A self-synchronization control system and method for asymmetric mechanisms

Abstract

This invention discloses a self-synchronization control system and method for an asymmetric mechanism. The asymmetric mechanism includes an upper arm e, a connecting arm c, and a lower arm. An upper arm encoder is installed at the connection between the connecting arm c and the lower arm d to measure the angle β between the upper arm mounting surface and the lower arm d. A lower arm encoder is installed at the connection between the lower arm d and a reference surface to measure the angle α between the lower arm d and the reference surface. A proportional amplifier plate a, a proportional valve a, a directional valve a, and the lower arm a constitute an active drive loop. A proportional amplifier plate b, a proportional valve b, a directional valve b, and the lower arm b constitute a passive drive loop. When the lower arm a is actively raised or lowered, the lower arm b moves synchronously with the lower arm a, ensuring that the upper arm e always maintains a vertical posture. This self-synchronization control system and method for an asymmetric mechanism has advantages such as minimizing the time for setting up and retracting the lifting mechanism, significantly increasing the stability of the antenna raising and lowering process, and improving the adaptability of the hydraulic control system to the application environment.

Description

Technical Field

[0001] This invention relates to radar antenna control technology, and more particularly to an asymmetric mechanism self-synchronization control system and method. Background Technology

[0002] Traditional mobile radar antennas are typically raised to a height of 7-8 meters. To further improve radar detection performance, it is necessary to raise the radar antenna to a height exceeding 15 meters, thus leading to the development of a two-stage lifting mechanism. This two-stage lifting mechanism consists of an upper arm and a lower arm. The upper arm can be raised and lowered independently, while the upper arm must remain vertical and stable during the raising and lowering of the lower arm, without any tilting or swaying. However, because conventional hydraulic systems have very limited adjustment capabilities, this places high demands on the control system.

[0003] To facilitate the fixing of the secondary lifting mechanism to the loading platform (during transport), the two sets of hydraulic cylinders used for lower arm lifting have unequal strokes, forming an asymmetrical mechanism. However, ensuring that the asymmetrical mechanism remains synchronized during movement to guarantee the upper arm maintains a vertical posture adds complexity to the control system. The operating conditions of the hydraulic system (especially flow rate and velocity) are significantly affected by changes in temperature, season, and altitude. Changes in the proportional amplifier board and proportional valve, as well as load variations, ultimately alter the speed of the hydraulic system when driving the lower arm of the secondary lifting mechanism, affecting the stability and safety of the upper arm.

[0004] While traditional discrete components (potentiometers) can also be used to adjust and maintain the operating parameters of a hydraulic drive system, the hardware circuitry is quite complex. Alternatively, key operating parameters can be extracted, manually set, and saved; however, frequent adjustments or operation by personnel unfamiliar with the system may result in parameter misalignment, posing safety hazards and increasing the burden of later maintenance. Summary of the Invention

[0005] To avoid the shortcomings of the existing technology, the present invention provides an asymmetric mechanism self-synchronization control system and method, so as to realize that the asymmetric mechanism can automatically follow and synchronize when the lower arm of the two-stage lifting mechanism is lifted and lowered, so that the upper arm is always in a vertical state and absolutely stable.

[0006] The present invention adopts the following technical solution to solve the technical problem.

[0007] The present invention provides an asymmetric mechanism self-synchronization control system, wherein the asymmetric mechanism includes an upper arm e, a connecting arm c, and a lower arm; the connecting arm c connects the upper arm e and the lower arm; the lower arm includes a lower arm a, a lower arm b, and a lower arm d.

[0008] An upper arm encoder is provided at the connection between the connecting arm c and the lower arm d to measure the angle β between the upper arm mounting surface and the lower arm d; a lower arm encoder is provided at the connection between the lower arm d and the reference surface to measure the angle α between the lower arm d and the reference surface.

[0009] The self-synchronization control system includes a PLC, a proportional amplifier board, a proportional valve, a directional valve, a hydraulic cylinder, an upper arm encoder, and a lower arm encoder; the proportional amplifier board includes proportional amplifier board a and proportional amplifier board b; the proportional valve includes proportional valve a and proportional valve b; the directional valve includes directional valve a and directional valve b.

[0010] The proportional amplifier board a, proportional valve a, directional valve a, and lower arm a constitute an active drive circuit, and the lower arm encoder is the feedback element of the active drive circuit; the proportional amplifier board b, proportional valve b, directional valve b, and lower arm b constitute a passive drive circuit, and the upper arm encoder is the feedback element of the passive drive circuit.

[0011] The structural features of the dynamic detection method for full load bearing of the leveling support leg of the present invention are also as follows:

[0012] Preferably, both lower arm a and lower arm b are hydraulic cylinders, and the stroke of lower arm a is greater than the stroke of lower arm b.

[0013] Preferably, when the lower arm a actively raises or lowers, the lower arm b moves synchronously with the lower arm a, so that the upper arm e always maintains a vertical posture.

[0014] Preferably, when the lower arm a is actively raised or lowered, the change in the included angle α Δα and the change in the included angle β Δβ are detected. Based on the difference between Δα and Δβ, Δβ-Δα, the movement speed of the hydraulic cylinder of the lower arm b is controlled so that the lower arm b moves synchronously with the lower arm a.

[0015] Preferably, the movement speed of the hydraulic cylinder of the lower arm b is adjusted by adjusting the control voltage of the lower arm b.

[0016] The present invention also discloses an electronic device comprising:

[0017] At least one processor; and,

[0018] A memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores instructions that can be executed by the at least one processor, which, when executed, enable the at least one processor to perform the control method of the asymmetric mechanism self-synchronization control system.

[0020] The present invention also discloses a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the control method of the self-synchronization control system for the asymmetric mechanism.

[0021] Compared with existing technologies, the beneficial effects of this invention are reflected in:

[0022] This invention discloses a self-synchronization control system and method for an asymmetric mechanism. The asymmetric mechanism includes an upper arm e, a connecting arm c, and a lower arm. An upper arm encoder is installed at the connection between the connecting arm c and the lower arm d to measure the angle β between the upper arm mounting surface and the lower arm d. A lower arm encoder is installed at the connection between the lower arm d and a reference surface to measure the angle α between the lower arm d and the reference surface. A proportional amplifier plate a, a proportional valve a, a directional valve a, and the lower arm a constitute an active drive loop. A proportional amplifier plate b, a proportional valve b, a directional valve b, and the lower arm b constitute a passive drive loop. When the lower arm a actively lifts or lowers, the lower arm b moves synchronously with the lower arm a, ensuring that the upper arm e always maintains a vertical posture.

[0023] The asymmetric mechanism self-synchronization control system and method of the present invention are used to realize that when the lower arm of the two-stage lifting mechanism is lifted and lowered, the asymmetric mechanism can automatically follow and synchronize, so that the upper arm is always in a vertical state and absolutely stable. During the movement, the upper arm does not tilt or sway left and right. At the same time, the hydraulic system does not need to adjust the working parameters when the external environment (such as temperature, season, altitude) or the state of system components changes.

[0024] The present invention provides an asymmetric mechanism self-synchronization control system and method, which has the advantages of minimizing the time for setting up and retracting the lifting mechanism, significantly increasing the stability of the antenna lifting and lowering process, and improving the adaptability of the hydraulic control system to the application environment. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the operation of the two-stage lifting mechanism.

[0026] Figure 2 This is a schematic diagram of the upper and lower arms of the two-stage lifting mechanism of the present invention.

[0027] Figure 3 This is a block diagram of the control system of the present invention.

[0028] Figure 4 This is a flowchart of the control method of the present invention.

[0029] The present invention will be further described below through specific embodiments and in conjunction with the accompanying drawings. Detailed Implementation

[0030] See Figures 1-4The present invention discloses an asymmetric mechanism self-synchronization control system, wherein the asymmetric mechanism includes an upper arm e, a connecting arm c, and a lower arm; the connecting arm c is connected between the upper arm e and the lower arm; the lower arm includes a lower arm a, a lower arm b, and a lower arm d.

[0031] An upper arm encoder is provided at the connection between the connecting arm c and the lower arm d to measure the angle β between the upper arm mounting surface and the lower arm d; a lower arm encoder is provided at the connection between the lower arm d and the reference surface to measure the angle α between the lower arm d and the reference surface.

[0032] The self-synchronization control system includes a PLC, a proportional amplifier board, a proportional valve, a directional valve, a hydraulic cylinder, an upper arm encoder, and a lower arm encoder; the proportional amplifier board includes proportional amplifier board a and proportional amplifier board b; the proportional valve includes proportional valve a and proportional valve b; the directional valve includes directional valve a and directional valve b.

[0033] The proportional amplifier board a, proportional valve a, directional valve a, and lower arm a constitute an active drive circuit, and the lower arm encoder is the feedback element of the active drive circuit; the proportional amplifier board b, proportional valve b, directional valve b, and lower arm b constitute a passive drive circuit, and the upper arm encoder is the feedback element of the passive drive circuit.

[0034] In practice, both lower arm a and lower arm b are hydraulic cylinders, and the stroke of lower arm a is greater than the stroke of lower arm b.

[0035] In practice, when the lower arm a actively raises or lowers, the lower arm b moves synchronously with the lower arm a, so that the upper arm e always maintains a vertical posture.

[0036] In practice, when the lower arm a is actively raised or lowered, the changes in the included angle α and the included angle β are detected. Based on the difference between Δα and Δβ, Δβ-Δα, the movement speed of the hydraulic cylinder of the lower arm b is controlled so that the lower arm b moves synchronously with the lower arm a.

[0037] In practice, the movement speed of the hydraulic cylinder of the lower arm b is adjusted by adjusting the control voltage of the lower arm b.

[0038] The present invention also discloses an electronic device comprising:

[0039] At least one processor; and,

[0040] A memory communicatively connected to the at least one processor; wherein,

[0041] The memory stores instructions that can be executed by the at least one processor, which, when executed, enable the at least one processor to perform the control method of the asymmetric mechanism self-synchronization control system.

[0042] The present invention also discloses a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the control method of the asymmetric mechanism self-synchronization control system is implemented.

[0043] As Figure 1 is a working schematic diagram of the secondary lifting mechanism. Figure 1 In [the figure], the secondary lifting mechanism has five working states: State 1 to State 5. Figure 1 The five states from left to right in [the figure] are as follows:

[0044] State 1: The upper arm is at the lowest position, and the lower arm is at the lowest position;

[0045] State 2: The upper arm is at the middle position, and the lower arm is at the lowest position;

[0046] State 3: The upper arm is at the highest position, and the lower arm is at the lowest position;

[0047] State 4: The upper arm is at the highest position, and the lower arm is at the middle position;

[0048] State 5: The upper arm is at the highest position, and the lower arm is at the highest position.

[0049] The connection relationship between the upper arm and the lower arm of the secondary lifting mechanism involved in the present invention is as Figure 2 shown, where e is the upper arm, and a, b, and d are the lower arms; among them, d is the lower arm support mechanism, and a and b are independent hydraulic cylinders with unequal strokes and stroke a > stroke b. The connecting arm c is the connecting component between the upper arm and the lower arm. The upper arm encoder is installed at the connection point of c and d, and is used to measure the angle β between the upper arm mounting surface and the lower arm support mechanism. The lower arm encoder is installed at the connection point of d and the reference plane, and is used to measure the angle α between the lower arm support mechanism and the reference plane. When the lower arm is lifted or lowered, when the a and b hydraulic cylinders reach the self-synchronization state, it can ensure that the change amounts of α and β in unit time are approximately equal, and thus ensure that the upper arm is vertical.

[0050] The asymmetric mechanism self-synchronization control method provided by the present invention is used in the hydraulic drive system of the secondary lifting mechanism. The involved hydraulic drive system includes a PLC, a proportional amplifier board, a proportional valve, an actuator, an upper arm encoder, and a lower arm encoder. When the upper arm is at the highest position (vertical state), the lower arm a starts to lift or lower. The cylinder of the lower arm a with a longer stroke actively lifts or lowers according to the given starting speed and acceleration and deceleration. The change amount of the α angle in every 500 ms is denoted as Δα. The cylinder of the lower arm b with a shorter stroke moves following the cylinder of the lower arm a according to the given starting speed. The change amount of the β angle in every 500 ms is denoted as Δβ. Dynamically adjusting the speed of the cylinder of the lower arm b to make |Δα - Δβ| < m can ensure that the two cylinders of the lower arm a and the lower arm b achieve self-synchronization movement, and also ensure that the upper arm always maintains a vertical posture. Here, m is a preset angle threshold.

[0051] This invention uses a differential method to control the angle change per unit time. There is no need to manually modify or save important working parameters of the hydraulic drive system. The following cylinder of lower arm b automatically keeps synchronized with the driving cylinder of lower arm a. Moreover, when the important working parameters of the hydraulic drive system change due to climate, altitude, proportional amplifier board, proportional valve, or load, the synchronization performance of the system is not affected. This will greatly reduce the cost and workload of later equipment maintenance and extend the service life of the entire equipment.

[0052] like Figure 3 As shown, the asymmetric mechanism synchronization control system of the present invention mainly consists of a PLC, a proportional amplifier board, a proportional valve, an actuator, a directional valve, an encoder, and other components. The PLC outputs a control voltage, which is applied to the proportional amplifier board. The proportional amplifier board converts this control voltage into a current signal with driving capability, driving the opening of the proportional valve to change synchronously with the control voltage. This further adjusts the flow rate of the hydraulic system to change synchronously with the control voltage, and further adjusts the speed at which the hydraulic system drives the load to change synchronously with the control voltage. In this embodiment, lower arm a is the active component, the cylinder of lower arm a is the active cylinder, and the cylinder of lower arm b is the follower cylinder.

[0053] When the control voltage output variable in the PLC program is 0-32767, the corresponding voltage signal is 0-5V. A proportional amplifier board, used in conjunction with a proportional valve (which is a current-driven device), is an independent unit that converts the 0-5V voltage control signal input from the PLC into a 0-2A current output (driving the proportional valve). In actual use, it operates within the 1V-4V range.

[0054] A proportional valve controls the size of its valve core opening by the current output from a proportional amplifier board. In a hydraulic system, it is used to control the flow rate of the hydraulic system and further control the movement speed of the actuator.

[0055] Directional valves (or reversing valves) control the direction of movement of actuators. Actuators are the performers of actions in the system. In a hydraulic system, under the combined action of proportional valves and directional valves, actuators can smoothly perform movements such as lifting, lowering, forward, backward, forward rotation, and reverse rotation at a certain speed.

[0056] Encoder: An encoder is used to provide feedback on angular changes during the lifting or lowering motion of an actuator. The amount of change in the encoded value is proportional to the speed of the motion. The encoder feedback value of 0–65535 corresponds to an angle of 0–360 degrees. The encoder involved in this invention has an actual feedback value that varies between 0 and 10922, corresponding to an angle of 0–60 degrees. The proportional amplifier board, proportional valve, and directional valve belong to the hydraulic system, while the actuator is the load driven by the hydraulic system and is the final executor of the action.

[0057] The main parameters of hydraulic drive are: starting voltage, progressive voltage, and maximum voltage.

[0058] Starting voltage: This is the minimum voltage (but not 0V) required for the hydraulic system to drive the load. The lower the voltage, the smoother the start-up. However, if the voltage is less than the "dead zone voltage" (typically 0.8V), the hydraulic system flow is insufficient to drive the load. In this case, although the hydraulic pump station is working normally, the load may remain stationary. The flow rate of the hydraulic drive system is sensitive to changes in temperature and season. Therefore, in the hydraulic drive control system, a voltage value slightly higher than the "dead zone voltage" is used as the starting voltage. In the hydraulic drive system of this invention, the starting voltage of the hydraulic cylinders of lower arm a and lower arm b is 1V.

[0059] Progressive voltage: This refers to the increase or decrease in voltage per unit time when a hydraulic speed control system drives a load. A smaller progressive voltage results in smoother load movement, but a longer acceleration or deceleration process. A larger progressive voltage can cause jerking or shuddering in the load movement, but a shorter acceleration or deceleration process. In practical applications, a suitable progressive voltage value should be selected to ensure both smoothness and speed of load movement when the hydraulic speed control system drives the load. Under the premise of balancing smoothness and speed, the progressive voltage values ​​for hydraulic cylinders are: a) 0.05V / 100ms, and b) 0.02V / 100ms.

[0060] Maximum voltage: This is the control voltage of the hydraulic speed control system when driving the load at its maximum speed. A higher control voltage results in a faster load speed. When the control voltage reaches a certain value, the hydraulic system flow rate reaches its maximum, which also corresponds to the maximum load speed. The maximum voltage is typically a rated 5V, but in practical applications, the maximum voltage is lower than the rated voltage. In the hydraulic drive system described in this invention, the actual maximum voltage is 4V.

[0061] like Figure 4 This is a flowchart of the control method. After the control system starts, the cylinder of lower arm a acts as the active cylinder, lifting or lowering according to the operating parameters of a starting voltage of 1V, an acceleration / deceleration progressive voltage of 0.05V / 100ms, and a maximum voltage of 4V. The cylinder of lower arm b acts as the follower cylinder, with a starting voltage also set to 1V. During operation, the control voltage V = 1.0 + ΔV*n is dynamically adjusted to keep cylinders a and b synchronized. When cylinder a actively lifts or lowers, the change in angle α every 500ms is denoted as Δα; when cylinder b follows cylinder a, the change in angle β every 500ms is denoted as Δβ.

[0062] (1) When (Δβ-Δα)>m, cylinder b needs to decelerate.

[0063] (2) When (Δβ - Δα) < -m, the b oil cylinder needs to accelerate.

[0064] (3) When -m < (Δβ - Δα) < m, that is, |Δα - Δβ| < m, the b oil cylinder maintains its current speed.

[0065] The speed adjustment formula for the b oil cylinder: V = 1.0 + ΔV * n; where 1.0 is the starting voltage; ΔV is the progressive voltage of the b oil cylinder, with a value of 0.02V / 100ms; n is the number of cycles of the control software, which can be set to cycle once every 100ms. To ensure the synchronization accuracy of the asymmetric mechanism, m is taken as 35, that is, the synchronization error is less than 0.2 degrees. During the use of the equipment, regardless of changes in temperature, season, altitude; or replacement or adjustment of the proportional amplifier board, proportional valve, and hydraulic pipeline; or changes in the load situation, there is no need to adjust the parameters of the hydraulic system.

[0066] Based on the asymmetric mechanism synchronization control method of the present invention, the hydraulic drive system accelerates and decelerates at the maximum slope while taking into account the stability, making the erection and retraction time of the secondary lifting mechanism the shortest, greatly increasing the stability of the antenna lifting and lowering process, and at the same time greatly improving the adaptability of the hydraulic control system to the application environment and greatly expanding the application range.

[0067] In the synchronization control of asymmetric mechanisms of equipment such as dragging and traction in the civilian field, this method can also be transplanted to make its application range wider.

[0068] An asymmetric mechanism self-synchronization control system and method of the present invention have the following characteristics.

[0069] (1) Effectively avoids the need to reset and save important parameters of the control system when the external environment (such as temperature, season, altitude) of the hydraulic system changes.

[0070] (2) Effectively avoids the need to reset and save important parameters of the control system when the state of system components changes.

[0071] (3) Effectively avoids the risk of parameter disorder caused by manually modifying important parameters of the control system.

[0072] (4) Using this differential method to control the angle change amount per unit time minimizes the influence of humans and the environment on the control system, greatly improving the stability and safety of the control system.

[0073] (5) Based on the method of the present invention, the adaptability of the control system to the application environment is greatly improved, and the application range is greatly expanded.

[0074] (6) In the synchronization control of asymmetric mechanisms of equipment such as dragging and traction in the civilian field, this method can also be transplanted to make its application range wider.

[0075] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0076] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An asymmetric mechanism self-synchronization control system, characterized in that, The asymmetrical mechanism includes an upper arm e, a connecting arm c, and a lower arm; the connecting arm c connects the upper arm e and the lower arm; the lower arm includes lower arm a, lower arm b, and lower arm d. The connecting part of the connecting arm c and the lower arm d is provided with an upper arm encoder for measuring the included angle between the upper arm mounting surface and the lower arm d β ; the connecting part of the lower arm d and the reference surface is provided with a lower arm encoder for measuring the included angle between the lower arm d and the reference surface α ; The self-synchronization control system includes a PLC, a proportional amplifier board, a proportional valve, a directional valve, a hydraulic cylinder, an upper arm encoder, and a lower arm encoder; the proportional amplifier board includes proportional amplifier board a and proportional amplifier board b; the proportional valve includes proportional valve a and proportional valve b; the directional valve includes directional valve a and directional valve b. The proportional amplifier board a, proportional valve a, directional valve a, and lower arm a constitute an active drive circuit, and the lower arm encoder is the feedback element of the active drive circuit; the proportional amplifier board b, proportional valve b, directional valve b, and lower arm b constitute a passive drive circuit, and the upper arm encoder is the feedback element of the passive drive circuit. When the lower arm a actively raises or lowers, the included angle is detected. α Change Δ α and included angle β Change Δ β According to Δ α and Δ β The difference Δ β -Δ α The size of the cylinder is used to control the movement speed of the hydraulic cylinder of the lower arm b, so that the lower arm b moves synchronously with the lower arm a.

2. The self-synchronization control system for an asymmetric mechanism according to claim 1, characterized in that, Both lower arms a and b are hydraulic cylinders, and the stroke of lower arm a is greater than that of lower arm b.

3. The control method for the self-synchronization control system of the asymmetric mechanism according to claim 1 or 2, characterized in that, When the lower arm a actively raises or lowers, the lower arm b moves synchronously with the lower arm a, so that the upper arm e always maintains a vertical posture.

4. The control method according to claim 3, characterized in that, in When the lower arm a actively raises or lowers, the included angle is detected. α Change Δ α and included angle β Change Δ β According to Δ α and Δ β The difference Δ β -Δ α The size of the cylinder is used to control the movement speed of the hydraulic cylinder of the lower arm b, so that the lower arm b moves synchronously with the lower arm a.

5. The control method according to claim 3, characterized in that, The movement speed of the hydraulic cylinder of lower arm b is adjusted by adjusting the control voltage of lower arm b.

6. An electronic device, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the control method of the asymmetric mechanism self-synchronization control system as described in any one of claims 3 to 5.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the control method of the asymmetric mechanism self-synchronization control system as described in any one of claims 3 to 5.

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