CN112169317B - Vehicle operation control method and system, electronic device and readable storage medium - Google Patents
Vehicle operation control method and system, electronic device and readable storage medium Download PDFInfo
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- CN112169317B CN112169317B CN202011013577.8A CN202011013577A CN112169317B CN 112169317 B CN112169317 B CN 112169317B CN 202011013577 A CN202011013577 A CN 202011013577A CN 112169317 B CN112169317 B CN 112169317B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/40—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment
- A63F13/42—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment by mapping the input signals into game commands, e.g. mapping the displacement of a stylus on a touch screen to the steering angle of a virtual vehicle
- A63F13/428—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment by mapping the input signals into game commands, e.g. mapping the displacement of a stylus on a touch screen to the steering angle of a virtual vehicle involving motion or position input signals, e.g. signals representing the rotation of an input controller or a player's arm motions sensed by accelerometers or gyroscopes
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/45—Controlling the progress of the video game
- A63F13/48—Starting a game, e.g. activating a game device or waiting for other players to join a multiplayer session
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/45—Controlling the progress of the video game
- A63F13/49—Saving the game status; Pausing or ending the game
- A63F13/493—Resuming a game, e.g. after pausing, malfunction or power failure
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/80—Special adaptations for executing a specific game genre or game mode
- A63F13/803—Driving vehicles or craft, e.g. cars, airplanes, ships, robots or tanks
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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
- A63G25/00—Autocar-like self-drivers; Runways therefor
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/60—Methods for processing data by generating or executing the game program
- A63F2300/64—Methods for processing data by generating or executing the game program for computing dynamical parameters of game objects, e.g. motion determination or computation of frictional forces for a virtual car
- A63F2300/646—Methods for processing data by generating or executing the game program for computing dynamical parameters of game objects, e.g. motion determination or computation of frictional forces for a virtual car for calculating the trajectory of an object
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Abstract
The embodiment of the invention provides a vehicle operation control method, a vehicle operation control system, electronic equipment and a readable storage medium, and relates to the technical field of vehicle control. The method comprises the following steps: when a target rail vehicle needs to be started, gradually increasing the execution speed of the action file of the target rail vehicle according to the preset beat speed single-step updating amount; and when the target railway vehicle needs to be suspended, gradually reducing the execution speed of the action file of the target railway vehicle according to the preset beat speed single-step updating amount. The technical scheme provided by the embodiment of the invention enables the target railway vehicle to slowly stop when meeting a fault and needing to be suspended, and when the target railway vehicle is recovered, the vehicle can be slowly accelerated to a normal execution speed from a stop state, so that the connection process is increased, and the shaking impact of the vehicle is avoided.
Description
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a method and a system for controlling vehicle operation, an electronic device, and a readable storage medium.
Background
Dark ride refers to a large indoor entertainment project which is experienced by tourists in a virtual-real scene combined simulation environment along a set story route by riding a rail trolley.
The command set values of the motor shaft motion control of the dark ride are stored in the action file according to the execution period of the controller. When the dark ride performance starts, the controller reads one instruction value stored in the action file every execution period, and uses the read instruction value as a position given value for controlling each motor shaft, thereby realizing the motion control of the dark ride.
However, when the rail vehicle needs to pause and resume the performance in the dark riding performance process, the vehicle needs to pause and resume the performance according to the original given position and given speed instructed by the motion file, but no connection process exists, the actual position and speed of each motor shaft of the vehicle have deviation from the original given position and speed, and impact jitter can occur.
Disclosure of Invention
The invention provides a vehicle operation control method, a vehicle operation control system, electronic equipment and a readable storage medium, which solve the problem that impact jitter can occur due to deviation of the actual position and speed of each motor shaft of a vehicle and the original given position and speed when performance needs to be paused and resumed in the prior art.
In a first aspect of the invention, there is provided a vehicle running control method including:
when a target railway vehicle needs to be started, gradually increasing the execution speed of the action file of the target railway vehicle according to a preset beat speed single-step updating amount;
when the target rail vehicle needs to be suspended, gradually reducing the execution speed of the action file of the target rail vehicle according to the preset beat speed single-step updating amount;
the target railway vehicle comprises M independently controlled motor shafts, the action file comprises I control instructions, each control instruction comprises an original position given value of the M motor shafts, the action file reads one control instruction at an interval of one execution cycle at normal execution speed, and the M motor shafts run to the original position given value given by the read control instruction; m and I are both integers greater than or equal to 1.
Preferably, the step of gradually increasing the execution speed of the motion file of the target rail vehicle according to the preset step speed single-step update amount includes:
judging whether the sum of the beat speed of the previous execution cycle and the single step updating amount of the beat speed is less than 1 or not every time the execution cycle of one action file is reached, if so, updating the beat speed of the current execution cycle to the sum of the beat speed of the previous execution cycle and the single step updating amount of the beat speed, and if not, updating the beat speed of the current execution cycle to 1;
and adjusting the execution speed of the action file of the target railway vehicle according to the updated beat speed and the growth curve of the original position given value of the I control instructions contained in the action file.
Preferably, the step of gradually decreasing the execution speed of the motion file of the target rail vehicle according to the preset step speed single-step update amount includes:
when the execution period of one action file is reached, judging whether the difference between the beat speed of the previous execution period and the single-step updating amount of the beat speed is greater than zero, if so, updating the beat speed of the current execution period to be the difference between the beat speed of the previous execution period and the single-step updating amount of the beat speed, otherwise, updating the beat speed of the current execution period to be zero;
and adjusting the execution speed of the action file of the target railway vehicle according to the updated beat speed and the growth curve of the original position given value of the I control instructions contained in the action file.
Preferably, the step of adjusting the execution speed of the motion file of the target rail vehicle according to the updated beat speed and the growth curve of the original position given value of 1 control instruction contained in the motion file comprises:
judging whether the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is less than 1 or not when the execution cycle of one action file is reached;
if the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is less than 1, updating the beat position of the current execution cycle to be the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle, keeping the beat starting point of the current execution cycle the same as the beat starting point of the previous execution cycle, and keeping the beat end point of the current execution cycle the same as the beat end point of the previous execution cycle; the beat starting point and the beat terminal point move on the original position given values of the I control instructions of the action file, and the control instructions of one execution cycle are always separated between the beat starting point and the beat terminal point;
if the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is not less than 1, updating the beat position of the current execution cycle to the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle minus 1 when the beat end point of the current execution cycle is not the original position given value corresponding to the last control instruction of the action file, updating the beat start point of the current execution cycle to the beat end point of the previous execution cycle, and updating the beat end point of the current execution cycle to the original position given value corresponding to the next control instruction of the action file;
and determining the actual position given values of the current execution cycle to the M motor shafts according to the updated beat starting point, the beat end point and the beat positions of the current execution cycle.
Preferably, the step of determining the actual position given values of the M motor shafts in the current execution cycle according to the updated beat start point, beat end point and beat position in the current execution cycle includes:
subtracting the beat starting point from the beat terminal point of the execution period to obtain an original position increment value;
an offset value obtained by multiplying the original position increment value by the beat position of the current execution cycle;
and adding the offset value and the beat starting point of the current execution cycle to obtain the actual position given value of the current execution cycle to the M motor shafts.
Preferably, when the target rail vehicle needs to be started, before gradually increasing the execution speed of the motion file of the target rail vehicle according to a preset step speed single-step update amount, the method further includes:
initializing the tempo and tempo position to zero;
initializing the beat starting point to the initial positions of M motor shafts of the target railway vehicle;
and initializing the beat end point to the original position given value of the first control instruction.
In a second aspect of the present invention, there is also provided a vehicle running control system including:
the metronome is used for gradually increasing the execution speed of the action file of the target railway vehicle according to the preset single-step updating amount of the tempo when the target railway vehicle needs to be started; when the target rail vehicle needs to be suspended, gradually reducing the execution speed of the action file of the target rail vehicle according to the preset beat speed single-step updating amount;
the target railway vehicle comprises M independently controlled motor shafts, the action file comprises I control instructions, each control instruction comprises an original position given value of the M motor shafts, the action file reads one control instruction at an interval of one execution cycle at normal execution speed, and the M motor shafts run to the original position given value given by the read control instruction; m and I are both integers greater than or equal to 1.
Preferably, the metronome includes:
the first speed updating module is used for judging whether the sum of the beat speed of the previous execution cycle and the single step updating amount of the beat speed is less than 1 or not when the execution cycle of one action file is reached, if so, updating the beat speed of the current execution cycle to the sum of the beat speed of the previous execution cycle and the single step updating amount of the beat speed, and otherwise, updating the beat speed of the current execution cycle to 1;
the metronome is specifically configured to adjust the execution speed of the action file of the target rail vehicle according to the updated beat speed and a growth curve of the original position given value of the I control instructions contained in the action file.
Preferably, the metronome includes:
the second speed updating module is used for judging whether the difference between the beat speed of the previous execution cycle and the beat speed single-step updating amount is greater than zero or not when the execution cycle of one action file is reached, if so, updating the beat speed of the current execution cycle to be the difference between the beat speed of the previous execution cycle and the beat speed single-step updating amount, and otherwise, updating the beat speed of the current execution cycle to be zero;
the metronome is specifically configured to adjust the execution speed of the action file of the target rail vehicle according to the updated beat speed and a growth curve of the original position given value of the I control instructions contained in the action file.
Preferably, the metronome further includes:
the position updating module is used for judging whether the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is less than 1 or not when the execution cycle of one action file is reached; if the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is less than 1, updating the beat position of the current execution cycle to the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle; if the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is not less than 1, updating the beat position of the current execution cycle to the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle minus 1 when the beat end point of the current execution cycle is not the original position given value corresponding to the last control instruction of the action file;
a start point register, configured to keep a beat start point of the current execution cycle the same as a beat start point of a previous execution cycle if a sum of a beat speed of the current execution cycle and a beat position of the previous execution cycle is less than 1; if the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is not less than 1, updating the beat starting point of the current execution cycle to the beat end point of the previous execution cycle when the beat end point of the current execution cycle is not the original position given value corresponding to the last control instruction of the action file;
the end point register is used for keeping the beat end point of the current execution cycle the same as the beat end point of the previous execution cycle if the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is less than 1; if the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is not less than 1, updating the beat end point of the current execution cycle to be an original position given value corresponding to the next control instruction of the action file when the beat end point of the current execution cycle is not the original position given value corresponding to the last control instruction of the action file;
the beat starting point and the beat end point move on the original position given values of the I control instructions of the action file, and the control instructions of one execution cycle are always arranged between the beat starting point and the beat end point;
and the beat calculator is used for determining the actual position given value of the current execution cycle to the M motor shafts according to the updated beat starting point, beat end point and beat position of the current execution cycle.
In a third aspect of the present invention, there is also provided an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus;
a memory for storing a computer program;
and a processor for implementing the steps of the vehicle running control method as described above when executing the program stored in the memory.
In a fourth aspect of the present invention implementation, there is also provided a computer-readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing the vehicle operation control method as described above.
In a fifth aspect of the embodiments of the present invention, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the vehicle running control method as described above.
Aiming at the prior art, the invention has the following advantages:
in the embodiment of the invention, a metronome is added when executing the motion file, and when the target railway vehicle needs to be started, the execution speed of the motion file of the target railway vehicle is gradually increased according to the preset single-step updating amount of the beat speed; when the target rail vehicle needs to be suspended, the execution speed of the action file of the target rail vehicle is gradually reduced according to the preset beat speed single-step updating amount; the action file reads a control instruction at intervals of one execution cycle at normal execution speed, and M motor shafts run to the original position given value given by the read control instruction. Therefore, when the target railway vehicle encounters a fault and needs to be suspended, the target railway vehicle can be slowly stopped, and when the target railway vehicle is recovered, the target railway vehicle can be slowly accelerated to a normal execution speed from a stop state, so that the connection process is increased, and the shaking impact of the target railway vehicle is avoided.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments will be briefly described below.
FIG. 1 is a schematic flow chart diagram of a vehicle operation control method according to an embodiment of the present invention;
FIG. 2 is another schematic flow chart diagram of a vehicle operation control method according to an embodiment of the present invention;
FIG. 3 is a schematic block diagram of a vehicle operation control system provided by an embodiment of the present invention;
fig. 4 is a schematic block diagram of an action file executing system with a metronome according to an embodiment of the present invention;
fig. 5 is a schematic block diagram of an electronic device provided in an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Fig. 1 is a schematic flow chart of a vehicle operation control method provided in an embodiment of the present invention, and referring to fig. 1, the method includes:
step 101: when a target rail vehicle needs to be started, gradually increasing the execution speed of the action file of the target rail vehicle according to the preset beat speed single-step updating amount;
step 102: when the target railway vehicle needs to be suspended, gradually reducing the execution speed of the action file of the target railway vehicle according to the preset beat speed single-step updating amount;
the target railway vehicle comprises M motor shafts which are independently controlled, the action file comprises I control instructions, each control instruction comprises an original position given value of the M motor shafts, the action file reads one control instruction at intervals of one execution cycle at a normal execution speed, and the M motor shafts run to the original position given value given by the read control instruction; m and I are both integers greater than or equal to 1.
Wherein, each instruction in the action file can be recorded as: s. the j (s 1 ，s 2 ，…s M )，j＝1，2，…I。
According to the vehicle operation control method, a metronome is added when the motion file is executed, and when the target railway vehicle needs to be started, the motion file execution speed of the target railway vehicle is gradually increased through the single-step updating amount of the preset beat speed of the metronome; when the target rail vehicle needs to be suspended, the execution speed of the action file of the target rail vehicle is gradually reduced through the preset beat speed single-step updating amount of the metronome. Therefore, when the target railway vehicle encounters a fault and needs to be suspended, the target railway vehicle can be slowly stopped, and when the target railway vehicle is recovered, the target railway vehicle can be slowly accelerated to a normal execution speed from a stop state, so that the connection process is increased, and the shaking impact of the target railway vehicle is avoided.
Preferably, step 101 comprises:
step 1011: and judging whether the sum of the beat speed of the previous execution cycle and the single step updating amount of the beat speed is less than 1 or not every time the execution cycle of one action file is reached, if so, updating the beat speed of the current execution cycle to the sum of the beat speed of the previous execution cycle and the single step updating amount of the beat speed, and otherwise, updating the beat speed of the current execution cycle to 1.
Here, this step may be performed to update the tempo when the target rail vehicle starts to execute the motion file, the normal performance, or resumes the performance after a pause, so that the vehicle slowly accelerates to the normal execution speed of the motion file. Wherein, the beat speed can be recorded as U when the ith execution cycle is reached i If the tempo of the previous execution cycle is U i-1 If U is less than 1, the beat speed of the execution cycle is U i-1 + u; if U is i-1 And if + u is more than or equal to 1, the beat speed of the execution cycle is 1. Wherein u is the single step updating amount of the beat speed, and u is more than 0 and less than or equal to 1. The single step updating amount u is set in advance, and the larger u is, the faster the process of executing the action file encountering pause stop and resume performance is, and the longer the process of pausing and resuming the performance of the vehicle is.
Is formulated as follows, the tempo U is updated when the ith execution cycle is reached i ：
Wherein U is the single step updating amount of the beat speed, U is more than 0 and less than or equal to 1, i is more than or equal to 1, and U can be ensured 0 ＝0。
Step 1012: and adjusting the execution speed of the action file of the target railway vehicle according to the updated beat speed and the growth curve of the original position given values of the I control instructions contained in the action file.
At the moment, the execution speed of the action file of the target railway vehicle is gradually increased through the tempo U and the growth curve of the original position given value of the I control instructions contained in the action file, so that each motor shaft is gradually increased on the growth curve of the original position given value according to the tempo, the motor shaft is slowly accelerated to the normal execution speed, the motor shaft does not deviate from the original growth curve, and the shaking impact is avoided.
Preferably, the step 102 includes:
step 1021; and judging whether the difference between the beat speed of the previous execution cycle and the single-step updating amount of the beat speed is greater than zero or not every time the execution cycle of one action file is reached, if so, updating the beat speed of the current execution cycle to be the difference between the beat speed of the previous execution cycle and the single-step updating amount of the beat speed, otherwise, updating the beat speed of the current execution cycle to be zero.
Here, when the target rail vehicle needs to be suspended, this step is performed to update the tempo, stopping the vehicle. Wherein, the beat speed can be recorded as U when the ith execution cycle is reached i If the tempo of the previous execution cycle is U i-1 if-U is greater than 0, the tempo of this execution cycle is U i-1 -u; if U is present i-1 If u is less than or equal to 0, the tempo of the execution cycle is 0, and the surface vehicle is completely stopped when the tempo is 0.
The tempo U is updated at the time of the ith execution cycle by formulating i ：
Step 1022: and adjusting the execution speed of the action file of the target railway vehicle according to the updated beat speed and the growth curve of the original position given value of the I control instructions contained in the action file.
At the moment, the execution speed of the action file of the target railway vehicle is gradually reduced through the tempo U and the increasing curve of the initial position given value of the I control instructions contained in the action file, so that each motor shaft is gradually reduced on the increasing curve of the initial position given value according to the tempo and slowly stops without deviating from the original increasing curve, and shaking impact is avoided.
Preferably, the step 1012 or 1022 may include:
step 10121: and judging whether the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is less than 1 or not every time the execution cycle of one action file is reached.
Step 10122: if the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is less than 1, updating the beat position of the current execution cycle to be the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle, keeping the beat starting point of the current execution cycle the same as the beat starting point of the previous execution cycle, and keeping the beat end point of the current execution cycle the same as the beat end point of the previous execution cycle; the beat starting point and the beat end point move on the original position given values of the I control instructions of the action file, and the control instructions of one execution cycle are always arranged between the beat starting point and the beat end point.
Step 10123: if the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is not less than 1, when the beat end point of the current execution cycle is not the original position given value corresponding to the last control instruction of the action file, updating the beat position of the current execution cycle to the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle minus 1, updating the beat starting point of the current execution cycle to the beat end point of the previous execution cycle, and updating the beat end point of the current execution cycle to the original position given value corresponding to the next control instruction of the action file.
Here, the beat position may be written as W when the ith execution cycle is reached i The start point of the beat is marked as P i The end of the beat is marked as Q i . If W i-1 +U i If the beat position is less than 1, the beat position of the execution cycle is updated to W i-1 +U i With the positions of the beat start and beat end unchanged, assume P i-1 ＝S j-1 ，Q i-1 ＝S j Then P is i ＝S j-1 ，Q i ＝S j . At which point the next execution cycle continues at S j-1 To S j Determines a given value on the growth curve, i.e. the action file is executed to S j-1 To S j In between.
If W i-1 +U i Not less than 1, at which point the beat end point Q i-1 ＝S j If j = I (the action file includes control commands for I execution cycles), which indicates that the action file is completely executed at this time, the operation file is executedStopping the vehicle, otherwise sending a command Re to the controller to read the next action file command S j+1 Update the beat start point P i ＝S j End of beat Q i ＝S j+1 The beat position of the next execution cycle is updated to W i-1 +U i -1, when the next execution cycle is at S j To S j+1 Determines a given value on the growth curve, i.e. the action file is executed to S j To S j+1 In the meantime.
By formulating as follows, the beat position W is updated when the ith execution cycle is reached i ：
Updating the beat start point P upon reaching the ith execution cycle i (p 1 ，p 2 ，…p M )：
Updating the beat end point Q upon reaching the ith execution cycle i (q 1 ，q 2 ，…q M )：
In the embodiment of the invention, if the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is not less than 1, when the beat end point of the current execution cycle is the original position given value corresponding to the last control instruction of the action file, the action file is completely executed at the moment, and the vehicle is stopped. In particular, the vehicle may be stopped in a speed decreasing manner: the speed of each motor shaft is controlled according to a preset deceleration A (a) 1 ，a 2 ，…，a M ) Gradually decrease until the speed drops to zero.
Step 10124: and determining the actual position given value of the current execution cycle to the M motor shafts according to the updated beat starting point, beat end point and beat position of the current execution cycle.
When the ith execution cycle is reached, the actual position given value of the current execution cycle to the M motor shafts is re-determined according to the updated beat starting point, beat end point and beat position of the current execution cycle, so that each motor shaft can gradually increase or decrease on the growth curve of the original position given value according to the beat speed, namely, the execution speed of the action file is controlled to gradually increase to the normal execution speed when the motor shaft is started, and the execution speed of the action file is gradually reduced to zero when the motor shaft is suspended, thereby avoiding the shaking impact.
Preferably, before the step 101, the method further includes:
step 1001: initializing the tempo and tempo position to zero;
step 1002: initializing the beat starting point to the initial positions of M motor shafts of the target railway vehicle:
step 1003: and initializing the beat end point to the original position given value of the first control instruction.
At this time, the tempo, the beat position, the beat start point, and the beat end point may be initialized first to ensure that the vehicle is started according to the beat algorithm.
The parameters related to initializing the metronome can be recorded as: p 1 ＝S 0 ，Q 1 ＝S 1 ，W 0 ＝0，U 0 =0. S is not typically included in action files 0 In the embodiment of the present invention, S is defined 0 For the initial position of all motor shafts in the initial state, the initial position S 0 First control command S associated with action file 1 May coincide with, or may actually be, the initial position S 0 And S 1 Is not coincident when S 0 And S 1 When the action files do not overlap, the method provided by the embodiment of the invention can be used for avoiding the shaking impact in the execution process of the action files.
Preferably, the step 10124 includes:
subtracting the beat starting point from the beat terminal point of the execution period to obtain an original position increment value;
an offset value obtained by multiplying the original position increment value by the beat position of the current execution cycle;
and adding the offset value and the beat starting point of the current execution cycle to obtain the actual position given value of the current execution cycle to the M motor shafts.
The method comprises the steps of obtaining an original position increment value according to a beat terminal point and a beat starting point in each execution period, obtaining an offset according to the beat position, and determining an actual position given value of a motor shaft, so that each motor shaft is gradually increased or decreased on a increment curve of the original position given value according to the beat speed, the execution speed of an action file can be slowly increased to a normal execution speed when a vehicle is started, the execution speed of the action file can be slowly decreased to zero when the vehicle is paused, and shaking impact is avoided.
Expressed by the formula below, the given value R of the actual position of the motor shaft for M is updated when the i-th execution cycle is reached i (r 1 ，r 2 ，…r M )：
R i (r 1 ，r 2 …r M )＝P i +W i ×(Q i -P i ) (5)。
Here, the position set value of the M motor shafts, namely R, is recalculated by the above equation (5) when the i-th execution cycle is reached i (r 1 ，r 2 …r M )＝P i +W i ×(Q i -P i ) Therefore, each motor shaft is gradually increased on the increasing curve of the given value of the original position according to the beat speed, and the shaking impact is avoided.
The following description will exemplify a case where the vehicle is started.
Suppose M =10,i =5,t =10ms, u =0.01m/ms, i.e. the target rail vehicle comprises 5 control commands, each comprising 10 home position set values of the motor shaft, denoted S j (s 1 ，s 2 ，…，s 10 ) J =1,2, \ 82305. Firstly, initializing relevant parameters of a metronome: p is 1 ＝S 0 ，Q 1 ＝S 1 ，W 0 ＝0，U 0 =0, here S 0 The initial position of all motor shafts. When a target rail vehicle starts to execute an action file, performs normally or resumes performing after suspension, the reading speed of the action file is unchanged, namely, one control instruction is read every execution period T until the action file is executed, but the execution speed is changed, and the vehicle operation control method comprises the following steps:
s1: when the 1 st execution period T is reached, the tempo U is determined by the above equation (1) i When i =1,U i ＝U 1 Due to U 0 + U < 1, thus U 1 ＝U 0 +u＝0.01；
S2: determining beat position W by the above equation (2) i When i =1,W i ＝W 1 Due to W 0 +U 1 < 1, therefore W 1 ＝W 0 +U 1 ＝0.01；
S3: determining the beat starting point P by the above formulas (3) and (4) i (p 1 ，p 2 ，…p M ) And the end of beat Q i (q 1 ，q 2 ，…q M ) When i =1,P i ＝P 1 ，Q i ＝Q 1 Due to W 0 +U 1 < 1, therefore, P 1 ＝S 0 ，Q 1 ＝S 1 Continue at S 0 To S 1 Determines the position setpoint value on the growth curve.
S3: determining the position set value R by the above formula (5) i (r 1 ，r 2 ，…r M ) At this time R i (r 1 ，r 2 …r M )＝R 1 (r 1 ，r 2 …r M )＝P 1 +W 1 ×(Q 1 -P 1 )＝S 0 +0.01S 1 I.e. at the 1 st execution cycle, the position setpoint is S 0 +0.01S 1 Each motor shaft is moved to 0.01S on the basis of the initial position 1 The position of (a).
S4: at the time of arrival at 2 ndAt each execution cycle of 2T, the tempo U is determined by the above equation (1) i When i =2,U i ＝U 2 Due to U 1 + U < 1, thus U 2 ＝U 1 +u＝0.02；
S5: determining beat position W by the above equation (2) i When i =2,W i ＝W 2 Due to W 1 +U 2 < 1, therefore W 2 ＝W 1 +U 2 ＝0.03；
S6: determining the beat starting point P by the above formulas (3) and (4) i (p 1 ，p 2 ，…p M ) And beat end point Q i (q 1 ，q 2 ，…q M ) When i =2,P i ＝P 2 ，Q i ＝Q 2 Due to W 1 +U 2 < 1, therefore, P 2 ＝S 0 ，Q 2 ＝S 1 Continue at S 0 To S 1 Determines the position setpoint value on the growth curve.
S7: determining the position set value R by the above formula (5) i (r 1 ，r 2 ，…r M ) At this time, R i (r 1 ，r 2 …r M )＝R 2 (r 1 ，r 2 …r M )＝P 2 +W 2 ×(Q 2 -P 2 )＝S 0 +0.03S 1 I.e. when the 2 nd execution cycle is reached, the position setpoint is S 0 +0.03S 1 Each motor shaft is moved to 0.03S on the basis of the initial position 1 Of the position of (a).
S8: and repeating the steps S1 to S4 every time an execution period T is reached until all the control instructions of the action file are executed.
When the 100 th execution cycle is reached, namely 1s is reached according to the steps, the execution speed of the action file reaches the normal speed.
From the above, according to the method of the embodiment of the present invention, the motor shafts are gradually increased on the increasing curve of the set value of the original position according to the tempo, that is, the execution speed of the action file is controlled to be gradually increased to the normal execution speed, so that the shaking impact is avoided.
Referring to fig. 2, a flowchart of an embodiment of a vehicle operation control method according to the present invention is shown, and the method includes:
step 201: and starting.
Step 202: and (5) initializing. First, relevant parameters of the metronome, namely, a beat start point, a beat end point, a beat speed, and a beat position, are initialized. E.g. P 1 ＝S 0 ，Q 1 ＝S 1 ，W 0 ＝0，U 0 =0, here S 0 The initial position of all motor shafts.
Step 203: and calculating the given value of the motor shaft position in the execution period.
Step 204: and judging whether the suspension is needed, if so, jumping to the step 205, otherwise, jumping to the step 210.
Step 205: the tempo single step update amount U is subtracted from the tempo U.
Step 206: and judging whether the beat speed U is greater than 0, if so, jumping to a step 214, and otherwise, jumping to 207.
Step 207: the tempo is set to 0.
Step 208: and judging whether the performance is recovered, if so, jumping to a step 210, and otherwise, jumping to a step 209.
Step 209: waiting for resumption of the performance.
Step 210: the tempo U is added to the tempo single step update amount U.
Step 211: and judging whether the tempo U is less than 1, if so, jumping to a step 213, and otherwise, jumping to a step 212.
Step 212: the tempo is set to 1 and then it jumps to step 213.
Step 213: the beat position is added to the beat speed U.
Step 214: and judging whether the beat position is less than 1, if so, returning to the step 202, and otherwise, jumping to the step 215.
Step 215: and subtracting 1 from the beat position, updating the start point and the end point of the metronome, and reading the next action file.
Step 216: and judging whether the action file is executed completely, if so, jumping to the step 217, otherwise, returning to the step 202.
Step 217: stopping in a speed decreasing mode.
Step 218: and (6) ending.
According to the vehicle operation control method, the metronome is added when the motion file is executed, and when the target railway vehicle needs to be started, the motion file execution speed of the target railway vehicle is gradually increased through the single-step updating amount of the beat speed preset by the metronome; when the target rail vehicle needs to be suspended, the execution speed of the action file of the target rail vehicle is gradually reduced through the preset beat speed single-step updating amount of the metronome. Therefore, when the target railway vehicle encounters a fault and needs to be suspended, the target railway vehicle can be slowly stopped, and when the target railway vehicle is recovered, the target railway vehicle can be slowly accelerated to a normal execution speed from a stop state, so that the connection process is increased, and the shaking impact of the target railway vehicle is avoided.
Referring to fig. 3, an embodiment of the present invention also provides a vehicle running control system 300 including:
the metronome 301 is used for gradually increasing the execution speed of the action file of the target railway vehicle according to a preset single-step updating amount of the tempo when the target railway vehicle needs to be started; when the target rail vehicle needs to be suspended, gradually reducing the execution speed of the action file of the target rail vehicle according to the preset beat speed single-step updating amount;
the target railway vehicle comprises M motor shafts which are independently controlled, the action file comprises I control instructions, each control instruction comprises an original position given value of the M motor shafts, the action file reads one control instruction at intervals of one execution cycle at a normal execution speed, and the M motor shafts run to the original position given value given by the read control instruction; m and I are both integers greater than or equal to 1.
The vehicle operation control system 300 of the embodiment of the invention is additionally provided with the metronome 301 when executing the motion file, and when the target rail vehicle needs to be started, the motion file execution speed of the target rail vehicle is gradually increased by a single step updating amount of the preset tempo speed of the metronome 301; when the target rail vehicle needs to be suspended, the execution speed of the motion file of the target rail vehicle is gradually reduced by the preset step speed single-step updating amount of the metronome 301. Therefore, when the target railway vehicle encounters a fault and needs to be suspended, the target railway vehicle can be slowly stopped, and when the target railway vehicle is recovered, the target railway vehicle can be slowly accelerated to a normal execution speed from a stop state, so that the connection process is increased, and the shaking impact of the target railway vehicle is avoided.
Preferably, referring to fig. 4, the metronome 301 includes:
the first speed updating module 3011, configured to determine, every time an execution cycle of an action file is reached, whether a sum of a tempo of a previous execution cycle and the tempo single-step update amount is smaller than 1, if so, update the tempo of the current execution cycle to the sum of the tempo of the previous execution cycle and the tempo single-step update amount, and otherwise, update the tempo of the current execution cycle to 1;
the metronome 301 is specifically configured to adjust the execution speed of the motion file of the target rail vehicle according to the updated beat speed and the growth curve of the original position given value of the I control instructions included in the motion file.
Preferably, the metronome 301 includes:
the second speed updating module 3012 is configured to, each time an execution cycle of one motion file is reached, determine whether a difference between a tempo of a previous execution cycle and the tempo single-step update amount is greater than zero, if so, update the tempo of the current execution cycle to a difference between the tempo of the previous execution cycle and the tempo single-step update amount, otherwise, update the tempo of the current execution cycle to zero;
the metronome 301 is specifically configured to adjust the execution speed of the motion file of the target rail vehicle according to the updated beat speed and the growth curve of the original position given value of the I control instructions included in the motion file.
Preferably, with continued reference to fig. 4, the metronome 301 further includes:
a position updating module 3013, configured to determine, every time an execution cycle of an action file is reached, whether a sum of a tempo of the current execution cycle and a tempo position of a previous execution cycle is less than 1; if the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is less than 1, updating the beat position of the current execution cycle to the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle; if the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is not less than 1, updating the beat position of the current execution cycle to the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle minus 1 when the beat end point of the current execution cycle is not the original position given value corresponding to the last control instruction of the action file;
a start point register 3014, configured to keep a beat start point of the current execution cycle the same as a beat start point of a previous execution cycle if a sum of a beat speed of the current execution cycle and a beat position of the previous execution cycle is less than 1; if the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is not less than 1, updating the beat starting point of the current execution cycle to the beat end point of the previous execution cycle when the beat end point of the current execution cycle is not the original position given value corresponding to the last control instruction of the action file;
a terminal register 3015, configured to keep a beat terminal of the current execution cycle the same as a beat terminal of a previous execution cycle if a sum of a beat speed of the current execution cycle and a beat position of the previous execution cycle is less than 1; if the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is not less than 1, updating the beat end point of the current execution cycle to be an original position given value corresponding to the next control instruction of the action file when the beat end point of the current execution cycle is not the original position given value corresponding to the last control instruction of the action file;
the beat starting point and the beat end point move on the original position given values of the I control instructions of the action file, and the control instructions of one execution cycle are always arranged between the beat starting point and the beat end point;
and the beat calculator 3016 is configured to determine, according to the updated beat starting point, beat ending point, and beat position of the execution cycle of this time, an actual position given value of the execution cycle of this time for the M motor shafts.
Preferably, the beat calculator 3016 is specifically configured to: subtracting the beat starting point from the beat terminal point of the execution period to obtain an original position increment value; an offset value obtained by multiplying the original position increment value by the beat position of the current execution cycle; and adding the offset value and the beat starting point of the current execution cycle to obtain the actual position given value of the current execution cycle to the M motor shafts.
Preferably, the method further comprises the following steps:
the initialization module is used for initializing the beat speed and the beat position to be zero; initializing the beat starting point to the initial positions of M motor shafts of the target railway vehicle; and initializing the beat end point to the original position given value of the first control instruction.
Continuing to refer to fig. 4, an action file execution system with a metronome is shown. During execution of the motion file 401, the motion file execution speed is controlled by the metronome 301. When the next motion file instruction is executed, the metronome 301 sends an Re instruction to the motion file execution controller 402 to read the next motion file control instruction. The metronome 301 gives the redetermined position set value R to the motor shaft servo driver 403, so that the motor shaft can be slowly stopped when the motor shaft is required to be suspended due to a fault, and can be slowly accelerated to a normal execution speed from a stop state when the motor shaft is recovered, thereby avoiding the shaking impact of the vehicle.
For the system embodiment, since it is basically similar to the method embodiment, reference may be made to the partial description of the method embodiment for relevant points.
The embodiment of the invention also provides the electronic equipment which can be a server. As shown in fig. 5, the system comprises a processor 501, a communication interface 502, a memory 503 and a communication bus 504, wherein the processor 501, the communication interface 502 and the memory 503 are communicated with each other through the communication bus 504.
The memory 503 is used for storing computer programs.
When the processor 501 is configured to execute the program stored in the memory 503, the following steps are implemented:
when a target railway vehicle needs to be started, gradually increasing the execution speed of the action file of the target railway vehicle according to a preset beat speed single-step updating amount;
when the target railway vehicle needs to be suspended, gradually reducing the execution speed of the action file of the target railway vehicle according to the preset beat speed single-step updating amount;
the target railway vehicle comprises M motor shafts which are independently controlled, the action file comprises I control instructions, each control instruction comprises an original position given value of the M motor shafts, the action file reads one control instruction at intervals of one execution cycle at a normal execution speed, and the M motor shafts run to the original position given value given by the read control instruction; m and I are both integers greater than or equal to 1.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Alternatively, the memory may be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
In still another embodiment provided by the present invention, there is also provided a computer-readable storage medium having stored therein instructions, which when run on a computer, cause the computer to execute the vehicle running control method described in the above embodiment.
In yet another embodiment provided by the present invention, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the vehicle running control method described in the above embodiment.
In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), among others.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "comprising", without further limitation, means that the element so defined is not excluded from the group consisting of additional identical elements in the process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on differences from other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (12)
1. A vehicle running control method characterized by comprising:
when a target railway vehicle needs to be started, gradually increasing the execution speed of the action file of the target railway vehicle to a normal execution speed according to a preset beat speed single-step updating amount;
when the target railway vehicle needs to be suspended, gradually reducing the execution speed of the action file of the target railway vehicle to zero according to the preset beat speed single-step updating amount;
the target railway vehicle comprises M motor shafts which are independently controlled, the action file comprises I control instructions, each control instruction comprises an original position given value of the M motor shafts, the action file reads one control instruction at intervals of one execution cycle at a normal execution speed, and the M motor shafts run to the original position given value given by the read control instruction; m and I are both integers greater than or equal to 1.
2. The vehicle operation control method according to claim 1, wherein the step of gradually increasing the execution speed of the motion file of the target railway vehicle in accordance with a preset tempo one-step update amount includes:
judging whether the sum of the beat speed of the previous execution cycle and the single step updating amount of the beat speed is less than 1 or not every time the execution cycle of one action file is reached, if so, updating the beat speed of the current execution cycle to the sum of the beat speed of the previous execution cycle and the single step updating amount of the beat speed, and if not, updating the beat speed of the current execution cycle to 1;
and adjusting the execution speed of the action file of the target railway vehicle according to the updated beat speed and the growth curve of the original position given value of the I control instructions contained in the action file.
3. The vehicle running control method according to claim 1, wherein the step of gradually decreasing the action file execution speed of the target rail vehicle in accordance with the preset tempo single step update amount includes:
when the execution period of one action file is reached, judging whether the difference between the beat speed of the previous execution period and the single-step updating amount of the beat speed is greater than zero, if so, updating the beat speed of the current execution period to be the difference between the beat speed of the previous execution period and the single-step updating amount of the beat speed, otherwise, updating the beat speed of the current execution period to be zero;
and adjusting the execution speed of the action file of the target railway vehicle according to the updated beat speed and the growth curve of the original position given values of the I control instructions contained in the action file.
4. The vehicle operation control method according to claim 2 or 3, wherein the step of adjusting the execution speed of the motion file of the target rail vehicle according to the updated beat speed and the growth curve of the original position given value of the I control commands contained in the motion file comprises:
judging whether the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is less than 1 or not when the execution cycle of one action file is reached;
if the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is less than 1, updating the beat position of the current execution cycle to be the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle, keeping the beat starting point of the current execution cycle the same as the beat starting point of the previous execution cycle, and keeping the beat end point of the current execution cycle the same as the beat end point of the previous execution cycle; the beat starting point and the beat terminal point move on the original position given values of the I control instructions of the action file, and the control instructions of one execution cycle are always separated between the beat starting point and the beat terminal point;
if the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is not less than 1, updating the beat position of the current execution cycle to the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle minus 1 when the beat end point of the current execution cycle is not the original position given value corresponding to the last control instruction of the action file, updating the beat start point of the current execution cycle to the beat end point of the previous execution cycle, and updating the beat end point of the current execution cycle to the original position given value corresponding to the next control instruction of the action file;
and determining the actual position given values of the current execution cycle to the M motor shafts according to the updated beat starting point, the beat end point and the beat positions of the current execution cycle.
5. The vehicle operation control method according to claim 4, wherein the step of determining the given value of the actual positions of the M motor shafts in the current execution cycle based on the updated start point, end point and position of the beat in the current execution cycle comprises:
subtracting the beat starting point from the beat terminal point of the execution period to obtain an original position increment value;
the offset value is obtained by multiplying the original position increment value by the beat position of the execution cycle;
and adding the offset value and the beat starting point of the current execution cycle to obtain the actual position given value of the current execution cycle to the M motor shafts.
6. The vehicle operation control method according to claim 4, wherein when the target rail vehicle needs to be started, before gradually increasing the execution speed of the motion file of the target rail vehicle according to a preset tempo single-step update amount, the method further comprises:
initializing the beat speed and beat position to zero;
initializing the beat starting point to the initial positions of M motor shafts of the target railway vehicle;
and initializing the beat end point to the original position given value of the first control instruction.
7. A vehicle running control system characterized by comprising:
the metronome is used for gradually increasing the execution speed of the action file of the target railway vehicle to a normal execution speed according to a preset single-step updating amount of the tempo when the target railway vehicle needs to be started; when the target railway vehicle needs to be suspended, gradually reducing the execution speed of the action file of the target railway vehicle to zero according to the preset beat speed single-step updating amount;
the target railway vehicle comprises M independently controlled motor shafts, the action file comprises I control instructions, each control instruction comprises an original position given value of the M motor shafts, the action file reads one control instruction at an interval of one execution cycle at normal execution speed, and the M motor shafts run to the original position given value given by the read control instruction; m and I are both integers greater than or equal to 1.
8. The vehicle running control system according to claim 7, wherein the metronome includes:
the first speed updating module is used for judging whether the sum of the beat speed of the previous execution cycle and the single step updating amount of the beat speed is less than 1 or not when the execution cycle of one action file is reached, if so, updating the beat speed of the current execution cycle to the sum of the beat speed of the previous execution cycle and the single step updating amount of the beat speed, and otherwise, updating the beat speed of the current execution cycle to 1;
the metronome is specifically configured to adjust the execution speed of the action file of the target rail vehicle according to the updated beat speed and a growth curve of the original position given value of the I control instructions contained in the action file.
9. The vehicle running control system according to claim 7, wherein the metronome includes:
the second speed updating module is used for judging whether the difference between the beat speed of the previous execution cycle and the beat speed single-step updating amount is larger than zero or not when the execution cycle of one action file is reached, if so, updating the beat speed of the current execution cycle to be the difference between the beat speed of the previous execution cycle and the beat speed single-step updating amount, otherwise, updating the beat speed of the current execution cycle to be zero;
the metronome is specifically configured to adjust the execution speed of the action file of the target rail vehicle according to the updated beat speed and a growth curve of the original position given value of the I control instructions contained in the action file.
10. The vehicle running control system according to claim 8 or 9, wherein the metronome further includes:
the position updating module is used for judging whether the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is less than 1 or not when the execution cycle of one action file is reached; if the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is less than 1, updating the beat position of the current execution cycle to the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle; if the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is not less than 1, updating the beat position of the current execution cycle to the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle minus 1 when the beat end point of the current execution cycle is not the original position given value corresponding to the last control instruction of the action file;
a start point register, configured to keep a beat start point of the current execution cycle the same as a beat start point of a previous execution cycle if a sum of a beat speed of the current execution cycle and a beat position of the previous execution cycle is less than 1; if the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is not less than 1, updating the beat starting point of the current execution cycle to the beat end point of the previous execution cycle when the beat end point of the current execution cycle is not the original position given value corresponding to the last control instruction of the action file;
the end point register is used for keeping the beat end point of the current execution cycle the same as the beat end point of the previous execution cycle if the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is less than 1; if the sum of the beat speed of the current execution cycle and the beat position of the previous execution cycle is not less than 1, updating the beat end point of the current execution cycle to be an original position given value corresponding to the next control instruction of the action file when the beat end point of the current execution cycle is not the original position given value corresponding to the last control instruction of the action file;
the beat starting point and the beat end point move on the original position given values of the I control instructions of the action file, and the control instructions of one execution cycle are always arranged between the beat starting point and the beat end point;
and the beat calculator is used for determining the actual position given value of the current execution cycle to the M motor shafts according to the updated beat starting point, beat end point and beat position of the current execution cycle.
11. An electronic device, comprising: a processor, a communication interface, a memory, and a communication bus; the processor, the communication interface and the memory complete mutual communication through a communication bus;
a memory for storing a computer program;
a processor for implementing the steps in the vehicle running control method according to any one of claims 1 to 6 when executing the program stored in the memory.
12. A computer-readable storage medium on which a computer program is stored, the program being characterized by implementing a vehicle running control method according to any one of claims 1 to 6 when executed by a processor.
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| JPS6380303A (en) * | 1986-09-25 | 1988-04-11 | Kobe Steel Ltd | Speed control method for industrial robot |
| JP2000339037A (en) * | 1999-05-25 | 2000-12-08 | Yaskawa Electric Corp | Motion control method |
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| WO2015116429A1 (en) * | 2014-01-30 | 2015-08-06 | General Electric Company | A method and system for timetable optimization utilizing energy consumption factors |
| JP6996161B2 (en) * | 2017-08-22 | 2022-01-17 | 株式会社アイシン | Parking assistance device and program |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6380303A (en) * | 1986-09-25 | 1988-04-11 | Kobe Steel Ltd | Speed control method for industrial robot |
| JP2000339037A (en) * | 1999-05-25 | 2000-12-08 | Yaskawa Electric Corp | Motion control method |
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