CN118269701A - Walking wheel synchronous control method of large-span mobile platform, PLC (programmable logic controller) and electronic equipment - Google Patents

Abstract

The application provides a walking wheel synchronous control method of a large-span mobile platform, a PLC and electronic equipment, wherein the method comprises the following steps: determining two active travelling wheels as position synchronous wheels, wherein a first position synchronous wheel is positioned on a first side of the large-span moving platform, and a second position synchronous wheel is positioned on a second side of the large-span moving platform; the two position synchronous wheels are synchronized in walking position through the controller, so that the position deviation of the two position synchronous wheels along the first direction is kept within a preset tolerance range; the driving motors of the other active travelling wheels on the first side are in torque synchronization with the driving motors of the first position synchronous wheels, and the driving motors of the other active travelling wheels on the second side are in torque synchronization with the driving motors of the second position synchronous wheels. The scheme of the application realizes the control of the walking gesture of the large-span moving platform, so that the position deviation of the two sides of the large-span moving platform is kept within an allowable tolerance range in the walking process.

Description

Walking wheel synchronous control method of large-span mobile platform, PLC (programmable logic controller) and electronic equipment

Technical Field

The application relates to the technical field of large-span mobile platforms, in particular to a walking wheel synchronous control method of a large-span mobile platform, a PLC (programmable logic controller) and electronic equipment.

Background

In the maintenance work of railway vehicles such as subways, motor cars and high-speed rails, the rail change and line transfer of the railway vehicles are required so as to finish the operations of manufacturing, assembling, detecting and the like of the locomotives at different stations. The rolling stock can be automatically pulled in place, automatically transferred to the target track and the automatic rail alignment operation can be completed by using the large-span mobile platform equipment. In the prior art, a large motor and a speed reducer are configured to drive travelling wheels of a large-span moving platform through a coupler. The driving mode is only suitable for a moving platform with a small span, and when a driving device or a speed reducer fails, the whole moving platform cannot move. Moreover, because the large-span moving platform has a larger span, the positions at two sides of the moving platform are not synchronous, and the asynchronous positions at two sides further cause rail gnawing and blockage.

Disclosure of Invention

In view of the above, the present application provides a road wheel synchronization control scheme for controlling road wheels of a large-span moving platform in synchronization with the road wheels of the large-span moving platform, so as to at least partially solve the above-mentioned problems.

In a first aspect, the present application provides a method for synchronously controlling road wheels of a large-span moving platform, where the large-span moving platform includes a platform body and a plurality of road wheels, the active road wheels are disposed at one end of the platform body along a first direction and are disposed at intervals along a second direction, the first direction is a traveling direction, the second direction is perpendicular to the first direction, each active road wheel is configured with a driving frequency converter and a driving motor, and the method for synchronously controlling road wheels of the large-span moving platform includes the following steps:

Determining two active travelling wheels as position synchronizing wheels, wherein a first position synchronizing wheel is positioned on a first side of the large-span moving platform, and a second position synchronizing wheel is positioned on a second side of the large-span moving platform, wherein the first side and the second side are two sides of a central shaft of a platform body (10) extending along the first direction (71);

the two position synchronous wheels are synchronized in walking position through the controller, so that the position deviation of the two position synchronous wheels along the first direction is kept within a preset tolerance range;

The driving motors of the other active travelling wheels on the first side are in torque synchronization with the driving motors of the first position synchronous wheels, and the driving motors of the other active travelling wheels on the second side are in torque synchronization with the driving motors of the second position synchronous wheels.

Optionally, the first position synchronizing wheel and the second position synchronizing wheel are active travelling wheels adjacent to the central shaft.

Optionally, the step of synchronizing the walking positions of the two position synchronizing wheels by the controller comprises the sub-steps of:

Establishing a virtual spindle in a controller;

The drive motor shafts of the first position synchronizing wheel and the second position synchronizing wheel are respectively synchronous with the virtual main shaft electronic gear, and the drive motor shafts of the first position synchronizing wheel and the second position synchronizing wheel respectively follow the virtual main shaft to move according to respective preset gear ratios.

Optionally, the step of synchronizing the walking positions of the two position synchronizing wheels by the controller further comprises the step of compensating the positions of the position synchronizing wheels in real time according to the current walking positions of the two position synchronizing wheels, which comprises the following sub-steps:

The controller obtains the current position P1 of the first position synchronous wheel along the first direction through the first position sensor, and obtains the current position P2 of the second position synchronous wheel along the first direction through the second position sensor;

The controller obtains the position deviation delta P of the two position synchronous wheels along the first direction at each processing time according to the current position P1 of the first position synchronous wheel along the first direction and the current position P2 of the second position synchronous wheel along the first direction, wherein delta P=P1-P2;

the controller compensates the position of the position synchronous wheels in real time according to the position deviation delta P of each processing time, so that the position deviation of the two position synchronous wheels along the first direction is kept within a preset tolerance range.

Optionally, the first position sensor is proximate to the first position synchronizing wheel and the second position sensor is proximate to the second position synchronizing wheel.

Optionally, the step of performing, by the controller, position compensation on the position synchronous wheel in real time according to the position deviation Δp at each processing time further includes:

Comparing the current position deviation delta P with a first deviation threshold value and a second deviation threshold value;

If the current position deviation delta P is smaller than or equal to the first deviation threshold value, the absolute value of the current position deviation is sent to a position setting channel of a driving frequency converter of a first position synchronous wheel;

And if the current position deviation delta P is larger than or equal to the second deviation threshold value, transmitting the absolute value of the current position deviation to a position setting channel of a driving frequency converter of a second position synchronous wheel.

Optionally, the first deviation threshold and the second deviation threshold are opposite numbers.

Optionally, the driving motors of the other active road wheels on the first side are torque-synchronized with the driving motors of the first position synchronizing wheels by the controller, and the driving motors of the other active road wheels on the second side are torque-synchronized with the driving motors of the second position synchronizing wheels by the controller.

In a second aspect, the present application provides a PLC controller communicatively coupled to a mobile device, the PLC controller having stored therein computer instructions that, when executed, cause the PLC controller to perform the method described above.

In a second aspect, the present application provides an electronic device comprising: the device comprises a processor, a communication interface, a memory and a bus, wherein the processor, the communication interface and the memory are communicated with each other through the bus;

the memory is configured to store at least one executable instruction, where the executable instruction causes the processor to perform operations corresponding to the method as described above.

According to the technical scheme, the walking wheel synchronous control scheme of the large-span moving platform has the advantages that the position of each active walking wheel on two sides of the large-span moving platform is synchronous, and the other active walking wheels on each side are synchronous with the moment of the position synchronous wheel on the side, so that the control of the walking gesture of the large-span moving platform is realized, and the problems of rail gnawing, blocking and the like caused by the fact that the positions on two sides of the large-span moving platform are not synchronous are avoided; on the other hand, the problem that the motor is overloaded, the travelling wheel is not uniform in abrasion and the like caused by inconsistent output is further solved.

Drawings

Fig. 1 is a flowchart of a road wheel synchronization control method of a large-span moving platform according to an exemplary embodiment of the present application.

Fig. 2 is a control schematic diagram of a large-span mobile platform traveling wheel according to an exemplary embodiment of the present application.

Fig. 3 is a control schematic diagram of a large-span mobile platform travel wheel according to an exemplary embodiment of the present application.

Fig. 4 is a perspective view of a large-span mobile platform according to an exemplary embodiment of the present application.

Fig. 5 is a schematic diagram of a walking pose of a large-span mobile platform according to an exemplary embodiment of the present application.

List of reference numerals:

10: a platform body;

21: a first traveling wheel;

22: a second travelling wheel;

23-1: a third road wheel;

24: a fourth road wheel;

25: a fifth traveling wheel;

31: a first position sensor;

32: a second position sensor;

23-2: a passive walking wheel;

23-3: a passive walking wheel;

23-4: a passive walking wheel;

23-5: a passive walking wheel;

23-6: a passive walking wheel;

411: a drive inverter for the first travelling wheel;

412: a drive motor for the first running wheel;

421: a drive frequency converter of the second travelling wheel;

422: a drive motor for the second road wheel;

441: a drive frequency converter of the fourth travelling wheel;

442: a drive motor of the fourth road wheel;

451: a driving inverter of the fifth traveling wheel;

452: a driving motor of the fifth traveling wheel;

50: a controller;

71: a first direction;

72: a second direction;

901: giving a target position;

903: establishing a virtual spindle in a controller;

904: synchronizing the electronic gears;

905: synchronizing the electronic gears;

906: a drive motor shaft (synchronizing shaft) of the first position synchronizing wheel;

907: a drive motor shaft (synchronizing shaft) of the first position synchronizing wheel;

908: the controller calculates the actual position deviation delta P between the current position P1 of the first position synchronous wheel in the first direction and the current position P2 of the second position synchronous wheel along the first direction;

909: Δp is less than or equal to the first deviation threshold;

910: Δp is greater than or equal to the second deviation threshold;

911: the position setting channel superimposes the absolute value of the current actual position deviation delta P;

912: a drive inverter (torque mode) for the other active road wheels on the same side as the first position synchronizing wheel;

913: and a drive inverter (torque mode) for the other active road wheels on the same side as the second position synchronizing wheel.

Detailed Description

In order to better understand the technical solutions in the embodiments of the present application, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments derived by a person skilled in the art from the embodiments according to the application shall fall within the scope of protection of the embodiments according to the application.

Some embodiments of the application are described in detail below with reference to the accompanying drawings. In the case where there is no conflict between the embodiments, the embodiments and features in the embodiments described below may be combined with each other. The steps of the method embodiments described below are for illustrative purposes only and are not intended to limit the present application.

In the maintenance work of railway vehicles such as subways, motor cars and high-speed rails, the rail change and line transfer of the railway vehicles are required so as to finish the operations of manufacturing, assembling, detecting and the like of the locomotives at different stations. The rolling stock can be automatically pulled in place, automatically transferred to the target track and the automatic rail alignment operation can be completed by using the large-span mobile platform equipment. In the prior art, a large motor and a speed reducer are configured to drive travelling wheels of a large-span moving platform through a coupler. The driving mode is only suitable for a moving platform with a small span, and when a driving device or a speed reducer fails, the whole moving platform cannot move. Also, since the span of the large-span moving platform is large, the positions of both sides of the moving platform are not synchronized, as shown in fig. 5. In fig. 5, 801 is the walking posture of the large-span moving platform in an ideal state, and 802 is the walking posture of the large-span moving platform in the control mode of the prior art. The position value of the 2A end of the large-span platform in 802 along the first direction 71 deviates greatly from the position value of the 2B end along the first direction 71 by more than an acceptable deviation threshold. While an unsynchronization of the positions of the sides (a deviation of the positions in the second direction 72 exceeding an acceptable deviation threshold) further causes track gnawing and jamming.

Based on the above-mentioned problems in the prior art, various embodiments of the present application provide a road wheel synchronization control scheme for a large-span moving platform, so as to at least partially solve the above-mentioned problems.

The following describes in detail the road wheel synchronization control scheme of the large-span moving platform provided by the embodiments of the present application with reference to the accompanying drawings.

Walking wheel synchronous control method for large-span mobile platform

Fig. 1 is a flowchart of a road wheel synchronization control method of a large-span moving platform according to an exemplary embodiment of the present application. As shown in fig. 1, the method 100 of the present embodiment mainly includes the following steps:

s101: determining two active travelling wheels as position synchronous wheels, wherein a first position synchronous wheel is positioned on a first side of the large-span moving platform, and a second position synchronous wheel is positioned on a second side of the large-span moving platform;

The large-span moving platform comprises a platform body 10 and a plurality of travelling wheels, wherein each travelling wheel comprises an active travelling wheel and a passive travelling wheel, each active travelling wheel is respectively provided with a driving motor and a driving frequency converter, the passive travelling wheel is not provided with a driving device, and the passive driving wheel rotates under the driving of the active driving wheel. As shown in fig. 4 and 5, the active road wheels are disposed at one end (1A end in fig. 4) of the platform body 10 along a first direction 71, and are disposed at intervals along a second direction 72 of the active road wheels, wherein the first direction 71 is a traveling direction, the second direction 72 is perpendicular to the first direction 71, and a central axis of the platform body 10 extending along the first direction 71 divides the large-span moving platform into a first side and a second side, i.e., a 2A side and a 2B side.

Each active travelling wheel is respectively provided with a motor and a frequency converter, when any frequency converter has a problem, other frequency converters can work normally, and therefore the large-span moving platform can be driven to slowly move to a safe position.

In the prior art, a driving device drives a plurality of active travelling wheels, only an open loop control mode can be adopted, the frequency is low during starting, and low-frequency heavy-load starting cannot be realized. Alternatively, in a preferred embodiment of the present application, all of the drives are closed loop controlled with encoders, thereby enabling low frequency, heavy duty starts.

Optionally, the active road wheel adjacent to the central shaft on the first side is used as a first position synchronous wheel, and the active road wheel adjacent to the central shaft on the second side is used as a second position synchronous wheel.

For a large-span moving platform, the structural design and functional characteristics determine that the displacement deviation increases when two sides (a first side 2A and a second side 2B) of the moving platform are away from the central axis during movement, as shown in fig. 5. Moreover, when a large-span moving platform is used for loading cargoes with smaller spans, the cargoes cannot be prevented from being deflected to one side, so that eccentric unbalanced loading is caused, and the position deviation of two sides of the large-span moving platform is further aggravated. The active travelling wheels on two sides of the central shaft are used as position synchronous wheels, and position compensation is performed in advance when displacement deviation is not large, so that the motion precision and stability of the large-span moving platform can be effectively improved, and the displacement deviation of two sides (a first side and a second side) of the large-span moving platform is controlled within a reasonable tolerance range.

S103: the two position synchronizing wheels are synchronized by the controller 50 to maintain the positional deviation of the two position synchronizing wheels in the first direction 71 within a preset tolerance.

The two position synchronizing wheels are respectively positioned at two sides of the central shaft, and the position deviation of the two position synchronizing wheels is kept within a preset tolerance range, so that the synchronization of the walking positions of the two sides (the first side and the second side) of the large-span moving platform along the second direction 72 is ensured, and the rail gnawing and the blockage caused by the asynchronous positions of the two sides of the large span are further avoided.

Optionally, step S103 further comprises the sub-steps of:

S1031, establishing a virtual main shaft in the controller 50, wherein the virtual main shaft is a linear shaft;

s1032: the drive motor shaft of the first position synchronous wheel and the drive motor shaft of the second position synchronous wheel are respectively synchronous with the virtual main shaft electronic gear, and the drive motor shaft of the first position synchronous wheel and the drive motor shaft of the second position synchronous wheel respectively follow the virtual main shaft to move according to a preset gear ratio.

If one of the two position synchronous wheels is used as a main shaft and the other is used as a slave shaft, although the position synchronization of the two position synchronous wheels can be realized theoretically, the main shaft always runs in front, and the slave shaft follows the main shaft with a motion lag, so that the main shaft always keeps running under a large load, and the balance of the system load moment is unfavorable. In the embodiment, the virtual main shaft is established, the drive motor shafts of the two position synchronous wheels are used as the slave shafts, and each slave shaft moves along with the virtual main shaft according to the preset gear ratio, so that synchronous control of the two slave shafts is realized, and the problems are effectively avoided.

Each position synchronizing shaft and the virtual main shaft are synchronized in an electronic gear mode, and the electronic gear ratio can be modified at any time. In the traditional mechanical connection mode, if the reduction ratio is not proper, the speed reducer or the coupling needs to be replaced.

Optionally, step S103 further comprises the sub-steps of:

s1033, carrying out position compensation on the position synchronous wheels in real time according to the current walking positions of the two position synchronous wheels.

Step S1033 further includes the sub-steps of:

S10331, the controller 50 acquires the current position P1 of the first position-synchronizing wheel in the first direction 71 through the first position sensor 31, and acquires the current position P2 of the second position-synchronizing wheel in the first direction 71 through the second position sensor 32, as shown in fig. 5;

Alternatively, a laser rangefinder is used as the position sensor.

Alternatively, as shown in fig. 4, the first position sensor 31 is close to the first position synchronous wheel and the second position sensor 32 is close to the second position synchronous wheel.

S10332 the controller 50 obtains the positional deviations Δp of the two position-synchronizing wheels at each processing time according to the current position P1 of the first position-synchronizing wheel in the first direction 71 and the current position P2 of the second position-synchronizing wheel in the first direction 71, as shown in fig. 5;

The controller 50 compensates the position of the position-synchronized wheels in real time according to the position deviation Δp at each processing time so that the position deviations of the two position-synchronized wheels in the first direction 71 are maintained within a preset tolerance range.

The first side and the second side of the large-span moving platform are respectively provided with a position sensor for detecting the current actual positions of the two position synchronous wheels in real time. The controller 50 adjusts the positions of the two position synchronous wheels in real time according to the real-time position deviation of the two position synchronous wheels, so that the position synchronization of the two position synchronous wheels along the first direction 71 is realized, the position deviation of the two position synchronous wheels along the first direction 71 is kept within a preset tolerance range, and the phenomena of rail biting, slipping and the like caused by the asynchronous positions are effectively avoided.

Optionally, step S10333 further includes the sub-steps of:

S103331: comparing the current position deviation delta P with a first deviation threshold TH1 and a second deviation threshold TH2, wherein the first deviation threshold TH1 is smaller than the second deviation threshold TH2;

S103332: if the current position deviation delta P is smaller than or equal to the first deviation threshold value, the absolute value of the current position deviation is sent to a position setting channel of a driving frequency converter of a first position synchronous wheel;

S103333: and if the current position deviation delta P is larger than or equal to the second deviation threshold value, transmitting the absolute value of the current position deviation to a position setting channel of a driving frequency converter of a second position synchronous wheel.

Because of the structural characteristics of the large-span moving platform and the complex and changeable ground environment, the positions of the two sides of the large-span moving platform cannot be completely synchronous, namely DeltaP is not equal to 0. If Δp+.0, the position of the position synchronous wheel is adjusted in real time, requiring high hardware resources.

In order to solve the above-mentioned problem, in the present embodiment, if Δp is equal to or less than TH1, the absolute value of the current position deviation Δp is transmitted to a position setting channel of the first position synchronizing wheel; if the delta P is more than or equal to TH2, the absolute value of the current position deviation delta P is sent to a position setting channel of a second position synchronous wheel; if TH1< DELTAP < TH2, no adjustment is made. In the scheme of the embodiment, the adjustment is performed only when the current position deviation of the two position synchronous wheels exceeds the deviation threshold, the adjustment mode is simple, the resources of the controller 50 are saved, and the operation speed is improved.

Optionally, the absolute value of the first deviation threshold is equal to the absolute value of the second deviation threshold.

S105: the driving motors of the other active travelling wheels on the first side are in torque synchronization with the driving motors of the first position synchronous wheels, and the driving motors of the other active travelling wheels on the second side are in torque synchronization with the driving motors of the second position synchronous wheels.

Generally, the distance between the driving wheels on the same side is not large, and the rigidity of the platform body 10 itself is high, so that the other driving wheels on the same side are synchronized with the position synchronizing wheels on the same side, but torque synchronization between the two (the other driving wheels on the same side and the position synchronizing wheels on the same side) cannot be achieved due to the influence of factors such as the running environment of the large-span moving platform. The torque dyssynchrony causes a larger load on the motor part on one side and even overload. Moreover, the torque is asynchronous, so that mechanical fatigue of a large-span moving platform and inconsistent abrasion of travelling wheels can be caused.

In order to solve the above problem, in this embodiment, the driving motors of the other active travelling wheels on each side are torque-synchronized with the driving motor of the first position synchronizing wheel, so that the driving motor of the other active travelling wheels on each side is consistent with the driving motor of the first position synchronizing wheel while the position synchronization on both sides of the large span is realized.

In other embodiments, the driving motor of each active road wheel may be synchronized with the virtual spindle. But this embodiment has the following problems: first, each active travelling wheel needs to be provided with a position sensor, and the cost is high. Secondly, each new synchronization relation with the virtual main shaft needs to occupy a certain shaft resource, and a high-configuration controller needs to be used, so that the hardware cost is greatly increased.

In the embodiment, the technical problems are solved, and meanwhile, the hardware cost is saved.

Alternatively, the drive motors of the other active road wheels on the first side are torque synchronized with the drive motors of the first position synchronizing wheel by the controller 50, and the drive motors of the other active road wheels on the second side are torque synchronized with the drive motors of the second position synchronizing wheel by the controller 50.

Fig. 4 and 5 exemplarily show schematic diagrams of a large-span moving platform. The large-span moving platform shown in fig. 4 and 5 has 10 traveling wheels symmetrically arranged at the 1A end and the 1B end of the platform body 10. Wherein the travelling wheels arranged at the end 1B are passive travelling wheels (23-2, 23-3, 23-4, 23-5 and 23-6); the travelling wheels arranged at the end 1A are a first travelling wheel 21, a second travelling wheel 22, a third travelling wheel 23-1, a fourth travelling wheel 24 and a fifth travelling wheel 25 in sequence from left to right, wherein the third travelling wheel 23-1 is a passive travelling wheel, and the first travelling wheel 21, the second travelling wheel 11, the fourth travelling wheel 24 and the fifth travelling wheel 25 are active travelling wheels. Each active road wheel is respectively provided with a driving frequency converter and a driving motor, and each driving frequency converter is respectively connected with the controller 50. The second road wheel 22 and the fourth road wheel 24 are synchronized in terms of running position by the controller 50, and the first road wheel 21 is torque-synchronized with the second road wheel 22, and the fourth road wheel 24 is torque-synchronized with the fifth road wheel 25, as shown in fig. 2.

Fig. 4 is a control flow diagram illustrating a road wheel synchronization control method for a large-span moving platform. As shown in fig. 4, a virtual spindle is first established in the controller 50, and a target position of the large-span moving platform is given to the virtual spindle, a drive motor shaft of the first position synchronizing wheel and a drive motor shaft of the second position synchronizing wheel are respectively synchronized with the virtual spindle electronic gear, and the drive motor shaft of the first position synchronizing wheel and the drive motor shaft of the second position synchronizing wheel respectively follow the virtual spindle to move according to respective preset gear ratios. The first position sensor 31 acquires the current position P1 of the first position synchronous wheel along the first direction 71, and the second position sensor 32 acquires the current position P2 of the second position synchronous wheel along the first direction 71 and sends the current position P2 to the controller 50, so as to control and calculate the position deviation deltap of the two position synchronous wheels at the current processing moment. If the current position deviation delta P is smaller than or equal to the first deviation threshold value, the absolute value of the current position deviation is sent to a position setting channel of a driving frequency converter of a first position synchronous wheel; if the current position deviation delta P is larger than or equal to the second deviation threshold value, the absolute value of the current position deviation is sent to a position setting channel of a driving frequency converter of a second position synchronous wheel; if the current position deviation delta P is between the first deviation threshold value and the second deviation threshold value, the adjustment is not performed, and the driving motor of the first position synchronous wheel and the driving motor of the second position synchronous wheel follow the virtual main shaft to move according to a preset gear ratio. The drive motors of the other active road wheels on the first side are torque synchronized with the drive motors of the first position synchronizing wheels by the controller 50, and the drive motors of the other active road wheels on the second side are torque synchronized with the drive motors of the second position synchronizing wheels by the controller 50.

PLC controller

The application also provides a PLC controller which is in communication connection with the mobile equipment, wherein the PLC controller is stored with computer instructions, and when the computer instructions are executed, the PLC controller is enabled to execute the walking wheel synchronous control method embodiment of each large-span mobile platform.

Computer readable storage medium

The present application also provides a computer readable storage medium storing instructions for causing a machine to perform a road wheel synchronization control method for a large-span mobile platform as described herein. Specifically, a system or apparatus provided with a storage medium on which a software program code realizing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or apparatus may be caused to read out and execute the program code stored in the storage medium.

In this case, the program code itself read from the storage medium may realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code form part of the present application.

Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (e.g., CD-ROMs, CD-R, CD-RWs, DVD-ROMs, DVD-RAMs, DVD-RWs, DVD+RWs), magnetic tapes, nonvolatile memory cards, and ROMs. Alternatively, the program code may be downloaded from a server computer by a communication network.

Computer program product

Embodiments of the present application also provide a computer program product comprising computer instructions that instruct a computing device to perform any corresponding operations of the above-described method embodiments.

It should be noted that, according to implementation requirements, each component/step described in the embodiments of the present application may be split into more components/steps, or two or more components/steps or part of operations of the components/steps may be combined into new components/steps, so as to achieve the objects of the embodiments of the present application.

The above-described methods according to embodiments of the present application may be implemented in hardware, firmware, or as software or computer code storable in a recording medium such as a CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk, or as computer code originally stored in a remote recording medium or a non-transitory machine-readable medium and to be stored in a local recording medium downloaded through a network, so that the methods described herein may be stored on such software processes on a recording medium using a general purpose computer, special purpose processor, or programmable or special purpose hardware such as an ASIC or FPGA. It is understood that a computer, processor, microprocessor controller, or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code that, when accessed and executed by a computer, processor, or hardware, performs the methods described herein. Furthermore, when a general purpose computer accesses code for implementing the methods illustrated herein, execution of the code converts the general purpose computer into a special purpose computer for performing the methods illustrated herein.

It should be noted that not all the steps and modules in the above flowcharts and the system configuration diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution sequence of the steps is not fixed and can be adjusted as required. The system structure described in the above embodiments may be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or may be implemented jointly by some components in multiple independent devices.

Nouns and pronouns for humans in this patent application are not limited to a particular gender.

In the above embodiments, the hardware module may be mechanically or electrically implemented. For example, a hardware module may include permanently dedicated circuitry or logic (e.g., a dedicated processor, FPGA, or ASIC) to perform the corresponding operations. The hardware modules may also include programmable logic or circuitry (e.g., a general-purpose processor or other programmable processor) that may be temporarily configured by software to perform the corresponding operations. The particular implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.

While the invention has been illustrated and described in detail in the drawings and in the preferred embodiments, the invention is not limited to the disclosed embodiments, and those skilled in the art will appreciate that many more embodiments of the invention can be obtained by combining the code audits in the different embodiments and still fall within the scope of the invention.

Claims (10)

1. The walking wheel synchronous control method for the large-span mobile platform is characterized in that the large-span mobile platform comprises a platform body (10) and a plurality of walking wheels, wherein the active walking wheels are arranged at one end of the platform body (10) along a first direction (71) and are arranged at intervals along a second direction (72), the first direction (71) is a walking direction, the second direction (72) is perpendicular to the first direction (71), each active walking wheel is respectively provided with a driving frequency converter and a driving motor, and the walking wheel synchronous control method for the large-span mobile platform comprises the following steps:

Determining two active travelling wheels as position synchronizing wheels, wherein a first position synchronizing wheel is positioned on a first side of the large-span moving platform, and a second position synchronizing wheel is positioned on a second side of the large-span moving platform, wherein the first side and the second side are two sides of a central shaft of a platform body (10) extending along the first direction (71);

the two position synchronous wheels are synchronized in walking position by the controller (50) so that the position deviation of the two position synchronous wheels along the first direction (71) is kept within a preset tolerance range;

The driving motors of the other active travelling wheels on the first side are in torque synchronization with the driving motors of the first position synchronous wheels, and the driving motors of the other active travelling wheels on the second side are in torque synchronization with the driving motors of the second position synchronous wheels.

2. The method for synchronously controlling the travelling wheels of a large-span mobile platform according to claim 1, wherein the first position synchronous wheel and the second position synchronous wheel are active travelling wheels adjacent to the central shaft.

3. The walking wheel synchronization control method of a large-span moving platform according to claim 2, characterized in that the step of synchronizing the walking positions of the two position synchronizing wheels by the controller (50) comprises the sub-steps of:

establishing a virtual spindle in a controller (50), the virtual spindle being a linear axis;

The drive motor shafts of the first position synchronizing wheel and the second position synchronizing wheel are respectively synchronous with the virtual main shaft electronic gear, and the drive motor shafts of the first position synchronizing wheel and the second position synchronizing wheel respectively follow the virtual main shaft to move according to respective preset gear ratios.

4. A method of controlling the synchronization of the road wheels of a large-span mobile platform according to claim 3, characterized in that the step of synchronizing the running positions of the two position synchronizing wheels by means of the controller (50) further comprises the step of compensating the positions of the position synchronizing wheels in real time according to the current running positions of the two position synchronizing wheels, comprising the sub-steps of:

the controller (50) acquires the current position P1 of the first position synchronous wheel along the first direction (71) through the first position sensor (31), and acquires the current position P2 of the second position synchronous wheel along the first direction (71) through the second position sensor (32);

the controller (50) obtains the position deviation delta P of the two position synchronous wheels along the first direction (71) at each processing time according to the current position P1 of the first position synchronous wheel along the first direction (71) and the current position P2 of the second position synchronous wheel along the first direction (71), wherein delta P=P1-P2;

The controller (50) performs position compensation on the position synchronous wheels in real time according to the position deviation DeltaP at each processing time, so that the position deviations of the two position synchronous wheels along the first direction (71) are kept within a preset tolerance range.

5. The walking wheel synchronization control method of a large-span moving platform as claimed in claim 4, characterized in that the first position sensor (31) is close to the first position synchronization wheel, and the second position sensor (32) is close to the second position synchronization wheel.

6. The method for controlling the synchronization of the road wheels of a large-span moving platform according to claim 5, wherein the step of the controller (50) compensating the position of the position-synchronized wheel in real time according to the position deviation Δp at each processing time further comprises:

Comparing the current position deviation delta P with a first deviation threshold value and a second deviation threshold value;

If the current position deviation delta P is smaller than or equal to the first deviation threshold value, the absolute value of the current position deviation is sent to a position setting channel of a driving frequency converter of a first position synchronous wheel;

And if the current position deviation delta P is larger than or equal to the second deviation threshold value, transmitting the absolute value of the current position deviation to a position setting channel of a driving frequency converter of a second position synchronous wheel.

7. The method for synchronously controlling traveling wheels of a large-span mobile platform according to claim 6, wherein the first deviation threshold and the second deviation threshold are mutually opposite numbers.

8. The method for controlling the synchronization of the travelling wheels of a large-span moving platform according to claim 1, wherein the driving motors of the other active travelling wheels on the first side are in torque synchronization with the driving motors of the first position synchronization wheels through a controller (50), and the driving motors of the other active travelling wheels on the second side are in torque synchronization with the driving motors of the second position synchronization wheels through the controller (50).

9. A PLC controller in communication with a mobile device, the PLC controller having stored therein computer instructions that, when executed, cause the PLC controller to perform the method of any of claims 1-8.

10. An electronic device, comprising: the device comprises a processor, a communication interface, a memory and a bus, wherein the processor, the communication interface and the memory are communicated with each other through the bus;

The memory is configured to store at least one executable instruction that causes the processor to perform operations corresponding to the method of any one of claims 1 to 8.