KR20190125947A - Calitration control apparatus of bogie system and method thereof - Google Patents

Abstract

The present technique discloses an apparatus and method for correcting a bogie system. According to a specific embodiment of the present technique, the apparatus and method may prevent overshoot or undershoot of a motor while a bogie is stopped, reduce a risk of negligent accident, and correct a bogie system in real time by drawing a scale factor representing slip or operation error of a motor when the bogie is stopped based on source signal data of an encoder and source signal data of barcode while the bogie is driving and controlling a motor with the difference between a correction signal generated by the drawn scale factor and a target position of a bogie control device.

Description

CALITRATION CONTROL APPARATUS OF BOGIE SYSTEM AND METHOD THEREOF

The present invention relates to a correction control device and method of a balance system, and more particularly, to derive a correction signal based on an error between the original signal data of a barcode sensor obtained while driving a balance and the original position data of an encoder mounted in a motor. Accordingly, the present invention relates to a technique for preventing overshoot or undershoot of a motor during stop of the bogie and thus reducing the risk of a safety accident, and enabling a correction of a real-time bogie system.

Receiving period of bar code position data measured by bar code sensor is 1 ~ 2 msec in the most advanced system, whereas current balance control is made by receiving period of 0.5 msec or 0.1 msec. A limit has been reached that is difficult to calibrate.

In addition, in controlling the balance system using a bar code sensor, if the position data of the balance is not updated within the control loop time, there is a problem in the performance of the system and the high-speed response is inferior.

However, the current very fast bogie moves at a speed of 4m per second, the speed of bogie system is gradually increasing with productivity improvement, and the fastest bar code sensor is not suitable for real-time control requirements.

In addition, the bar code sensor is widely used according to the advantage that there is no risk of congestion because it has an alarm function of the bar code sensor.However, unlike the feedback control device attached to the motor, stability problems may occur due to the exposure to the outside space. In many cases, in optical systems, the signal can be interrupted by this material or obstruction.

In addition, the device for controlling the driving of the trolley system using the barcode sensor and the encoder of the motor is driven based on the bar code position data obtained from the barcode sensor when the vehicle is almost stopped, and the encoder of the encoder attached to the motor when the trolley is being transported. Although driving is controlled by the position data, real-time control is impossible according to the reception period of the bar code sensor described above.

In addition, if the overshoot or undershoot of the motor occurs when the target position data is reached due to the control characteristics, wheel slip and position deviation occur, and the risk of safety accident due to slip is inherent.

According to the present invention, the target position supplied from the outside is corrected by reflecting the slip or position deviation of the motor during driving of the vehicle, thereby preventing the overshoot or undershoot of the motor during the vehicle stopping, thereby reducing the risk of a safety accident. Another object of the present invention is to provide an apparatus and method for correcting a balance system capable of real-time correction of a balance system.

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

A balance controller for generating a target position of the balance and transmitting the balance to a motor; At least one encoder for outputting a rotation angle of a motor for rotating each wheel of the trolley; And a correction device for generating a correction signal for correcting the target position of the balance on the basis of the original signal data of the encoder.

Further comprising at least one barcode sensor is installed on the balance,

The correction device,

And generate the correction signal for correcting the target position of the vehicle based on the original signal data of the barcode sensor and the original signal data of the encoder.

Preferably, the calibrating 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 and the reception period of the original signal data of the barcode sensor and the encoder. It may include a reception period synchronization unit for matching 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, the bar code signal processing unit for calculating each of the current position, the current speed, and the current acceleration of the balance from the original signal data of the barcode sensor of the reception period synchronization unit;

A motor signal processor configured to calculate a current position, a current speed, and a current acceleration of the vehicle on the basis of the original signal data of the encoder in the form of a pulse; And

A scale coefficient indicating a slip or position deviation of the motor from an error of the present position, present speed, and present acceleration of the output bogie of the barcode signal processor and the present position, present speed, and present acceleration of the output bogie of the motor signal processor; And a correction signal generation unit for deriving a scale factor (SF) and generating a correction signal for correcting the target position of the balance using the derived scale factor.

 Preferably, the scale factor SF is a current position, a current velocity, and a current acceleration derived from the reception time points n, n + 1, ... of the bar code original signal data, and the reception time point n, of the original signal data of the encoder. n + 1, ...) may be provided to derive the deviation of the current position, the current velocity, and the current acceleration derived for each time point, and by using the current position, the current speed, and the current acceleration deviation for each time point derived. have.

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

Preferably, the motor signal processing unit, a position conversion module for converting the rotation angle of the encoder in the pulse form to the movement distance of the balance and then derive the current position of the balance; And deriving the current position of the vehicle from the position conversion module, deriving the current position by differentiating the derived current position, filtering the predetermined low frequency component of the derived current speed, and deriving the current acceleration by differentiating the current speed. It may be provided to include a motor signal calculation module.

Preferably, the correction signal generation unit derives a scale coefficient representing a slip or operation error of the motor based on the error of the current position, the current speed, and the current acceleration for each time point, and then transfers the derived scale factor to the position conversion module. It may be provided.

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

Adding virtual signal data generated 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 present position, a present velocity, and a present acceleration of the balance from the original signal data of the barcode sensor having the same reception period;

Converting the original signal data of the encoder in the form of a pulse into a moving distance of the balance, deriving a current position of the balance and deriving a current velocity and a current acceleration from the derived current position of the balance;

The current position, current speed, and current acceleration of the encoder for each time point of the derived encoder and the error of the current position, current speed, and current acceleration of the time-specific bogie derived from the original signal data of the bar code sensor are derived. Deriving a scale factor indicative of slip or position deviation; And

Generating a correction signal using the scale factor and transferring the generated correction signal and a signal of the sum of the target positions to the motor.

The following drawings attached in this specification are illustrative of the preferred embodiments of the present invention, and together with the detailed description of the invention to serve to further understand the technical spirit of the present invention, the present invention is a matter described in such drawings It should not be construed as limited to.
1 is a block diagram illustrating a control device of a balance system according to an embodiment.
2 is a detailed configuration diagram of a correction device of the system of an embodiment.
3 is a flowchart illustrating a calibration process of the balance system according to another embodiment.

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

Advantages and features of the present invention, and methods of achieving them will be 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 can be implemented in various different forms, and only the embodiments make the disclosure of the present invention complete, and the general knowledge in the art to which the present invention belongs. It is provided to fully inform the person having the scope of the invention, which is defined only by the scope of the claims.

Terms used herein will be briefly described and the present invention will be described in detail.

The terms used in the present invention have been selected as widely used general terms as possible in consideration of the functions in the present invention, but this may vary according to the intention or precedent of the person skilled in the art, the emergence of new technologies and the like. In addition, in certain cases, there is also a term arbitrarily selected by the applicant, in which case the meaning will be described in detail in the description of the invention. Therefore, the terms used in the present invention should be defined based on the meanings of the terms and the contents throughout the present invention, rather than the names of the simple terms.

When any part of the specification is to "include" any component, this means that it may further include other components, except to exclude other components unless otherwise stated. In addition, the term "part" as used herein refers to a hardware component, such as software, FPGA or ASIC, and "part" plays certain roles. However, "part" is not meant to be limited to software or hardware. The “unit” may be configured to be in an addressable storage medium and may be configured to play one or more processors.

Thus, as an example, a "part" refers to 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, circuits, data, databases, data structures, tables, arrays and variables. The functionality provided within the components and "parts" may be combined into a smaller number of components and "parts" or further separated into additional components and "parts".

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention.

An embodiment generates a correction signal for correcting the target position of the balance based on the original signal data of the bar code sensor and the encoder's original signal data while the vehicle is running, thereby preventing overshoot or undershoot of the motor when the vehicle is stopped. It is possible to prevent safety accidents and to correct the balance system in real time.

FIG. 1 is a block diagram showing an overall configuration of a balance system according to an embodiment, and FIG. 2 is a detailed configuration diagram of a correction device shown in FIG. 1. Referring to FIGS. 2 and 3, a balance control system according to an embodiment may include 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 balance control apparatus 100 generates a target position of the motor M and transmits it to the motor M. The motor M rotates based on the target position, and the wheel of the balance received the rotational movement of the motor M is The rotational motion of the motor M is converted into a straight motion and moved to the target position. The motor is rotated based on the position, the speed, and the 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 As with any other device capable of executing and responding to instructions, it may be implemented using one or more general purpose or special purpose computers.

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 has a pulse shape. 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 truck is required separately.

That is, the at least one encoder 200 may be provided at a predetermined position of the motor M provided for each wheel of the bogie to output a 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 should be derived by converting the rotation angle in the form of a pulse.

The correction 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 calculation module 12. Here, the position conversion module 11 may derive the current position of the bogie by converting the rotational angle of the bogie in the pulse-type rotation angle received from the encoder 200. For example, the movement distance of the bogie can be converted by the number of original signal data of the encoder received per one revolution of the motor.

On the other hand, the motor signal calculation module 12 derives the present speed of the bogie by differentiating with time-varying the present position of the bogie of the position conversion module 11, and removes the low frequency component predetermined for the derived bogie's current speed. The current acceleration of the bogie can be derived by differentiating time-varying the present current velocity.

On the other hand, the at least one bar code sensor 300 is installed in the trolley, it is possible to obtain the original signal data indicating the current position of the moving trolley at a predetermined predetermined period.

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

The correction device 400 may further include a reception period synchronizer 20. The reception period 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, thereby the barcode sensor 300. The reception period of the original signal data of the encoder 200 and the reception period of the original signal data of the encoder 200 are synchronized. 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 original signal data of the barcode sensor 300 are received in one minute, and 30 original signal data of the encoder 200 are received in one minute, 20 virtual signal data of the barcode sensor are received. In the 20 virtual signal data, the original signal data of the barcode signal 300 is inserted to receive the original signal data of the barcode sensor 300 and the period of receiving the original signal data of the encoder 2000 to 30 in one minute of mode. Matches.

On the other hand, the correction device 400 includes a bar code signal processor 30, the bar code signal processor 30 is to determine the current position of the balance from the original signal data of the bar code sensor 300 received from the reception period synchronization unit 20 Derives the current velocity of the trolley by deriving it by time-varying the current position of the derived bogie, and controls the low-frequency components of the current velocities of the derived bogie, and then derivatives it by time-varying with the current velocities of the derived bogie Can be derived.

Further, the correction device 400 further includes a correction signal generator 40, and the predetermined time points 1, 2,. N, n + 1 output from the motor signal processor 10 and the barcode signal processor 30, respectively. ..) The current position, current speed, and current acceleration of each bogie are transmitted to the correction signal generator 40.

Accordingly, the correction signal generator 40 calculates an error for each time point for each of a current position, a current speed, and a current acceleration of the bogie for each predetermined time point (1, 2, .. n, n + 1 ..), A scale factor (SF) representing a slip or positional deviation of the motor at the time of stopping the vehicle may be obtained from the calculated errors of the current position, the current speed, and the current acceleration of each vehicle for each time point.

In addition, the correction signal generator 40 transmits the obtained scale factor SF to the position conversion module 11, whereby the position change module 11 corrects the movement based on the moving distance and the scale factor SF of the truck. Output the signal. The control signal of the sum of the correction signal and the target position of the balance controller 100 is transmitted to the motor M.

Accordingly, the motor M is driven by the control signal of the sum of the target position and the correction signal of the balance control apparatus 100.

According to an embodiment of the present disclosure, based on the original signal data of the encoder and the barcode of the original signal data while driving the vehicle, a scale factor representing a slip or operation error of the motor when the vehicle is stopped is derived and the scale factor and the moving distance of the vehicle are derived. By controlling the motor with the difference between the generated correction signal and the target position of the balance control device, it is possible to prevent overshoot or undershoot of the motor during the stop of the balance and thus reduce the risk of a safety accident, and also to provide a real-time balance system Correction is possible.

3 is a flowchart for describing an operation of correcting a target position during movement of a vehicle in a correction device, according to an exemplary embodiment. A computer-readable recording medium having recorded thereon a program for executing a method of calibrating a balance system according to an embodiment may be provided. The program may include at least one of an application program, a device driver, firmware, middleware, a dynamic link library (DLL), and an applet storing an item recommendation method. The correction apparatus includes a processor, and the processor can execute the correction method of the balance system by reading a recording medium on which the correction method of the balance 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 apparatus for correcting a balance system according to an embodiment converts a rotation angle of a motor obtained from an encoder into a movement distance of a balance and then derives and derives a current position of the balance. The current velocity of the trolley can be derived by time-differentiating the current position of the trolley, and the present acceleration of the trolley can be derived by filtering the predetermined low-frequency component and then differentiating it to the base.

Meanwhile, in steps S21 and S22, the apparatus for correcting a balance system according to an embodiment may perform virtual signal data in order to match the reception period of the original signal data of the barcode sensor received with the encoder's original signal data obtained from the encoder. As the original signal data of the barcode sensor is added to the generated virtual signal data, the reception period of the original signal data of the barcode sensor and the reception period of the original signal data of the encoder may be coincident with each other.

In operation S23, the apparatus for correcting a balance system according to an embodiment derives the current position of the balance from the original signal data of the corrected bar code sensor, and differentiates the current position of the balance by time-varying with respect to the derived current position of the balance. The present acceleration may be derived by filtering a predetermined low frequency component based on the derived current velocity and filtering the predetermined low frequency component.

In steps S31 and S32, the correction apparatus of the balance system according to an embodiment is derived from the current position, the current velocity, and the current acceleration and the original signal data of the barcode sensor for each point of time, which are derived from the original signal data of the encoder. The current position, the current velocity, and the current acceleration of the vehicle-specific bogie at a given time point, and derive an error of the current position, the current speed, and the current acceleration of the bogie at each time-point, and represent the slip or calculation error of the wheel based on the derived error. The scale factor can be derived.

In operation S33, the correction apparatus of the balance system according to an embodiment generates a correction signal using the scale coefficient and the moving distance of the balance converted from the rotation angle of the encoder, and generates the correction signal using the generated correction signal. The target position is corrected, and the corrected target position is transmitted to the motor M.

According to an embodiment of the present disclosure, based on the original signal data of the encoder and the barcode of the original signal data while driving the vehicle, a scale factor indicating a slip or operation error of the motor when the vehicle is stopped is derived and the scale factor and the rotation angle of the encoder are derived. By controlling the motor with the difference between the compensation signal generated by the changed travel distance of the bogie and the target position of the bogie control device, it is possible to prevent overshoot or undershoot of the motor during standstill of the bogie and thus reduce the risk of a safety accident. It is also possible to correct the real-time balance system.

Based on the original signal data of the encoder and the bar code of the bar code while driving the vehicle, a scale factor representing the slip or operation error of the motor when the vehicle is stopped is derived, and the derived scale factor and the moving distance of the balance changed from the rotation angle of the encoder By controlling the motor by the difference between the compensation signal generated by the target signal and the target position of the balance control device, it is possible to prevent overshoot or undershoot of the motor during the stop of the balance and thereby reduce the risk of a safety accident, It is possible to bring great advances in terms of accuracy and reliability of operation, and furthermore in terms of performance efficiency, to the calibration device and method of the bogie system capable of calibrating the system. As it is possible, it is invention with industrial applicability .

Claims (9)

A balance controller for generating a target position of the balance and transmitting the balance to a motor; At least one encoder for outputting a rotation angle of a motor for rotating each wheel of the trolley; And a correction device for generating a correction signal for correcting the target position of the balance on the basis of the original signal data of the encoder.
Further comprising at least one barcode sensor is installed on the balance,
The correction device,
And generate the correction signal for correcting the target position of the balance based on the original signal data of the barcode sensor and the original signal data of the encoder. The method of claim 1, wherein the correction device,
After generating the virtual signal data of the barcode sensor and adding the generated virtual signal data between the original signal data of the bar code coincides with the reception period of the original signal data of the barcode sensor and the reception period of the original signal data of the encoder Compensation apparatus for a balance system, characterized in that it comprises a reception period synchronization unit. The method of claim 2, wherein the virtual signal data is
And an average value of the original signal data of the barcode sensor and a predetermined reception period. The method of claim 2, wherein the correction device,
A bar code signal processing unit for calculating each of a current position, a current speed, and a current acceleration of the vehicle from the original signal data of the barcode sensor of the reception period synchronization unit;
A motor signal processor configured to calculate a current position, a current speed, and a current acceleration of the vehicle on the basis of the original signal data of the encoder in the form of a pulse; And
A scale coefficient indicating a slip or position deviation of the motor from an error of the present position, present speed, and present acceleration of the output bogie of the barcode signal processor, and the present position, present speed, and present acceleration of the output bogie of the motor signal processor; And a correction signal generator for deriving (SF: Scale Factor) and transmitting the same to the motor signal processor. The method of claim 4, wherein the scale factor (SF) is
Derivation of the current position, the current velocity, and the current acceleration derived by the reception time point (n, n + 1, ...) of the bar code original signal data and the reception time point (n, n + 1, ...) of the original signal data of the encoder A device for calibrating a balance system, wherein the deviation of the current position, the current velocity, and the current acceleration is derived for each time point, and is derived using the derived current position, current speed, and current acceleration deviation for each time point. . The method of claim 4, wherein the bar code signal processing unit,
Deriving the current position of the vehicle from the original signal data of the bar code sensor and deriving the current speed by differentiating by the time and minute with respect to the derived current position
After filtering the predetermined low frequency component of the derived current velocity
And deriving the current acceleration by differentiating the current speed. The method of claim 4, wherein the motor signal processing unit,
A position conversion module for deriving a moving distance of the bogie by the rotation angle of the pulse type encoder; And
Deriving the current position of the bogie from the position conversion module and deriving the current velocity by differentiating the derived current position, filtering the predetermined low frequency component of the derived current velocity, and then deriving the derivative by the hour and minute with respect to the filtered current velocity. And a motor signal calculating module for deriving the current acceleration. The method of claim 5, wherein the correction signal generation unit,
It is provided to derive a scale factor representing the slip or calculation error of the wheel on the basis of the error of the current position, the current speed, and the current acceleration for each time point, and then transfer the derived scale factor to the position conversion module,
The position conversion module
And a correction signal based on the scale factor of the correction signal generation unit and the movement distance of the balance. In the correction method of the balance system,
Acquiring original signal data of an encoder for obtaining a rotation angle of a motor mounted on the trolley and original signal data of a barcode sensor provided at predetermined intervals on a traveling path of the trolley;
Adding virtual signal data generated 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 present position, a present velocity, and a present acceleration of the balance from the original signal data of the barcode sensor having the same reception period;
Converting the original signal data of the encoder in a pulse form into a distance form and deriving a current position of the bogie and deriving a current velocity and a current acceleration from the derived bogie's current position;
The current position, current speed, and current acceleration of the encoder for each time point of the derived encoder and the error of the current position, current speed, and current acceleration of the time-specific bogie derived from the original signal data of the bar code sensor are derived. Deriving a scale factor indicative of slip or position deviation; And
And generating a correction signal based on the scale factor and the moving distance of the bogie converted based on the rotation angle of the encoder, and transmitting the generated correction signal and the signal of the sum of the target positions to the motor. Method of correction.

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