CN115113654A - Array surface lodging mechanism control method and system based on double electric cylinder cooperation - Google Patents
Array surface lodging mechanism control method and system based on double electric cylinder cooperation Download PDFInfo
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Abstract
The invention discloses a method and a system for controlling a tilting mechanism of a array plane based on cooperation of double electric cylinders. The method comprises the following steps: the electric cylinder is slowly accelerated and moves at a constant speed according to the rated rotating speed after reaching the rated speed; when the starting of the array surface lodging mechanism is finished and the stable motion stage is entered, the controller adjusts and plans the path of the electric cylinder of the array surface lodging mechanism according to a preset control strategy; the controller detects and judges the stroke of the electric cylinder in real time, selects the stroke of the electric cylinder with slower movement as a reference stroke, and adjusts the stroke difference back to the safety threshold value in real time; limit switches are respectively installed on the upper portion and the lower portion of the electric cylinder, and the driver module is provided with a current safety threshold value to ensure safe and stable operation of the array surface lodging mechanism. The invention can ensure that the double electric cylinders can uniformly apply force to work cooperatively, ensure the safe and stable operation of the array surface lodging mechanism, and has simple algorithm and strong applicability.
Description
Technical Field
The invention relates to the technical field of servo control, in particular to a method and a system for controlling a array surface lodging mechanism based on double electric cylinder cooperation.
Background
A servo electric cylinder, which is one of the straight-stroke electric cylinder actuators, is a basic component that is gradually developed along with the development of modern industries. The electric cylinder is an integrated high-performance linear actuator, can convert the rotary motion of the motor into linear motion, and can realize accurate position and speed control. Due to the excellent performance and reliable quality, the material has been gradually and widely applied in the fields of industrial national defense and the like, and has good market prospect.
The vehicle-mounted array face lodging mechanism adopts a working mode of cooperation of double electric cylinders due to the requirements of equipment installation height and load. The electric cylinders are respectively arranged on two sides of the array surface, so that the electric cylinder is convenient to disassemble, assemble and maintain, the height of the electric cylinder is greatly reduced compared with that of the common bottom, and the electric cylinder has the characteristics of small volume and strong load capacity. However, the dynamic performance caused by the difference between the individual electric cylinders is inconsistent, so that the left electric cylinder and the right electric cylinder of the lodging mechanism generate stroke difference in the working process, the cooperative consistency is affected, the electric cylinders cannot exert uneven force or even are clamped and deformed due to overlarge stroke difference, equipment is damaged, and the control and safety requirements cannot be met by a simple control strategy.
Disclosure of Invention
The invention aims to provide a control method of a possible array surface lodging mechanism, which can ensure that double electric cylinders can uniformly apply force to work cooperatively, and ensure the safe and stable operation of the lodging mechanism.
The technical solution for realizing the purpose of the invention is as follows: a control method of a array surface lodging mechanism based on double-electric-cylinder cooperation is disclosed, wherein the array surface lodging mechanism comprises an array surface load, a pitching encoder, a left electric cylinder, a right electric cylinder, a lodging mechanism control box and a lodging mechanism seat; the left electric cylinder and the right electric cylinder are symmetrically arranged on two sides of the array surface load, and the lodging mechanism control box comprises a controller and a driver module and is externally connected with the pitching encoder and the electric cylinders; the control method comprises the following steps:
step 1, when the equipment starts to work, a controller of a lodging mechanism control box sends an instruction to control a left electric cylinder and a right electric cylinder to accelerate, and meanwhile, the running speeds of the left electric cylinder and the right electric cylinder are judged according to real-time angle errors, and uniform motion is carried out according to a rated rotating speed after the running speeds reach the rated speed;
step 2, when the starting of the array surface lodging mechanism is finished and the stable motion stage is entered, a controller of a lodging mechanism control box adjusts the stroke set values of the left electric cylinder and the right electric cylinder according to a preset control strategy, and routes of the left electric cylinder and the right electric cylinder of the array surface lodging mechanism are planned;
step 3, a controller of the lodging mechanism control box detects and judges the strokes and stroke differences of the left electric cylinder and the right electric cylinder in real time, double judgment of a working threshold value and a safety threshold value is set, the stroke of the electric cylinder with slower movement is selected as a reference stroke by utilizing path planning, the stroke difference is adjusted to return to the safety threshold value in real time, and an alarm is sent out when the stroke difference is greater than the safety threshold value, so that the safety of equipment is ensured;
step 4, an upper limit switch is respectively installed at the upper parts of the left electric cylinder and the right electric cylinder, and a lower limit switch is respectively installed at the lower parts of the left electric cylinder and the right electric cylinder, so that equipment is prevented from being damaged;
and 5, setting a current safety threshold value by a driver module of the lodging mechanism control box, so that the risk of blocking is avoided, and the equipment is prevented from being damaged.
A control system of a array surface lodging mechanism based on double-electric-cylinder cooperation comprises an array surface load, a pitching encoder, a left electric cylinder, a right electric cylinder, a lodging mechanism control box and a lodging mechanism seat; the left electric cylinder and the right electric cylinder are symmetrically arranged on two sides of the array surface load, and the lodging mechanism control box comprises a controller and a driver module and is externally connected with the pitching encoder and the electric cylinders;
the lodging mechanism control box has the following functions:
(1) the controller of the lodging mechanism control box sends an instruction to control the left electric cylinder and the right electric cylinder to accelerate, and simultaneously judges the running speeds of the left electric cylinder and the right electric cylinder according to the real-time angle error, and the left electric cylinder and the right electric cylinder move at a constant speed according to the rated speed after reaching the rated speed;
(2) after the starting of the array surface lodging mechanism is finished and the stable motion stage is entered, a controller of a lodging mechanism control box adjusts the stroke set values of the left electric cylinder and the right electric cylinder according to a preset control strategy, and routes of the left electric cylinder and the right electric cylinder of the array surface lodging mechanism are planned;
(3) the controller of the lodging mechanism control box detects and judges the strokes and the stroke differences of the left electric cylinder and the right electric cylinder in real time, sets double judgment of a working threshold value and a safety threshold value, selects the stroke of the electric cylinder with slow movement as a reference stroke by utilizing path planning, adjusts the stroke difference in real time to return to the safety threshold value, and sends out an alarm when the stroke difference is greater than the safety threshold value to ensure the safety of equipment.
Compared with the prior art, the invention has the remarkable advantages that: (1) the pitch angle of the array surface lodging mechanism is controlled by adjusting the stroke of the double electric cylinders by taking the pitch angle of the array surface, the stroke of the double electric cylinders and the working current of the driver as control parameters, and the cooperation and uniform output of the double electric cylinders are ensured by monitoring and adjusting the stroke difference between the double electric cylinders and the working current of the driver, so that the electric cylinders are prevented from being locked, and the safety of equipment is ensured; (2) the double electric cylinders can be ensured to uniformly apply force, the double electric cylinders work in a cooperative mode, the safe and stable operation of the array surface lodging mechanism is ensured, the algorithm is simple, and the applicability is strong.
Drawings
Fig. 1 is a schematic flow chart of a control method of a dual-electric-cylinder cooperation-based array surface lodging mechanism of the invention.
Fig. 2 is a schematic structural diagram of a wavefront lodging mechanism in the embodiment of the present invention.
Fig. 3 is a side view of the structure of the control of the wavefront lodging mechanism in the embodiment of the present invention.
Detailed Description
The invention relates to a control method of a array surface lodging mechanism based on double-electric-cylinder cooperation, wherein the array surface lodging mechanism comprises an array surface load, a pitching encoder, a left electric cylinder, a right electric cylinder, a lodging mechanism control box and a lodging mechanism seat; the left electric cylinder and the right electric cylinder are symmetrically arranged on two sides of the array surface load, and the lodging mechanism control box comprises a controller and a driver module and is externally connected with the pitching encoder and the electric cylinders; the control method comprises the following steps:
step 1, when the equipment starts to work, a controller of a lodging mechanism control box sends an instruction to control a left electric cylinder and a right electric cylinder to accelerate, and meanwhile, the running speeds of the left electric cylinder and the right electric cylinder are judged according to real-time angle errors, and uniform motion is carried out according to a rated rotating speed after the running speeds reach the rated speed;
step 2, when the starting of the array surface lodging mechanism is finished and the stable motion stage is entered, a controller of a lodging mechanism control box adjusts the stroke set values of the left electric cylinder and the right electric cylinder according to a preset control strategy, and routes of the left electric cylinder and the right electric cylinder of the array surface lodging mechanism are planned;
step 3, a controller of the lodging mechanism control box detects and judges the strokes and stroke differences of the left electric cylinder and the right electric cylinder in real time, sets double judgment of a working threshold and a safety threshold, selects the stroke of the electric cylinder with slower motion as a reference stroke by utilizing path planning, adjusts the stroke difference in real time to return to the safety threshold, and sends out an alarm when the stroke difference is greater than the safety threshold to ensure the safety of equipment;
step 4, an upper limit switch is respectively installed at the upper parts of the left electric cylinder and the right electric cylinder, and a lower limit switch is respectively installed at the lower parts of the left electric cylinder and the right electric cylinder, so that equipment is prevented from being damaged;
and 5, setting a current safety threshold value by a driver module of the lodging mechanism control box, so that the risk of blocking is avoided, and the equipment is prevented from being damaged.
As a specific implementation manner, in step 1, when the device starts to work, the controller of the lodging mechanism control box sends an instruction to control the left electric cylinder and the right electric cylinder to accelerate, and at the same time, the operation speeds of the left electric cylinder and the right electric cylinder are determined according to a real-time angle error, and after reaching a rated speed, uniform motion is performed according to a rated rotation speed, which is specifically as follows:
step 1.1, a T-shaped lead screw is adopted by a left electric cylinder and a right electric cylinder of the array surface lodging mechanism, and when equipment is started, sudden change of load is generated to cause shaking; when equipment begins to work, the controller of the lodging mechanism control box sends an instruction to control the left electric cylinder and the right electric cylinder to gradually accelerate to a rated speed, so that the requirement that equipment cannot shake due to sudden load change is metRequest of acceleration time t 0 Adjusting according to actual dynamic performance requirements;
step 1.2, the movement speed of the array surface lodging mechanism is automatically adjusted based on the angle error, and when the angle error is larger than a set threshold value e 0 When the electric vehicle runs, the left electric cylinder and the right electric cylinder run at a rated speed; when the angle error is less than a set threshold value e 0 When the device is used, the array surface lodging mechanism is about to be adjusted to the position, the left electric cylinder and the right electric cylinder change the stroke set value according to the error change, the step length is set, the movement speed is adjusted, the left electric cylinder and the right electric cylinder gradually move to the set position, and the stable operation of the device is guaranteed.
As a specific implementation manner, in step 2, after the start of the wavefront lodging mechanism is completed and the steady motion stage is entered, the controller of the lodging mechanism control box adjusts the stroke setting values of the left electric cylinder and the right electric cylinder according to a preset control strategy, and plans the paths of the left electric cylinder and the right electric cylinder of the wavefront lodging mechanism, which is specifically as follows:
the controller of the lodging mechanism control box receives the pitching set angle theta in real time set The feedback angle theta of the pitch encoder f Left electric cylinder feedback stroke l 1 Feedback stroke l of right electric cylinder 2 According to the error e of the pitch angle θ Left electric cylinder feedback stroke l 1 Feedback stroke l of right electric cylinder 2 The travel path is planned and adjusted on line, and the travel difference of the electric cylinder is ensured to be at a safety threshold l s In addition, uneven output force or blockage caused by overlarge stroke difference between the left electric cylinder and the right electric cylinder is avoided;
real-time set value L for trip planning rset ＝F(L 1 ,L 2 ,e θ )+Sat(e θ )，L rset The real-time travel set value is sent to the driver module through a controller of the lodging mechanism control box, and the left electric cylinder and the right electric cylinder are driven to act simultaneously; f (L) 1 ,L 2 ,e θ ) Selecting a function for the feedback value of the electric cylinder according to the current error value e θ Selecting the stroke of the first electric cylinder or the second electric cylinder as an actual feedback value, and selecting Min (l) when the error is greater than 0 1 ,l 2 ) And when the error is less than 0, selecting Max (l) 1 ,l 2 )；Sat(e θ ) For the saturation function, the absolute value of the error abs (e) θ ) When the threshold value is larger than the set threshold value, the threshold value is adjusted according to the dynamic performance requirement, the left electric cylinder and the right electric cylinder operate at the rated speed, abs (e) θ ) And in the threshold range, the speed of the left electric cylinder and the speed of the right electric cylinder are adjusted along with the error value, and the left electric cylinder and the right electric cylinder reach the set positions when the error is zero.
As a specific implementation manner, in step 3, the controller of the lodging mechanism control box detects and judges the strokes and stroke differences of the left electric cylinder and the right electric cylinder in real time, sets a working threshold and a safety threshold for double judgment, selects the stroke of the electric cylinder with slower motion as a reference stroke by utilizing path planning, adjusts the stroke difference back to the safety threshold in real time, and sends out an alarm when the stroke difference is greater than the safety threshold, so as to ensure the safety of the equipment, specifically as follows:
controller real-time detection of lodging mechanism control box and judgement left electronic jar, electronic jar stroke l of right side 1 、l 2 Setting a working threshold l for the stroke difference w And a safety threshold value l s Double judgment, the equipment normally works in the working threshold range, and when the stroke difference is larger than the working threshold l w In the process, the path planning is utilized to select the stroke of the electric cylinder with slower motion as a reference stroke, and the stroke difference is adjusted in real time to return to the safety threshold value, so that the safe and reliable operation of the equipment is ensured; if the travel difference is greater than the safety threshold value l s And when the equipment enters a protection state, the equipment sends out an alarm to ensure the safety of the equipment.
As a specific implementation mode, limit switch, lower limit switch are installed respectively to the upper portion of electronic jar in step 4 on the left side, the electronic jar on the right side respectively, prevent damaging equipment, specifically as follows:
and the upper parts and the lower parts of the left electric cylinder and the right electric cylinder are respectively provided with a limit switch, after the left electric cylinder and the right electric cylinder reach any limit, the switches are triggered, software protection is started, and the left electric cylinder and the right electric cylinder can only act in the reverse direction, so that equipment is prevented from being damaged by continuous action.
As a specific implementation manner, in step 5, a current safety threshold is set for a driver module of the lodging mechanism control box, so as to avoid the risk of jamming and avoid equipment damage, specifically as follows:
the driver module of lodging mechanism control box sets up the electric current safety threshold, and the electronic jar of left side, the electronic jar of right side trigger the hardware spacing or because two electronic jars exert oneself inequality, when producing the dead risk of card, get into the protection mode behind the driver electric current increase to the safety threshold, avoid equipment to damage.
The invention relates to a dual-electric-cylinder-cooperation-based array surface lodging mechanism control system, which comprises an array surface load, a pitching encoder, a left electric cylinder, a right electric cylinder, a lodging mechanism control box and a lodging mechanism seat, wherein the array surface load is connected with the left electric cylinder; the left electric cylinder and the right electric cylinder are symmetrically arranged on two sides of the array surface load, and the lodging mechanism control box comprises a controller and a driver module and is externally connected with the pitching encoder and the electric cylinders;
the lodging mechanism control box has the following functions:
(1) the controller of the lodging mechanism control box sends an instruction to control the left electric cylinder and the right electric cylinder to accelerate, and simultaneously judges the running speeds of the left electric cylinder and the right electric cylinder according to the real-time angle error, and the left electric cylinder and the right electric cylinder move at a constant speed according to the rated speed after reaching the rated speed;
(2) after the starting of the array surface lodging mechanism is finished and the stable motion stage is entered, a controller of a lodging mechanism control box adjusts the stroke set values of the left electric cylinder and the right electric cylinder according to a preset control strategy, and routes of the left electric cylinder and the right electric cylinder of the array surface lodging mechanism are planned;
(3) the controller of the lodging mechanism control box detects and judges the strokes and the stroke differences of the left electric cylinder and the right electric cylinder in real time, sets double judgment of a working threshold value and a safety threshold value, selects the stroke of the electric cylinder with slow movement as a reference stroke by utilizing path planning, adjusts the stroke difference in real time to return to the safety threshold value, and sends out an alarm when the stroke difference is greater than the safety threshold value to ensure the safety of equipment.
As a specific implementation manner, the controller of the lodging mechanism control box adjusts the stroke setting values of the left electric cylinder and the right electric cylinder according to a preset control strategy, and plans the path of the left electric cylinder and the right electric cylinder of the front surface lodging mechanism, which is specifically as follows:
the controller of the lodging mechanism control box receives the pitching set angle theta in real time set The feedback angle theta of the pitch encoder f Left electric cylinder feedback stroke l 1 Feedback stroke l of right electric cylinder 2 According to the pitch angle error e θ Left electric cylinder feedback stroke l 1 Feedback stroke l of right electric cylinder 2 The travel path is planned and adjusted on line, and the travel difference of the electric cylinder is ensured to be at a safety threshold l s In addition, uneven output force or blockage caused by overlarge stroke difference between the left electric cylinder and the right electric cylinder is avoided;
real-time set value L for trip planning rset ＝F(L 1 ,L 2 ,e θ )+Sat(e θ )，L rset The real-time stroke setting value is sent to the driver module through a controller of the lodging mechanism control box, and the left electric cylinder and the right electric cylinder are driven to act simultaneously; f (L) 1 ,L 2 ,e θ ) Selecting a function for the feedback value of the electric cylinder according to the current error value e θ Selecting the stroke of the first electric cylinder or the second electric cylinder as an actual feedback value, and selecting Min (l) when the error is more than 0 1 ,l 2 ) And when the error is less than 0, selecting Max (l) 1 ,l 2 )；Sat(e θ ) For the saturation function, the absolute value of the error abs (e) θ ) When the threshold value is larger than the set threshold value, the threshold value is adjusted according to the dynamic performance requirement, the left electric cylinder and the right electric cylinder operate at the rated speed, abs (e) θ ) And in the threshold range, the speed of the left electric cylinder and the speed of the right electric cylinder are adjusted along with the error value, and the left electric cylinder and the right electric cylinder reach the set positions when the error is zero.
As a specific implementation mode, the upper limit switch and the lower limit switch are respectively installed on the upper portions of the left electric cylinder and the right electric cylinder, so that equipment damage is prevented.
As a specific implementation mode, the driver module of the lodging mechanism control box is provided with a current safety threshold value, so that the risk of blocking is avoided, and the equipment is prevented from being damaged.
The invention is described in further detail below with reference to the figures and the specific embodiments. The following examples, which are intended to represent only one embodiment of the present invention, are described in greater detail and with greater particularity, and are not to be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Examples
With reference to fig. 1 to fig. 3, in the present embodiment, based on a method for controlling a dual-electric-cylinder cooperative wavefront lodging mechanism, the wavefront lodging mechanism includes a wavefront load, a pitch encoder, a left electric cylinder, a right electric cylinder, a lodging mechanism control box, and a lodging mechanism seat;
the first electric cylinder and the second electric cylinder are symmetrically arranged on two sides of the load of the array surface, and the lodging mechanism control box comprises a controller and a driver module and is connected with the pitching encoder and the electric cylinders outwards.
With reference to fig. 1, a method for controlling a wavefront lodging mechanism based on cooperation of two electric cylinders includes the following steps:
step 1, when the equipment starts to work, a controller of a lodging mechanism control box sends an instruction to control a left electric cylinder and a right electric cylinder to slowly accelerate, and meanwhile, the running speeds of the left electric cylinder and the right electric cylinder are judged according to real-time angle errors, and uniform motion is carried out according to a rated rotating speed after the running speeds reach the rated speed, wherein the specific steps are as follows:
step 1.1, the left electric cylinder and the right electric cylinder of the array surface lodging mechanism adopt T-shaped lead screws, so that the static friction is large, and the load is suddenly changed when the equipment is started, so that the shaking is easily caused; when the equipment starts to work, the controller of the lodging mechanism control box 10 sends an instruction to control the left electric cylinder and the right electric cylinder to slowly accelerate to the rated speed, so that the equipment cannot shake due to sudden load change, and the acceleration time t is ensured 0 (1-2 s) and rated speed n 0 Adjusting according to the actual dynamic performance requirement;
step 1.2, the movement speed of the array surface lodging mechanism is automatically adjusted based on the angle error, and when the angle error is larger than a set threshold value e 0 When the electric cylinder is driven by the left electric cylinder and the right electric cylinder at rated speedHigh-speed running; when the angle error is less than the set threshold e 0 When the device is used, the array surface lodging mechanism is about to be adjusted to the position, the left electric cylinder and the right electric cylinder change the stroke set value according to the error change to set the step length, the movement speed is adjusted, the left electric cylinder and the right electric cylinder gradually move to the set position, and the stable operation of the device is guaranteed.
Step 2, when the starting of the array surface lodging mechanism is completed, the stable movement stage is entered, the controller of the lodging mechanism control box adjusts the travel set values of the left electric cylinder and the right electric cylinder according to a preset control strategy, and the paths of the left electric cylinder and the right electric cylinder of the array surface lodging mechanism are planned, specifically as follows:
when the starting of the array surface lodging mechanism is completed and the stable motion stage is entered, the controller adjusts the stroke set value of the electric cylinder according to the control strategy shown in the table 1 and plans the path of the electric cylinder of the array surface lodging mechanism. The trip plan set point is L rset ＝F(L 1 ,L 2 ,e θ )+Sat(e θ ) Wherein L is rset The real-time travel set value is sent to the driving module through the controller to drive the electric cylinder to act; f (l) 1 ,l 2 ,e θ ) Selecting a function for the feedback value of the electric cylinder according to the current error value e θ Selecting the stroke of the left electric cylinder or the right electric cylinder as an actual feedback value, and selecting the stroke of the electric cylinder with relatively slow movement as the actual feedback value when the error is more than 0, namely Min (l) 1 ,l 2 ) When the error is less than 0, the stroke of the electric cylinder with relatively fast motion is selected as an actual feedback value, namely Max (l) 1 ,l 2 )；Sat(e θ ) For the saturation function, the absolute value of the error abs (e) θ ) Greater than a set threshold e 0 (the threshold value can be adjusted according to the dynamic performance requirement), and the stroke track of the electric cylinder is adjusted according to the fixed step length l 0 Planning, and enabling the electric cylinder to move at a constant speed; abs (e) θ ) Within the threshold value range, the stroke path of the electric cylinder is adjusted along with the error value by adopting a variable step length
And (5) carrying out path planning errors. The corresponding control strategy of the stroke setting and the pitch angle error of the electric cylinder of the array surface lodging mechanism is shown in table 1:
TABLE 1 corresponding control strategy for rotation speed and pitch angle error of electric cylinder of array plane lodging mechanism
Step 3, a controller of the lodging mechanism control box detects and judges strokes of the left electric cylinder and the right electric cylinder in real time, stroke difference sets a working threshold value and a safety threshold value for double judgment, the stroke of the electric cylinder with slower movement is selected as a reference stroke by utilizing path planning, the stroke difference is adjusted in real time to return to the safety threshold value, and an alarm is given out when the stroke difference is greater than the safety threshold value, so that the safety of equipment is ensured;
step 3, the controller of the lodging mechanism control box detects and judges the strokes of the left electric cylinder and the right electric cylinder in real time, the stroke difference sets a working threshold value and a safety threshold value for double judgment, the stroke of the electric cylinder with slow movement is selected as a reference stroke by utilizing path planning, the stroke difference is adjusted in real time to return to the safety threshold value, and an alarm is sent out when the stroke difference is greater than the safety threshold value, so that the safety of equipment is ensured, and the method specifically comprises the following steps:
real-time detection and judgment of left electric cylinder and right electric cylinder stroke l by controller of lodging mechanism control box 1 、l 2 Setting a working threshold l for the stroke difference w And a safety threshold value l s Double judgment, the equipment normally works in the working threshold range, when the stroke difference is larger than the working threshold l w In the process, the path planning is utilized to select the stroke of the electric cylinder with slower motion as a reference stroke, and the stroke difference is adjusted in real time to return to the safety threshold value, so that the safe and reliable operation of the equipment is ensured; if the travel difference is greater than the safety threshold value l s And when the equipment enters a protection state, the equipment sends out an alarm to ensure the safety of the equipment.
Step 4, limit switches are respectively installed on the upper portion and the lower portion of the left electric cylinder and the right electric cylinder, so that the equipment is prevented from being damaged, and the method specifically comprises the following steps:
and the upper parts and the lower parts of the left electric cylinder and the right electric cylinder are respectively provided with a limit switch, after the left electric cylinder and the right electric cylinder reach any limit, the switches are triggered, software protection is started, and the left electric cylinder and the right electric cylinder can only act in the reverse direction, so that equipment is prevented from being damaged by continuous action.
Step 5, a driver module of the lodging mechanism control box sets a current safety threshold value, so that the risk of jamming is avoided, and the equipment is prevented from being damaged, and the method specifically comprises the following steps:
when the electric cylinder works normally, the working current is rated current I 0 About 60%, if the output force is uneven because the double electric cylinders cannot work cooperatively, or the hardware is triggered to limit, the working current reaches the rated current I 0 And when the electric cylinder enters a locked-rotor state, the controller controls the driving module to stop continuously increasing the output torque, so that the electric cylinder is prevented from being locked.
In conclusion, the pitch angle of the array surface lodging mechanism is controlled by adjusting the stroke of the double electric cylinders by taking the pitch angle of the array surface, the stroke of the double electric cylinders and the working current of the driver as control parameters, and meanwhile, the cooperative and uniform output of the double electric cylinders is ensured by monitoring and adjusting the stroke difference between the double electric cylinders and the working current of the driver, so that the electric cylinders are prevented from being stuck, and the safety of equipment is ensured; the double electric cylinders can be ensured to uniformly apply force, the double electric cylinders work in a cooperative mode, the array surface lodging mechanism is guaranteed to run safely and stably, the algorithm is simple, and the applicability is strong.
Claims (10)
1. A control method of a array surface lodging mechanism based on double-electric-cylinder cooperation is characterized in that the array surface lodging mechanism comprises an array surface load, a pitching encoder, a left electric cylinder, a right electric cylinder, a lodging mechanism control box and a lodging mechanism seat; the left electric cylinder and the right electric cylinder are symmetrically arranged on two sides of the array surface load, and the lodging mechanism control box comprises a controller and a driver module and is externally connected with the pitching encoder and the electric cylinders; the control method comprises the following steps:
step 1, when the equipment starts to work, a controller of a lodging mechanism control box sends an instruction to control a left electric cylinder and a right electric cylinder to accelerate, and meanwhile, the running speeds of the left electric cylinder and the right electric cylinder are judged according to real-time angle errors, and uniform motion is carried out according to a rated rotating speed after the running speeds reach the rated speed;
step 2, when the starting of the array surface lodging mechanism is finished and the stable motion stage is entered, a controller of a lodging mechanism control box adjusts the stroke set values of the left electric cylinder and the right electric cylinder according to a preset control strategy, and routes of the left electric cylinder and the right electric cylinder of the array surface lodging mechanism are planned;
step 3, a controller of the lodging mechanism control box detects and judges the strokes and stroke differences of the left electric cylinder and the right electric cylinder in real time, sets double judgment of a working threshold and a safety threshold, selects the stroke of the electric cylinder with slower motion as a reference stroke by utilizing path planning, adjusts the stroke difference in real time to return to the safety threshold, and sends out an alarm when the stroke difference is greater than the safety threshold to ensure the safety of equipment;
step 4, an upper limit switch is respectively installed at the upper parts of the left electric cylinder and the right electric cylinder, and a lower limit switch is respectively installed at the lower parts of the left electric cylinder and the right electric cylinder, so that equipment is prevented from being damaged;
and 5, setting a current safety threshold value by a driver module of the lodging mechanism control box, so that the risk of blocking is avoided, and the equipment is prevented from being damaged.
2. The method for controlling the array surface lodging mechanism based on double-electric-cylinder cooperation according to claim 1, wherein in the step 1, when the device starts to work, the controller of the lodging mechanism control box sends an instruction to control the acceleration of the left electric cylinder and the right electric cylinder, and simultaneously, the operation speeds of the left electric cylinder and the right electric cylinder are judged according to the real-time angle error, and the uniform motion is performed according to the rated rotation speed after the rated speed is reached, specifically as follows:
step 1.1, a T-shaped lead screw is adopted by a left electric cylinder and a right electric cylinder of the array surface lodging mechanism, and when equipment is started, sudden change of load is generated to cause shaking; when the equipment begins to work, the controller of the lodging mechanism control box sends an instruction to control the left electric cylinder and the right electric cylinder to gradually accelerate to the rated speed, so that the requirement that the equipment cannot shake due to sudden change of load is met, and the acceleration time t is short 0 Adjusting according to actual dynamic performance requirements;
step 1.2, the movement speed of the array surface lodging mechanism is automatically adjusted based on the angle error, and when the angle error is larger than a set threshold value e 0 When the electric motor is started, the left electric cylinder and the right electric cylinder run at rated speed; when the angle error is less than the set threshold e 0 When the device is used, the array surface lodging mechanism is about to be adjusted to the position, the left electric cylinder and the right electric cylinder change the stroke set value according to the error change, the step length is set, the movement speed is adjusted, the left electric cylinder and the right electric cylinder gradually move to the set position, and the stable operation of the device is guaranteed.
3. The method for controlling the wavefront lodging mechanism based on the cooperation of the double electric cylinders according to claim 1, wherein in the step 2, after the start of the wavefront lodging mechanism is completed and the steady motion stage is entered, the controller of the lodging mechanism control box adjusts the stroke setting values of the left electric cylinder and the right electric cylinder according to a preset control strategy, and plans the paths of the left electric cylinder and the right electric cylinder of the wavefront lodging mechanism, which is specifically as follows:
the controller of the lodging mechanism control box receives the pitching set angle theta in real time set The feedback angle theta of the pitch encoder f Left electric cylinder feedback stroke l 1 Feedback stroke l of right electric cylinder 2 According to the pitch angle error e θ Left electric cylinder feedback stroke l 1 Feedback stroke l of right electric cylinder 2 The travel path is planned and adjusted on line, and the travel difference of the electric cylinder is ensured to be at a safety threshold l s In addition, uneven output force or blockage caused by overlarge stroke difference between the left electric cylinder and the right electric cylinder is avoided;
real-time set value L for trip planning rset ＝F(L 1 ,L 2 ,e θ )+Sat(e θ )，L rset The real-time travel set value is sent to the driver module through a controller of the lodging mechanism control box, and the left electric cylinder and the right electric cylinder are driven to act simultaneously; f (L) 1 ,L 2 ,e θ ) Selecting a function for the feedback value of the electric cylinder according to the current error value e θ Selecting the stroke of the first electric cylinder or the second electric cylinder as an actual feedback value, and selecting Min (l) when the error is more than 0 1 ,l 2 ) When the error is less than 0, Max (l) is selected 1 ,l 2 )；Sat(e θ ) For the saturation function, the absolute value of the error abs (e) θ ) When the threshold value is larger than the set threshold value, the threshold value is adjusted according to the dynamic performance requirement, the left electric cylinder and the right electric cylinder operate at the rated speed, abs (e) θ ) And in the threshold range, the speed of the left electric cylinder and the speed of the right electric cylinder are adjusted along with the error value, and the left electric cylinder and the right electric cylinder reach the set positions when the error is zero.
4. The method for controlling the array surface lodging mechanism based on double-electric-cylinder cooperation according to claim 1, wherein in step 3, the controller of the lodging mechanism control box detects and judges the stroke and stroke difference of the left electric cylinder and the right electric cylinder in real time, sets a working threshold and a safety threshold for double judgment, selects the stroke of the electric cylinder with slower motion as a reference stroke by utilizing path planning, adjusts the stroke difference back to the safety threshold in real time, and sends out an alarm when the stroke difference is greater than the safety threshold, so as to ensure the safety of the equipment, and specifically comprises the following steps:
real-time detection and judgment of left electric cylinder and right electric cylinder stroke l by controller of lodging mechanism control box 1 、l 2 Setting a working threshold l for the stroke difference w And a safety threshold value l s Double judgment, the equipment normally works in the working threshold range, and when the stroke difference is larger than the working threshold l w In the process, the path planning is utilized to select the stroke of the electric cylinder with slower motion as a reference stroke, and the stroke difference is adjusted in real time to return to the safety threshold value, so that the safe and reliable operation of the equipment is ensured; if the travel difference is greater than the safety threshold value l s And when the equipment enters a protection state, the equipment sends out an alarm to ensure the safety of the equipment.
5. The method for controlling the array surface lodging mechanism based on the cooperation of the double electric cylinders according to claim 1, wherein in the step 4, the upper parts of the left electric cylinder and the right electric cylinder are respectively provided with the upper limit switch, and the lower parts of the left electric cylinder and the right electric cylinder are respectively provided with the lower limit switch, so as to prevent the damage of the equipment, and the method is specifically as follows:
and the upper parts and the lower parts of the left electric cylinder and the right electric cylinder are respectively provided with a limit switch, after the left electric cylinder and the right electric cylinder reach any limit, the switches are triggered, software protection is started, and the left electric cylinder and the right electric cylinder can only act in the reverse direction, so that equipment is prevented from being damaged by continuous action.
6. The method for controlling the wavefront lodging mechanism based on the cooperation of the double electric cylinders as claimed in claim 1, wherein in step 5, the driver module of the lodging mechanism control box sets a current safety threshold value to avoid the risk of jamming and avoid the damage of the equipment, and the method comprises the following specific steps:
the driver module of lodging mechanism control box sets up the electric current safety threshold, and the electronic jar of left side, the electronic jar of right side trigger the hardware spacing or because two electronic jars exert oneself inequality, when producing the dead risk of card, get into the protection mode behind the driver electric current increase to the safety threshold, avoid equipment to damage.
7. A control system of a tilting mechanism of a array plane based on the cooperation of double electric cylinders is characterized by comprising an array plane load, a pitching encoder, a left electric cylinder, a right electric cylinder, a tilting mechanism control box and a tilting mechanism seat; the left electric cylinder and the right electric cylinder are symmetrically arranged on two sides of the array surface load, and the lodging mechanism control box comprises a controller and a driver module and is externally connected with the pitching encoder and the electric cylinders;
the lodging mechanism control box has the following functions:
(1) the controller of the lodging mechanism control box sends an instruction to control the left electric cylinder and the right electric cylinder to accelerate, and simultaneously judges the running speeds of the left electric cylinder and the right electric cylinder according to the real-time angle error, and the left electric cylinder and the right electric cylinder move at a constant speed according to the rated speed after reaching the rated speed;
(2) after the starting of the array surface lodging mechanism is finished and the stable motion stage is entered, a controller of a lodging mechanism control box adjusts the stroke set values of the left electric cylinder and the right electric cylinder according to a preset control strategy, and routes of the left electric cylinder and the right electric cylinder of the array surface lodging mechanism are planned;
(3) the controller of the lodging mechanism control box detects and judges the strokes and the stroke differences of the left electric cylinder and the right electric cylinder in real time, sets double judgment of a working threshold value and a safety threshold value, selects the stroke of the electric cylinder with slow movement as a reference stroke by utilizing path planning, adjusts the stroke difference in real time to return to the safety threshold value, and sends out an alarm when the stroke difference is greater than the safety threshold value to ensure the safety of equipment.
8. The dual-electric-cylinder-cooperation-based wavefront lodging mechanism control system according to claim 7, wherein the controller of the lodging mechanism control box adjusts the stroke setting values of the left electric cylinder and the right electric cylinder according to a preset control strategy, and plans the path of the wavefront lodging mechanism for the left electric cylinder and the right electric cylinder as follows:
the controller of the lodging mechanism control box receives the pitching set angle theta in real time set The feedback angle theta of the pitch encoder f Left electric cylinder feedback stroke l 1 Feedback stroke l of right electric cylinder 2 According to the pitch angle error e θ Left electric cylinder feedback stroke l 1 Feedback stroke l of right electric cylinder 2 The travel path is planned and adjusted on line, and the travel difference of the electric cylinder is ensured to be at a safety threshold l s In addition, uneven output force or blockage caused by overlarge stroke difference between the left electric cylinder and the right electric cylinder is avoided;
real-time set value L for trip planning rset ＝F(L 1 ,L 2 ,e θ )+Sat(e θ )，L rset The real-time travel set value is sent to the driver module through a controller of the lodging mechanism control box, and the left electric cylinder and the right electric cylinder are driven to act simultaneously; f (L) 1 ,L 2 ,e θ ) Selecting function for feedback value of electric cylinder according to current error value e θ Selecting the stroke of the first electric cylinder or the second electric cylinder as an actual feedback value, and selecting Min (l) when the error is more than 0 1 ,l 2 ) And when the error is less than 0, selecting Max (l) 1 ,l 2 )；Sat(e θ ) For the saturation function, the absolute value of the error abs (e) θ ) When the threshold value is larger than the set threshold value, the threshold value is adjusted according to the dynamic performance requirement, the left electric cylinder and the right electric cylinder run at the rated speed, abs (e) θ ) And in the threshold range, the speed of the left electric cylinder and the speed of the right electric cylinder are adjusted along with the error value, and the left electric cylinder and the right electric cylinder reach the set positions when the error is zero.
9. The dual-electric-cylinder-cooperation-based wavefront lodging mechanism control system according to claim 7, wherein the upper limit switch and the lower limit switch are respectively installed on the upper portion and the lower portion of the left electric cylinder and the right electric cylinder, so as to prevent equipment from being damaged.
10. The dual-electric-cylinder-cooperation-based wavefront lodging mechanism control system as claimed in claim 7, wherein the actuator module of the lodging mechanism control box sets a current safety threshold to avoid the risk of jamming and avoid equipment damage.
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