is filtered, and then the filtered current velocity is differentiated by time division. A correction device for a bogie system, characterized in that it is provided to include a motor signal calculation module for deriving the current acceleration. The method of claim 5, wherein the correction signal generator,
It is provided to derive a scale coefficient representing slip or calculation error of the bogie wheel based on the error of the current position, the current speed, and the current acceleration for each time point, and then transmit the derived scale coefficient to the position conversion module,
The position conversion module is
The correction device for a bogie system, characterized in that the correction signal generator outputs a correction signal based on the scale factor and the moving distance of the bogie. In the correction method of the bogie system,
acquiring raw signal data of an encoder for acquiring the rotation angle of a motor mounted on the bogie and raw signal data of a barcode sensor provided at a predetermined interval on a traveling path of the bogie;
adding generated virtual signal data to the obtained original signal data of the barcode sensor to match the reception period of the original signal data of the encoder with the reception period of the original signal data of the barcode sensor;
deriving a current position, a current speed, and a current acceleration of the bogie from the original signal data of the barcode sensor in which the reception period is matched;
converting the original signal data of the encoder in a pulse form into a distance form, then deriving a current position of the bogie, and deriving a current speed and a current acceleration from the derived current position of the bogie;
The current position, current speed, and current acceleration of the bogie for each time point of the encoder derived above and the error of the current position, current speed, and current acceleration of the bogie for each time point derived from the original signal data of the barcode sensor are derived to drive the motor. deriving a scale factor indicative of slip or positional deviation; and
Bogie system comprising the step of generating a correction signal based on the moving distance of the bogie converted based on the scale factor and the rotation angle of the encoder and transmitting the generated correction signal and the sum signal of the target position to the motor of the correction method.

Images