Starting and braking control method, mechanical device and hold cleaning equipment for a slewing mechanism

Abstract

The present application provides a method for controlling the start and brake of a slewing mechanism, a mechanical device, and a tank cleaning device, comprising the following steps: obtaining a current change in real time, obtaining an intermediate current value in real time by summing the current current drive value and the current change, and updating the current drive value of the hydraulic valve to the intermediate current value; looping the above comparison and calculation process; wherein the current change gradually increases in a first time period, and / or gradually decreases in a second time period, so that in the process of updating the current drive value to the current target value, the connecting line of all the intermediate current values is partially or entirely a smooth curve. This control method significantly reduces or even avoids the situation of sudden changes in the current value by regulating the change process of the hydraulic valve current value, controls the change amplitude of the slewing action, and realizes smooth start and brake control of the slewing mechanism, thereby solving the problem of insufficient precision in the start and brake control of the slewing mechanism and sudden changes in the action in the prior art.

Description

Technical Field

[0001] The present application relates to the field of mechanical control technology, and in particular to a method for controlling the starting and braking of a slewing mechanism, a mechanical device, and a cabin cleaning device. Background Art

[0002] The rotation mechanism at the end of a mechanical device or robotic arm typically operates by controlling the hydraulic system with an electrical system. For example, hydraulic flow is adjusted by current changes in a proportional valve, thereby achieving hydraulic drive. The combination of mechanical rotation and hydraulic drive results in high inertia, nonlinearity, and large hysteresis. When operating a mechanical device with work attachments, the mechanical device's starting and braking controls are not smooth enough, and the work attachments are prone to sudden or large displacement changes, such as sudden increases or decreases in speed, resulting in sudden and impactful movements. When using a mechanical device to perform delicate or gentle movements, such as tank clearing operations, this will directly affect the operating efficiency of the mechanical device and can also easily damage the bulkhead of the work object. Summary of the Invention

[0003] In view of this, the embodiments of the present application are dedicated to providing a method for starting and braking control of a rotary mechanism. By regulating the change process of the current value of the proportional valve, the change amplitude of the rotary action is controlled, the starting and braking control effect is optimized, and smooth starting and braking control is achieved. This solves the problem in the prior art that the control of the rotary mechanism is not fine enough, resulting in sudden changes in the rotary action or sudden large displacement, which makes the rotary mechanism unable to perform fine operations.

[0004] On one hand, the present application provides a method for controlling the start and brake of a slewing mechanism, comprising the following steps:

[0005] According to the real-time rotation angle of the handle, the rotation value of the handle is obtained in real time;

[0006] Obtaining a current target value X of the hydraulic valve in real time according to the rotation value;

[0007] Compare the current target value X with the current current driving value Y of the hydraulic valve, and obtain the current change ΔY in real time by calculation, and obtain the intermediate current value Y in real time by the sum of the current current driving value Y and the current change ΔY t , update the current driving value Y of the hydraulic valve to the intermediate current value Y t size;

[0008] The above comparison and calculation process is repeated so that the current driving value Y gradually changes to the current target value X;

[0009] Wherein, at least part of the time, the current change amount ΔY gradually changes with time, and the change process includes a first time period and / or a second time period. In the first time period, the current change amount ΔY gradually increases, and in the second time period, the current change amount ΔY gradually decreases, so that in the process of updating the current current driving value Y to the current target value X, all the intermediate current values Y t At least part of the line connecting them is a smooth curve.

[0010] In one possible embodiment, during the process of updating the current current driving value Y to the current target value X, the current change ΔY gradually changes over time, and the change process includes the first time period and the second time period, so that the connection line of all the intermediate current values ​​Yt is a smooth curve as a whole; the control method also includes the following contents: comparing the current target value X with the current driving value Y; when the current target value X is greater than the current driving value Y, obtaining the intermediate current value Y through the first calculation process t When the current target value X is less than the current driving value Y, the intermediate current value Y is obtained by the second calculation process t .

[0011] In a possible implementation, the first calculation process is:

[0012] Get the current change rate value V in real time t , the current change rate value V t The minimum of the first speed change value, the maximum positive speed value, and the second speed change value. The first speed change value is calculated based on the maximum positive acceleration value and the current change speed value V at the previous moment. t-1 The second speed change value is obtained according to the following two parameters: the difference between the current driving value Y and the current target value X, and the maximum negative acceleration value;

[0013] The current variation ΔY is obtained, and the current variation ΔY is the minimum of the first current value and the second current value, and the first current value is the current variation speed value V t The product of the second current value and the time parameter, the second current value is the difference between the current target value X and the current driving value Y;

[0014] Obtain the intermediate current value Y t , the intermediate current value Y t The current driving value Y at the previous moment t-1 and the sum of the current change ΔY.

[0015] In a possible implementation manner, the second calculation process is:

[0016] Get the current change rate value V t , the current change rate value V t The third speed change value is the largest of the third speed change value, the maximum negative speed value, and the fourth speed change value. The third speed change value is calculated based on the maximum negative acceleration value and the current change speed value V at the previous moment. t-1 Obtaining the fourth speed change value according to the following two parameters: a difference between the current target value X and the current driving value Y, and a maximum positive acceleration value;

[0017] The current change ΔY is obtained, and the current change ΔY is the maximum of the third current value and the fourth current value, and the third current value is the current change speed value V t The fourth current value is the product of the current target value X and the time parameter, and the fourth current value is the difference between the current target value X and the current current driving value Y;

[0018] Obtain the intermediate current value Y t , the intermediate current value Y t The current driving value Y at the previous moment t-1 and the sum of the current change ΔY.

[0019] In one possible embodiment, the rotation value is the product of the original rotation value and the rotation coefficient, and the rotation coefficient is obtained according to the angle range in which the deflection angle of the rotating platform at the previous moment is located; the angle range is divided into a safe angle range and an unsafe angle range, and the braking control method also includes the following steps: obtaining the deflection angle of the rotating platform of the rotating mechanism, judging whether the deflection angle is in the safe angle range, when it is in the safe angle range, the value of the rotating system is a positive number not greater than 1; when it is not in the safe angle range, obtaining the rotation direction of the handle, if the rotating platform moves in the direction of the position corresponding to the safe angle range, the safety factor is a positive number not greater than 1; if the rotating platform moves in the direction away from the position corresponding to the safe angle range, the value of the rotation coefficient is zero.

[0020] In a possible implementation, the safety angle interval is divided into a plurality of rotation angle intervals according to the angle value, the value of the rotation coefficient corresponds one-to-one to each of the rotation angle intervals, and decreases as the absolute value of the endpoint angle of each of the rotation angle intervals increases.

[0021] In a possible implementation, each of the rotation angle intervals includes a positive angle interval and a negative angle interval; within the same rotation angle interval, the absolute values of the endpoint angles corresponding to the positive angle interval and the negative angle interval are the same.

[0022] In a possible implementation, within the same rotation angle interval, the absolute value of the difference between the endpoint angles of the positive angle interval and the absolute value of the difference between the endpoint angles of the negative angle interval are both ten degrees.

[0023] In a possible implementation manner, the first speed change value is the current change speed value V at the previous moment. t-1 and the sum of the first proposed speed value, where the first proposed speed value is the product of the maximum positive acceleration value and the time value; the second speed change value is the product of the second proposed speed value and the maximum negative acceleration value, where the second proposed speed value is obtained according to the following parameters: the square root of the difference between the current target value X and the current current drive value Y.

[0024] In a possible implementation manner, the third speed change value is the current change speed value V at the previous moment. t-1 and the sum of the third proposed speed value, the third proposed speed value is the product of the maximum negative acceleration value and the time value; the fourth speed change value is the product of the fourth proposed speed value and the maximum negative acceleration value, and the second proposed speed value is obtained according to the following parameters: the square root of the difference between the current target value X and the current current drive value Y.

[0025] The present application provides a server-side device, including a processor and a memory, wherein the memory stores a program, and the processor calls the program to execute the starting and braking control method of the slewing mechanism as described in any one of the above items.

[0026] On the other hand, the present application also provides a mechanical device, which is provided with a slewing mechanism, a handle, a hydraulic system for driving the displacement of the slewing platform of the slewing mechanism, and a control system for controlling the hydraulic system. The hydraulic system includes a hydraulic valve for adjusting the hydraulic flow. An encoder is provided on the rotating shaft of the handle. The control system is provided with a server-side device as described above. The server-side device is communicatively connected with the encoder and the hydraulic valve, receives the signal from the encoder, runs a program to execute the starting and braking control method of the slewing mechanism, and adjusts the current value of the hydraulic valve.

[0027] The present application also provides a tank cleaning device provided with the mechanical device described above.

[0028] According to the start-and-brake control method of the rotary mechanism provided in the present application, the opening and closing degree of the hydraulic valve is adjusted by adjusting the current value of the hydraulic valve to control the hydraulic flow, and the hydraulic flow drives the rotary action. Therefore, by adjusting the change process of the current value of the hydraulic valve, the action change trend of the rotary action can be adjusted; at the same time, in the present application, the change process of the current value is not directly changed from the current current driving value Y to the current target value X, but by obtaining multiple intermediate current values Y t , so that the current driving value Y changes gradually and smoothly to the current target value X, such as gradually increasing or decreasing from the current driving value Y until the current target value X is reached.

[0029] In this process, the change law of the current value is not always linear, but has a curve change stage, which includes a first time period and / or a second time period. In the first time period, the current change ΔY gradually increases, that is, the intermediate current value Y t The speed of change gradually increases, and the current driving value Y increases or decreases, and the speed of change gradually increases; in the second time period, the current change ΔY gradually decreases, that is, the intermediate current value Y t The rate of change of the current value gradually decreases, and the rate of change of the increase or decrease of the current driving value Y gradually slows down. In this way, the process of the current driving value Y changing to the current target value X is very smooth, and the connection line of all the intermediate current values in the process is at least partially or even entirely in the shape of a smooth curve, without a sudden change in the current value. Therefore, the method of the present application improves the degree of fine control over the change of the current value, and by controlling the amount of change of the current value, the current value changes nonlinearly, but changes according to the law of a smooth curve in some time periods or even the entire time period, and can achieve the optimal effect that the connection line of all the current values output in the entire time period from Y to X is a smooth curve, which can significantly reduce or even avoid a large sudden change in the rotation speed, and achieve the purpose of avoiding sudden changes or impacts in the action of the rotary mechanism, so that the rotary mechanism can perform fine operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 FIG. 1 shows how the current value of a hydraulic valve changes with time in the prior art.

[0031] Figure 2 Shown is a flow chart of the start-brake control method of the slewing mechanism in an embodiment of the present application.

[0032] Figure 3 The figure shows how the current value of the hydraulic valve changes over time in the embodiment of the present application. DETAILED DESCRIPTION

[0033] The present invention provides a method for controlling the start and brake of a slewing mechanism. By regulating the current value of a proportional valve, the amplitude of the slewing motion is controlled, optimizing the start and brake control effect, achieving smooth start and brake control, and ensuring smooth slewing motion. This method avoids sudden large displacement changes or rapid, impactful movements during the motion process, thereby enabling the slewing mechanism to perform precise operations with high efficiency and minimal damage. The present invention also provides a slewing mechanism and a tank cleaning machine that utilize this control method.

[0034] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0035] like Figure 2-Figure 3 As shown, an embodiment of the present application provides a method for controlling the start and brake of a rotary mechanism, which is used to control the amplitude of the rotary action of the rotary mechanism to achieve a smooth change of the rotary action, significantly reducing or even avoiding large-scale mutations or rapid impact actions during the action.

[0036] Therefore, we will first analyze the factors that influence the sudden change in the swing mechanism's movement amplitude. The swing mechanism is driven by hydraulic flow, and the amount of hydraulic flow controls the swing mechanism's movement amplitude. The hydraulic flow rate is regulated by the opening and closing of a hydraulic valve (such as a proportional valve) at the oil inlet. Therefore, adjusting the current value of the proportional valve to adjust the opening and closing of the proportional valve can adjust the hydraulic pressure, thereby controlling the swing mechanism's movement. When the swing mechanism is required to move, the operator turns the handle. Left rotation of the handle corresponds to a hydraulic valve that controls the swing mechanism's left rotation, while right rotation of the handle corresponds to a hydraulic valve that controls the swing mechanism's right rotation. The control system obtains the handle's rotation direction and angle. As the handle is turned, the handle value changes in real time, and the corresponding proportional valve's target current value X is obtained in real time to drive the swing platform to the target position. The current current value Y is changed to the target current value X, and the hydraulic flow rate changes, thereby driving the swing movement and causing the swing mechanism to move in response to the handle operation.

[0037] Therefore, the change of current value affects the movement amplitude of the rotary mechanism. The changing trend of current value is the changing law. For example, whether the current value changes too fast or too violently, that is, whether there is a turning point with large fluctuations in the speed of change of current value. To broaden the understanding, it can also be reflected at the acceleration level, that is, whether the acceleration of the current value change changes suddenly between values with large differences, which determines whether the amplitude change of the rotary action has sudden changes and whether there is a sudden large-amplitude movement.

[0038] Based on the above analysis, the start-and-brake control method of the rotary mechanism provided in this embodiment includes the following steps (the order of the following steps is not limited, and only step one and step two represent different steps). Step one, obtain the rotation angle value of the handle in real time, set the rotation angle value and the rotation value to be in a regular and fixed mapping relationship, then obtain the real-time rotation value of the handle corresponding to the rotation angle value, set the rotation value and the current value of the corresponding proportional valve to be in a mapping relationship, the left-turn rotation value is fixedly mapped to the current value of the proportional valve that controls the left turn, and the right-turn rotation value is fixedly mapped to the current value of the proportional valve that controls the right turn, that is, one rotation value corresponds to one current value, so, according to the obtained rotation value, the current target value X of the corresponding proportional valve can be obtained in real time. With such a setting, the current target value X is fixedly corresponding to the rotation angle of the rotary handle, and the accurate proportional valve current target value X can be obtained according to the rotation angle value of the handle. The setting is reasonable, and the numerical value corresponds accurately and finely.

[0039] Step 2: Obtain the current driving value Y of the proportional valve in real time, compare the current target value X with the current driving value Y, and obtain the current change ΔY in real time by calculation; obtain the intermediate current value Y in real time t , intermediate current value Y t Obtained by the sum of the current current drive value Y and the current change ΔY; the current drive value Y of the proportional valve is updated to the intermediate current value Y t The above comparison and calculation process is repeated to gradually change the current driving value Y to the current target value X. In this way, the present embodiment does not directly change the current driving value Y to the current target value X, but obtains multiple intermediate current values Y. t , so that the current driving value Y changes to multiple intermediate current values Y in sequence t The size of the current is updated in real time, continuously increasing or decreasing, and finally reaching the current target value X. This method causes the current current driving value Y to gradually and smoothly change to the current target value X, such as gradually increasing or decreasing from the current current driving value Y until the current target value X is reached.

[0040] At the same time, in step 2, through the preset calculation process, the current change ΔY is not always a fixed value, but will gradually change with time at least part of the time, that is, in the at least part of the time, the intermediate current value Y calculated in real time t The speed of change changes gradually with time; it can also be the current change ΔY and the intermediate current value Y in the entire time period. t The speed of change changes gradually with time. According to the change situation, the change stage includes the first time period and / or the second time period. In the first time period, the current change ΔY (the difference between the two adjacent current values before and after the same time interval) gradually increases, that is, the intermediate current value Yt The speed of change gradually increases, that is, the current driving value Y increases or decreases, and the speed of change gradually increases; in the second time period, according to the time sequence, the current change ΔY (the difference between the two adjacent current values in the same time interval) in the same time gradually decreases, that is, the intermediate current value Y t The change rate of shows a gradually decreasing law, that is, the current driving value Y increases or decreases, and the change rate gradually decreases. It can be seen that in the first time period, the current value changes (increases or decreases) faster, and in the second time period, the current value changes (increases or decreases) slower.

[0041] It can be seen that when the current driving value Y is updated to the current target value X, all the intermediate current values Y t The connection is no longer Figure 1 When the change phase only includes the first time period or the second time period, part of the line is a smooth curve. When the change phase includes the first time period and the second time period, the sum of the two time periods is the entire time from Y to X, that is, all intermediate current values Y t The overall change law of is not a linear change, but changes according to the law of a smooth curve. With this setting, the value changes very slowly during the entire process from the current driving value Y to the current target value X, maintaining a gentle change range, that is, the current value gradually increases or decreases, showing a gentle change. All intermediate current values Y in this process are t The connecting line is in a smooth curve shape at least in part or as a whole, and there is no sudden change in the current value.

[0042] Therefore, the starting and braking control method of the rotary mechanism provided in this embodiment significantly improves the control accuracy and precision of the current value change of the proportional valve, and controls the amplitude of the current change by controlling the numerical value of the current value increment, so that the current value changes nonlinearly, and there will be some moments or most moments, or even the entire moment, showing a curve-like change trend, changing according to the law of the smooth curve, maintaining a gentle change amplitude, so that the current change of the proportional valve is very smooth and there is no sudden change or large change in the current value. It can significantly reduce or even avoid large-scale mutations in the change speed of the rotary action, thereby achieving the purpose of avoiding sudden changes or rapid large-scale displacements in the action of the rotary mechanism and enabling the rotary mechanism to perform fine operations.

[0043] Figure 1The figure shows the change of the current value of a proportional valve in the prior art. It can be seen that if the current current driving value Y is directly linearly changed to the current target value X, and the current change amount is constant, the current value will change too quickly and violently, and the speed of change of the current value will fluctuate greatly, with sudden changes. For ease of understanding, it can also be reflected at the acceleration level: the speed of change of the current value has sudden changes, and the acceleration is manifested as a sudden change from zero to a certain value, and then a sudden change from this value directly to zero. It can be seen that if the current value increases in the process of changing from the current driving value Y to the current target value X (correspondingly, the speed of change of the current value and the acceleration of the change have sudden changes), if it changes according to a linear law, it will be impossible to avoid sudden changes or large displacements in the movement of the rotary mechanism, and the rotary mechanism will not be able to perform fine operations.

[0044] The present embodiment provides a method for controlling the start and brake of the rotary mechanism, which can control the change law of the current change at each moment, so that the current value can be adjusted in part or in whole as follows: Figure 3 In the priority scheme, when the current value Y changes to the target current value X, the current change ΔY will always change gradually over time, and the intermediate current value Y calculated in real time t The speed of change also changes gradually with time. The change stage includes the first time period and the second time period. The sum of the two time periods is the entire time from Y to X. Then, the growth rate of the current value first increases gradually, and then gradually decreases until the current value reaches the target value. All intermediate current values Y t The overall change law of is not a linear change, but changes according to the law of a smooth curve. All the intermediate current values Y in this process t The line connecting the two is a smooth curve, such as Figure 3 As shown in the figure, there is no sudden change in the current value, and the whole process is smooth.

[0045] Therefore, the start-brake control method of the rotary mechanism provided in this embodiment not only realizes the gradual change of the proportional valve current value, but also further enables the current driving value Y to maintain a gentle change amplitude, and gradually and smoothly changes to the current target value X. The overall change law of all current values is not a linear change, but changes according to the law of a smooth curve. All intermediate current values Y in this process are t The connecting line is a smooth curve as a whole, and there is no sudden or large change in the current value, which ensures smooth and fine control of the current, optimizes the starting and braking control effect of the rotary mechanism, realizes smooth starting and braking control, and makes the rotary action of the rotary mechanism change smoothly, avoiding sudden changes in large displacement or rapid impact actions during the action, so that the rotary mechanism can perform fine operations with high efficiency and low damage.

[0046] like Figure 2 As shown, in one embodiment, the rotation value is the product of the original rotation value and the rotation coefficient, and the rotation coefficient is obtained based on the angle interval to which the deflection angle of the rotating platform at the previous moment belongs. In the control method of this embodiment, a correspondence between the rotation coefficient and the angle interval is set, that is, different angle intervals correspond to different rotation coefficients. When the rotating platform of the rotating mechanism is in the original position relative to the robotic arm, the deflection angle of the rotating platform is zero. As the rotating platform deflects left and right, the rotating platform has an angle relative to the original position, that is, the deflection angle. According to the value of the deflection angle, the angle interval is divided into a safe angle interval and an unsafe angle interval.

[0047] The braking control method in this embodiment also includes the following steps: obtaining the deflection angle of the rotating platform of the rotating mechanism, and judging whether the deflection angle is in the safe angle range; when it is in the safe angle range, the value of the rotating system is a positive number not greater than 1; when it is not in the safe angle range, obtaining the rotation direction of the handle, if the rotating platform is moved to the position area corresponding to the safe angle range, the safety factor is a positive number not greater than 1; if the rotating platform is moved to the position area away from the safe angle range, the value of the rotation coefficient is zero.

[0048] As can be seen, if the rotation coefficient corresponding to the safe angle range is positive, the rotation value is positive, and the corresponding proportional valve current value is also positive, allowing the rotary platform to rotate normally and operate. The endpoint angle of the safe angle range is defined as the maximum deflection angle for normal operation of the rotary platform. If the deflection angle of the rotary platform exceeds the maximum deflection angle, it is within the unsafe angle range. At this time, the handle rotation direction needs to be determined to determine whether the rotary platform is moving closer to or further away from the original position.

[0049] If the slewing platform is moved in a direction closer to the original position, that is, rotated toward the position area corresponding to the safe angle range, the corresponding slewing coefficient is a positive number. If the slewing platform is rotated in a direction away from the original position, that is, rotated toward the position area corresponding to the unsafe angle range, the slewing coefficient is zero. By setting the slewing coefficient to zero, the handle rotation value and the corresponding proportional valve current value obtained by the control system are reset to zero, thereby limiting the excessive rotation of the slewing platform. With this setting, even if the handle is accidentally touched or an operation error occurs, the excessive rotation of the slewing platform can be limited, preventing the slewing platform from continuing to rotate in the unsafe area and making the slewing platform work within the safe angle range to avoid mechanical failure or safety accidents.

[0050] The endpoint angle values of the safety angle range correspond to the maximum deflection angles of the normal rotation of the slewing platform. The two endpoint angle values correspond to the left deflection angle value and the right deflection angle value respectively. They can be set according to the specific application site and the specific structural design of the slewing mechanism. If used in cabin cleaning operations, the value range of the maximum deflection angle is 125°-135° and -125° to -135°.

[0051] It should be noted that the positive and negative here represent the left deflection direction and the right deflection direction. For example, if the left deflection direction is set to the positive direction, the angle values in the flat angle range on the left side of the center line of the original position are all positive. If the rotary platform deflects to the left from the original position, or rotates within the range on the left side of the original position, the deflection angles are all positive; and the angle values in the flat angle range on the right side of the original position are all expressed as negative numbers.

[0052] For example, the limit deflection angle for left deflection is 130°, and the limit deflection angle for right deflection is -130°. The safe angle range is 130 to -130°, and the angles outside of this range are considered unsafe angles. For example, if a slewing platform is in a left deflection and within the safe angle range, and the handle continues to turn left, driving the slewing platform to continue to deflect to the left, when the slewing platform reaches the limit deflection angle of 130°, if the handle continues to turn left, the left deflection angle of the slewing platform exceeds 130°, and the slewing coefficient becomes zero. This causes the control system to obtain a zero handle slewing value, the corresponding proportional valve current value to become zero, and the slewing platform stops and cannot continue to move to the left. At this point, if the handle is turned right, causing the slewing platform to rotate toward its original position, the slewing coefficient becomes positive, and the slewing platform can rotate. Furthermore, when the slewing platform rotates within the position area corresponding to the safe angle range, the slewing coefficient is positive, and the control system obtains a corresponding positive proportional valve current value, allowing the slewing platform to deflect.

[0053] At the same time, the rotation value of the handle corresponds to the current value of the proportional valve. One rotation value corresponds to one current value of the proportional valve. When a staff member rotates the handle to drive the rotary platform, the degree of rotation of the handle affects the current value of the proportional valve and the amplitude of the rotary motion. However, when the handle is operated by the staff, it is easy to over-rotate, which can easily cause the rotary motion to suddenly change, increase the amplitude of the motion, or make the rotation angle larger than expected. To address this problem, in this embodiment, the rotation coefficient corresponding to the safe angle range is defined as a positive number not greater than 1. When the deflection angle of the rotary platform is in the unsafe angle range and changes toward the safe angle range, the rotation coefficient is also a positive number not greater than 1. In this way, the proportional relationship between the handle rotation angle and the corresponding proportional valve current value is reduced, eliminating the adverse influence factor of the handle rotation amplitude being greater than the actual required amplitude, optimizing the control effect, and achieving precise control of the rotation angle and fine control of the rotary motion.

[0054] Furthermore, based on the angle value, the safety angle interval is further divided into multiple rotation angle intervals. The value of the rotation coefficient corresponds to each rotation angle interval one by one, and decreases as the absolute value of the endpoint angle of each rotation angle interval increases. That is, the closer the rotation angle interval is to the original position, the larger the rotation coefficient value is, and the closer the rotation angle interval is to the extreme deflection angle, the smaller the rotation coefficient is.

[0055] The greater the deflection of the slewing platform, the greater the absolute value of the slewing platform's deflection angle. At this point, the operator's manipulation of the handle to drive the slewing platform becomes greater, making it more likely that the handle's movement will exceed actual requirements. Therefore, the slewing coefficient decreases as the absolute value of the angle increases. As the slewing platform's deflection angle decreases, the degree to which the handle's movement exceeds actual requirements decreases, and thus the slewing coefficient increases. When the slewing platform's deflection angle is within the unsafe angle range and moving toward the safe angle range, the value of this slewing coefficient can be the same as the slewing coefficient corresponding to the slewing angle range with the largest absolute endpoint angle. This setting achieves a balanced and stable control effect.

[0056] The division of the rotation angle interval is based on the influence of the rotation amplitude. Therefore, the intervals with the same degree of left and right deflection with the original position center line as the center can be classified into the same rotation angle interval. Figure 2 As shown, each rotation angle interval includes a positive angle interval (corresponding to left deflection) and a negative angle interval (corresponding to right deflection); the absolute values of the angles in the positive and negative angle intervals are in the same range. Within the same rotation angle interval, the absolute values of the corresponding endpoint angles in the positive and negative angle intervals are the same.

[0057] The division of the rotation angle intervals is determined according to the rotation amplitude of the rotating platform, and the specific number can be specifically set. In one embodiment, the safe angle interval is 130° to -130°, and the angle range of each rotation angle interval, that is, the difference between the two endpoints, can be ten degrees. The safe angle interval is divided into four rotation angle intervals, including a first rotation angle interval with an angle range of 0 to 100° and 0 to -100°; a second rotation angle interval with an angle range of 100° to 110° and -100° to -110°; a third rotation angle interval with an angle range of 110° to 120° and -100° to -110°; and a fourth rotation angle interval with an angle range of 120° to 130° and -120° to -130°.

[0058] The value of the rotation coefficient decreases as the absolute value of the endpoint angle of the rotation angle interval increases, and can change in a linear relationship. In one embodiment, the safety angle interval is divided into four rotation angle intervals. The first rotation angle interval is the angle interval including the original position, and the corresponding rotation coefficient is 1. The second rotation angle interval is the interval adjacent to the first rotation angle interval, and the corresponding rotation coefficient is 0.8. The second rotation angle interval is the interval adjacent to the first rotation angle interval, and the corresponding rotation coefficient is 0.6. The third rotation angle interval is the interval adjacent to the first rotation angle interval, and the corresponding rotation coefficient is 0.4.

[0059] When the new rotation value is obtained by the rotation coefficient and the rotation value at the previous moment, the corresponding new proportional valve current value can be obtained, that is, the current target value X mentioned above. When the current driving value Y of the proportional valve is changed to the current target value X, the current change ΔY is first calculated, and then the intermediate current value Y is obtained. t , by updating the current change ΔY in real time, the intermediate current value Y at each moment is obtained t , intermediate current value Y t Gradually approach the current target value X.

[0060] The current current driving value Y changes to the current target value X, which can be divided into two cases: increasing and decreasing. Therefore, in the starting and braking control method of the rotary mechanism, after obtaining the current target value X and the current current driving value Y, the current target value X and the current current driving value Y are compared: when the current target value X is greater than the current current driving value Y, the intermediate current values Y that are positive and increasing are obtained through the first calculation process. t When the current target value X is less than the current driving value Y, the decreasing intermediate current values Yt are obtained through the second calculation process.

[0061] Specifically, in one embodiment, the first calculation process includes the following: Step 1: obtaining the current change rate value V t , current change rate value V t The minimum of the first speed change value, the maximum positive speed value, and the second speed change value, wherein the first speed change value is calculated based on the maximum positive acceleration value and the current change speed value V at the previous moment. t-1 The second speed change value is obtained according to the following two parameters: one is the difference between the current driving value Y and the current target value X, and the other is the maximum negative acceleration value;

[0062] The second step is to obtain the current change ΔY, which is the minimum of the first current value and the second current value. The first current value is the current change speed value V. t The product of the second current value and the time parameter is the difference between the current target value X and the current current driving value Y;

[0063] The third step is to obtain the intermediate current value Y t , intermediate current value Y t The current driving value Y at the previous moment t-1 The sum of the current change ΔY.

[0064] Get the intermediate current value Y t After that, the current driving value Y of the previous moment is t-1 The value of the intermediate current Y is updated t The size of the current is then driven by the new current value Y t and the current target value X t Compare and calculate again to get the intermediate current value Y at the next moment t+1 , and repeat this cycle until the current driving value Y changes to the current target value X.

[0065] In the first calculation process, the maximum positive acceleration value, the maximum negative acceleration value and the maximum positive speed can all be preset values. They can be set specifically according to application requirements, which is equivalent to setting the maximum proposed value of the signal change speed and the acceleration limit. The first speed change value is based on the maximum positive acceleration value and the current change speed value V at the previous moment. t-1 The first value is obtained, which is equivalent to the speed change value at adjacent moments under the preset maximum positive acceleration; the second speed change value is obtained based on the difference between the current driving value Y and the current target value X, and the maximum negative acceleration. Both are obtained based on relevant parameters, which is equivalent to obtaining the speed change value under the second relevant condition. The two related speed change values are compared with the set maximum positive speed value, and the smallest one is taken as the current change speed value V t , so that the current changes at this speed value. With this setting, the output current change speed value V t , the two set constraints are met, which can ensure that the current change rate value V t It will not be too large, will not produce mutations, and will not increase sharply, laying the foundation for the change in current value to not increase sharply.

[0066] In the second step of the first calculation process, the current change ΔY is not directly set to the current change rate value V t The product of the current and the time parameter is the first current value. Instead, a second current value is set, and the current change ΔY takes the minimum of the first and second current values; the second current value is the difference between the current target value X and the current current drive value Y. In this way, the current change ΔY is constrained and optimized again, making it smaller than the difference between the current target value X and the current current drive value Y. Combined with the third step, the intermediate current value Y t The current driving value Y at the previous moment t-1The constraint condition in the second step ensures that the current does not change directly from Y to X.

[0067] Combined with the analysis of each step of the first calculation process, it can be seen that through the first calculation process, under the dual constraints of signal change speed and signal change acceleration, the signal change speed is limited to not be too large, not abrupt change, thereby limiting the current change ΔY not too large and less than the difference between X and Y, and not abrupt change, so that each intermediate current value Y t It changes gradually according to the law of a smooth curve, without any sudden or large changes.

[0068] Based on the same concept, in one embodiment, the second calculation process includes the following steps: the first step is to obtain the current change rate value V t , current change rate value V t The third speed change value is the largest of the third speed change value, the maximum negative speed value, and the fourth speed change value. The third speed change value is calculated based on the maximum negative acceleration value and the current change speed value V at the previous moment. t-1 The fourth speed change value is obtained according to the following two parameters: the difference between the current target value X and the current current driving value Y, and the maximum positive acceleration value;

[0069] The current change ΔY is obtained. The current change ΔY is the maximum of the third current value and the fourth current value. The third current value is the current change speed value V. t The fourth current value is the product of the current target value X and the current current driving value Y;

[0070] Get the intermediate current value Y t , intermediate current value Y t The current driving value Y at the previous moment t-1 The sum of the current change ΔY.

[0071] The second calculation process also uses parameter constraints such as the maximum negative acceleration, the maximum negative speed, and the maximum positive acceleration, and performs dual constraints from the two levels of speed and acceleration. Since the second calculation process is to decrease the current value, the current change amount ΔY is a negative value, so in the calculation, the current change speed value is also recorded as a negative value. "Negative" only means that the current value is a decreasing change, but it does not limit the actual change speed to be negative. In fact, the change in current value generates a change speed, and the change speed itself cannot be a negative number. In the first step, the third speed change value is obtained through the maximum negative acceleration, which is equivalent to obtaining a current change speed value under a proposed maximum negative acceleration; the fourth speed change value is obtained through the difference between the current target value X and the current current driving value Y, and the maximum positive acceleration value. Then, subject to the constraints of the proposed maximum positive acceleration and the difference variable, the speed change value under the second constraint condition is obtained. The two related speed change values are compared with the set maximum negative speed value, and the maximum one is taken as the current change speed value V. t , so that the current changes at this speed value. With this setting, the output current change speed value V t , the two set constraints are met. Based on the fact that the current change rate value Vt is a negative value, the largest of the three, that is, the one with the smallest absolute value, represents the actual minimum change rate, which can ensure that the current change rate will not be too fast, will not produce mutations, and will not increase sharply, laying the foundation for the change in the current value to not increase sharply.

[0072] In the second step of the second calculation process, the current change ΔY is not directly set to the current change rate value V t The product of the third current value and the time parameter is the third current value. Instead, a fourth current value is set, and the current change ΔY takes the maximum of the third current value and the fourth current value; the fourth current value is the difference between the current target value X and the current current drive value Y. With this setting, the current change ΔY is constrained and optimized again, and based on the difference between the current target value X and the current current drive value Y and the third current value are all negative values, the maximum is taken as the current change ΔY, so that the current change amplitude is smaller than the change amplitude between the current target value X and the current current drive value Y. Combined with the third step, the intermediate current value Y t The current driving value Y at the previous moment t-1 The constraint condition in the second step ensures that the current does not change directly from Y to X.

[0073] From the above, we can see that the first calculation process uses the difference between the current target value X and the current current driving value Y, the maximum positive acceleration, the maximum positive speed and the maximum negative acceleration and other parameter constraints. The second calculation process uses the difference between the current target value X and the current current driving value Y, the maximum negative acceleration, the maximum negative speed and the maximum positive acceleration and other parameter constraints. Both of them impose multiple constraints on the change process of the current value from three aspects: current speed, current change acceleration and change amount, to ensure that the current value changes according to the law of the smooth curve, and to ensure that all current values in the change process are connected to form a smooth curve, such as Figure 3 shown.

[0074] In one embodiment, the first calculation process and the second calculation process are set according to the above embodiment, and the rotation coefficient is also set according to the above embodiment. In this embodiment, the current value is simultaneously controlled by multiple dimensions such as the rotation angle range, the current change speed and the current change acceleration. The control is fine and accurate, and good smooth starting and braking control of the rotating mechanism is achieved, avoiding the rotating action of the rotating mechanism with sudden changes, mutations and large displacements, etc., so that the rotating action is continuous, smooth and smooth.

[0075] At the same time, the maximum positive acceleration, maximum positive velocity, maximum negative acceleration and maximum negative velocity can be set according to specific application requirements, thereby optimizing the control of the current value. On the basis of smooth starting and braking, the rotation action can not only meet actual needs but also ensure work efficiency.

[0076] In one embodiment, the first speed change value is the current change speed value V at the previous moment. t-1 The sum of the first proposed speed value, which is the product of the maximum positive acceleration value and the time value, is determined based on the duration of the last change in the current value. Thus, the first speed change value is the rate of change of the current under the preset maximum positive acceleration during that duration. The second speed change value is the product of the second proposed speed value and the maximum negative acceleration value. The second proposed speed value is obtained based on the square root of the difference between the current target value X and the current drive value Y. For example, the second proposed speed value is the square root of four times the difference. The second speed change value is equivalent to the rate of change of the current under the proposed maximum negative acceleration during the duration calculated based on the difference.

[0077] Based on the same concept, the third speed change value is the current change speed value V at the previous moment. t-1The sum of the first and third proposed speed values is the product of the maximum negative acceleration value and the time value, and the time is determined according to the last operation time of the control system; the fourth speed change value is the product of the fourth proposed speed value and the maximum negative acceleration value, and the second proposed speed value is obtained according to the following parameters: the square root of the difference between the current target value X and the current current driving value Y, for example, the second proposed speed value is the square root of four times the difference. Of course, in other embodiments, the first speed change value and the third speed change value can also be obtained based on other calculations, such as the current change speed value V t Similarly, the second speed change value and the fourth speed change value can also be obtained through other calculations, such as the product of the maximum acceleration and time.

[0078] According to the above embodiment, the first calculation process is converted into a specific calculation formula, which is the following formula:

[0079] V t =min(V t-1 +A_UP*cycleTime,Vu_max);

[0080] V t =min(V t ,sqrt(YX)*2*A_DN);

[0081] ΔY=min(V t* cycleTime,XY);

[0082] y t =Y t-1 +ΔY;

[0083] Y t =y t.

[0084] The second calculation process is transformed into a specific calculation formula, which is the following formula:

[0085] V t =max(V t-1 +A_DN*cycleTime,Vd_max);

[0086] V t =max(V t ,-sqrt(YX)*2*A_UP);

[0087] ΔY=max(V t* cycleTime,XY);

[0088] y t =Y t-1 +ΔY;

[0089] Y t =y t.

[0090] Among them, V t is the current change rate value at time T, A_UP is the maximum positive acceleration value, cycleTime is the duration of the last current change, Vu_max is the maximum positive speed value, Vd_max is the maximum negative speed value, A_DN is the maximum negative acceleration value, ΔY is the current change, y t is the intermediate current value at time T, Y t is the current driving value at time T.

[0091] In other embodiments, the first calculation process and the second calculation process may also be in other forms, such as the intermediate current value Y t It is the proportional relationship between the current driving value Y and the sum of the current change ΔY; alternatively, the current change ΔY or the current value is set as a function value of the change speed and time, or as a function value of the acceleration and time, so that the change law of the current value is a smoothly changing curve.

[0092] An embodiment of the present application also provides a server-side device, including a processor and a memory, wherein the memory stores a program, and the processor calls the program to execute the starting and braking control method of the slewing mechanism as described in any of the above embodiments.

[0093] An embodiment of the present application also provides a mechanical device, which is provided with a slewing mechanism, a handle, a hydraulic system for driving the displacement of the slewing platform of the slewing mechanism, and a control system for controlling the hydraulic system. The hydraulic system includes a proportional valve for adjusting the hydraulic flow, and an encoder is provided on the rotating shaft of the handle. The control system is provided with a server-side device as described above. The server-side device is communicatively connected with the encoder and the proportional valve, receives the signal from the encoder, runs a program to execute the starting and braking control method of the slewing mechanism, and adjusts the current value of the proportional valve.

[0094] An embodiment of the present application further provides a tank cleaning device, which is provided with the mechanical rotary structure described in the above embodiment.

[0095] The mechanical device and tank cleaning equipment provided in this embodiment smoothly increase or decrease the current value of the proportional valve controlling the hydraulic flow, providing a smooth starting and braking process. This allows for continuous and smooth movement of the slewing mechanism, without sudden changes or sudden, large displacements, enabling precise operation. The derivation process for this beneficial effect is substantially consistent with the derivation process for the beneficial effect of the aforementioned slewing mechanism starting and braking control method and will not be further elaborated here.

[0096] The mechanical devices and tank cleaning equipment provided in the above-mentioned embodiments are based on the same application concept as the slewing mechanism start-and-brake control method provided in the embodiments of the present application. They can implement the slewing mechanism start-and-brake control method provided in any embodiment of the present application and possess the corresponding functional modules and beneficial effects of executing the start-and-brake method. For technical details not fully described in the present embodiments, please refer to the slewing mechanism start-and-brake control method provided in the embodiments of the present application and will not be further elaborated here.

[0097] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0098] The components and devices involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the accompanying drawings. As will be appreciated by those skilled in the art, these components and devices can be connected, arranged, or configured in any manner. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0099] It should also be noted that in the devices, apparatuses, and methods of the various embodiments of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0100] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0101] It should be understood that the qualifiers "first", "second", "third", "fourth", "fifth" and "sixth" used in the description of the embodiments of the present application are only used to more clearly illustrate the technical solutions and cannot be used to limit the scope of protection of the present application.

[0102] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

[0103] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for controlling the start and brake of a rotary mechanism, characterized in that: The following steps are involved: According to the real-time rotation angle of the handle, the rotation value of the handle is obtained in real time; Obtaining a current target value X of the hydraulic valve in real time according to the rotation value; Compare the current target value X with the current current driving value Y of the hydraulic valve, and obtain the current change ΔY in real time by calculation, and obtain the intermediate current value Y in real time by the sum of the current current driving value Y and the current change ΔY t , update the current driving value Y of the hydraulic valve to the intermediate current value Y t size; The above comparison and calculation process is repeated so that the current driving value Y gradually changes to the current target value X; In which, at least part of the time, the current change ΔY gradually changes with time, and the change process includes a first time period and / or a second time period. In the first time period, the current change ΔY gradually increases, and in the second time period, the current change ΔY gradually decreases; so that in the process of updating the current current driving value Y to the current target value X, the connection line of all the intermediate current values Yt is at least partially a smooth curve.

2. The method for controlling the start and brake of a rotary mechanism according to claim 1, wherein: During the process of updating the current driving value Y to the current target value X, the current variation ΔY gradually changes over time, and the variation process includes the first time period and the second time period, so that the line connecting all the intermediate current values Yt forms a smooth curve as a whole; The braking control method further includes the following contents: Compare the current target value X with the current current driving value Y. When the current target value X is greater than the current current driving value Y, the intermediate current value Y is obtained through the first calculation process. t When the current target value X is less than the current driving value Y, the intermediate current value Y is obtained through the second calculation process. t .

3. The method for controlling the start and brake of a rotary mechanism according to claim 2, wherein: The first calculation process is: Get the current change rate value V in real time t , the current change rate value V t The minimum of the first speed change value, the maximum positive speed value, and the second speed change value. The first speed change value is calculated based on the maximum positive acceleration value and the current change speed value V at the previous moment. t-1 The second speed change value is obtained according to the following two parameters: the difference between the current driving value Y and the current target value X, and the maximum negative acceleration value; The current variation ΔY is obtained, and the current variation ΔY is the minimum of the first current value and the second current value, and the first current value is the current variation speed value V t The product of the second current value and the time parameter is the difference between the current target value X and the current current driving value Y; Obtain the intermediate current value Y t , the intermediate current value Y t The current driving value Y at the previous moment t-1 and the sum of the current change ΔY.

4. The method for controlling the start and brake of a rotary mechanism according to claim 2, wherein: The second calculation process is: Get the current change rate value V t , the current change rate value V t The third speed change value is the largest of the third speed change value, the maximum negative speed value, and the fourth speed change value. The third speed change value is calculated based on the maximum negative acceleration value and the current change speed value V at the previous moment. t-1 Obtaining the fourth speed change value according to the following two parameters: a difference between the current target value X and the current driving value Y, and a maximum positive acceleration value; The current change ΔY is obtained, and the current change ΔY is the maximum of the third current value and the fourth current value, and the third current value is the current change speed value V t The fourth current value is the product of the current target value X and the time parameter, and the fourth current value is the difference between the current target value X and the current driving value Y; Obtain the intermediate current value Y t , the intermediate current value Y t The current driving value Y at the previous moment t-1 and the sum of the current change ΔY.

5. The method for controlling the start and brake of a rotary mechanism according to claim 1, wherein: The rotation value is the product of the original rotation value and the rotation coefficient, and the rotation coefficient is obtained according to the angle interval of the deflection angle of the rotary platform at the previous moment; The angle interval is divided into a safe angle interval and an unsafe angle interval, and the braking control method further includes the following steps: Obtaining the deflection angle of the slewing platform of the slewing mechanism, and determining whether the deflection angle is within the safety angle range, When in the safety angle range, the rotation coefficient is a positive number not greater than 1; When not in the safety angle range, the rotation direction of the handle is obtained. If the rotating platform moves in the direction of the position corresponding to the safety angle range, the rotation coefficient is a positive number not greater than 1; if the rotating platform moves in the direction away from the position corresponding to the safety angle range, the value of the rotation coefficient is zero.

6. The method for controlling the start and brake of a rotary mechanism according to claim 5, wherein: The safety angle interval is divided into a plurality of rotation angle intervals according to the angle value. The value of the rotation coefficient corresponds to each of the rotation angle intervals one by one and decreases as the absolute value of the endpoint angle of each of the rotation angle intervals increases.

7. The method for controlling the start and brake of a rotary mechanism according to claim 6, wherein: Each of the rotation angle intervals includes a positive angle interval and a negative angle interval; Within the same rotation angle interval, the absolute values of the endpoint angles corresponding to the positive angle interval and the negative angle interval are the same.

8. The method for controlling the start and brake of a rotary mechanism according to claim 7, wherein: In the same rotation angle interval, the absolute value of the difference between the endpoint angles of the positive angle interval and the absolute value of the difference between the endpoint angles of the negative angle interval are both ten degrees.

9. The method for controlling the start and brake of a rotary mechanism according to claim 3, wherein: The first speed change value is the current change speed value V at the previous moment t-1 and a first proposed velocity value, wherein the first proposed velocity value is the product of the maximum positive acceleration value and the time value, The second speed change value is the product of the second proposed speed value and the maximum negative acceleration value, and the second proposed speed value is obtained according to the following parameters: the square root of the difference between the current target value X and the current driving value Y.

10. The method for controlling the start and brake of a rotary mechanism according to claim 4, wherein: The third speed change value is the current change speed value V at the previous moment. t-1 and a third proposed speed value, wherein the third proposed speed value is the product of the maximum negative acceleration value and the time value, The fourth speed change value is the product of a fourth proposed speed value and the maximum negative acceleration value, and the fourth proposed speed value is obtained according to the following parameters: the square root of the difference between the current target value X and the current driving value Y.

11. A server-side device, characterized in that: It comprises a processor and a memory, the memory stores a program, and the processor calls the program to execute the starting and braking control method of the slewing mechanism as described in any one of claims 1 to 10.

12. A mechanical device comprising a rotary mechanism, a handle, a hydraulic system for driving the displacement of a rotary platform of the rotary mechanism, and a control system for controlling the hydraulic system, wherein: The hydraulic system includes a hydraulic valve for adjusting the hydraulic flow, an encoder is provided on the rotating shaft of the handle, and the control system is provided with a server-side device as described in claim 11. The server-side device is communicatively connected with the encoder and the hydraulic valve, receives the signal from the encoder, runs a program to execute the starting and braking control method of the rotary mechanism, and adjusts the current value of the hydraulic valve.

13. A tank cleaning device, characterized in that: A mechanical device according to claim 12 is provided.

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