Digital draping system and method based on laser radar ranging for difference correction

Abstract

The present invention discloses a digital suspension system and method for difference correction based on laser radar ranging, belonging to the technical field of dynamic detection and control of power cable position. The present invention directly installs a laser radar sensor group at two equidistant locations directly above and below the cable to measure the distance from the cable position to the laser sensor position through an aluminum oxynitride transparent plate, automatically generates two sets of distance information, and transmits the data to the MCU main control unit. The MCU main control unit compares the two ranging signals. If the difference between the two ranging signals exceeds a set constant, the hybrid PSO algorithm is triggered to optimize the parameters of the PID algorithm. The PID algorithm output signal in the MCU controls the rotation speed of the traction machine, and then adjusts the position of the cable in the suspension body, thereby achieving faster and more accurate cable position control. The system realizes the acquisition of cable position signals and the output of control signals; it utilizes the automatic characteristics of the hybrid PSO algorithm to adjust the PID, and realizes the intelligent PID parameter adjustment.

Description

Technical Field

[0001] The present invention belongs to the technical field of dynamic detection and control of power cable positions, and in particular relates to a digital draping system and method for performing difference correction based on laser radar ranging. Background Art

[0002] Cross-linked polyethylene cables are generally produced using a semi-dry catenary three-layer co-extrusion cross-linked cable production line. First, the cross-linked polyethylene material is extruded simultaneously through three extruders and wrapped around a copper or aluminum conductor to form an outer layer. The cable is then sent through a traction machine to a closed pipeline consisting of a heating section, a pre-cooling section, and a cooling section. The heating section catenary pipeline heats the three different cross-linked polyethylene materials of the cable at high temperatures, causing a chemical reaction to form a new structure, thereby achieving the insulation layer's resistance to high voltage electricity. After high-temperature heating, the cable is sent through a traction machine to the pre-cooling section and cooling section for gradient cooling to form the finished cable. As the cable passes through the heating section catenary pipeline, a suspension controller is required to detect and control the cable's position to prevent the cable from deviating from the center of the pipeline and rubbing against the catenary pipeline.

[0003] Existing suspension controllers consist of a transmitter, a transmitting coil, a receiving device, a receiving coil, and supporting wiring. The transmitter's crystal oscillator generates a high-frequency signal after frequency division. This signal then passes through rectification, frequency division, and amplification circuits before being input into the transmitting coil. The transmitting coil then receives the signal, generating an alternating magnetic field at the same frequency. As the cable core passes through this alternating magnetic field, an induced electromotive force (EMF) is generated. This electromotive force forms a loop with the cable core and distributed capacitors, stimulating a current. This induced current then generates a magnetic field, which in turn generates an induced EMF through the receiving coil. A difference in the induced EMF between the upper and lower receiving coils indicates that the cable is deviating from the pipeline center. Conversely, if the EMFs of the upper and lower receiving coils are close or equal, the cable is centered. If the cable deviates from the pipeline center, the PLC calculates the EMF difference between the receiving coils and uses a PID algorithm to control the cable's position by adjusting the speed of the lower traction machine to ensure it remains centered. During the suspension operation, the upper and lower traction speeds of the entire production line are theoretically the same, but in practice there are differences. During operation, the upper traction speed is used as the benchmark, and the suspension assists in adjusting the lower traction speed to ensure that the cable is always in the center of the pipeline.

[0004] Existing draping control systems utilize electromagnetic induction, with a transmitting coil as the transmission source. The system samples the electromotive force of the upper and lower coils of the receiving coil, and uses a traditional PID algorithm via a PLC to control cable position. However, the receiving and transmitting devices utilize traditional analog circuits, which have poor interference immunity and are susceptible to interference from signals in the same frequency band at the worksite. This can lead to zero point drift, and the signal attenuation rate over long distances is much faster than with digital circuits. Similarly, the receiving and transmitting coils are susceptible to temperature, humidity, and interference from signals in the same frequency band, which can easily cause the cable sheath to become bamboo-like, impacting the quality of the finished cable. The PLC, as the computational unit, is slow and costly, and its accuracy is limited by the number of turns in the data sensor and the transmission distance. Furthermore, the parameters of the traditional PID algorithm must be manually adjusted according to different working conditions, resulting in lengthy debugging and requiring a high level of experience from the debugger, which in turn requires significant human and time investment. Furthermore, the traditional PID algorithm has a relatively slow response speed. Summary of the Invention

[0005] In view of the defects of traditional analog circuits used in the receiving and transmitting devices of the suspension control system in the prior art, such as the conduction separation circuit, the top control circuit, the bottom control circuit, etc., which are made of discrete components and have unstable performance, poor anti-interference ability, large fluctuations in detection signals, inability to transmit signals over long distances, and high labor costs and experience costs for algorithm debugging, the present invention provides a digital suspension system and method based on lidar ranging for difference correction. The system is designed by measuring and performing difference calculations on the distances between the upper and lower ends of the cross-linked cable and the suspension body and performing algorithm optimization on the PID parameters to ensure a stable and reliable output signal. The system can adjust the relative position of the cable and the pipeline at a faster speed, and has the characteristics of strong anti-interference ability, digitization, no zero drift, long measurement signal transmission distance, and real-time dynamic intelligent adjustment of the cable position, ensuring that the cable is always located in the center of the pipeline.

[0006] The present invention is achieved through the following technical solutions:

[0007] The digital suspension system for difference correction based on laser radar ranging includes a laser radar ranging sensor group 1, an aluminum oxynitride transparent plate 2, a cross-linked polyethylene cable 3, an MCU main control system 4, a driver 5, a lower traction machine 6 and a stainless steel suspension body 7; the laser radar ranging sensor group 1 respectively emits a group of modulated laser signals from two directions just above and below the cross-linked polyethylene cable 3, the cross-linked polyethylene cable 3 passes through the stainless steel suspension body 7, and the aluminum oxynitride transparent plate 2 is embedded in the stainless steel suspension body 7. The modulated laser signal is vertically injected into the aluminum oxynitride transparent plate 2 and passes through the aluminum oxynitride transparent plate 2 to reach the surface of the cross-linked polyethylene cable 3. The cross-linked polyethylene cable 3 reflects the modulated laser signal, and the reflected signal passes through the aluminum oxynitride transparent plate 2 and is reflected by the laser radar ranging sensor group 1. The laser detector in the distance sensor group 1 receives the information; after passing through the internal circuit of the laser radar ranging sensor group 1, the distance information from the upper and lower groups of laser radar ranging sensors in the laser radar ranging sensor group 1 to the cross-linked polyethylene cable 3 is connected to the MCU main control system 4 in the form of digital signals through serial communication. The MCU main control system 4 determines whether the cross-linked polyethylene cable 3 is in the center position of the stainless steel pendant 7 by comparing the difference between the two groups of digital signals. If it is not in the center position, the MCU main control system 4 sends a speed change instruction to the driver 5, and the driver 5 controls the speed of the lower traction machine 6 to change the forward speed of the cross-linked polyethylene cable 3, thereby ensuring that the cross-linked polyethylene cable 3 remains in the center position of the stainless steel pendant 7 (equivalent to the pipeline).

[0008] Preferably, the laser radar ranging sensor group 1 consists of two laser radar ranging sensors, which are respectively fixed directly above and directly below the stainless steel pendant 7, and the distances between the two laser radar ranging sensors and the cross-linked polyethylene cable 3 are equidistant.

[0009] Preferably, the material of the aluminum oxynitride transparent plate 2 is a solid solution phase in the Al2O3-AlN binary system, whose chemical name is AlON, which is a high-strength, high-temperature resistant transparent ceramic with a melting point of 2200 degrees Celsius and a bending strength of 300 MPa.

[0010] Preferably, the cross-linked polyethylene cable 3 is a new type of high-voltage cable with a three-dimensional mesh structure using cross-linked polyethylene as the main material of the insulation layer. It is produced by a semi-dry catenary three-layer co-extrusion cross-linked cable production line. Three extruders are used to simultaneously extrude three cross-linked polyethylene materials with different properties, which are wrapped on a copper conductor or an aluminum conductor. After heating in a closed pipeline, a chemical cross-linking reaction occurs after the cross-linking agent DCP is added to the cross-linked polyethylene, which can improve the voltage resistance level of the cable. After cooling in a cooling section, the final cable product is towed and closed by a traction machine.

[0011] Preferably, the MCU main control system 4 uses an STM32F103 chip from STMicroelectronics as the main control chip, which has a maximum operating frequency of 72 MHz and uses a 32-bit reduced instruction set based on the ARMv7-M architecture.

[0012] On the other hand, the present invention also provides a control method for a digital draping system based on laser radar ranging for difference correction, which specifically includes the following steps:

[0013] S1: LiDAR ranging sensor device collects distance signals;

[0014] The laser radar ranging sensor group 1 emits a group of modulated laser signals from two directions, directly above and below the cross-linked polyethylene cable 3. The modulated laser signals are vertically incident on the aluminum oxynitride transparent plate 2, pass through the aluminum oxynitride transparent plate 2 and reach the surface of the cross-linked polyethylene cable 3. The cross-linked polyethylene cable 3 reflects the modulated laser signals, and the reflected signals pass through the aluminum oxynitride transparent plate 2 and are received by the laser detector in the laser radar ranging sensor group 1.

[0015] S2: MCU main control system receives the signal;

[0016] Through the internal circuit of the laser radar ranging sensor group 1, the distance information from the upper and lower groups of laser radar ranging sensors in the laser radar ranging sensor group 1 to the cross-linked polyethylene cable is connected to the MCU main control system 4 via serial port communication in the form of digital signals;

[0017] S3: MCU main control system processes signals;

[0018] The MCU main control system 4 determines whether the cross-linked polyethylene cable 3 is located at the center of the stainless steel pendant 7 by comparing the difference between the two sets of digital signals. If the difference between the two sets of digital signals is less than the set difference range, there is no need to adjust the speed of the lower traction machine 6. If the difference between the two sets of digital signals is greater than the set difference range, the PID algorithm is optimized and parameterized using the hybrid PSO algorithm. The optimized PID algorithm calculates a reasonable lower traction machine speed control instruction.

[0019] S4: Send control signal;

[0020] The MCU main control system transmits the speed change instruction to the driver through the RS-232 communication protocol interface. The driver transmits the speed change instruction to the lower traction machine through the profibus communication protocol, changing the forward speed of the cross-linked polyethylene cable, so that the cross-linked polyethylene cable always remains in the center position of the stainless steel pendant.

[0021] Preferably, in step S3, the PID algorithm is optimized and parameterized by a hybrid PSO algorithm, specifically including the following contents:

[0022] The hybrid PSO algorithm imitates the foraging strategy of birds. It infers the individual speed through the functional relationship between individual optimal, local optimal and group optimal, and then infers the position of the individual in the next time unit. The formula is as follows:

[0023]

[0024]

[0025]

[0026]

[0027]

[0028] In formula (1), v0 represents the velocity of the particle last time, v (j) Indicates the speed at which the particle needs to be updated, P (j) ,P G , They represent the individual optimal solution, the group optimal solution, and the local optimal solution, respectively. c1, c2, and w are inertia weights that need to be set manually. rand is a random quantity generated by the microcontroller. X (j) represents the position of the particle at the current moment, and j represents the jth particle;

[0029] In formula (2), X represents the position of the particle, k represents the number of iterations, and according to the above explanation of j, represents the position of particle j at the kth iteration, Similarly, dt represents the minimum time unit of simulation;

[0030] In formulas (3), (4), and (5), F represents the adaptive function, k and j have the same meanings as in formula (2), and P (j) ,P G , The meaning of is the same as that of formula (1), and the other symbols are similar and will not be repeated here.

[0031] Compared with the prior art, the advantages of the present invention are as follows:

[0032] 1. The digital draping system based on laser radar ranging and difference correction of the present invention abandons the traditional method of using analog circuits based on electromagnetic induction to collect cable position signals. Instead, it directly uses laser radar sensors to collect distance information and feeds back digital signals to the MCU for difference calculation and correction. Compared with traditional acquisition methods, the system structure is simple, stable and reliable, the measurement signal transmission distance is longer, the adjustment speed is faster, and the anti-interference ability is stronger;

[0033] 2. The system utilizes a transparent, high-strength, and high-temperature-resistant aluminum nitride transparent plate, which provides high visibility in the pipeline and effectively isolates the LiDAR ranging sensor group from the cross-linked polyethylene cable. Its melting point is 2200 degrees Celsius, far higher than the maximum operating temperature of the cross-linked cable production line, preventing it from melting due to excessive pipeline temperatures. Finally, its excellent electrical insulation properties ensure that high pressure in the pipeline will not damage the LiDAR ranging sensor group or injure on-site operators.

[0034] 3. The MCU main control system used in this system replaces the traditional PLC controller, which has lower power consumption and lower cost. The MCU is a highly integrated micro-control unit. Compared with traditional analog circuit boards, it has more powerful signal processing functions and is not affected by external signal interference;

[0035] 4. The draping system of the present invention detects and controls the position of the cable more stably and reliably, with real-time dynamic intelligent tracking detection, intelligent signal processing, and real-time dynamic intelligent control of the cable position, ensuring that the cable is always in the center of the pipeline;

[0036] 5. The sensor data of the lidar can be transmitted over long distances by adding modules, which is suitable for the characteristics of the cross-linked cable production line with large depth and the need for long-distance transmission.

[0037] 6. The control method of the present invention optimizes the parameters of the PID algorithm through the hybrid PSO algorithm to achieve intelligent parameter adjustment of PID. At the same time, it overcomes the defect of PSO's easy local convergence, and the output signal is more accurate and more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly describes the drawings required for the specific embodiments or the description of the prior art. Similar elements or parts are generally identified by similar reference numerals throughout the drawings. Elements or parts in the drawings are not necessarily drawn to scale.

[0039] Figure 1 This is a schematic structural diagram of a digital draping system for performing difference correction based on laser radar ranging according to the present invention;

[0040] Figure 2 A schematic diagram of the use of a digital draping system for performing difference correction based on laser radar ranging according to the present invention;

[0041] Figure 3 Schematic diagram of the flow of a control method for a digital draping system for performing difference correction based on laser radar ranging according to the present invention;

[0042] In the figure: laser radar ranging sensor group 1, aluminum oxynitride transparent plate 2, cross-linked polyethylene cable 3, MCU main control system 4, driver 5, lower traction machine 6, stainless steel suspension body 7, upper traction machine 8. DETAILED DESCRIPTION

[0043] The following embodiments of the technical solution of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention and are therefore only examples and are not intended to limit the scope of protection of the present invention.

[0044] It should be noted that, unless otherwise specified, the technical or scientific terms used in this application should have the common meanings understood by those skilled in the art to which the present invention belongs.

[0045] Example 1

[0046] like Figure 1The figure shows a schematic structural diagram of a digital suspension system using laser radar ranging for difference correction according to the present embodiment. The system includes a laser radar ranging sensor group 1, an aluminum oxynitride transparent plate 2, a cross-linked polyethylene cable 3, an MCU main control system 4, a driver 5, a lower traction machine 6 and a stainless steel suspension body 7. The laser radar ranging sensor group 1 is composed of two laser radar ranging sensors, which are respectively fixed directly above and directly below the stainless steel suspension body 7, and the distance between the two laser radar ranging sensors and the cross-linked polyethylene cable 3 is equidistant. The laser radar ranging sensor group 1 transmits a group of modulated laser signals from two directions directly above and below the cross-linked polyethylene cable 3, respectively. The cross-linked polyethylene cable 3 passes through the stainless steel suspension body 7, and the aluminum oxynitride transparent plate 2 is embedded in the stainless steel suspension body 7. The modulated laser signal is vertically incident on the aluminum oxynitride transparent plate 2 and passes through the aluminum oxynitride transparent plate 2 to reach the surface of the cross-linked polyethylene cable 3. After the cross-linked polyethylene cable 3 reflects the modulated laser signal, the reflected signal passes through the aluminum oxynitride transparent plate 2 and is detected by the laser detector in the laser radar ranging sensor group 1. The distance information from the upper and lower laser radar ranging sensors in the laser radar ranging sensor group 1 to the cross-linked polyethylene cable 3 is received by the sensor. After passing through the internal circuit of the laser radar ranging sensor group 1, the distance information from the upper and lower laser radar ranging sensors in the laser radar ranging sensor group 1 to the cross-linked polyethylene cable 3 is transmitted to the MCU main control system 4 via serial communication in the form of digital signals. The MCU main control system 4 determines whether the cable is at the center of the stainless steel pendant 7 by comparing the difference between the two sets of digital signals. If the difference between the two sets of digital signals is less than the set difference range, there is no need to adjust the current lower tractor speed. However, if the difference between the two sets of digital signals is greater than the set difference range, the parameters of the PID algorithm are tuned using a hybrid PSO algorithm. After determining the PID algorithm parameters, the PID algorithm calculates a reasonable speed control command for the lower tractor 6. The MCU main control system 4 transmits the speed change command to the driver 5 via the RS-232 communication protocol interface. The driver 5 transmits the speed change command to the lower tractor 6 via the Profibus communication protocol to change the forward speed of the cross-linked polyethylene cable 3, thereby ensuring that the cross-linked polyethylene cable 3 always remains at the center of the stainless steel pendant 7.

[0047] In this embodiment, the laser radar uses the Beixing TF350 laser radar, which has a ranging range of 0.1-350m and a resolution of 1mm. It is a single-point ranging radar; the cable is an 8.7 / 10kv cross-linked polyethylene cable; the lower traction machine uses a 30KN crawler traction machine with a maximum traction force of 30KN, a maximum traction cable diameter of 100mm, a motor power of 15kw, and an adjustable speed of 0-28m / min.

[0048] In this embodiment, the laser radar ranging sensor group 1 is composed of two laser radar ranging sensors, wherein each laser radar ranging sensor is fixed directly above and directly below the stainless steel pendant 7 respectively; the two collected distance signals will be subjected to difference calculation during subsequent data processing, and when the absolute value of the difference is less than a specific constant, no adjustment instruction is output, otherwise an adjustment instruction is output to ensure that the cross-linked polyethylene cable 3 is located at the center of the stainless steel pendant 7. Because the cross-linked polyethylene cable 3 is pinched at both ends by the upper traction machine 8 and the lower traction machine 6, it is in a catenary tension state under the action of gravity, and the cross-linked polyethylene cable 3 is not subjected to force in the left and right directions. There is no need to consider the situation where the cross-linked polyethylene cable 3 will deviate left and right, so there is no need to install laser radar ranging sensors on both horizontal sides. At the same time, the laser radar ranging sensor group 1 uses digital signals, which can achieve long-distance transmission by adding modules, and is adapted to the characteristics of the cross-linked cable production line with large depth and the need for long-distance transmission; its assembly diagram is shown as follows Figure 2 shown.

[0049] In this embodiment, the aluminum oxynitride transparent plate 2 is made of a solid solution phase in the Al2O3-AlN binary system, a transparent polycrystalline ceramic with optical isotropy, effectively satisfying its light transmission function. Furthermore, its hardness is four times that of quartz glass, and its bending strength reaches 300 MPa, effectively isolating the LiDAR ranging sensor group 1 from the cross-linked polyethylene cable 3. Its melting point is 2200 degrees Celsius, far exceeding the maximum operating temperature of a cross-linked cable production line, and it also exhibits excellent electrical insulation properties. The modulated laser light emitted by the LiDAR ranging sensor group 1 passes through the aluminum oxynitride transparent plate 2 and is vertically incident directly above and below the cross-linked polyethylene cable 3. The reflected modulated laser signal is received by the laser detector of the LiDAR ranging sensor that emitted the laser signal.

[0050] In this embodiment, the cross-linked polyethylene cable 3 is a new type of high-voltage cable with a three-dimensional mesh structure using cross-linked polyethylene as the main material of the insulation layer. It is produced using a semi-dry catenary three-layer co-extrusion cross-linked cable production line (CCV for short). Three extruders are used to simultaneously extrude three cross-linked polyethylene materials with different properties, which are wrapped around a copper conductor or an aluminum conductor. After heating in a closed pipeline, the cross-linked polyethylene (with the addition of cross-linking agent DCP) undergoes a chemical cross-linking reaction to improve the voltage resistance of the cable. After cooling in a cooling section, the finished cable is finally towed and closed by a traction machine.

[0051] In this embodiment, the MCU main control system 4 uses an STMicroelectronics STM32F103 chip as its main control chip. Its peripherals include serial port peripheral pins and an RS-232 interface derived from the chip. The serial port peripheral pins are used to collect digital signals from the two sets of laser radar ranging sensors 1, and the RS-232 interface is used to communicate with the driver 5. The MCU system calculates the difference in distance information from the upper and lower sets of laser radar ranging sensors 1 to the cross-linked polyethylene cable 3 and compares the difference between the two sets of digital signals with the difference of the set signal to determine whether the cross-linked polyethylene cable 3 is at the center of the stainless steel pendant 7. The MCU is a highly integrated chip with powerful functions and is not affected by external signals. The receiving and transmitting devices of existing pendant control systems use traditional analog circuits made of discrete components, which have unstable performance, poor anti-interference capabilities, and are easily interfered with by signals in the same frequency band in industrial sites, and their zero point is prone to drift.

[0052] Example 2

[0053] like Figure 3 FIG. 1 is a flow chart of a control method for a digital draping system for performing difference correction based on laser radar ranging according to this embodiment. The control method specifically includes the following steps:

[0054] S1: LiDAR ranging sensor device collects distance signals;

[0055] The laser radar ranging sensor group 1 emits a group of modulated laser signals from two directions, directly above and below the cross-linked polyethylene cable 3. The modulated laser signals are vertically incident on the aluminum oxynitride transparent plate 2, pass through the aluminum oxynitride transparent plate 2 and reach the surface of the cross-linked polyethylene cable 3. The cross-linked polyethylene cable 3 reflects the modulated laser signals, and the reflected signals pass through the aluminum oxynitride transparent plate 2 and are received by the laser detector in the laser radar ranging sensor group 1.

[0056] S2: MCU main control system receives the signal;

[0057] Through the internal circuit of the laser radar ranging sensor group 1, the distance information from the upper and lower groups of laser radar ranging sensors in the laser radar ranging sensor group 1 to the cross-linked polyethylene cable is connected to the MCU main control system 4 via serial port communication in the form of digital signals;

[0058] S3: MCU main control system processes signals;

[0059] The MCU main control system 4 determines whether the cross-linked polyethylene cable 3 is at the center of the stainless steel suspension body 7 by comparing the difference between the two sets of digital signals; if the difference between the two sets of digital signals is less than the set difference range, there is no need to adjust the speed of the lower traction machine 6; if the difference between the two sets of digital signals is greater than the set difference range, the PID algorithm is optimized and parameterized using the hybrid PSO algorithm, and a reasonable lower traction machine speed control instruction is calculated using the optimized PID algorithm.

[0060] S4: Send control signal;

[0061] The MCU main control system transmits the speed change instruction to the driver through the RS-232 communication protocol interface. The driver transmits the speed change instruction to the lower traction machine through the profibus communication protocol, changing the forward speed of the cross-linked polyethylene cable, so that the cross-linked polyethylene cable always remains in the center position of the stainless steel pendant.

[0062] In this embodiment, the PID algorithm is optimized and parameterized by a hybrid PSO algorithm, specifically including the following contents:

[0063] The hybrid PSO algorithm imitates the foraging strategy of birds. It infers the individual speed through the functional relationship between individual optimal, local optimal and group optimal, and then infers the position of the individual in the next time unit. The formula is as follows:

[0064]

[0065]

[0066]

[0067]

[0068]

[0069] In formula (1), v0 represents the velocity of the particle last time, v (j) Indicates the speed at which the particle needs to be updated, P (j) ,P G , They represent the individual optimal solution, the group optimal solution, and the local optimal solution, respectively. c1, c2, and w are inertia weights that need to be set manually. rand is a random quantity generated by the microcontroller. X (j) represents the position of the particle at the current moment, and j represents the jth particle;

[0070] In formula (2), X represents the position of the particle, k represents the number of iterations, and according to the above explanation of j, represents the position of particle j at the kth iteration, Similarly, dt represents the minimum time unit of simulation;

[0071] In formulas (3), (4), and (5), F represents the adaptive function, k and j have the same meanings as in formula (2), and P (j) ,P G , The meaning of is the same as that of formula (1), and the other symbols are similar and will not be repeated here.

[0072] This algorithm can automatically calculate the optimal PID parameters within a set range, reducing the experience and time required for manual debugging. Compared with the traditional PSO algorithm, the hybrid PSO algorithm is less likely to fall into local optimal solutions and can optimize the tuning parameters as much as possible. Based on these advantages, the present invention ultimately selected this algorithm as the PID parameter optimization tuning method. The hybrid PSO algorithm optimizes the PID parameters, making the output signal more accurate and stable, and effectively improving the quality of the cable.

[0073] After receiving the instruction from the PID algorithm, the MCU main control system 4 will transmit the speed change instruction to the driver 5 through the RS-232 communication protocol interface. The driver 5 will transmit the speed change instruction to the lower traction machine 6 through the profibus communication protocol to change the forward speed of the cross-linked polyethylene cable 3, so that the cross-linked polyethylene cable 3 is always dynamically located at the center position of the stainless steel suspension body 7.

[0074] The draping system of this embodiment detects and controls the position of the cable more stably and reliably, and performs real-time dynamic intelligent tracking detection, intelligent signal processing, and real-time dynamic intelligent control of the cable position to ensure that the cable is always in the center of the pipeline.

[0075] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the scope of protection of the present invention.

[0076] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0077] In addition, the various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. A digital draping system based on laser radar ranging for difference correction, characterized in that: The invention comprises a laser radar ranging sensor group (1), an aluminum oxynitride transparent plate (2), a cross-linked polyethylene cable (3), an MCU main control system (4), a driver (5), a lower traction machine (6) and a stainless steel hanging body (7); the laser radar ranging sensor group (1) respectively emits a group of modulated laser signals from two directions just above and below the cross-linked polyethylene cable (3); the cross-linked polyethylene cable (3) runs through the stainless steel hanging body (7); the aluminum oxynitride transparent plate (2) is embedded in the stainless steel hanging body (7); the modulated laser signal is vertically injected into the aluminum oxynitride transparent plate (2), passes through the aluminum oxynitride transparent plate (2) and reaches the surface of the cross-linked polyethylene cable (3); the cross-linked polyethylene cable (3) reflects the modulated laser signal, and the reflected signal passes through the aluminum oxynitride transparent plate (2) and is transmitted by the laser radar ranging sensor group (1). The laser detector in the group (1) receives the data; and the distance information from the upper and lower groups of laser radar ranging sensors in the laser radar ranging sensor group (1) to the cross-linked polyethylene cable is respectively connected to the MCU main control system (4) through serial communication in the form of digital signals through the internal circuit of the laser radar ranging sensor group (1). The MCU main control system (4) determines whether the cross-linked polyethylene cable (3) is in the center position of the stainless steel hanging body (7) by comparing the difference between the two groups of digital signals. If it is not in the center position, the MCU main control system (4) sends a speed change instruction to the driver (5), and the driver (5) controls the speed of the lower traction machine (6) to change the forward speed of the cross-linked polyethylene cable (3), thereby achieving the cross-linked polyethylene cable (3) being kept in the center position of the stainless steel hanging body (7).

2. The digital draping system for performing difference correction based on laser radar ranging as claimed in claim 1, characterized in that: The laser radar ranging sensor group (1) consists of two laser radar ranging sensors, which are respectively fixed directly above and directly below the stainless steel hanging body (7), and the distances between the two laser radar ranging sensors and the cross-linked polyethylene cable (3) are equidistant.

3. The digital draping system for performing difference correction based on laser radar ranging as claimed in claim 1, characterized in that: The material of the aluminum oxynitride transparent plate (2) is a solid solution phase in the Al2O3-AlN binary system, its chemical name is AlON, and it is a high-temperature resistant transparent ceramic.

4. The digital draping system for performing difference correction based on laser radar ranging as claimed in claim 1, characterized in that: The cross-linked polyethylene cable (3) is a new type of high-voltage cable with a three-dimensional mesh structure using cross-linked polyethylene as the main material of the insulation layer. It is produced using a semi-dry catenary three-layer co-extrusion cross-linked cable production line. Three extruders are used to simultaneously extrude three cross-linked polyethylene materials with different properties. The materials are wrapped around a copper conductor or an aluminum conductor. After heating in a closed pipeline, a chemical cross-linking reaction occurs after the cross-linked polyethylene is added with a cross-linking agent DCP, which can improve the voltage resistance level of the cable. After cooling in a cooling section, the finished cable is finally pulled and wound up by a traction machine.

5. The digital draping system for performing difference correction based on laser radar ranging as claimed in claim 1, characterized in that: The MCU main control system (4) uses the STM32F103 chip of STMicroelectronics as the main control chip, with a maximum operating frequency of up to 72MHz and uses a 32-bit reduced instruction set based on the ARMv7-M architecture.

6. The control method for a digital draping system based on laser radar ranging and difference correction according to claim 1, characterized in that: The specific steps include: S1: LiDAR ranging sensor device collects distance signals; A group of modulated laser signals is emitted from the laser radar ranging sensor group (1) from two directions directly above and below the cross-linked polyethylene cable (3). The modulated laser signals are vertically incident on the aluminum oxynitride transparent plate (2), pass through the aluminum oxynitride transparent plate (2) and reach the surface of the cross-linked polyethylene cable (3). The cross-linked polyethylene cable (3) reflects the modulated laser signals, and the reflected signals pass through the aluminum oxynitride transparent plate (2) and are received by the laser detector in the laser radar ranging sensor group (1). S2: MCU main control system receives the signal; Through the internal circuit of the laser radar ranging sensor group (1), the distance information from the upper and lower groups of laser radar ranging sensors in the laser radar ranging sensor group (1) to the cross-linked polyethylene cable is respectively connected to the MCU main control system (4) via serial port communication in the form of digital signals; S3: MCU main control system processes signals; The MCU main control system (4) determines whether the cross-linked polyethylene cable (3) is located at the center of the stainless steel hanging body (7) by comparing the difference between the two sets of digital signals; if the difference between the two sets of digital signals is less than a set difference range, there is no need to adjust the speed of the lower traction machine (6); if the difference between the two sets of digital signals is greater than the set difference range, the PID algorithm is optimized and parameterized by a hybrid PSO algorithm, and a reasonable lower traction machine speed control instruction is calculated by the optimized PID algorithm; S4: Send control signal; The MCU main control system transmits the speed change instruction to the driver through the RS-232 communication protocol interface. The driver transmits the speed change instruction to the lower traction machine through the profibus communication protocol, changing the forward speed of the cross-linked polyethylene cable, so that the cross-linked polyethylene cable always remains in the center position of the stainless steel pendant.

7. The control method for a digital draping system based on laser radar ranging and difference correction according to claim 6, characterized in that: In step S3, the PID algorithm is optimized and parameterized using the hybrid PSO algorithm, specifically including the following: The hybrid PSO algorithm imitates the foraging strategy of birds. It infers the individual speed through the functional relationship between individual optimal, local optimal and group optimal, and then infers the position of the individual in the next time unit. The formula is as follows: In formula (1), v0 represents the velocity of the particle last time, v (j) Indicates the speed at which the particle needs to be updated, P (j) ,P G , They represent the individual optimal solution, the group optimal solution, and the local optimal solution, respectively. c1, c2, and w are inertia weights that need to be set manually. rand is a random quantity generated by the microcontroller. X (j) represents the position of the particle at the current moment, and j represents the jth particle; In formula (2), X represents the position of the particle, k represents the number of iterations, and according to the above explanation of j, represents the position of particle j at the kth iteration, Similarly, dt represents the minimum time unit of simulation; In formulas (3), (4), and (5), F represents the adaptive function, k and j have the same meanings as in formula (2), and P (j) ,P G , The meaning of is the same as that of formula (1), and the other symbols are similar and will not be repeated here.

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