CN108744533B - Multi-switch voting level control method for ferris wheel rotary car - Google Patents
Multi-switch voting level control method for ferris wheel rotary car Download PDFInfo
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- CN108744533B CN108744533B CN201810576384.XA CN201810576384A CN108744533B CN 108744533 B CN108744533 B CN 108744533B CN 201810576384 A CN201810576384 A CN 201810576384A CN 108744533 B CN108744533 B CN 108744533B
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- 230000001360 synchronised effect Effects 0.000 claims description 2
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
- A63G27/00—Russian swings; Great wheels, e.g. Ferris wheels
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Abstract
The invention relates to a multi-switch voting horizontal control method of a ferris wheel rotary lift car, wherein the inner ring of the lift car is connected with a double closed-loop control system for driving the lift car to reversely rotate at the same angular speed relative to the ferris wheel, and the system comprises a controller, a motor driver and a driving motor; the controller adopts a multi-switch voting level control method to respectively calculate difference absolute values of signals of the three inclination angle detection sensors, compares the difference absolute values with a signal set value to judge whether the signals of the three inclination angle detection sensors are normal or not, selects the signal of one normal inclination angle detection sensor as a signal source, and drives a motor driver and a driving motor to work according to the signal of the signal source so as to realize acceleration and deceleration control on the lift car, thereby achieving the purpose of level adjustment; the method not only can rapidly and effectively judge whether the sensor fails, but also can accurately judge the specific fault sensor, reduce the fault shutdown alarm probability and improve the safety of the system.
Description
[ field of technology ]
The invention relates to a ferris wheel for entertainment, in particular to a multi-switch voting level control method of a ferris wheel rotary car.
[ background Art ]
In the amusement industry, ferris wheel amusement devices are put into use in more and more places along with the development of economy. Along with the improvement of life quality of people, the comfort and the safety of the ferris wheel lift car are also required to be higher, and the ferris wheel lift car is also required to be updated.
In the conventional ferris wheel elevator car, most of the gravity self-adaptive technology only depends on the gravity of the elevator car and the gravity of passengers to keep the elevator car horizontal. The technology has no other power participation, if passengers in the elevator car have unbalanced load, the elevator car cannot ensure the 100 percent level, and the external force interference resistance is weak, so that the elevator car balance control is performed by adding a driving system to the elevator car.
The current ferris wheel car balance detection adopts an inclination angle detection sensor to detect the inclination angle, and the car balance control is realized by matching the detection result with a car control driving system. In the prior art, single or two inclination angle detection sensors are generally adopted for detection, but the two detection methods have certain problems: if a sensor fails in a single detection mode, the system cannot judge that the sensor fails, and the sensor failure can cause error control of a horizontal correction system, so that a car is seriously inclined to cause disastrous results; for example, although the dual-sensor detection can judge the failure condition of the sensor, the specific failure sensor cannot be judged, and the single-sensor failure can cause the equipment to alarm and stop to cause rescue, so that how to obtain a reliable inclination angle detection result is the key of the balance control of the whole car.
[ invention ]
In order to solve the problems, the invention provides a multi-switch voting level control method for a ferris wheel rotary lift car, which is used for calculating three inclination angle detection sensors, so that whether the sensors fail or not can be rapidly and effectively judged, a specific fault sensor can be accurately judged, the fault shutdown alarm probability is reduced, and the safety of a system is improved.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the multi-switch voting level control method of the ferris wheel rotary lift car comprises a bracket and a ferris ring arranged on the bracket, wherein a plurality of lift cars are distributed on the ferris ring in a surrounding manner, each lift car comprises a lift car outer ring fixedly connected with the ferris ring, and a lift car inner ring which rotates relative to the lift car outer ring is arranged in the lift car outer ring; the inner ring of the car is connected with a double closed-loop control system which drives the car to reversely rotate at the same angular speed relative to the ferris ring; the double closed-loop control system comprises a controller, a motor driver and a driving motor which are electrically connected in sequence, wherein the signal input end of the controller is electrically connected with at least three inclination angle detection sensors, and the signal input end of the controller is also electrically connected with a first speed detection encoder; the controller adopts a multi-switch voting level control method, the method calculates the absolute value of difference values of signals of the plurality of inclination angle detection sensors in pairs respectively through the controller, compares the absolute value of difference values with a signal set value, judges whether the signals of the plurality of inclination angle detection sensors are normal, selects the signal of one normal inclination angle detection sensor as a signal source, and drives the motor driver and the driving motor to work according to the signals of the signal source.
As a preferred embodiment, further defined as: the three inclination angle detection sensors comprise a first inclination angle detection sensor, a second inclination angle detection sensor and a third inclination angle detection sensor;
the logical operation of the multi-switch voting level control method is as follows:
the absolute value of the difference value of the first inclination angle detection sensor and the second inclination angle detection sensor is X1;
the absolute value of the difference value between the first inclination angle detection sensor and the third inclination angle detection sensor is X2;
the absolute value of the difference value between the second inclination angle detection sensor and the third inclination angle detection sensor is X3;
the signal set value is set as Y;
when X1, X2 and X3 are all smaller than or equal to Y, the first inclination angle detection sensor, the second inclination angle detection sensor and the third inclination angle detection sensor are considered to be normal, and the controller defaults to select the signal of the first inclination angle detection sensor as a signal source;
when two of X1, X2 and X3 are smaller than or equal to Y, the first inclination angle detection sensor, the second inclination angle detection sensor and the third inclination angle detection sensor are considered to be normal, and the controller defaults to select the signal of the first inclination angle detection sensor as a signal source;
when X1 is less than or equal to Y, X2 is more than Y, and X3 is more than Y, the first inclination angle detection sensor and the second inclination angle detection sensor are considered to be normal, the third inclination angle detection sensor is abnormal, and the controller selects the signal of the first inclination angle detection sensor as a signal source;
when X1 is more than Y, X2 is less than or equal to Y, and X3 is more than Y, the first inclination angle detection sensor and the third inclination angle detection sensor are considered to be normal, the second inclination angle detection sensor is abnormal, and the controller selects the signal of the first inclination angle detection sensor as a signal source;
when X1 is larger than Y, X2 is larger than Y, and X3 is smaller than or equal to Y, the second inclination angle detection sensor and the third inclination angle detection sensor are considered to be normal, the first inclination angle detection sensor is abnormal, and the controller defaults to select the signal of the second inclination angle detection sensor as a signal source;
when X1 is larger than Y, X2 is larger than Y, and X3 is larger than Y, the first inclination angle detection sensor, the second inclination angle detection sensor and the third inclination angle detection sensor are considered to be abnormal, and the double closed-loop control system stops working.
As a preferred embodiment, further defined as: the first inclination angle detection sensor, the second inclination angle detection sensor and the third inclination angle detection sensor respectively adopt analog quantity inclination angle detection sensors with redundant designs of different manufacturers.
As a preferred embodiment, further defined as: when one of the first inclination angle detection sensor, the second inclination angle detection sensor and the third inclination angle detection sensor is abnormal, the controller sends out a prompt alarm, the double closed-loop control system is allowed to continue to operate in an automatic mode, and when the double closed-loop control system stops working, the double closed-loop control system can be restarted to operate after the fault is removed.
As a preferred embodiment, further defined as: when the first inclination angle detection sensor, the second inclination angle detection sensor and the third inclination angle detection sensor are abnormal, the controller sends out a secondary alarm; the double closed-loop control system stops working, and can be started to rescue in a maintenance mode.
As a preferred embodiment, further defined as: the controller is connected with the motor driver through an industrial Ethernet.
As a preferred embodiment, further defined as: the controller is communicated with the ferris wheel main control system through a wireless network.
As a preferred embodiment, further defined as: the ferris wheel main control system comprises a main controller and a ferris ring driving mechanism electrically connected with the main controller, the ferris ring driving mechanism drives the ferris ring to rotate, a signal input end of the main controller is electrically connected with a speed detection encoder B for detecting the rotation speed of the ferris ring, and the main controller is communicated with the controller through a wireless network.
The invention has the beneficial effects that: the inner ring of the car is connected with a double closed-loop control system for driving the double closed-loop control system to synchronously rotate relative to the outer ring of the car, and the system comprises a controller, a motor driver and a driving motor which are electrically connected in sequence; the controller adopts a multi-switch voting level control method to respectively calculate difference absolute values of signals of the three inclination angle detection sensors, compares the difference absolute values with a signal set value to judge whether the signals of the three inclination angle detection sensors are normal or not, selects the signal of one normal inclination angle detection sensor as a signal source, and drives a motor driver and a driving motor to work through the signal source so as to realize acceleration and deceleration control on the lift car, thereby achieving the purpose of level adjustment; the method not only can rapidly and effectively judge whether the sensor fails, but also can accurately judge the specific fault sensor, reduce the fault shutdown alarm probability and improve the safety of the system.
[ description of the drawings ]
FIG. 1 is a schematic diagram of the structure of the present invention;
fig. 2 is a schematic view of the structure of the car;
fig. 3 is a schematic block diagram of a circuit of a dual closed loop control system.
[ detailed description ] of the invention
The invention is described in further detail below with reference to the attached drawings and detailed description:
as shown in fig. 1, 2 and 3, the multi-switch voting level control method of the ferris wheel rotary lift car comprises a bracket 1 and a ferris ring 2 arranged on the bracket 1, wherein a plurality of lift cars 3 are circumferentially distributed on the ferris ring 2, each lift car 3 comprises a lift car outer ring 4 fixedly connected with the ferris ring 2, the ferris ring 2 drives the lift car outer ring 4 to rotate along the axle center of the ferris ring 2 during revolution, and the lift car inner ring 5 which rotates relative to the lift car outer ring 4 is arranged in the lift car outer ring 4; the car inner ring 5 is connected with a double closed-loop control system which drives the car inner ring 5 to reversely rotate relative to the ferris ring 2 at the same angular speed, the rotation speed synchronization of the car inner ring 5 and the ferris ring 2 can be ensured through a double closed-loop control technology, the influence of load and motor slip on the actual rotation speed is actively eliminated, and therefore the horizontal control process is more stable.
Further, the dual closed-loop control system comprises a controller, a motor driver and a driving motor which are electrically connected in sequence, wherein the signal input end of the controller is electrically connected with at least three inclination angle detection sensors, in the embodiment, the three inclination angle detection sensors comprise a first inclination angle detection sensor, a second inclination angle detection sensor and a third inclination angle detection sensor, the first inclination angle detection sensor, the second inclination angle detection sensor and the third inclination angle detection sensor respectively adopt analog inclination angle detection sensors with redundant designs of different manufacturers, the redundancy technology in the prior art is utilized to carry out horizontal detection on the inner ring 5 of the car, and PID adjustment is carried out on the rotating speed of the inner ring 5 of the car according to the detection result, so that horizontal closed-loop control is formed, and horizontal correction is realized; the sensors of different manufacturers are adopted, so that the simultaneous faults of a plurality of sensors due to the same problems caused by the adoption of the sensors of the same model can be prevented, and the stability of the control system is effectively improved. The signal input end of the controller is also electrically connected with a first speed detection encoder, the motor driver detects the rotating speed of the inner ring 5 of the car through the first speed detection encoder to form a speed closed loop, and the speed closed loop is compared with the rotating speed of the ferris ring 2 to realize speed synchronous following and reduce the horizontal correction caused by speed accumulated errors.
In the embodiment, the controller adopts a multi-switch voting level control method to respectively calculate the absolute values of the difference values of the signals of the three inclination angle detection sensors, compares the absolute values of the difference values with a signal set value to judge whether the signals of the three inclination angle detection sensors are normal or not, selects the signal of one normal inclination angle detection sensor as a signal source, and drives a motor driver and a driving motor to work through the signal source so as to realize acceleration and deceleration control on the lift car, thereby achieving the purpose of level adjustment; the method not only can rapidly and effectively judge whether the sensor fails, but also can accurately judge the specific fault sensor, reduce the fault shutdown alarm probability and improve the safety of the system.
Still further, referring to table 1, table 1 is a logic table of the multi-switch voting level control method:
| ︱A-B︱ | ︱A-C︱ | ︱B-C︱ | normal signal | Signal anomalies | Signal source |
| X1≤Y | X2≤Y | X3≤Y | A\B\C | Without any means for | A |
| X1≤Y | X2≤Y | X3＞Y | A\B\C | Without any means for | A |
| X1≤Y | X2＞Y | X3≤Y | A\B\C | Without any means for | A |
| X1≤Y | X2＞Y | X3＞Y | A\B | C | A |
| X1＞Y | X2≤Y | X3＞Y | A\C | B | A |
| X1＞Y | X2＞Y | X3≤Y | B\C | A | B |
| X1＞Y | X2＞Y | X3＞Y | Without any means for | A\B\C | Without any means for |
TABLE 1
The three inclination angle detection sensors comprise a first inclination angle detection sensor, a second inclination angle detection sensor and a third inclination angle detection sensor, and the logic operation of the multi-switch voting horizontal control method is as follows:
the absolute value of the difference value of the first inclination angle detection sensor and the second inclination angle detection sensor is X1;
the absolute value of the difference value between the first inclination angle detection sensor and the third inclination angle detection sensor is X2;
the absolute value of the difference value between the second inclination angle detection sensor and the third inclination angle detection sensor is X3;
the signal set value is set as Y, and Y is an angle value, which can be adjusted according to actual conditions, and the smaller the angle is, the smaller the inclination angle of the car is, in this embodiment, y=1° is preferable;
when X1, X2 and X3 are all smaller than or equal to Y, the first inclination angle detection sensor, the second inclination angle detection sensor and the third inclination angle detection sensor are considered to be normal, the controller defaults to select the signal of the first inclination angle detection sensor as a signal source, and the double closed-loop control system operates normally;
when two of X1, X2 and X3 are smaller than or equal to Y, the first inclination angle detection sensor, the second inclination angle detection sensor and the third inclination angle detection sensor are considered to be normal, the controller defaults to select the signal of the first inclination angle detection sensor as a signal source, and the double closed-loop control system operates normally;
when X1 is less than or equal to Y, X2 is more than Y, and X3 is more than Y, the first inclination angle detection sensor and the second inclination angle detection sensor are considered to be normal, the third inclination angle detection sensor is abnormal, and the controller selects the signal of the first inclination angle detection sensor as a signal source; the controller sends out a prompting alarm, the alarm content is that the third inclination angle detection sensor fails, the double closed-loop control system is allowed to continue to operate in an automatic mode, and when the double closed-loop control system stops working, the double closed-loop control system can be restarted to operate after the failure is removed.
When X1 is more than Y, X2 is less than or equal to Y, and X3 is more than Y, the first inclination angle detection sensor and the third inclination angle detection sensor are considered to be normal, the second inclination angle detection sensor is abnormal, and the controller selects the signal of the first inclination angle detection sensor as a signal source; the controller sends out a prompting alarm, the alarm content is that the second inclination angle detection sensor fails, the double closed-loop control system is allowed to continue to operate in an automatic mode, and when the double closed-loop control system stops working, the double closed-loop control system can be restarted to operate after the failure is removed.
When X1 is larger than Y, X2 is larger than Y, and X3 is smaller than or equal to Y, the second inclination angle detection sensor and the third inclination angle detection sensor are considered to be normal, the first inclination angle detection sensor is abnormal, and the controller defaults to select the signal of the second inclination angle detection sensor as a signal source; the controller sends out a prompting alarm, the alarm content is that the first inclination angle detection sensor fails, the double closed-loop control system is allowed to continue to operate in an automatic mode, and when the double closed-loop control system stops working, the double closed-loop control system can be restarted to operate after the failure is removed.
When X1 is larger than Y, X2 is larger than Y, and X3 is larger than Y, the first inclination angle detection sensor, the second inclination angle detection sensor and the third inclination angle detection sensor are considered to be abnormal, the double closed-loop control system stops working, and the system can be started to rescue in a maintenance mode. The controller sends out a secondary alarm, and the alarm content is a plurality of sensor faults. When the number of the inclination angle detection sensors exceeds three, the logic operation of the inclination angle detection sensors is the same as or similar to that of the three inclination angle detection sensors.
In this embodiment, the driving motor may be a linear motor or an ac motor in the prior art, the controller may be a PLC or a single chip microcomputer in the prior art, the motor driver is a servo driver in the prior art, and the controller and the motor driver exchange data through an industrial ethernet.
The controller communicates with the ferris wheel master control system through a wireless Ethernet. Furthermore, the Ethernet exchanger electrically connected with the controller is electrically connected with a wireless access point, so that the wireless network communication between the controller and the ferris wheel main control system is realized, and a user using the wireless equipment can conveniently enter an access or regulation program. The ferris wheel main control system comprises a main controller and a ferris ring driving mechanism electrically connected with the main controller, wherein the ferris ring driving mechanism drives the ferris ring 2 to rotate. Because the output rotating speed of the ferris ring driving mechanism is not necessarily equal to the rotating speed of the ferris ring, in order to more accurately detect the rotating speed of the ferris ring, the signal input end of the main controller is electrically connected with a speed detection encoder B for detecting the rotating speed of the ferris ring 2, the speed detection encoder B is arranged at the outermost side of the ferris ring 2 and relatively close to a car, and the detected rotating speed is more accurate. The main controller communicates with the controller through a wireless network, the detection data of the speed detection encoder B are transmitted to the controller, and the controller judges whether the rotating speed of the ferris ring is consistent with the rotating speed of the inner ring 5 of the car or not and regulates and controls in real time by comparing the data of the first speed detection encoder and the data of the speed detection encoder B.
The ferris wheel feeds back the horizontal inclination angle of the lift car in real time through horizontal detection, and the controller adjusts the rotating speed of the driving motor according to the inclination angle so as to achieve the purpose of reducing the inclination angle and realize the passive horizontal control effect; the speed of the driving motor is regulated by the controller according to the speed difference value through real-time detection feedback of the speed of the car, so that the aim of speed synchronization is fulfilled; due to speed synchronization, the generation of system inclination angle difference is reduced, and thus an active horizontal control effect is realized.
Claims (7)
1. The multi-switch voting level control method of the ferris wheel rotary lift car comprises a bracket (1) and a ferris ring (2) arranged on the bracket (1), wherein a plurality of lift cars (3) are distributed on the ferris ring (2) in a surrounding mode, the lift cars (3) comprise lift car outer rings (4) fixedly connected with the ferris ring (2), and lift car inner rings (5) rotating relative to the lift car outer rings (4) are arranged in the lift car outer rings; the device is characterized in that the inner ring (5) of the car is connected with a double closed-loop control system which drives the inner ring to reversely rotate at the same angular speed relative to the ferris ring (2); the double closed-loop control system comprises a controller, a motor driver and a driving motor which are electrically connected in sequence, wherein a speed detection encoder B for detecting the rotating speed of the ferris ring (2) is arranged on the ferris ring (2), and the speed detection encoder B is arranged at the outermost side of the ferris ring (2) and is relatively close to the lift car (3); the signal input end of the controller is electrically connected with at least three inclination angle detection sensors, the signal input end of the controller is also electrically connected with a first speed detection encoder, the motor driver detects the rotating speed of the inner ring (5) of the car through the first speed detection encoder to form a speed closed loop, and the speed closed loop is compared with the rotating speed of the ferris ring (2) to realize speed synchronous following; the controller adopts a multi-switch voting level control method, the method calculates the absolute value of difference values of signals of the plurality of inclination angle detection sensors in pairs respectively through the controller, compares the absolute value of difference values with a signal set value, judges whether the signals of the plurality of inclination angle detection sensors are normal, selects the signal of one normal inclination angle detection sensor as a signal source, and drives the motor driver and the driving motor to work according to the signals of the signal source.
2. The multi-switch voting level control method of the ferris wheel slewing car according to claim 1, wherein the three tilt angle detection sensors are provided, and the method comprises the following logic operations of a first tilt angle detection sensor, a second tilt angle detection sensor and a third tilt angle detection sensor:
the absolute value of the difference value of the first inclination angle detection sensor and the second inclination angle detection sensor is X1;
the absolute value of the difference value between the first inclination angle detection sensor and the third inclination angle detection sensor is X2;
the absolute value of the difference value between the second inclination angle detection sensor and the third inclination angle detection sensor is X3;
the signal set value is set as Y;
when X1, X2 and X3 are all smaller than or equal to Y, the first inclination angle detection sensor, the second inclination angle detection sensor and the third inclination angle detection sensor are considered to be normal, and the controller defaults to select the signal of the first inclination angle detection sensor as a signal source;
when two of X1, X2 and X3 are smaller than or equal to Y, the first inclination angle detection sensor, the second inclination angle detection sensor and the third inclination angle detection sensor are considered to be normal, and the controller defaults to select the signal of the first inclination angle detection sensor as a signal source;
when X1 is less than or equal to Y, X2 is more than Y, and X3 is more than Y, the first inclination angle detection sensor and the second inclination angle detection sensor are considered to be normal, the third inclination angle detection sensor is abnormal, and the controller selects the signal of the first inclination angle detection sensor as a signal source;
when X1 is more than Y, X2 is less than or equal to Y, and X3 is more than Y, the first inclination angle detection sensor and the third inclination angle detection sensor are considered to be normal, the second inclination angle detection sensor is abnormal, and the controller selects the signal of the first inclination angle detection sensor as a signal source;
when X1 is larger than Y, X2 is larger than Y, and X3 is smaller than or equal to Y, the second inclination angle detection sensor and the third inclination angle detection sensor are considered to be normal, the first inclination angle detection sensor is abnormal, and the controller defaults to select the signal of the second inclination angle detection sensor as a signal source;
when X1 is larger than Y, X2 is larger than Y, and X3 is larger than Y, the first inclination angle detection sensor, the second inclination angle detection sensor and the third inclination angle detection sensor are considered to be abnormal, and the double closed-loop control system stops working.
3. The method for controlling the multi-switch voting level of the ferris wheel rotary car according to claim 2, wherein the first inclination angle detection sensor, the second inclination angle detection sensor and the third inclination angle detection sensor respectively adopt analog quantity inclination angle detection sensors of different manufacturers.
4. The method for controlling the multi-switch voting level of the ferris wheel rotary car according to claim 2, wherein when one of the first inclination angle detection sensor, the second inclination angle detection sensor and the third inclination angle detection sensor is abnormal, the controller gives a prompt alarm, the double closed-loop control system is allowed to continue to operate in an automatic mode, and when the double closed-loop control system stops operating, the operation can be restarted after the fault is removed.
5. The multi-switch voting level control method of the ferris wheel slewing car according to claim 2, wherein the controller gives a secondary alarm when the first tilt angle detection sensor, the second tilt angle detection sensor and the third tilt angle detection sensor are abnormal; the double closed-loop control system stops working, and starts the system to rescue in a maintenance mode.
6. The method for controlling the multi-switch voting level of the ferris wheel rotating car according to any one of claims 1 to 5, wherein the double closed-loop control system and the ferris wheel main control system communicate with each other through a wireless network.
7. The multi-switch voting level control method of a ferris wheel rotary car according to claim 6, characterized in that the ferris wheel main control system comprises a main controller and a ferris ring driving mechanism electrically connected with the main controller, the ferris ring driving mechanism drives the ferris ring (2) to rotate, a signal input end of the main controller is electrically connected with a speed detection encoder B for detecting the rotating speed of the ferris ring (2), and the main controller communicates with the controller through a wireless network.
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| CN204767360U (en) * | 2015-07-10 | 2015-11-18 | 陕西九立机器人制造有限公司 | Roller coaster |
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| WO2017158651A1 (en) * | 2016-03-17 | 2017-09-21 | 泉陽興業株式会社 | Ferris wheel |
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| CN101027105A (en) * | 2004-07-14 | 2007-08-29 | Gwc控股私人有限公司 | Ferris wheel |
| CN103140814A (en) * | 2010-10-11 | 2013-06-05 | 通用电气公司 | Systems, methods, and apparatus for detecting shifts in redundant sensor signals |
| CN102619684A (en) * | 2011-01-31 | 2012-08-01 | 华锐风电科技(集团)股份有限公司 | Fault diagnosis method and system |
| CN104909314A (en) * | 2015-05-11 | 2015-09-16 | 徐州重型机械有限公司 | Aerial ladder fire truck rotary table and leveling control method thereof |
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| WO2017158651A1 (en) * | 2016-03-17 | 2017-09-21 | 泉陽興業株式会社 | Ferris wheel |
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