CN111158407B - Adaptive control method for running speed of vertical circulation stereo garage - Google Patents

Adaptive control method for running speed of vertical circulation stereo garage Download PDF

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CN111158407B
CN111158407B CN201911409457.7A CN201911409457A CN111158407B CN 111158407 B CN111158407 B CN 111158407B CN 201911409457 A CN201911409457 A CN 201911409457A CN 111158407 B CN111158407 B CN 111158407B
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garage
speed
acceleration
parking space
controlling
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CN111158407A (en
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夏奇
尹作振
周生刚
孙晋明
侯友夫
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Jiangsu Tianwo Heavy Industry Technology Co ltd
Jiangsu Wuyang Automation Control Technology Co.,Ltd.
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Jiangsu Tianwo Heavy Industry Technology Co ltd
Jiangsu Wuyang Parking Industry Group Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
    • G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement

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Abstract

A self-adaptive control method for the running speed of a vertical circulation stereo garage judges the position of a parking space; if the parking space number n of the vehicle to be stored/fetched is positioned at the bottommost part of the garage, directly fetching the vehicle; if the parking space number n of the vehicle to be stored/fetched is positioned at the top of the garage, when the parking space number n is 2s1When the speed is less than or equal to 2r + h, controlling the garage to accelerate to the maximum speed, then operating at a constant speed, and then controlling the garage to accelerate to a static state; when 2s1>When the speed is 2r + h, the garage is controlled to operate to V in an accelerated wayxThen controlling the acceleration of the garage to move to a static state; if the parking space number n of the vehicle to be stored/fetched is positioned at any side of the garage, calculating the distance h required to be passed by the parking space number n1(ii) a When 2s1≤h1When the garage is in a static state, controlling the garage to run at the maximum speed in an accelerated mode, then running at a constant speed, and then controlling the garage to run at a static state in an accelerated mode; when 2s1>h1When the garage is controlled to run to V by accelerationyAnd then controlling the garage acceleration to move to a static state. The method can effectively shorten the response time of parking/picking up the vehicle and improve the use efficiency of the garage.

Description

Adaptive control method for running speed of vertical circulation stereo garage
Technical Field
The invention belongs to the technical field of stereo garages, and particularly relates to a self-adaptive control method for the running speed of a vertical circulation stereo garage.
Background
With the increasing of the quantity of automobile reserves in cities, public parking spaces and private parking spaces are seriously short of each other, and for cities, a large amount of manpower, material resources and financial resources are consumed for building ground, underground parking lots or large-scale stereo garages.
The vertical circulating stereo garage is used as circulating parking equipment with high space utilization rate, effectively solves the problem of shortage of parking spaces, and is also widely concerned. However, many problems are found in the use process of the existing vertical circulation stereo garage, for example, the problem of long response time occurs when the existing vertical circulation stereo garage stops/takes a car, so that the waiting time of a user is too long, and the use efficiency of the vertical circulation stereo garage is reduced. Meanwhile, some vehicles are unwilling to use the vertical circulating stereo garage due to overlong parking/taking time, so that the utilization rate of the vertical circulating stereo garage is reduced.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a self-adaptive control method for the running speed of the vertical circulation stereo garage, which can effectively shorten the response time of parking/picking up a vehicle, improve the use efficiency of the vertical circulation stereo garage and promote the improvement of the utilization rate of the vertical circulation stereo garage.
In order to achieve the above object, the present invention provides a method for adaptively controlling the operating speed of a vertical circulation stereo garage, further comprising the steps of:
s1: judging the position of the parking space in the garage according to the parking space number n of the vehicle to be stored/fetched;
s2: if the parking space number n of the vehicle to be stored/fetched is positioned at the bottommost part of the garage, the system does not control the control motor, and a user is directly allowed to fetch the vehicle;
s3: if the parking space number n of the vehicle to be stored/fetched is positioned at the top of the garage, the system calculates and compares 2s1And 2r + h, s1Accelerating the garage with an acceleration a to its maximum operating speed VmaxIn the driving distance, r is the circular arc radius of the circulating track, and h is the height of the garage frame;
when 2s1When the voltage is less than or equal to 2r + h, the system drives the electricityControlling the garage to run at an acceleration a to its maximum speed VmaxThen controlling the garage to have a maximum speed VmaxAt constant speed t0Controlling the garage to operate to a static state at an acceleration a; the total time t of taking the vehicle is 2t1+t0，t1Accelerating the garage with an acceleration a to its maximum operating speed VmaxThe time of (d);
when 2s1>At 2r + h, the garage cannot reach the maximum running speed VmaxIf no constant speed running time exists, the system controls the garage to run to V at the acceleration a through the driving motorxThen controlling the garage to run to a static state at an acceleration a;
then the total time t of taking the car is 2t2，t2Accelerating the garage with an acceleration a to its speed VxThe time of (d);
s4: if the parking space number n of the vehicle to be stored/fetched is positioned at any side of the garage, the system firstly judges that the parking space number n is positioned at the left side or the right side of a longitudinal central axis of the garage, and controls the garage to run anticlockwise when the parking space number n is positioned at the left side; controlling the garage to run clockwise when the garage is on the right side, and inquiring the number n of the bottommost parking place1And calculating the distance h that the parking space number n needs to pass through1＝πr/2+(n-n1)h0Wherein h is0The height difference of adjacent parking spaces;
system recalculated comparison 2s1And h1When 2s is present1≤h1When the system is used, the system controls the garage to run at the acceleration a to the maximum speed V of the garage through the driving motormaxThen controlling the garage to have a maximum speed VmaxAt constant speed t3Controlling the garage to operate to a static state at an acceleration a; the total time t of taking the car is 2t1+t3；
When 2s1>h1In time, the garage cannot reach the maximum running speed VmaxIf no constant speed running time exists, the system controls the garage to run to V at the acceleration a through the driving motoryThen controlling the garage to run to a static state at an acceleration a;
the total time t of taking the car at the moment is 2t4，t4Accelerating the garage with an acceleration a to its speed VyThe time of (d); the total time t of taking the car at the moment is 2t4。
In the step of S3, the process is repeated,
Figure BDA0002349575600000021
t0＝(πr+h-2s1)/Vmax，
Figure BDA0002349575600000022
in the formula, pi r + h is a pioneer total route s from the top of the garage to the bottom of the garage;
in S4, t3＝(h1-2s1)/Vmax，
Figure BDA0002349575600000023
The method can automatically judge the circulating operation speed, so that the system can effectively improve the operation efficiency, and the vehicle can reach the bottom of the garage at the fastest operation time, thereby effectively shortening the response time of parking/taking the vehicle, increasing the utilization rate of the motor and improving the use efficiency of the vertical circulating stereo garage. Meanwhile, the utilization rate of the vertical circulation stereo garage can be improved.
Drawings
FIG. 1 is a flow chart of the present invention;
fig. 2 is a schematic view of allocation of parking space serial numbers of the vertical circulation stereo garage in the invention.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1 and fig. 2, a method for adaptively controlling an operation speed of a vertical circulation stereo garage further includes the following steps:
s1: judging the position of the parking space in the garage according to the parking space number n of the vehicle to be stored/fetched;
s2: if the parking space number n of the vehicle to be stored/fetched is positioned at the bottommost part of the garage, the system does not control the control motor, and a user is directly allowed to fetch the vehicle;
s3: if the parking space number n of the vehicle to be stored/fetched is positioned at the top of the garage, the system calculates and compares 2s1And 2r + h, s1Accelerating the garage with an acceleration a to its maximum operating speed VmaxIn the driving distance, r is the circular arc radius of the circulating track, and h is the height of the garage frame;
when 2s1When the speed is less than or equal to 2r + h, the system controls the garage to run to the maximum speed V at the acceleration a through the driving motormaxThen controlling the garage to have a maximum speed VmaxAt constant speed t0Controlling the garage to operate to a static state at an acceleration a; the total time t of taking the vehicle is 2t1+t0，t1Accelerating the garage with an acceleration a to its maximum operating speed VmaxThe time of (d);
when 2s1>At 2r + h, the garage cannot reach the maximum running speed VmaxIf no constant speed running time exists, the system controls the garage to run to V at the acceleration a through the driving motorxThen controlling the garage to run to a static state at an acceleration a;
then the total time t of taking the car is 2t2，t2Accelerating the garage with an acceleration a to its speed VxThe time of (d);
s4: if the parking space number n of the vehicle to be stored/fetched is positioned at any side of the garage, the system firstly judges that the parking space number n is positioned at the left side or the right side of a longitudinal central axis of the garage, and controls the garage to run anticlockwise when the parking space number n is positioned at the left side; controlling the garage to run clockwise when the garage is on the right side, and inquiring the number n of the bottommost parking place1And calculating the distance h that the parking space number n needs to pass through1＝πr/2+(n-n1)h0Wherein h is0The height difference of adjacent parking spaces;
system recalculated comparison 2s1And h1When 2s is present1≤h1When the system is used, the system controls the garage to run at the acceleration a to the maximum speed V of the garage through the driving motormaxThen controlling the garage to have a maximum speed VmaxAt constant speed t3Controlling the garage to operate to a static state at an acceleration a; the total time t of taking the car is equal to2t1+t3；
When 2s1>h1In time, the garage cannot reach the maximum running speed VmaxIf no constant speed running time exists, the system controls the garage to run to V at the acceleration a through the driving motoryThen controlling the garage to run to a static state at an acceleration a;
then the total time t of taking the car is 2t4，t4Accelerating the garage with an acceleration a to its speed VyThe time of (d); the total time t of taking the car at the moment is 2t4。
In the step of S3, the user is allowed to perform,
Figure BDA0002349575600000041
t0＝(πr+h-2s1)/Vmax，
Figure BDA0002349575600000042
in the formula, pi r + h is a pioneer total route s from the top of the garage to the bottom of the garage;
in S4, t3＝(h1-2s1)/Vmax，
Figure BDA0002349575600000043
The method can automatically judge the circulating operation speed, so that the system can effectively improve the operation efficiency, and the vehicle can reach the bottom of the garage at the fastest operation time, thereby effectively shortening the response time of parking/taking the vehicle, increasing the utilization rate of the motor and improving the use efficiency of the vertical circulating stereo garage. Meanwhile, the utilization rate of the vertical circulation stereo garage can be improved.

Claims (3)

1. A self-adaptive control method for the running speed of a vertical circulation stereo garage is characterized by further comprising the following steps:
s1: judging the position of the parking space in the garage according to the parking space number n of the vehicle to be stored/fetched;
s2: if the parking space number n of the vehicle to be stored/fetched is positioned at the bottommost part of the garage, the system does not control the control motor, and a user is directly allowed to fetch the vehicle;
s3: if the parking space number n of the vehicle to be stored/fetched is positioned at the top of the garage, the system calculates and compares 2s1And 2r + h, s1Accelerating the garage with an acceleration a to its maximum operating speed VmaxIn the driving distance, r is the circular arc radius of the circulating track, and h is the height of the garage frame;
when 2s1When the speed is less than or equal to 2r + h, the system controls the garage to run to the maximum speed V at the acceleration a through the driving motormaxThen controlling the garage to have a maximum speed VmaxAt constant speed t0Controlling the garage to operate to a static state at an acceleration a; the total time t of taking the car is 2t1+t0，t1Accelerating the garage with an acceleration a to its maximum operating speed VmaxThe time of (d);
when 2s1>At 2r + h, the garage cannot reach the maximum running speed VmaxIf no constant speed running time exists, the system controls the garage to run to V at the acceleration a through the driving motorxThen controlling the garage to operate to a static state at an acceleration a;
then the total time t of taking the car is 2t2，t2Accelerating the garage with an acceleration a to its speed VxThe time of (d);
s4: if the parking space number n of the vehicle to be stored/fetched is positioned at any side of the garage, the system firstly judges that the parking space number n is positioned at the left side or the right side of a longitudinal central axis of the garage, and controls the garage to run anticlockwise when the parking space number n is positioned at the left side; controlling the garage to run clockwise when the garage is on the right side, and inquiring the number n of the bottommost parking place1And calculating the distance h that the parking space number n needs to pass through1＝πr/2+(n-n1)h0Wherein h is0The height difference of adjacent parking spaces;
system recalculated comparison 2s1And h1When 2s is present1≤h1When the system is used, the system controls the garage to run at the acceleration a to the maximum speed V of the garage through the driving motormaxThen controlling the garage to have a maximum speed VmaxAt constant speed t3Controlling the garage to operate to a static state at an acceleration a; the total time t of taking the vehicle is 2t1+t3；
When 2s1>h1In time, the garage can not reach the maximum running speed VmaxIf no constant speed running time exists, the system controls the garage to run to V at the acceleration a through the driving motoryThen controlling the garage to run to a static state at an acceleration a;
then the total time t of taking the car is 2t4，t4Accelerating the garage with an acceleration a to its speed VyThe time of (d); then the total time t of taking the car is 2t4。
2. The adaptive control method for the operating speed of the vertical circulation stereo garage of claim 1, wherein in S3,
Figure FDA0002349575590000021
t0＝(πr+h-2s1)/Vmax，
Figure FDA0002349575590000022
in the formula, pi r + h is a total route s for the vehicle to move from the top of the garage to the bottom of the garage.
3. The adaptive control method for the operation speed of the vertical circulation stereo garage of claim 1 or 2, wherein in S4, t is3＝(h1-2s1)/Vmax，
Figure FDA0002349575590000023
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Address after: 221116 Yinshan Road East and Zhujiang Road North, Tongshan new area, Xuzhou City, Jiangsu Province

Patentee after: Jiangsu Wuyang Automation Control Technology Co.,Ltd.

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Patentee after: JIANGSU TIANWO HEAVY INDUSTRY TECHNOLOGY CO.,LTD.

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Patentee before: JIANGSU WUYANG PARKING INDUSTRY GROUP Co.,Ltd.

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Patentee before: JIANGSU TIANWO HEAVY INDUSTRY TECHNOLOGY CO.,LTD.