CN117572759B - Deviation rectifying control device and system based on speed signals - Google Patents
Deviation rectifying control device and system based on speed signals Download PDFInfo
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Abstract
The invention provides a deviation rectifying control device and system based on a speed signal. Comprising the following steps: parameter detection module: the distance detection parameters of the deviation correcting equipment from the deviation correcting control platform are obtained; and the parameter judging module is used for: the method comprises the steps of filling the distance detection parameters, comparing adjacent filling results, and recording the displacement of a parameter mutation section for initial judgment when the parameter mutation occurs in the distance detection parameters; and the deviation rectifying and determining module is used for: the method comprises the steps of acquiring platform movement acceleration of a deviation correcting control platform, determining a parameter type according to the acceleration, and acquiring deviation correcting offset based on the parameter type; and the deviation rectifying control module is used for: and the method is used for determining a deviation rectifying control instruction by combining the deviation rectifying offset with the initial judgment result and carrying out deviation rectifying control. The distance parameters of the target deviation rectifying equipment and the deviation rectifying control platform are detected, so that judgment is performed based on the parameter mutation condition, and the corresponding deviation rectifying offset is determined by combining the platform moving acceleration, so that the deviation rectifying control of the target deviation rectifying equipment is more accurate.
Description
Technical Field
The invention relates to the field of deviation correction control, in particular to a deviation correction control device and system based on a speed signal.
Background
At present, deviation correction control is used as an important technology in process control and is applied to a plurality of coiled material processing industries such as packaging, printing, labeling, clothing, metal processing and the like.
However, in actual production, due to the requirement of the production process, the material needs to be cut into a special shape required by subsequent production, and the normal deviation correction is based on the edge of the material, but when the convex or concave shape appears, the deviation correction is interfered, so that the system does not correct the deviation or the deviation correction excessively breaks the material.
Therefore, the invention provides a deviation rectifying control device and system based on a speed signal.
Disclosure of Invention
The invention provides a deviation rectifying control device and a deviation rectifying control system based on a speed signal, which are used for detecting distance parameters of target deviation rectifying equipment and a deviation rectifying control platform so as to judge based on parameter mutation conditions and determine corresponding deviation rectifying offset by combining platform moving acceleration, so that a more accurate deviation rectifying control instruction is obtained for deviation rectifying control, the deviation rectifying control of the target deviation rectifying equipment is more accurate, and deviation rectifying errors can be reduced.
The invention provides a deviation rectifying control device based on a speed signal, which comprises:
parameter detection module: the distance detection parameters of the deviation correcting control platform for different azimuth distances of the target deviation correcting equipment are obtained in real time;
and the parameter judging module is used for: the method comprises the steps of filling distance detection parameters according to corresponding directions, comparing adjacent filling results of the distance detection parameters, recording displacement of each parameter mutation section when the adjacent distance detection parameters have parameter mutation, and carrying out initial judgment;
and the deviation rectifying and determining module is used for: the method comprises the steps of acquiring platform moving acceleration for detection of a deviation correcting control platform, determining a corresponding parameter type according to the acceleration, and acquiring deviation correcting offset of the deviation correcting control platform based on the parameter type;
and the deviation rectifying control module is used for: and the correction control instruction is used for determining the correction control instruction of the correction control platform based on the correction offset and the initial judgment result and carrying out correction control.
In one possible implementation, the parameter detection module includes:
a signal acquisition unit: the system is used for collecting sound signals based on the deviation correction control platform, and performing cross calculation with preset sound signals to obtain cross signals;
first distance unit: the method comprises the steps of performing distance processing on output time of a preset sound signal output by a deviation rectification control platform and first sound receiving time corresponding to a first peak value in a crossing signal to obtain a first distance;
second distance unit: the second distance processing unit is used for performing distance processing on the second receiving time corresponding to the second peak value in the cross signal at the output moment to obtain a second distance;
control distance unit: the first control distance between the target deviation correcting device and the deviation correcting control platform is obtained based on the first distance and the second distance;
parameter acquisition unit: the method is used for obtaining real-time distance detection parameters based on the first control distances between the deviation rectifying control platforms and the target deviation rectifying equipment in different directions.
In one possible implementation manner, the parameter judging module includes:
a data sorting unit: the distance detection parameters are sequenced according to the corresponding directions of the target deviation correcting equipment, and orderly filled into a distance detection data table according to the sequencing result;
and a comparison detection unit: for comparing distance detection parameters between adjacent rows in the distance detection data table;
if the difference value of the distance detection parameters of the adjacent rows in the distance detection data table is larger than the preset difference value, recording the distance detection parameters of the adjacent two rows as a first parameter and a second parameter;
parameter ordering unit: the method comprises the steps of extracting all first parameters and second parameters in a distance detection data table, and sequencing the first parameters and the second parameters in the distance detection data table according to the sequence of the first parameters and the second parameters in the distance detection data table;
a displacement determination unit: the distance between the adjacent second parameters and the first parameters is used as the displacement of the current parameter mutation section;
an initial diagnosis unit: and judging the mutation reason of the current parameter mutation section based on the absolute value of the displacement as an initial judgment result.
In one possible implementation, the correction determining module includes:
acceleration determining unit: the platform movement acceleration of the deviation correcting control platform for distance detection is obtained;
the first deviation rectifying unit: when the platform moving acceleration is smaller than the preset acceleration, obtaining a first parameter type based on the current deviation rectifying control platform, and obtaining a first deviation rectifying offset corresponding to the deviation rectifying control platform based on the first parameter type;
the second deviation rectifying unit: and the method is used for obtaining a second parameter type based on the current deviation rectifying control platform when the platform moving acceleration is not smaller than the preset acceleration, and obtaining a second deviation rectifying offset corresponding to the deviation rectifying control platform based on the second parameter type.
In one possible implementation, the acceleration determining unit includes:
real-time speed acquisition subunit: the method comprises the steps of acquiring a detection distance and a corresponding detection moment of a deviation rectification control platform when the distance is detected, and determining the real-time speed of the current deviation rectification control platform based on the detection distance and the detection moment;
a first speed acquisition subunit: the method comprises the steps of acquiring a detection distance and a corresponding moment of each moment of a deviation rectifying control platform in a current distance acquisition period, and obtaining a first speed of the deviation rectifying control platform;
a data processing subunit: the speed fitting curve is obtained based on the first speed, the real-time speed and the time sequence of the corresponding detection time of the deviation correction control platform;
an initial acceleration determination subunit: the method comprises the steps of obtaining the slope of a corresponding point in a speed fitting curve at the current detection moment based on the speed fitting curve, and taking the slope of the curve as the initial acceleration of a corresponding deviation correction control platform at the current detection moment;
curve processing subunit: the method comprises the steps of performing curve prediction at the current moment according to a fitting trend based on a speed fitting curve, and performing curve extension according to a prediction result;
a second processing subunit: the method comprises the steps of obtaining a curve slope corresponding to the next detection moment based on a curve extension result to serve as a first acceleration, and obtaining a curve slope corresponding to the last detection moment of the current detection moment to serve as a second acceleration;
acceleration judging subunit: comparing the first acceleration, the second acceleration and the initial acceleration, and judging that the current initial acceleration is effective if the absolute value of the initial acceleration is between the first acceleration and the second acceleration;
acceleration optimization subunit: the method comprises the steps of performing fine adjustment on effective initial acceleration based on influence weights of a first acceleration and a second acceleration;
acceleration determination subunit: and the method is used for taking the fine adjustment result of the initial acceleration as the moving acceleration of the current deviation rectifying control platform and comparing the moving acceleration with the preset acceleration.
In one possible implementation, the deviation rectifying control module includes:
an initial deviation correcting unit: the initial deviation rectifying control instruction is used for determining the initial deviation rectifying control instruction of the deviation rectifying control platform based on the first deviation rectifying offset or the second deviation rectifying offset and combining the initial judgment result;
deviation rectifying and adjusting unit: the method comprises the steps of adjusting an initial deviation rectifying control instruction based on a historical deviation rectifying error range of a deviation rectifying control platform to obtain a comprehensive deviation rectifying control instruction;
deviation rectifying control unit: and the target deviation rectifying equipment is used for carrying out deviation rectifying control on the basis of the comprehensive deviation rectifying control instruction.
In one possible implementation, the deviation rectifying and adjusting unit includes:
a comprehensive offset subunit: the method comprises the steps of obtaining an average deviation correcting error based on a history deviation correcting error range effectively recorded in a deviation correcting control platform, and superposing the average deviation correcting error into a corresponding deviation correcting offset to obtain a comprehensive deviation correcting offset;
a reference determination subunit: the position with zero pre-calibrated offset is used as a reference control position for performing deviation correction control of the current deviation correction control platform;
instruction determination subunit: the method is used for detecting edge position signals of the target deviation correcting equipment in real time, converting the signals according to the edge position signals, obtaining corresponding digital signals, combining the digital signals with the comprehensive deviation correcting offset, and determining the comprehensive deviation correcting control instruction.
The invention provides a deviation rectifying control system based on a speed signal, which comprises the following components:
a deviation correcting control device based on a speed signal according to any one of the above claims.
Compared with the prior art, the beneficial effects of the application are as follows:
the distance parameters of the target deviation correcting equipment and the deviation correcting control platform are detected, so that judgment is performed based on the parameter mutation condition, the corresponding deviation correcting offset is determined by combining the platform moving acceleration, a precise deviation correcting control instruction is obtained for deviation correcting control, deviation correcting control of the target deviation correcting equipment is more precise, and deviation correcting errors can be reduced.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a block diagram of a deviation correcting control device based on a speed signal in an embodiment of the invention;
fig. 2 is a block diagram of a parameter determination module in an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
Example 1:
the embodiment of the invention provides a deviation rectifying control device based on a speed signal, which is shown in fig. 1 and comprises the following components:
parameter detection module: the distance detection parameters of the deviation correcting control platform for different azimuth distances of the target deviation correcting equipment are obtained in real time;
and the parameter judging module is used for: the method comprises the steps of filling distance detection parameters according to corresponding directions, comparing adjacent filling results of the distance detection parameters, recording displacement of each parameter mutation section when the adjacent distance detection parameters have parameter mutation, and carrying out initial judgment;
and the deviation rectifying and determining module is used for: the method comprises the steps of acquiring platform moving acceleration for detection of a deviation correcting control platform, determining a corresponding parameter type according to the acceleration, and acquiring deviation correcting offset of the deviation correcting control platform based on the parameter type;
and the deviation rectifying control module is used for: and the correction control instruction is used for determining the correction control instruction of the correction control platform based on the correction offset and the initial judgment result and carrying out correction control.
In this embodiment, the target deviation correcting device refers to a device that needs deviation correcting control.
In this embodiment, the deviation rectifying control platform is a platform including a deviation rectifying sensor, an intelligent management terminal and performing deviation rectifying control operation.
In this embodiment, the distance detection parameter refers to a distance parameter from the deviation rectification control platform detected by the deviation rectification control platform to different directions of the target deviation rectification equipment.
In this embodiment, the parameter mutation refers to a process in which the distance detection parameters of adjacent azimuth are different by more than the error, for example, the distance detection parameter of the a position is 1.22cm, the distance detection parameter of the adjacent b position is 1.95cm, and the corresponding maximum measurement error is 0.05cm, and the parameter mutation occurs from the a position to the b position.
In this embodiment, the initial judgment refers to judging the cause of the parameter mutation according to the displacement of the parameter mutation section, so as to obtain the mutation cause of the parameter mutation section, for example, the distance detection parameter of the a position is 1.21cm, the distance detection parameter of the adjacent b position is 1.95cm, the distance detection parameter of the adjacent c position is 1.96cm, the distance detection parameter of the adjacent d position is 1.20cm, and the displacement of the adjacent d position is 0.5cm, where the displacement of the parameter mutation section is 1cm, and if the target deviation rectifying device is a battery, and the parameters of the tab in the battery are 1cm and 0.75cm, then it is judged that the current parameter section mutation cause is the battery tab.
In this embodiment, the platform movement acceleration refers to a movement acceleration corresponding to the deviation correction control platform when the deviation correction control is performed.
In this embodiment, the parameter type refers to the parameter type of the PID parameter, and includes, for example, a proportional degree, an integral control intensity, and a differential control intensity.
In this embodiment, the deviation correcting offset refers to an offset corresponding to when the deviation correcting control platform corrects the deviation of the target deviation correcting device.
In this embodiment, the deviation correcting control instruction refers to a platform movement control instruction required by the deviation correcting control platform determined according to the deviation correcting deviation amount and the initial judgment result.
The beneficial effects of the technical scheme are as follows: the distance parameters of the target deviation correcting equipment and the deviation correcting control platform are detected, so that judgment is performed based on the parameter mutation condition, the corresponding deviation correcting offset is determined by combining the platform moving acceleration, a precise deviation correcting control instruction is obtained for deviation correcting control, deviation correcting control of the target deviation correcting equipment is more precise, and deviation correcting errors can be reduced.
Example 2:
based on embodiment 1, the parameter detection module includes:
a signal acquisition unit: the system is used for collecting sound signals based on the deviation correction control platform, and performing cross calculation with preset sound signals to obtain cross signals;
first distance unit: the method comprises the steps of performing distance processing on output time of a preset sound signal output by a deviation rectification control platform and first sound receiving time corresponding to a first peak value in a crossing signal to obtain a first distance;
second distance unit: the second distance processing unit is used for performing distance processing on the second receiving time corresponding to the second peak value in the cross signal at the output moment to obtain a second distance;
control distance unit: the first control distance between the target deviation correcting device and the deviation correcting control platform is obtained based on the first distance and the second distance;
parameter acquisition unit: the method is used for obtaining real-time distance detection parameters based on the first control distances between the deviation rectifying control platforms and the target deviation rectifying equipment in different directions.
In this embodiment, the sound signal refers to an ultrasonic signal used for distance determination, and the corresponding distance is determined according to the time of transmitting and receiving sound.
In this embodiment, the preset sound signal refers to an expected sending and receiving time of the sound signal determined according to a distance that may exist between the deviation rectification control platform and the target deviation rectification device.
In this embodiment, the cross signal is a cross signal obtained by superimposing a sound signal and a preset sound signal corresponding to the detection distance.
In this embodiment, the output time refers to a time when a preset sound signal of a corresponding distance is transmitted to an intelligent management terminal of the deviation rectification control platform.
In this embodiment, the first peak value refers to a first overlapping peak value where the sound signal overlaps with the preset sound signal, and the second peak value refers to a second punching peak value where the sound signal overlaps with the preset sound signal, where a distance between the first peak value and the second peak value can determine a corresponding detection distance.
In this embodiment, the first sound receiving time refers to a sound receiving time corresponding to a position of a first peak in the cross signal, and the second sound receiving time corresponds to a position of a second peak in the cross signal.
In this embodiment, the first distance is determined by the first sound receiving time and the sound transmitting time and the corresponding ultrasonic velocity, and the second distance is determined by the second sound receiving time and the sound transmitting time and the corresponding ultrasonic velocity.
In this embodiment, the first control distance is derived based on an average of the first distance and the second distance.
In this embodiment, the distance detection parameter refers to a distance parameter from the deviation rectification control platform detected by the deviation rectification control platform to different directions of the target deviation rectification equipment.
The beneficial effects of the technical scheme are as follows: the distance parameters of the target deviation correcting equipment and the deviation correcting control platform are detected based on the sound signals, so that the corresponding deviation correcting offset is determined by combining the platform moving acceleration, a precise deviation correcting control instruction can be obtained for deviation correcting control, and deviation correcting errors are reduced.
Example 3:
based on the embodiment 2, the parameter determination module, as shown in fig. 2, includes:
a data sorting unit: the distance detection parameters are sequenced according to the corresponding directions of the target deviation correcting equipment, and orderly filled into a distance detection data table according to the sequencing result;
and a comparison detection unit: for comparing distance detection parameters between adjacent rows in the distance detection data table;
if the difference value of the distance detection parameters of the adjacent rows in the distance detection data table is larger than the preset difference value, recording the distance detection parameters of the adjacent two rows as a first parameter and a second parameter;
parameter ordering unit: the method comprises the steps of extracting all first parameters and second parameters in a distance detection data table, and sequencing the first parameters and the second parameters in the distance detection data table according to the sequence of the first parameters and the second parameters in the distance detection data table;
a displacement determination unit: the distance between the adjacent second parameters and the first parameters is used as the displacement of the current parameter mutation section;
an initial diagnosis unit: and judging the mutation reason of the current parameter mutation section based on the absolute value of the displacement as an initial judgment result.
In this embodiment, the distance detection data table is a data table obtained by sorting and then finishing all distance detection parameters between the deviation rectification control platform and the same target deviation rectification device.
In this embodiment, the difference value refers to a difference value of adjacent distance detection parameters in the distance detection data table, and the preset difference value refers to a maximum error value of the target deviation correcting device in the same plane from the deviation correcting control platform.
In this embodiment, the first parameter and the second parameter refer to extracting two adjacent distance detection parameters as the first parameter and the second parameter when the difference value of the adjacent distance detection parameters in the distance detection data table is greater than the preset difference value, for example, the distance detection parameter of the a position is 1.21cm, the distance detection parameter of the adjacent b position is 1.95cm, the distance detection parameter of the a position is extracted as the first parameter, and the distance detection parameter of the b position is extracted as the second parameter.
In this embodiment, the displacement of the parameter mutation section refers to a corresponding displacement of the parameter mutation occurring in the distance detection parameter, for example, the distance detection parameter of the a position is 1.21cm, the distance detection parameter of the adjacent b position is 1.95cm, the distance detection parameter of the adjacent c position is 1.96cm, the distance detection parameter of the adjacent d position is 1.20cm, and the displacement of the adjacent position is 0.5cm, and the displacement of the parameter mutation section is 1cm.
In this embodiment, after detecting that the data of the distance detection sensor is suddenly changed, the time of the two different edges is recorded, so as to calculate the elapsed time of the tab and the elapsed time of the tab without the tab at different machine speeds. Therefore, when the distance detection sensor is shielded for a long time (the time can be changed due to different machine speeds), whether the electrode lug shields the distance detection sensor or the material edge shields the sensor can be judged through the speed, so that the non-action or the misoperation of the deviation correcting device is avoided.
In this embodiment, the initial determination result refers to determining the cause of the parameter mutation according to the displacement of the parameter mutation section, so as to obtain the mutation cause of the parameter mutation section, for example, the distance detection parameter of the a position is 1.21cm, the distance detection parameter of the adjacent b position is 1.95cm, the distance detection parameter of the adjacent c position is 1.96cm, the distance detection parameter of the adjacent d position is 1.20cm, and the displacement of the adjacent d position is 0.5cm, where the displacement of the parameter mutation section is 1cm, and if the target deviation rectifying device is a battery, and the corresponding parameters of the tab in the battery are 1cm and 0.75cm, it is determined that the current parameter mutation cause is the battery tab.
The beneficial effects of the technical scheme are as follows: by analyzing and judging the distance detection parameters, the corresponding deviation rectifying offset is determined by combining the platform moving acceleration, so that a more accurate deviation rectifying control instruction can be obtained to carry out deviation rectifying control, the deviation rectifying control of the target deviation rectifying equipment is more accurate, and the deviation rectifying error is reduced.
Example 4:
based on embodiment 3, the correction determining module includes:
acceleration determining unit: the platform movement acceleration of the deviation correcting control platform for distance detection is obtained;
the first deviation rectifying unit: when the platform moving acceleration is smaller than the preset acceleration, obtaining a first parameter type based on the current deviation rectifying control platform, and obtaining a first deviation rectifying offset corresponding to the deviation rectifying control platform based on the first parameter type;
the second deviation rectifying unit: and the method is used for obtaining a second parameter type based on the current deviation rectifying control platform when the platform moving acceleration is not smaller than the preset acceleration, and obtaining a second deviation rectifying offset corresponding to the deviation rectifying control platform based on the second parameter type.
In this embodiment, the platform movement acceleration refers to a movement acceleration corresponding to the deviation correction control platform when the deviation correction control is performed.
In this embodiment, the preset acceleration refers to judging whether the moving speed of the platform belongs to a constant critical acceleration, for example, when the moving acceleration of the platform can be preset to be smaller than 0.2cm/s, the deviation correcting control platform is judged to belong to a constant motion, and then 0.2cm/s is the preset acceleration.
In this embodiment, the first parameter type and the second parameter type refer to that the parameters for performing deviation correction control according to different platform movement accelerations are different, when the deviation correction control platform belongs to an acceleration and deceleration state, obvious fluctuation occurs in deviation correction precision, higher PID parameters are required to solve the fluctuation, when the platform movement acceleration of the deviation correction control platform is smaller than a preset acceleration, the deviation correction control platform belongs to a uniform motion state, the higher PID parameters cause overshoot of the system, so that lower PID parameters are required to perform deviation correction offset control, and the overall deviation correction precision of the corresponding deviation correction control device is greatly improved.
In this embodiment, the first deviation rectifying offset and the second deviation rectifying offset refer to offsets corresponding to the first parameter type or the second parameter type.
In this embodiment, the first offset correction amount and the second offset correction amount cannot coexist.
The beneficial effects of the technical scheme are as follows: the distance detection parameters are combined with the platform moving acceleration to determine the corresponding deviation rectifying offset, so that a more accurate deviation rectifying control instruction can be obtained to carry out deviation rectifying control, the deviation rectifying control on the target deviation rectifying equipment is more accurate, and the deviation rectifying error is reduced.
Example 5:
based on embodiment 4, the acceleration determining unit includes:
real-time speed acquisition subunit: the method comprises the steps of acquiring a detection distance and a corresponding detection moment of a deviation rectification control platform when the distance is detected, and determining the real-time speed of the current deviation rectification control platform based on the detection distance and the detection moment;
a first speed acquisition subunit: the method comprises the steps of acquiring a detection distance and a corresponding moment of each moment of a deviation rectifying control platform in a current distance acquisition period, and obtaining a first speed of the deviation rectifying control platform;
a data processing subunit: the speed fitting curve is obtained based on the first speed, the real-time speed and the time sequence of the corresponding detection time of the deviation correction control platform;
an initial acceleration determination subunit: the method comprises the steps of obtaining the slope of a corresponding point in a speed fitting curve at the current detection moment based on the speed fitting curve, and taking the slope of the curve as the initial acceleration of a corresponding deviation correction control platform at the current detection moment;
curve processing subunit: the method comprises the steps of performing curve prediction at the current moment according to a fitting trend based on a speed fitting curve, and performing curve extension according to a prediction result;
a second processing subunit: the method comprises the steps of obtaining a curve slope corresponding to the next detection moment based on a curve extension result to serve as a first acceleration, and obtaining a curve slope corresponding to the last detection moment of the current detection moment to serve as a second acceleration;
acceleration judging subunit: comparing the first acceleration, the second acceleration and the initial acceleration, and judging that the current initial acceleration is effective if the absolute value of the initial acceleration is between the first acceleration and the second acceleration;
acceleration optimization subunit: the method comprises the steps of performing fine adjustment on effective initial acceleration based on influence weights of a first acceleration and a second acceleration;
acceleration determination subunit: and the method is used for taking the fine adjustment result of the initial acceleration as the moving acceleration of the current deviation rectifying control platform and comparing the moving acceleration with the preset acceleration.
In this embodiment, the detection distance refers to a real-time detection distance between the deviation correcting control platform and the target price deviation correcting device.
In this embodiment, the detection time refers to a corresponding time when the deviation rectification control platform determines the detection distance.
In this embodiment, the real-time speed is a speed obtained by dividing a real-time detection distance of the deviation correction control platform when the distance detection is performed by a time corresponding to the detection time and the last detection time.
In this embodiment, the first speed refers to a speed of the deviation rectification control platform obtained by the deviation rectification control platform in a current distance obtaining period at each moment in time and a time corresponding to the detection moment and the last detection moment.
In this embodiment, the speed fitting curve is a curve that can best describe the trend of the speed data by performing a mathematical model fitting according to the speed of the target control platform in the current distance acquisition period.
In this embodiment, the slope of the curve refers to the slope of the curve corresponding to the current detection time of the speed fitting curve.
In this embodiment, the fitted trend refers to a curve trend of a speed fitted curve.
In this embodiment, curve prediction refers to predicting a portion after the speed fitting curve according to a curve trend corresponding to the last speed point on the speed fitting curve, and curve extension refers to extending the speed fitting curve according to a curve prediction result.
In this embodiment, the first acceleration refers to a slope of a curve corresponding to a next detection time of a last speed corresponding point on the current speed fitting curve, and the second acceleration refers to a slope of a curve corresponding to a last detection time of the last speed corresponding point on the current speed fitting curve, where the corresponding slope in the speed-time curve is the corresponding acceleration.
In this embodiment, the initial acceleration refers to an acceleration determined from a curve slope of the fitted curve at a point corresponding to the last speed on the speed-fitted curve.
In this embodiment, the impact weight refers to an impact weight of the acceleration at the detection time corresponding to the first acceleration and the second acceleration on the current acceleration, where the value range of the impact weight is (0, 0.5).
In this embodiment, the movement acceleration refers to a movement acceleration of the platform movement performed by the deviation correction control platform obtained by processing the initial acceleration based on the corresponding influence weights of the first acceleration and the second acceleration.
The beneficial effects of the technical scheme are as follows: the distance detection parameters are combined with the platform moving acceleration to determine the corresponding deviation rectifying offset, so that a more accurate deviation rectifying control instruction can be obtained to carry out deviation rectifying control, and the deviation rectifying control on the target deviation rectifying equipment is more accurate.
Example 6:
based on embodiment 4, the deviation rectifying control module includes:
an initial deviation correcting unit: the initial deviation rectifying control instruction is used for determining the initial deviation rectifying control instruction of the deviation rectifying control platform based on the first deviation rectifying offset or the second deviation rectifying offset and combining the initial judgment result;
deviation rectifying and adjusting unit: the method comprises the steps of adjusting an initial deviation rectifying control instruction based on a historical deviation rectifying error range of a deviation rectifying control platform to obtain a comprehensive deviation rectifying control instruction;
deviation rectifying control unit: and the target deviation rectifying equipment is used for carrying out deviation rectifying control on the basis of the comprehensive deviation rectifying control instruction.
In this embodiment, the initial deviation correcting control instruction is an instruction for performing deviation correcting control according to a deviation correcting control platform determined by combining the first deviation correcting offset or the second deviation correcting offset with an initial judgment result, for example, the deviation correcting control instruction includes: a clockwise or anticlockwise rotation angle, a deviation correction adjustment distance and the like.
In this embodiment, the historical deviation correcting error range refers to an error range of a mechanical error generated by the deviation correcting control platform in the historical deviation correcting process.
In this embodiment, the integrated deviation-correcting control instruction refers to superimposing the average value of the historical deviation-correcting errors on the corresponding deviation-correcting offset, and adjusting the initial deviation-correcting control instruction based on the superimposed deviation-correcting offset.
In this embodiment, the deviation rectifying control means that the deviation rectifying control platform performs deviation rectifying control according to the integrated deviation rectifying control instruction.
The beneficial effects of the technical scheme are as follows: by superposing the deviation correcting offset and the deviation correcting error, the deviation correcting accuracy can be improved, so that the deviation correcting control of the deviation correcting control platform is more accurate.
Example 7:
based on embodiment 6, the deviation rectifying and adjusting unit includes:
a comprehensive offset subunit: the method comprises the steps of obtaining an average deviation correcting error based on a history deviation correcting error range effectively recorded in a deviation correcting control platform, and superposing the average deviation correcting error into a corresponding deviation correcting offset to obtain a comprehensive deviation correcting offset;
a reference determination subunit: the position with zero pre-calibrated offset is used as a reference control position for performing deviation correction control of the current deviation correction control platform;
instruction determination subunit: the method is used for detecting edge position signals of the target deviation correcting equipment in real time, converting the signals according to the edge position signals, obtaining corresponding digital signals, combining the digital signals with the comprehensive deviation correcting offset, and determining the comprehensive deviation correcting control instruction.
In this embodiment, the effective record refers to a record corresponding to a control instruction for successful correction control in the history correction control of the correction control platform.
In this embodiment, the average deviation correcting error refers to that all the historical deviation correcting error ranges recorded effectively are screened, the intermediate value of each historical deviation correcting error range is obtained according to the screening result, and the average value of all the intermediate values is calculated and used as the corresponding average deviation correcting error.
In this embodiment, the integrated deviation correcting offset refers to a deviation correcting offset obtained by superimposing the average deviation correcting error on the corresponding first deviation correcting offset or second deviation correcting offset.
In this embodiment, the reference control position refers to a position of a deviation rectifying control result of the current deviation rectifying control platform that needs to be predetermined before deviation rectifying control is performed.
In this embodiment, the edge position signal refers to a position signal corresponding to the edge position of the received target deviation correcting device when the deviation correcting control platform corrects the target deviation correcting device
In this embodiment, signal conversion refers to a process of converting a position signal into a digital signal through a conversion element and a conversion circuit.
The beneficial effects of the technical scheme are as follows: the average deviation correcting error is obtained by processing the deviation correcting errors in the historical deviation correcting error range, so that the average deviation correcting error is overlapped with the corresponding deviation correcting offset, the deviation correcting accuracy can be improved, and the deviation correcting control of the deviation correcting control platform is more accurate.
Example 8:
the embodiment of the invention provides a deviation rectifying control system based on a speed signal, which comprises the following components:
the deviation correcting control device based on the speed signal according to any one of embodiments 1 to 7.
The beneficial effects of the technical scheme are as follows: the distance parameters of the target deviation correcting equipment and the deviation correcting control platform are detected, so that judgment is performed based on the parameter mutation condition, the corresponding deviation correcting offset is determined by combining the platform moving acceleration, a precise deviation correcting control instruction is obtained for deviation correcting control, deviation correcting control of the target deviation correcting equipment is more precise, and deviation correcting errors can be reduced.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (7)
1. A deviation correcting control device based on a speed signal, comprising:
parameter detection module: the distance detection parameters of the deviation correcting control platform for different azimuth distances of the target deviation correcting equipment are obtained in real time;
and the parameter judging module is used for: the method comprises the steps of filling distance detection parameters according to corresponding directions, comparing adjacent filling results of the distance detection parameters, recording displacement of each parameter mutation section when the adjacent distance detection parameters have parameter mutation, and carrying out initial judgment;
and the deviation rectifying and determining module is used for: the method comprises the steps of acquiring the platform moving acceleration when the deviation correcting control platform detects, determining a corresponding parameter type according to the acceleration, and acquiring deviation correcting offset of the deviation correcting control platform based on the parameter type;
and the deviation rectifying control module is used for: the method comprises the steps of determining a deviation rectifying control instruction of a deviation rectifying control platform based on a deviation rectifying offset and combining an initial judgment result, and performing deviation rectifying control;
wherein, the parameter judging module comprises:
a data sorting unit: the distance detection parameters are sequenced according to the corresponding directions of the target deviation correcting equipment, and orderly filled into a distance detection data table according to the sequencing result;
and a comparison detection unit: for comparing distance detection parameters between adjacent rows in the distance detection data table;
if the difference value of the distance detection parameters of the adjacent rows in the distance detection data table is larger than the preset difference value, recording the distance detection parameters of the adjacent two rows as a first parameter and a second parameter;
parameter ordering unit: the method comprises the steps of extracting all first parameters and second parameters in a distance detection data table, and sequencing the first parameters and the second parameters in the distance detection data table according to the sequence of the first parameters and the second parameters in the distance detection data table;
a displacement determination unit: the distance between the adjacent second parameters and the first parameters is used as the displacement of the current parameter mutation section;
an initial diagnosis unit: and judging the mutation reason of the current parameter mutation section based on the absolute value of the displacement as an initial judgment result.
2. The apparatus of claim 1, wherein the parameter detection module comprises:
a signal acquisition unit: the system is used for collecting sound signals based on the deviation correction control platform, and performing cross calculation with preset sound signals to obtain cross signals;
first distance unit: the method comprises the steps of performing distance processing on output time of a preset sound signal output by a deviation rectification control platform and first sound receiving time corresponding to a first peak value in a crossing signal to obtain a first distance;
second distance unit: the second distance processing unit is used for performing distance processing on the second receiving time corresponding to the second peak value in the cross signal at the output moment to obtain a second distance;
control distance unit: the first control distance between the target deviation correcting device and the deviation correcting control platform is obtained based on the first distance and the second distance;
parameter acquisition unit: the method is used for obtaining real-time distance detection parameters based on the first control distances between the deviation rectifying control platforms and the target deviation rectifying equipment in different directions.
3. The apparatus of claim 1, wherein the deviation correction determining module comprises:
acceleration determining unit: the platform movement acceleration is used for acquiring the platform movement acceleration of the deviation correction control platform when the distance detection is carried out;
the first deviation rectifying unit: when the platform moving acceleration is smaller than the preset acceleration, obtaining a first parameter type based on the current deviation rectifying control platform, and obtaining a first deviation rectifying offset corresponding to the deviation rectifying control platform based on the first parameter type;
the second deviation rectifying unit: and the method is used for obtaining a second parameter type based on the current deviation rectifying control platform when the platform moving acceleration is not smaller than the preset acceleration, and obtaining a second deviation rectifying offset corresponding to the deviation rectifying control platform based on the second parameter type.
4. A deviation correcting control device based on a velocity signal according to claim 3, wherein the acceleration determining unit comprises:
real-time speed acquisition subunit: the method comprises the steps of acquiring a detection distance and a corresponding detection moment of a deviation rectification control platform when the distance is detected, and determining the real-time speed of the current deviation rectification control platform based on the detection distance and the detection moment;
a first speed acquisition subunit: the method comprises the steps of acquiring a detection distance and a corresponding moment of each moment of a deviation rectifying control platform in a current distance acquisition period, and obtaining a first speed of the deviation rectifying control platform;
a data processing subunit: the speed fitting curve is obtained based on the first speed, the real-time speed and the time sequence of the corresponding detection time of the deviation correction control platform;
an initial acceleration determination subunit: the method comprises the steps of obtaining the slope of a corresponding point in a speed fitting curve at the current detection moment based on the speed fitting curve, and taking the slope of the curve as the initial acceleration of a corresponding deviation correction control platform at the current detection moment;
curve processing subunit: the method comprises the steps of performing curve prediction at the current moment according to a fitting trend based on a speed fitting curve, and performing curve extension according to a prediction result;
a second processing subunit: the method comprises the steps of obtaining a curve slope corresponding to the next detection moment based on a curve extension result to serve as a first acceleration, and obtaining a curve slope corresponding to the last detection moment of the current detection moment to serve as a second acceleration;
acceleration judging subunit: comparing the first acceleration, the second acceleration and the initial acceleration, and judging that the current initial acceleration is effective if the absolute value of the initial acceleration is between the first acceleration and the second acceleration;
acceleration optimization subunit: the method comprises the steps of performing fine adjustment on effective initial acceleration based on influence weights of a first acceleration and a second acceleration;
acceleration determination subunit: and the method is used for taking the fine adjustment result of the initial acceleration as the moving acceleration of the current deviation rectifying control platform and comparing the moving acceleration with the preset acceleration.
5. A deviation correcting control device based on a speed signal according to claim 3, wherein the deviation correcting control module comprises:
an initial deviation correcting unit: the initial deviation rectifying control instruction is used for determining the initial deviation rectifying control instruction of the deviation rectifying control platform based on the first deviation rectifying offset or the second deviation rectifying offset and combining the initial judgment result;
deviation rectifying and adjusting unit: the method comprises the steps of adjusting an initial deviation rectifying control instruction based on a historical deviation rectifying error range of a deviation rectifying control platform to obtain a comprehensive deviation rectifying control instruction;
deviation rectifying control unit: and the target deviation rectifying equipment is used for carrying out deviation rectifying control on the basis of the comprehensive deviation rectifying control instruction.
6. The apparatus according to claim 5, wherein the deviation correcting adjustment unit includes:
a comprehensive offset subunit: the method comprises the steps of obtaining an average deviation correcting error based on a history deviation correcting error range effectively recorded in a deviation correcting control platform, and superposing the average deviation correcting error into a corresponding deviation correcting offset to obtain a comprehensive deviation correcting offset;
a reference determination subunit: the position with zero pre-calibrated offset is used as a reference control position for performing deviation correction control of the current deviation correction control platform;
instruction determination subunit: the method is used for detecting edge position signals of the target deviation correcting equipment in real time, converting the signals according to the edge position signals, obtaining corresponding digital signals, combining the digital signals with the comprehensive deviation correcting offset, and determining the comprehensive deviation correcting control instruction.
7. A deviation correcting control system based on a speed signal, comprising:
a deviation correcting control device based on a speed signal according to any one of claims 1-6.
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