Driving machine control method and device, readable storage medium and program product

Abstract

The invention discloses a driving machine control method and device, a readable storage medium and a program product, and relates to the technical field of equipment control. The control method of the car drivers comprises the steps that in the process that a plurality of car drivers lift a train body, pressure data, inclination angle data and displacement data of each supporting head are obtained; according to the multiple pieces of pressure data and the multiple pieces of displacement data, first speeds corresponding to the supporting heads are determined; when each supporting head is controlled to move according to the corresponding first speed, determining a target inclination angle difference value among the multiple pieces of inclination angle data; and under the condition that the target inclination angle difference value is smaller than the preset inclination angle threshold value, the multiple supporting heads are controlled to move at the preset second speed, so that the train body is lifted to the preset height. According to the invention, the control precision of the driver is improved.

Description

Technical Field

[0001] This application relates to the field of equipment control technology, and in particular to a control method, apparatus, readable storage medium, and program product for a driving machine. Background Technology

[0002] Currently, four-point lifting machines are commonly used in railway freight car maintenance. Mobile lifting machines must be installed on level ground, and the tilt of the lifting machine's column cannot exceed 4mm. However, the lack of real-time feedback and adjustment capabilities in the driving machine leads to technical problems such as low control accuracy in existing driving machine control methods. Summary of the Invention

[0003] This application provides a control method, apparatus, readable storage medium, and program product for driving a vehicle, which solves the technical problems of low control accuracy in the prior art.

[0004] A first aspect of this application provides a control method for a train engine, the train engine including a support head for supporting and lifting the train body, the method comprising: During the process of multiple driving machines lifting the train body, pressure data, tilt angle data, and displacement data of each jack are acquired; Based on multiple pressure data and multiple displacement data, the first velocity corresponding to each support head is determined; While controlling each support head to move at its corresponding first speed, a target tilt angle difference between multiple tilt angle data is determined; If the target tilt angle difference is less than the preset tilt angle threshold, control multiple support heads to move at a preset second speed so that the train body is raised to a preset height.

[0005] The control method of the driving machine in this embodiment determines the first speed corresponding to each jack based on multiple pressure data and multiple displacement data corresponding to multiple jacks during the process of multiple driving machines lifting the train body. While controlling each jack to move at the corresponding first speed, the target tilt angle difference between multiple tilt angle data is determined. When the target tilt angle difference is less than the tilt angle threshold, the multiple jacks are controlled to move at a preset second speed so that the train body is lifted to a preset height. This achieves real-time and precise control of the speed and height of multiple jacks and improves the control accuracy of multiple driving machines.

[0006] A second aspect of this application provides a control device for a train engine, the train engine including a support head for supporting and lifting the train body, the device comprising: The acquisition unit is used to acquire pressure data, tilt angle data, and displacement data of each jack during the process of multiple driving machines lifting the train body; The processing unit is used to determine the first velocity corresponding to each support head based on multiple pressure data and multiple displacement data; The determining unit is used to determine the target tilt angle difference between multiple tilt angle data when controlling each support head to move at a corresponding first speed; The control unit is used to control multiple tow heads to move at a preset second speed when the target tilt angle difference is less than a preset tilt angle threshold, so as to raise the train body to a preset height.

[0007] In this embodiment, the control device for the driving machine determines the first speed corresponding to each jack based on multiple pressure data and multiple displacement data corresponding to multiple jacks during the process of multiple driving machines lifting the train body. While controlling each jack to move at the corresponding first speed, it determines the target tilt angle difference between multiple tilt angle data. When the target tilt angle difference is less than the tilt angle threshold, it controls the multiple jacks to move at a preset second speed so that the train body is lifted to a preset height. This achieves real-time and precise control of the speed and height of multiple jacks and improves the control accuracy of multiple driving machines.

[0008] A third aspect of this application provides another control device for a driving machine, including a processor and a memory. The memory stores a computer program, which, when executed by the processor, implements the steps of the driving machine control method as described in any of the above embodiments. Therefore, this control device for a driving machine possesses all the beneficial effects of the driving machine control method in any of the above embodiments, and will not be elaborated further here.

[0009] A fourth aspect of this application provides a readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the vehicle control method as described in any of the above embodiments. Therefore, this readable storage medium possesses all the beneficial effects of the vehicle control method in any of the above embodiments, which will not be elaborated further here.

[0010] According to a fifth aspect of the present invention, a computer program product is provided, comprising computer instructions that, when executed by a processor, implement the steps of the vehicle control method as described in any of the above embodiments. Therefore, this computer program product possesses all the beneficial effects of the vehicle control method in any of the above embodiments, which will not be elaborated further here. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 A flowchart illustrating the control method for a driving machine provided in an embodiment of this application; Figure 2 Functional block diagram of the control device for a driving machine provided in the embodiments of this application; Figure 3 This is a structural block diagram of the control device for a driving machine provided in an embodiment of this application. Detailed Implementation

[0013] To better understand the technical solutions provided in the embodiments of this specification, the technical solutions of the embodiments of this specification will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0014] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element. The term "two or more" includes two or more cases.

[0015] In some embodiments, such as Figure 1 As shown, an embodiment of this application provides a control method for a driving machine, including: Step S101: During the process of multiple driving machines lifting the train body, acquire the pressure data, tilt angle data, and displacement data of each jack.

[0016] In this embodiment, a control method for a train-driving machine is proposed. The train-driving machine is a specialized transportation device in the rail transit field, primarily used for lifting and lowering train bodies, and supporting the maintenance and replacement of mechanical components. The train-driving machine includes a support head, which is used to support and lift the train body.

[0017] For example, the train body can specifically be the body of a train.

[0018] For example, the tug can specifically be a tug mechanism that can be used to support and lift the body of a train.

[0019] For example, the driving machines are divided into two main categories: mobile and fixed. Mobile driving machines can be flexibly combined and grouped to achieve synchronous lifting operations for single cars or continuous groups; fixed driving machines are installed in underground pits and are lowered into the pit after operation to keep the ground level. Both types of equipment are characterized by smooth lifting, good synchronization, and strong safety.

[0020] For example, the mobile bogie-mounted machine can operate a single bogie or any continuous trainset, supports synchronous linkage and individual inching fine-tuning, and is suitable for synchronous operation of three bogies without uncoupling. It is equipped with rapid and stable lifting technology to improve bogie replacement efficiency.

[0021] For example, the fixed-type driving machine is installed in an underground pit, compatible with single-section or tandem car operations in both uncoupled and uncoupled states, and keeps the garage floor flat and unobstructed after the operation is completed.

[0022] For example, four driving machines are generally grouped together, which can be flexibly combined to meet the operational needs of different vehicle groups.

[0023] During the process of controlling multiple driving machines to lift the train body, pressure data, tilt angle data, and displacement data of each jack are acquired.

[0024] Among them, the pressure data is the pressure value when the trolley supports the train body, the tilt angle data is the tilt angle generated by the trolley when supporting the train body, and the displacement data is the displacement when the trolley lifts the train body.

[0025] For example, a universal joint support plate is provided on the fulcrum of the support head. The pressure data can be the real-time pressure value of the universal joint support plate, the tilt angle data can be the real-time tilt angle of the universal joint support plate, and the displacement data can be the real-time displacement of the universal joint support plate.

[0026] For example, displacement data can specifically refer to the actual displacement of the jack in the driving machine.

[0027] For example, a pressure sensor can be installed on the vehicle, which can detect the pressure data of the support head in real time.

[0028] For example, the vehicle can be equipped with a tilt sensor, which can detect the tilt angle data of the tow head in real time.

[0029] For example, in the first stage of lifting the train body by multiple driving machines, each jack is controlled to move at a preset initial speed, and the pressure data, tilt data and displacement data of each jack need to be detected in real time to provide real-time reference data for the control accuracy of multiple driving machines.

[0030] Step S102: Determine the first velocity corresponding to each support head based on multiple pressure data and multiple displacement data.

[0031] Multiple pressure and displacement data need to be processed to determine the first speed for each support head, where the first speed is the real-time speed that each support head needs to be adjusted to.

[0032] For example, the train car body is typically lifted by four driving machines.

[0033] For example, when multiple pressure data are different, it can be indicated that the relative speeds between the multiple support heads are not balanced, and it is necessary to determine the first speed corresponding to each support head in order to adjust the real-time speed of each support head.

[0034] For example, if the pressure data of a certain support head is low, it indicates that the contact between the support head and the train body is not tight enough, which in turn indicates that the moving speed of the support head is low. The moving speed of the support head should be increased, that is, a relatively large first speed needs to be set.

[0035] For example, if the pressure data of a certain support head is large, it indicates that the contact between the support head and the train body is too tight, which in turn indicates that the moving speed of the support head is too high. Therefore, the moving speed of the support head should be reduced, that is, a relatively small first speed needs to be set.

[0036] For example, when multiple displacement data are different, it can be indicated that the relative speeds between multiple support heads are not balanced, and it is necessary to determine the first speed corresponding to each support head in order to adjust the real-time speed of each support head.

[0037] For example, if the displacement data of a certain trolley head is small, it indicates that the contact between the trolley head and the train body is not tight enough, which in turn indicates that the moving speed of the trolley head is small, and the moving speed of the trolley head should be increased, that is, a relatively large first speed needs to be set.

[0038] For example, if the displacement data of a certain support head is large, it indicates that the contact between the support head and the train body is too tight, which in turn indicates that the moving speed of the support head is too high. Therefore, the moving speed of the support head should be reduced, that is, a relatively small first speed needs to be set.

[0039] Step S103: While controlling each support head to move at the corresponding first speed, determine the target tilt angle difference between multiple tilt angle data.

[0040] After determining the initial speed for each support head, it is necessary to control each support head to lift and move according to its corresponding initial speed.

[0041] While controlling each support head to move at its corresponding first speed, a target tilt angle difference between multiple tilt angle data is determined simultaneously, wherein the target tilt angle difference is the maximum difference between the multiple tilt angle data.

[0042] For example, while controlling each support head to move at a corresponding first speed, the tilt angle data of each support head can be gradually adjusted so that multiple tilt angle data are the same.

[0043] For example, the second stage of multiple driving machines lifting the train body is the leveling control stage of the train body, which brings the train body to a horizontal state.

[0044] For example, in the second stage of lifting the train body by multiple driving machines, the train body is leveled by adjusting the real-time speed of each jack.

[0045] In step S104, if the target tilt angle difference is less than the preset tilt angle threshold, control multiple support heads to move at a preset second speed so that the train body is raised to a preset height.

[0046] Obtain a preset tilt angle threshold and compare the target tilt angle difference with the tilt angle threshold. The tilt angle threshold is the angle threshold used to determine whether the train body is in a horizontal state.

[0047] For example, the tilt angle threshold can be specifically 1 degree.

[0048] If the difference in the target tilt angle is less than the tilt angle threshold, it can be determined that the train body is in a level state.

[0049] After confirming that the train body is in a level position, multiple support heads are controlled to move at a preset second speed to raise the train body to a preset height. The second speed is preset movement data for the multiple support heads.

[0050] For example, the third stage of multiple driving machines lifting the train body is the control stage of lifting the train body at a uniform speed to a preset height.

[0051] For example, the preset height can be specifically 2 meters.

[0052] For example, in the third stage of controlling multiple driving machines to lift the train body, multiple jacks are controlled to move at a uniform speed to a preset height at a second speed.

[0053] It should be noted that this embodiment divides the process of multiple driving machines lifting the train body into three stages. The first stage is the initial stage, in which multiple lifting heads are controlled to move at an initial speed, and pressure data, tilt angle data, and displacement data of each lifting head are acquired. The second stage is the leveling stage, in which a first speed corresponding to each lifting head is determined based on multiple pressure data and multiple displacement data, and each lifting head is controlled to move at the corresponding first speed to make the train body level. The third stage is the lifting stage, in which after determining that the train body is level, multiple lifting heads are controlled to move at a preset second speed to lift the train body to a preset height, thus ensuring the control accuracy when multiple driving machines lift the train body.

[0054] This embodiment also has the following beneficial effects: Significantly improves operational safety and reliability: Through real-time adaptive leveling and high-precision synchronous control, it fundamentally solves the major safety hazards of truck body tilting or even overturning caused by non-level surfaces; it solves the problem of immediately alarming or stopping the machine when abnormal load occurs (such as excessive force on a single support point), avoiding equipment damage due to overload; the entire lifting process is a dynamic closed-loop control, and the system can automatically correct deviations, ensuring the stability and reliability of the operation process, far exceeding traditional equipment that relies on manual judgment and simple electrical control.

[0055] Achieving high-precision automation improves work efficiency: "One-click" automatic leveling and synchronization allows operators to automatically complete initial leveling and full-process synchronous lifting simply by issuing a start command. This eliminates the need for repeated manual observation, measurement, and adjustment of the height of each support point, significantly reducing the labor intensity and skill requirements of operators, and significantly shortening the total time of vehicle lifting operations, thereby improving maintenance efficiency.

[0056] Strong adaptability and flexibility: It can intelligently cope with complex working conditions. Whether it is the initial unevenness or the new deviation caused by load changes or slight ground undulations during the lifting process, the system can respond quickly and adjust adaptively. The device has greatly reduced the requirements for the ground levelness of the working site and can adapt well to the uneven foundations that may exist in railway stations and maintenance workshops, thus expanding the application range of the car lifting machine.

[0057] Effective protection of equipment and car body structure: Avoiding internal force damage, the flexible electronic control synchronization method of this device enables each support point to work in coordination rather than forced linkage, effectively eliminating internal stress of the equipment and extending the service life of the lifting machine itself. At the same time, the smooth and synchronous lifting process avoids the twisting or deformation of the car body structure caused by uneven force, playing an important protective role for the railway freight car body.

[0058] Integration and intelligence, with status monitoring capabilities: The system integrates sensors for pressure, tilt, and displacement, making the operation process quantifiable and monitorable. Operators can monitor the stress at each support point and the vehicle's level in real time, providing data support for fault diagnosis and preventative maintenance.

[0059] The control method of the driving machine in this embodiment determines the first speed corresponding to each jack based on multiple pressure data and multiple displacement data corresponding to multiple jacks during the process of multiple driving machines lifting the train body. While controlling each jack to move at the corresponding first speed, the target tilt angle difference between multiple tilt angle data is determined. When the target tilt angle difference is less than the tilt angle threshold, the multiple jacks are controlled to move at a preset second speed so that the train body is lifted to a preset height. This achieves real-time and precise control of the speed and height of multiple jacks and improves the control accuracy of multiple driving machines.

[0060] In some embodiments of this application, a control method for a driving machine is provided. Step S102, determining a first speed corresponding to each towing head based on multiple pressure data and multiple displacement data, specifically includes: The mean of multiple pressure data points is determined to obtain the pressure mean, and the mean of multiple displacement data points is determined to obtain the displacement mean. Determine the difference between each pressure data point and the average pressure value to obtain the pressure difference corresponding to each pressure data point, and determine the difference between each displacement data point and the average displacement value to obtain the displacement difference corresponding to each displacement data point. Based on the pressure difference and displacement difference corresponding to each support head, determine the speed adjustment value corresponding to each support head; The first speed corresponding to each support head is obtained by summing the preset third speed with the speed adjustment value of each support head. The third speed is less than the second speed.

[0061] In this embodiment, the average value of multiple pressure data is determined to obtain the average pressure value, and at the same time, the average value of multiple displacement data is determined to obtain the average displacement value.

[0062] For example, the pressure mean is the average of multiple pressure data points, and the displacement mean is the average of multiple displacement data points.

[0063] Determine the difference between each pressure data point and the average pressure value to obtain the pressure difference value corresponding to each pressure data point. At the same time, determine the difference between each displacement data point and the average displacement value to obtain the displacement difference value corresponding to each displacement data point.

[0064] For example, the pressure difference is the difference between the pressure data and the pressure mean, and the displacement difference is the difference between the displacement data and the displacement mean.

[0065] For example, the pressure difference can represent the pressure gap between the pressure data of the support head and the average pressure.

[0066] For example, the displacement difference can represent the displacement gap between the displacement data of the support head and the average displacement.

[0067] Based on the pressure difference and displacement difference corresponding to each support head, the speed adjustment value corresponding to each support head is determined, where the speed adjustment value is the adjustment amount of the support head speed.

[0068] For example, the speed adjustment value is the real-time adjustment amount for each trolley speed.

[0069] For example, the speed adjustment value can be specifically +1 cm / s.

[0070] For example, the speed adjustment value can be specifically -2 cm / s.

[0071] For example, the speed adjustment value corresponding to each support head is proportional to the pressure difference; the greater the pressure difference, the greater the speed adjustment value of the support head pair.

[0072] For example, the speed adjustment value corresponding to each support head is proportional to the displacement difference; the smaller the displacement difference, the smaller the speed adjustment value of the support head pair.

[0073] Obtain the third speed of multiple support heads, where the third speed is the initial moving speed of the support head, and the third speed is less than the second speed.

[0074] For example, in the first stage of lifting the train body by multiple driving machines, multiple tugs are controlled to move at a lower third speed.

[0075] The first speed corresponding to each support head is obtained by summing the third speed with the speed adjustment value of each support head, thus ensuring the accuracy of the first speed data for each support head.

[0076] For example, by calculating the sum of the speed adjustment value of each support head and the third speed, the first speed corresponding to each support head can be obtained.

[0077] In some embodiments, this application provides a control method for a driving machine, which determines a speed adjustment value for each towing head based on the pressure difference and displacement difference corresponding to each towing head, including: Based on the pressure difference value corresponding to each support head, determine the first speed adjustment value corresponding to each support head; Based on the displacement difference corresponding to each support head, determine the second speed adjustment value corresponding to each support head; The first speed adjustment value and the second speed adjustment value corresponding to each support head are weighted and processed to obtain the speed adjustment value corresponding to each support head.

[0078] In this embodiment, a first speed adjustment value is determined for each support head based on the pressure difference value corresponding to each support head, wherein the first speed adjustment value is the speed adjustment value determined based on the pressure difference value.

[0079] For example, a pressure-velocity response model is established to correspond to the pressure difference and the velocity adjustment value. Through the pressure-velocity response model, the first velocity adjustment value corresponding to the pressure difference can be determined.

[0080] Based on the displacement difference corresponding to each support head, a second speed adjustment value is determined for each support head, wherein the second speed adjustment value is the speed adjustment value determined based on the displacement difference.

[0081] For example, a displacement-velocity response model is established to correspond to the displacement difference and the velocity adjustment value. Through the displacement-velocity response model, the second velocity adjustment value corresponding to the displacement difference can be determined.

[0082] The first speed adjustment value and the second speed adjustment value corresponding to each support head are weighted and processed to obtain the speed adjustment value corresponding to each support head, thus ensuring the data accuracy of the speed adjustment value corresponding to each support head.

[0083] For example, the weighted percentage corresponding to the first speed adjustment value is determined to be 50%, the weighted percentage corresponding to the second speed adjustment value is determined to be 50%, and the first speed adjustment value and the second speed adjustment value corresponding to each towing head are weighted and processed to obtain the speed adjustment value corresponding to each towing head.

[0084] For example, the weighting percentage corresponding to the first speed adjustment value is determined to be 30%, and the weighting percentage corresponding to the second speed adjustment value is determined to be 70%. The first speed adjustment value and the second speed adjustment value corresponding to each towing head are weighted and processed to obtain the speed adjustment value corresponding to each towing head.

[0085] For example, the weighted percentage corresponding to the first speed adjustment value is determined to be 60%, and the weighted percentage corresponding to the second speed adjustment value is determined to be 40%. The first speed adjustment value and the second speed adjustment value corresponding to each towing head are weighted and processed to obtain the speed adjustment value corresponding to each towing head.

[0086] In some embodiments of this application, a control method for a driving machine is provided. Each driving machine further includes a motor for driving the support head to move. The motor includes an encoder to acquire displacement data of each support head, including: When the motor drives the support head to move, the cumulative number of pulses and pulse step length of each encoder are obtained; The product of the cumulative pulse count and pulse step length of each encoder is used to determine the displacement data of the corresponding support head.

[0087] In this embodiment, each driving machine also includes a motor for driving the tractor head to move, and the motor includes an encoder.

[0088] For example, a motor encoder is a sensor used to measure the rotational position, speed and direction of a motor, and achieves precise control through feedback signals.

[0089] During the process of the motor driving the support head to move, the cumulative number of pulses and the pulse step size of each encoder are obtained. The cumulative number of pulses is the historical cumulative number of pulses, and the pulse step size is the step size of a single pulse.

[0090] For example, the cumulative pulse count is the cumulative number of control pulses output by the encoder.

[0091] For example, the cumulative number of pulses and the pulse step size of the encoder are key parameters for control accuracy.

[0092] For example, the pulse step size represents the displacement corresponding to each pulse.

[0093] The product of the cumulative pulse count and pulse step length of each encoder is used to determine the displacement data of the corresponding support head.

[0094] For example, the product of the cumulative number of pulses and the pulse step length of each encoder is calculated to obtain the output displacement of the encoder, and then the output displacement is determined as the displacement data of the corresponding support head, thus ensuring the accuracy of the displacement data.

[0095] In some embodiments, this application provides a method for controlling a driving machine, controlling multiple tow heads to move at a preset second speed, including: The master driving unit is determined from multiple driving units, and the master driving unit is any one of the multiple driving units; Set the movement speed of the main control driving machine's tolerancing head to the second speed; Control multiple support heads to move at a second speed.

[0096] In this embodiment, a master driving machine is determined among multiple driving machines, wherein the master driving machine is any one of the multiple driving machines.

[0097] For example, the master driving machine is the reference driving machine among multiple driving machines, and the other driving machines are set as slave driving machines.

[0098] Set the moving speed of the towing head of the main control driving machine to the second speed, and control multiple towing heads to move at the second speed.

[0099] For example, the real-time movement speed of the tow head in the master driving machine is set as the second speed.

[0100] For example, this embodiment adopts a "master-slave" mode, where one of the lifting units is set as the master station and the rest are slave stations. The speed and position of the slave stations are adjusted in real time based on the speed of the master station to ensure the overall synchronization of multiple driving machines.

[0101] In some embodiments, this application provides a control method for a driving machine, which determines a target tilt angle difference between multiple tilt angle data, including: Determine the maximum value among multiple dip angle data to obtain the first dip angle data, and determine the minimum value among multiple dip angle data to obtain the second dip angle data; Determine the difference between the first dip angle data and the second dip angle data to obtain the target dip angle difference.

[0102] In this embodiment, the maximum value among multiple dip angle data is determined to obtain the first dip angle data, wherein the first dip angle data is the maximum value among multiple dip angle data.

[0103] The minimum value among multiple dip angle data is determined to obtain the second dip angle data, where the second dip angle data is the minimum value among multiple dip angle data.

[0104] Determine the difference between the first dip angle data and the second dip angle data to obtain the target dip angle difference.

[0105] For example, the execution device in this embodiment mainly consists of three parts: a mechanical execution system, a sensing and detection system, and an intelligent control system.

[0106] Mechanical actuator system: includes four independent driving machines, each of which consists of a servo motor, reducer, ball screw, support head and frame.

[0107] Sensing and detection system: Pressure sensors are installed at each support point of the vehicle lifting machine to monitor the load. The support point adopts a universal joint plate, which can adaptively adjust the angle within a certain range to effectively compensate for minor misalignments between the maintenance vehicle body and the lifting machine, and avoid structural damage. Inclination sensors are installed on the lifting beam or vehicle body to detect the overall levelness. The servo motor has a built-in encoder to provide displacement feedback.

[0108] Intelligent Control System: Centered on a programmable logic controller (PLC), this system integrates multi-sensor data (pressure, tilt, encoder) and is equipped with an analog input module to acquire sensor signals. The PLC runs a built-in synchronous control algorithm, employing an adaptive algorithm that automatically optimizes parameters based on load and deviation, sending commands to the servo drive to propel the servo motor for precise synchronous motion. It proactively compensates for potential load changes, actively suppressing imbalances for smoother lifting and lowering.

[0109] For example, the control method in this embodiment adopts closed-loop safety control: forming a closed-loop control loop of "detection-comparison-calculation-execution-feedback" to ensure that the lifting process is smooth, safe and reliable.

[0110] In some embodiments, such as Figure 2 As shown, an embodiment of this application provides a control device 200 for a train engine. The train engine includes a support head for supporting and lifting the train body. The control device 200 for the train engine includes: The acquisition unit 202 is used to acquire the pressure data, tilt angle data and displacement data of each jack during the process of multiple driving machines lifting the train body; The processing unit 204 is used to determine the first velocity corresponding to each support head based on multiple pressure data and multiple displacement data; The determining unit 206 is used to determine the target tilt angle difference between multiple tilt angle data when controlling each support head to move at a corresponding first speed; Control unit 208 is used to control multiple tow heads to move at a preset second speed when the target tilt angle difference is less than a preset tilt angle threshold, so as to raise the train body to a preset height.

[0111] In this embodiment, the control device 200 of the driving machine determines the first speed corresponding to each jack based on multiple pressure data and multiple displacement data corresponding to multiple jacks during the process of multiple driving machines lifting the train body. While controlling each jack to move at the corresponding first speed, it determines the target tilt angle difference between multiple tilt angle data. When the target tilt angle difference is less than the tilt angle threshold, it controls the multiple jacks to move at a preset second speed so that the train body is lifted to a preset height. This achieves real-time and precise control of the speed and height of multiple jacks and improves the control accuracy of multiple driving machines.

[0112] In some embodiments of this application, a control device 200 for a driving machine is provided, and the processing unit 204 is further configured to: The mean of multiple pressure data points is determined to obtain the pressure mean, and the mean of multiple displacement data points is determined to obtain the displacement mean. Determine the difference between each pressure data point and the average pressure value to obtain the pressure difference corresponding to each pressure data point, and determine the difference between each displacement data point and the average displacement value to obtain the displacement difference corresponding to each displacement data point. Based on the pressure difference and displacement difference corresponding to each support head, determine the speed adjustment value corresponding to each support head; The first speed corresponding to each support head is obtained by summing the preset third speed with the speed adjustment value of each support head. The third speed is less than the second speed.

[0113] In some embodiments of this application, a control device 200 for a driving machine is provided, and the processing unit 204 is further configured to: Based on the pressure difference value corresponding to each support head, determine the first speed adjustment value corresponding to each support head; Based on the displacement difference corresponding to each support head, determine the second speed adjustment value corresponding to each support head; The first speed adjustment value and the second speed adjustment value corresponding to each support head are weighted and processed to obtain the speed adjustment value corresponding to each support head.

[0114] In some embodiments of this application, a control device 200 for a driving machine is provided. Each driving machine further includes a motor for driving the tow head to move. The motor includes an encoder. The acquisition unit 202 is further configured to: When the motor drives the support head to move, the cumulative number of pulses and pulse step length of each encoder are obtained; The product of the cumulative pulse count and pulse step length of each encoder is used to determine the displacement data of the corresponding support head.

[0115] In some embodiments of this application, a control device 200 for a driving machine is provided, wherein the control unit 208 is further configured to: The master driving unit is determined from multiple driving units, and the master driving unit is any one of the multiple driving units; Set the movement speed of the main control driving machine's tolerancing head to the second speed; Control multiple support heads to move at the second speed.

[0116] In some embodiments of this application, a control device 200 for a driving machine is provided, wherein the determining unit 206 is further configured to: Determine the maximum value among multiple dip angle data to obtain the first dip angle data, and determine the minimum value among multiple dip angle data to obtain the second dip angle data; Determine the difference between the first dip angle data and the second dip angle data to obtain the target dip angle difference.

[0117] In some embodiments, such as Figure 3 As shown, a control device 300 for a driving machine is proposed. The control device 300 includes a processor 302 and a memory 304. The memory 304 stores a computer program, which, when executed by the processor 302, implements the steps of the driving machine control method as described in any of the above embodiments. Therefore, the control device 300 for the driving machine possesses all the beneficial effects of the driving machine control method in any of the above embodiments, which will not be elaborated further here.

[0118] In some embodiments, a readable storage medium is provided having a program stored thereon, which, when executed by a processor, implements the steps of the vehicle control method as described in any of the above embodiments, and thus has all the beneficial technical effects of the vehicle control method in any of the above embodiments.

[0119] In some embodiments, a computer program product is provided, including computer instructions that, when executed by a processor, implement the steps of the vehicle control method as described in any of the above embodiments, and thus have all the beneficial technical effects of the vehicle control method as described in any of the above embodiments.

[0120] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0121] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-readable program code.

[0122] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0123] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0124] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0125] This application also provides a computer program product, which includes computer software instructions that, when executed on a processing device, cause the processing device to execute a process of a vehicle control method.

[0126] A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0127] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0128] In the several embodiments provided in this application, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between devices or units, and may be electrical, mechanical, or other forms.

[0129] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0130] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0131] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0132] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

[0133] Although preferred embodiments have been described in this specification, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this specification.

[0134] Obviously, those skilled in the art can make various modifications and variations to this specification without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims and their equivalents, this specification is also intended to include such modifications and variations.

Claims

1. A control method of a drive-by-wire machine, characterized by, The driving machine comprises a supporting head for supporting and lifting the train body, and the method comprises: During the process of lifting the train body by multiple driving machines, pressure data, inclination angle data and displacement data of each supporting head are acquired; According to multiple pressure data and multiple displacement data, a first speed corresponding to each supporting head is determined; When each supporting head is controlled to move at the corresponding first speed, a target inclination angle difference between multiple inclination angle data is determined; In the case that the target inclination angle difference is less than a preset inclination angle threshold, multiple supporting heads are controlled to move at a preset second speed, so that the train body is lifted to a preset height.

2. The method of claim 1, wherein, The determination of the first speed corresponding to each supporting head according to multiple pressure data and multiple displacement data comprises: The mean value of multiple pressure data is determined to obtain a pressure mean value, and the mean value of multiple displacement data is determined to obtain a displacement mean value; The difference between each pressure data and the pressure mean value is determined to obtain a pressure difference value corresponding to each pressure data, and the difference between each displacement data and the displacement mean value is determined to obtain a displacement difference value corresponding to each displacement data; According to the pressure difference value and the displacement difference value corresponding to each supporting head, a speed adjustment value corresponding to each supporting head is determined; According to the sum value between a preset third speed and the speed adjustment value of each supporting head, the first speed corresponding to each supporting head is obtained, and the third speed is less than the second speed.

3. The method of claim 2, wherein, The determination of the speed adjustment value corresponding to each supporting head according to the pressure difference value and the displacement difference value corresponding to each supporting head comprises: According to the pressure difference value corresponding to each supporting head, a first speed adjustment value corresponding to each supporting head is determined; According to the displacement difference value corresponding to each supporting head, a second speed adjustment value corresponding to each supporting head is determined; The first speed adjustment value and the second speed adjustment value corresponding to each supporting head are subjected to weighted operation processing to obtain the speed adjustment value corresponding to each supporting head.

4. The method of claim 1, wherein, Each driving machine further comprises a motor for driving the supporting head to move, and the motor comprises an encoder. The displacement data of each supporting head is acquired by: When the motor drives the supporting head to move, the cumulative pulse number and the pulse step length of each encoder are acquired; The product of the cumulative pulse number and the pulse step length of each encoder is determined as the displacement data of the corresponding supporting head.

5. The method of claim 1, wherein, The control of multiple supporting heads to move at a preset second speed comprises: A master driving machine is determined in multiple driving machines, and the master driving machine is any driving machine in multiple driving machines; The moving speed of the supporting head of the master driving machine is set as the second speed; Multiple supporting heads are controlled to move at the second speed.

6. The method according to any one of claims 1 to 5, characterized in that, The determination of the target inclination angle difference between multiple inclination angle data comprises: The maximum value in multiple inclination angle data is determined to obtain a first inclination angle data, and the minimum value in multiple inclination angle data is determined to obtain a second inclination angle data; determine a difference between the first inclination data and the second inclination data to obtain the target inclination difference.

7. A control device for a driver, characterized by The driver includes a head for supporting and lifting the train body, and the device includes: An acquisition unit is configured to acquire pressure data, inclination data, and displacement data of each head during lifting of the train body by multiple drivers; A processing unit is configured to determine a first speed corresponding to each head according to multiple pressure data and multiple displacement data; A determination unit is configured to determine a target inclination difference between multiple inclination data when each head moves at the corresponding first speed; A control unit is configured to control multiple heads to move at a preset second speed to lift the train body to a preset height when the target inclination difference is less than a preset inclination threshold.

8. The apparatus of claim 7, wherein, The processing unit is further configured to: determine a mean value of multiple pressure data to obtain a pressure mean value, and determine a mean value of multiple displacement data to obtain a displacement mean value; determine a difference between each pressure data and the pressure mean value to obtain a pressure difference value corresponding to each pressure data, and determine a difference between each displacement data and the displacement mean value to obtain a displacement difference value corresponding to each displacement data; determine a speed adjustment value corresponding to each head according to the pressure difference value and the displacement difference value corresponding to each head; determine the first speed corresponding to each head according to a sum value between a preset third speed and the speed adjustment value of each head, wherein the third speed is less than the second speed.

9. The apparatus of claim 8, wherein, The processing unit is further configured to: determine a first speed adjustment value corresponding to each head according to the pressure difference value corresponding to each head; determine a second speed adjustment value corresponding to each head according to the displacement difference value corresponding to each head; perform weighted operation processing on the first speed adjustment value and the second speed adjustment value corresponding to each head to obtain the speed adjustment value corresponding to each head.

10. The apparatus of claim 7, wherein, Each driver further includes a motor for driving the head to move, and the motor includes an encoder. The acquisition unit is further configured to: acquire a cumulative pulse number and a pulse step length of each encoder when the motor drives the head to move; determine a product of the cumulative pulse number and the pulse step length of each encoder as the displacement data corresponding to the head.

11. The apparatus of claim 7, wherein, The control unit is further configured to: determine a master driver among multiple drivers, wherein the master driver is any driver among the multiple drivers; set a moving speed of the head of the master driver as the second speed; and control multiple heads to move at the second speed.

12. The apparatus of any one of claims 7-11, wherein, The determination unit is further configured to: determine a maximum value in multiple inclination data to obtain first inclination data, and determine a minimum value in multiple inclination data to obtain second inclination data; and determine a difference between the first inclination data and the second inclination data to obtain the target inclination difference.

13. A control device for a driver, characterized by include: a processor; A memory in which a program or an instruction is stored, and the processor implements the steps of the control method of the driver machine as claimed in any one of claims 1 to 6 when executing the program or the instruction in the memory.

14. A readable storage medium, characterized by, A program or an instruction is stored on a readable storage medium, and the processor implements the steps of the control method of the driver machine as claimed in any one of claims 1 to 6 when executing the program or the instruction.

15. A computer program product, characterised in that, A computer instruction is included, and the computer instruction is executed by the processor to implement the steps of the control method of the driver machine as claimed in any one of claims 1 to 6.

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