Dynamic stabilizing method and system for transverse moving machine

Abstract

The invention relates to the technical field of industrial equipment automation control, in particular to a transverse moving machine dynamic stabilization method and system, and the method comprises the steps: obtaining the output torques of motors at a left side and a right side at a plurality of historical sampling time nodes at a constant-speed operation stage and an acceleration and deceleration operation stage of a transverse moving machine, calculating the absolute value of the difference value of the output torques of the left and right motors at each historical sampling time node in the acceleration and deceleration operation stage of the transverse moving machine, and further obtaining the standard deviation of the absolute value; the deviation degree of motors on the left side and the right side of the transverse moving machine in the constant-speed operation stage is obtained; and outputting target output torques of motors on the left side and the right side of the transverse moving machine by using an improved PID control algorithm, and controlling the operation of the motors on the left side and the right side of the transverse moving machine based on the target output torques. The problem that the torque adjusting operation precision is not high in the operation process of the transverse moving machine is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial equipment automation control. More particularly, the present application relates to a dynamic stabilizing method and system for a traversing machine. BACKGROUND

[0002] In modern production and automated logistics systems, traversing machines, as a common carrying and conveying equipment, are widely used in scenarios such as warehousing, workshops, rail transportation, and heavy load carrying. The traversing machine is usually driven synchronously by the driving motors arranged on both sides to ensure smooth movement along the intended trajectory during operation. Due to the complex working environment of the traversing machine, its running state is not only affected by the structural characteristics of the equipment itself, but also disturbed by various factors such as load changes, friction differences, external impacts, and track flatness. In this case, if the left and right motor output torques are not synchronized, it is easy to cause the traversing machine to deviate, vibrate, and even impact the structure during operation, which not only reduces the running stability and work precision of the equipment, but also exacerbates the wear of mechanical parts and shortens the service life of the equipment.

[0003] In order to improve the dynamic stability performance of the traversing machine, the existing control system generally uses a PID control algorithm to realize the adjustment of the motor output. PID control has been widely used in the field of industrial automation due to its simple structure, easy implementation, and intuitive parameters.

[0004] However, in the case of a traversing machine that requires high dynamic stability, the shortcomings of the traditional PID algorithm gradually appear. First, the traditional PID parameters are usually set to fixed values during the system design or initial debugging stage by experience method, trial-and-error method, or Ziegler-Nichols method. However, the dynamic characteristics of the traversing machine differ significantly between the uniform speed running stage and the acceleration / deceleration running stage: in the uniform speed stage, the motor torque changes relatively smoothly, and the system is less sensitive to disturbances; but in the acceleration / deceleration stage, the motor needs to quickly respond to load changes, and the torque fluctuation is significantly enhanced. At this time, fixed PID parameters often cannot balance speed and stability, which can easily lead to over-regulation or response delay, resulting in low torque regulation work precision during the operation of the traversing machine. SUMMARY

[0005] To solve the problem of low torque regulation work precision during the operation of the traversing machine as described in the background, the present application provides solutions in the following aspects.

[0006] In a first aspect, the present invention provides a dynamic stabilization method for a traverse machine, comprising: acquiring the output torque of the left and right motors at multiple historical sampling time points during the uniform speed operation phase and the acceleration / deceleration operation phase of the traverse machine, and calculating the absolute value of the difference in output torque between the left and right motors at each historical sampling time point during the acceleration / deceleration operation phase, thereby obtaining the standard deviation of the absolute value; acquiring the degree of deviation between the left and right motors during the uniform speed operation phase; outputting the target output torque of the left and right motors using an improved PID control algorithm, and controlling the operation of the left and right motors based on the target output torque; wherein the improved PID control algorithm includes proportional gain... Integral gain and differential gain parameter The proportional gain Integral gain The differential gain is inversely correlated with the degree of oscillation of the left and right motors during the operation of the transverse machine. The degree of oscillation is positively correlated with the degree of deviation, standard deviation, and the maximum value of the output torque difference between the left and right motors during the acceleration and deceleration phases of the transverse machine.

[0007] The above technical solution introduces dynamic sensing of motor torque differences and oscillation characteristics during the operation of the transverse traverse machine, and feeds the results back to the adaptive adjustment of proportional, integral and derivative gains. This allows the controller to flexibly change parameter settings according to the real-time operating status, thereby avoiding over-adjustment when the motor output is stable and enhancing the suppression capability in a timely manner when oscillation or deviation intensifies. This solves the problem of low torque adjustment accuracy during the operation of the transverse traverse machine.

[0008] Furthermore, the degree of deviation for: , For the left motor of the transverse machine during the uniform speed operation phase, the first The output torque at each sampling time node For the right motor of the transverse machine during the constant speed operation phase, the first The output torque at each sampling time node This represents the total number of sampling time points during the uniform speed operation phase of the transverse machine.

[0009] The above technical solution performs mean difference processing on the torque sequences of the left and right motors during the uniform speed operation phase, quantifies the difference in the overall output level of the two into the degree of deviation, thereby intuitively reflecting whether there is a systematic output imbalance problem in the long-term stable operation of the motor.

[0010] Furthermore, the degree of fluctuation for: , the total number of sampling time nodes in the acceleration and deceleration running phase of the cross-moving machine, the standard deviation of the absolute value, the deviation degree, the maximum value function, , the output torque of the left motor at the i-th sampling time node in the acceleration and deceleration running phase of the cross-moving machine, , the output torque of the right motor at the i-th sampling time node in the acceleration and deceleration running phase of the cross-moving machine. the output torque of the right motor at the i-th sampling time node in the acceleration and deceleration running phase of the cross-moving machine.

[0011] The above technical solution combines the fluctuation standard deviation of the motor torque difference with the overall deviation degree in the uniform speed phase, and further introduces the maximum amplitude of the torque difference change between adjacent time nodes, thereby constructing an index that can comprehensively reflect the oscillation characteristics of the cross-moving machine in the acceleration and deceleration phase. The oscillation degree not only captures the average fluctuation level in the motor output, but also sensitively reflects the transient impact caused by sudden imbalance, making the characterization of dynamic instability more accurate.

[0012] Further, the proportional gain Kp is: , the preset proportional gain, the normalization function, the oscillation degree.

[0013] The above technical solution establishes an inverse correlation between the proportional gain and the oscillation degree, so that when the oscillation degree is small during the running of the cross-moving machine, the proportional gain can be kept at a high level, thereby quickly correcting the deviation between the motors; when the oscillation degree increases, the proportional gain is dynamically weakened to avoid further instability caused by excessive amplification of errors.

[0014] Further, the integral gain Ki is: , the preset integral gain, the normalization function, the oscillation degree.

[0015] Further, the differential gain Kd is: , the preset differential gain, the normalization function, the oscillation degree.

[0016] ​​​​The above technical solution constructs a positive correlation between the differential gain and the oscillation degree, so that once strong oscillation occurs during the operation of the traversing machine, the adjustment strength of the differential link will be enhanced, thereby more quickly suppressing the sudden fluctuation and rapid change of the torque output, and avoiding further amplification of the vibration; and when the system runs smoothly, the differential gain remains at a low level to reduce the excessive sensitivity to small disturbances and noise.

[0017] Further, the torque sensor is used to obtain the output torque of the left and right motors of the traversing machine at a plurality of historical sampling time nodes during the uniform speed running stage and the acceleration and deceleration running stage.

[0018] Further, the output torque is subjected to data cleaning and missing value interpolation processing.

[0019] Further, the operation of the left and right motors of the traversing machine is controlled based on the target output torque, including: converting the target output torque into a target current instruction, and sending the target current instruction to the motor driver to adjust the output current of the driver, so that the actual output torque of the left and right motors follows the target output torque.

[0020] In a second aspect, the present application provides a traversing machine dynamic stabilization system comprising a memory and a processor, wherein the memory stores computer program instructions which, when executed by the processor, implement the traversing machine dynamic stabilization method of any one of the above.

[0021] The present application has the following beneficial effects: The present application simultaneously obtains and analyzes the historical torque data of the left and right motors during the uniform speed and acceleration and deceleration stages of the traversing machine, combines the deviation degree, standard deviation and torque difference fluctuation amplitude to characterize the oscillation level of the system, and dynamically adjusts the proportional, integral and differential parameters based on the improved adaptive PID control strategy, so that the control process can be flexibly matched according to the actual running state. In this way, not only is the real-time balance of the output torque of the motors realized, but also the deviation and mechanical wear caused by the accumulation of deviation are avoided, and the overshoot and oscillation during operation are effectively suppressed, so that the traversing machine can run smoothly under different working conditions, significantly improving the dynamic stability, running reliability and control accuracy of the traversing machine, and prolonging the service life of the equipment. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a flowchart schematically showing a traversing machine dynamic stabilization method according to an embodiment of the present application; Figure 2 is a structural block diagram schematically showing a traversing machine dynamic stabilization system according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] An embodiment of a cross-moving machine dynamic stability method.

[0024] As shown in the flow chart of an embodiment of a cross-moving machine dynamic stability method of the present application, the method comprises the following steps: Figure 1 S1: Obtain the output torque of the left and right motors of the cross-moving machine at historical multiple sampling time nodes during the uniform speed running stage and the acceleration / deceleration running stage.

[0025] In a preferred embodiment, first, the actual output torque data of the cross-moving machine during the uniform speed running stage and the acceleration / deceleration running stage is obtained by using the torque sensors installed on the output shaft ends of the left and right motors of the cross-moving machine. The data collected in this way can more accurately reflect the true force of the motor under different running conditions, and compared with the method of estimating torque only by relying on current, it can significantly improve the authenticity and accuracy of the data, thereby providing a reliable basis for subsequent stability analysis and control.

[0026] Further, considering that during the operation of the cross-moving machine, the torque sensor may generate abnormal values due to electromagnetic interference, mechanical vibration or signal acquisition system noise, or cause the absence of some sampling points due to instantaneous communication interruption, sensor zero drift, etc., the obtained original torque data is subjected to data cleaning and missing value interpolation processing. Specifically, the data cleaning process includes abnormality detection of historical sampling time point data, and by setting a threshold range or using statistical methods, abnormal points that do not obviously conform to the physical law are removed. For example, when the torque value of a certain sampling point deviates from the average value of its adjacent time by more than a preset multiple of the standard deviation, it can be determined as a noise point and removed or replaced, thereby ensuring the stationarity and reasonableness of the data sequence.

[0027] After completing the data cleaning, for some missing torque sampling points, an interpolation method is used for compensation. The interpolation method can be based on time series interpolation algorithms such as linear interpolation, cubic spline interpolation, or use the weighted mean of adjacent sampling points for estimation. Through interpolation processing, it can effectively avoid the distortion of subsequent standard deviation calculation, deviation degree evaluation and shock degree determination caused by data missing. Compared with the data without interpolation, the processed torque sequence is more complete and continuous, so that the dynamic characteristics of the cross-moving machine under running state can be more truly reflected.

[0028] Through the above data cleaning and interpolation processing, not only the quality of the torque data can be significantly improved, the influence of noise interference on control accuracy can be reduced, but also the reliability of the shock degree calculation result can be ensured, providing higher credibility input data for the generation of the target output torque of the left and right motors based on the improved PID control algorithm.

[0029] ​S2: Obtain the degree of deviation between the left and right motors of the transverse machine during the uniform speed operation phase, and the degree of vibration of the left and right motors during the operation of the transverse machine.

[0030] In a preferred embodiment, the degree of deviation for: , For the left motor of the transverse machine during the uniform speed operation phase, the first The output torque at each sampling time node For the right motor of the transverse machine during the constant speed operation phase, the first The output torque at each sampling time node This represents the total number of sampling time points during the uniform speed operation phase of the transverse machine.

[0031] By averaging the output torque of the left and right motors at multiple sampling times during the uniform speed operation phase of the transverse traverse machine, and further calculating the degree of difference between the two, an index reflecting the overall force deviation of the left and right motors is obtained. This effectively avoids the influence of single-point fluctuations or instantaneous noise on the deviation judgment, making the obtained results more global and stable, thereby improving the accuracy of the transverse traverse machine's operating status assessment and avoiding transverse instability or operating deviation caused by excessive load on one side of the motor.

[0032] In another preferred embodiment, the degree of deviation for: , For the left motor of the transverse machine during the uniform speed operation phase, the first The output torque at each sampling time node For the right motor of the transverse machine during the constant speed operation phase, the first The output torque at each sampling time node This represents the total number of sampling time points during the uniform speed operation phase of the transverse machine.

[0033] By comparing the output torque of the left and right motors at each sampling moment during the uniform speed operation of the traverse machine, and averaging the absolute values ​​of their differences, a quantitative index reflecting the overall deviation level throughout the entire operation is obtained. This avoids the problem of positive and negative differences canceling each other out in the cumulative calculation, and more realistically depicts the degree of load imbalance between the two motors during operation. By introducing this index, potential force differences during operation can be detected more sensitively, thus providing a precise basis for subsequent oscillation analysis and control parameter optimization.

[0034] Then, the absolute value of the difference in output torque between the left and right motors during the acceleration and deceleration phases of the transverse traverse machine at each historical sampling time node is calculated, and the standard deviation of the absolute value is obtained. degree of fluctuation for: , the total number of sampling time nodes in the acceleration and deceleration running stage of the cross-moving machine, the standard deviation of the absolute value, the degree of deviation, the maximum value function, 、 the output torque of the left motor at the i-th sampling time node in the acceleration and deceleration running stage of the cross-moving machine, 、 the output torque of the right motor at the i-th sampling time node in the acceleration and deceleration running stage of the cross-moving machine.

[0035] In the acceleration and deceleration running stage, the overall fluctuation amplitude is first described by calculating the standard deviation of the torque difference of the two motors, and further combined with the deviation index of the uniform speed stage and the maximum torque difference between adjacent sampling points to construct an oscillation degree evaluation model that can reflect both global stability and local mutation. Not only can it measure the overall dispersion of the torque difference in the running process, but also highlight the impact of instantaneous severe fluctuations on the running stability, thereby achieving a more comprehensive description of the dynamic instability factors of the cross-moving machine.

[0036] S3: Dynamically adjusting the improved PID control parameters based on the oscillation degree.

[0037] In a preferred embodiment, the improved proportional gain is: , is the preset proportional gain, is the normalization function, is the oscillation degree.

[0038] By introducing a normalization suppression mechanism based on the oscillation degree in the proportional link, the proportional gain can be dynamically weakened when the oscillation intensifies, thereby effectively avoiding the risk of further amplifying fluctuations due to excessive proportional action. At the same time, when it is relatively stable, the proportional link can maintain high sensitivity to ensure the cross-moving machine's rapid response to external disturbances and running errors. Thus, an adaptive balance adjustment mode is achieved, which not only improves the stability and anti-oscillation ability during running, but also takes into account the response speed and control accuracy, thereby achieving better control effect under different working conditions.

[0039] The improved integral gain is: , is the preset integral gain, is the normalization function, is the oscillation degree.

[0040] ​​By introducing a normalization adjustment mechanism based on the oscillation degree, the integral gain is adaptively weakened when the oscillation is large, thereby avoiding the phenomenon of integral saturation or further exacerbating the fluctuation caused by excessive accumulation of errors in the integral term. When the operation is stable, the integral action can maintain the appropriate strength to ensure the system's effective correction ability for long-term deviations. The dynamic balance between stability and correction of the integral element is achieved, so that the horizontal moving machine can balance the anti-vibration performance and steady-state accuracy under different working conditions, thereby significantly improving the overall control effect.

[0041] Improved differential gain is: , is a preset differential gain, is a normalization function, is the oscillation degree.

[0042] By mapping the oscillation degree to the normalization function and dynamically amplifying the differential gain, the error change can be more sensitively inhibited when the oscillation is intensified, thereby effectively reducing the oscillation amplitude and response overshoot. When the operation is stable, the differential action is maintained at a low level to avoid over-amplification of small disturbances leading to noise sensitivity. The adaptive enhancement of the differential element to dynamic changes is achieved, so that the horizontal moving machine can balance vibration suppression and noise robustness under different operating conditions, thereby improving the stability and reliability of overall operation.

[0043] S4: output the target output torque of the left and right motors of the horizontal moving machine using the improved PID control algorithm, and control the operation of the left and right motors of the horizontal moving machine based on the target output torque.

[0044] In a preferred embodiment, the target output torque of the left and right motors of the horizontal moving machine is output using the improved PID control algorithm, which is a known technology and will not be described in detail.

[0045] Controlling the operation of the left and right motors of the horizontal moving machine based on the target output torque includes: converting the target output torque into a target current command, and sending the target current command to the motor driver to adjust the output current of the driver, so that the actual output torque of the left and right motors follows the target output torque.

[0046] By directly converting the target output torque into a current command and sending it to the driver, accurate tracking of the actual torque of the motor is achieved, effectively shortening the response delay in the control link, ensuring the consistency of the torque output of the left and right motors, thereby improving the synchronization and stability of the horizontal moving machine operation, avoiding vibration, impact or trajectory deviation caused by torque deviation, and further improving the operation stability and control accuracy of the equipment.

[0047] The present invention achieves comprehensive quantification of the system's dynamic characteristics by introducing refined acquisition and processing of the motor output torque during the uniform speed and acceleration / deceleration phases of the traverse machine operation. Combined with the deviation degree, standard deviation, and oscillation index constructed from the differences between adjacent sampling points, it realizes the comprehensive quantification of the system's dynamic characteristics. On this basis, an improved adaptive PID control strategy is used to dynamically adjust the proportional, integral, and derivative gains, enabling the controller to adaptively weaken or enhance the role of corresponding components according to real-time operating conditions. This ensures rapid error convergence while effectively suppressing overshoot and oscillation, achieving high stability, high precision, and high reliability of the traverse machine under complex operating conditions, and significantly improving the overall system's dynamic stability and service life.

[0048] An embodiment of a dynamic stabilization system for a transverse traverse machine: like Figure 2 As shown in the figure, a structural block diagram of a dynamic stabilization system for a transverse traverse machine according to an embodiment of the present invention includes a processor and a memory.

[0049] This invention also provides a dynamic stabilization system for a traverse machine. For example... Figure 2 As shown, the system includes a processor and a memory, the memory storing computer program instructions, which, when executed by the processor, implement the dynamic stabilization method for a transverse traverse machine according to the present invention.

[0050] The aforementioned dynamic stabilization system for a transverse traverse machine also includes other components well-known to those skilled in the art, such as communication interfaces. Their settings and functions are known in the art and will not be described in detail here.

[0051] In this description, the terms "communication" and "communicate" are used broadly. For example, a device can communicate information to another device, even though the information need not be received explicitly by the other device. In other words, one device can communicate information to another device by placing the information in a location where the other device is able to retrieve the information, even though one device does not know exactly where or when another device will retrieve the information. The term "communication" can include one or both of these actions, and also can include other actions associated with these actions. For example, the process of placing information in a location where another device is able to retrieve the information can include the actions of encoding the information on a physical medium, transmitting encoded information on a physical medium, or other actions associated with these actions. Similarly, the process of retrieving information can include the actions of receiving the information on a physical medium, decoding encoded information on a physical medium, or other actions associated with these actions. Further, one device can communicate information to another device by causing another device to communicate the information. These additional actions can be associated with the actions of placing and / or retrieving information, as described above. In this description and the claims, the terms "communication" and "communicate" do not necessarily imply that both devices are actively

[0052] In the description of the specification, the meaning of "a plurality of" or "several" is at least two, for example, two, three, or more, unless specifically defined otherwise.

[0053] While the specification has shown and described a number of embodiments of the application, it is to be understood that, unless otherwise specifically stated, these embodiments have been shown by way of illustration. Those skilled in the art will understand that changes can be made in the embodiments described without departing from the spirit and scope of the application. It is to be understood that various alternatives to the embodiments of the application described herein can be employed in practicing the application.

Claims

1. A method for dynamic stabilization of a transverse traverse machine, characterized in that, include: The output torque of the left and right motors during the uniform speed operation and acceleration / deceleration operation phases of the traverse machine is obtained at multiple historical sampling time points. The absolute value of the difference in output torque between the left and right motors during the acceleration / deceleration operation phases of the traverse machine at each historical sampling time point is calculated, and then the standard deviation of the absolute value is obtained. The degree of deviation between the left and right motors during the uniform speed operation phase of the traverse machine is obtained. An improved PID control algorithm is used to output the target output torque of the left and right motors of the traverse machine, and the operation of the left and right motors of the traverse machine is controlled based on the target output torque. The improved PID control algorithm includes proportional gain. Integral gain and differential gain parameter The proportional gain Integral gain The differential gain is inversely correlated with the degree of oscillation of the left and right motors during the operation of the transverse machine. It is positively correlated with the degree of vibration of the motors on the left and right sides during the operation of the transverse transfer machine; The degree of oscillation is positively correlated with the degree of deviation, standard deviation, and the maximum value of the output torque difference between the left and right motors during the acceleration and deceleration phases of the transverse machine at adjacent sampling time points.

2. The dynamic stabilization method for a transverse traverse machine according to claim 1, characterized in that, degree of deviation for: , For the left motor of the transverse machine during the uniform speed operation phase, the first The output torque at each sampling time node For the right motor of the transverse machine during the constant speed operation phase, the first The output torque at each sampling time node This represents the total number of sampling time points during the uniform speed operation phase of the transverse machine.

3. The dynamic stabilization method for a transverse traverse machine according to claim 1, characterized in that, degree of fluctuation for: , This represents the total number of sampling time points during the acceleration and deceleration phases of the traverse machine. The standard deviation of the absolute value. To indicate the degree of deviation, To find the maximum value function, , The left and right motors of the transverse traverse machine are respectively in the acceleration and deceleration phases at the following times. The output torque at each sampling time node , The left and right motors of the transverse traverse machine are respectively in the acceleration and deceleration phases at the following times. Output torque at each sampling time node.

4. The dynamic stabilization method for a transverse traverse machine according to claim 1, characterized in that, The proportional gain for: , For preset proportional gain, For normalization function, The degree of fluctuation.

5. The dynamic stabilization method for a transverse traverse machine according to claim 1, characterized in that, The integral gain for: , To preset the integral gain, For normalization function, The degree of fluctuation.

6. The dynamic stabilization method for a transverse traverse machine according to claim 1, characterized in that, The differential gain for: , To preset the differential gain, For normalization function, The degree of fluctuation.

7. The dynamic stabilization method for a transverse traverse machine according to claim 1, characterized in that, The torque sensor was used to obtain the output torque of the left and right motors at multiple historical sampling time points during the uniform speed operation and acceleration / deceleration operation phases of the transverse traverse machine.

8. The dynamic stabilization method for a transverse traverse machine according to claim 1, characterized in that, The output torque is subjected to data cleaning and missing value interpolation.

9. The dynamic stabilization method for a transverse traverse machine according to claim 1, characterized in that, Controlling the operation of the left and right motors of the traverse machine based on the target output torque includes: converting the target output torque into a target current command and sending the target current command to the motor driver to adjust the output current of the driver so that the actual output torque of the left and right motors follows the target output torque.

10. A dynamic stabilization system for a transverse traverse machine, characterized in that, It includes a memory and a processor, wherein the memory stores computer program instructions, and when the computer program instructions are executed by the processor, a dynamic stabilization method for a transverse traverse machine as described in any one of claims 1 to 9 is implemented.

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