An underwater door opening mechanism control system and control method based on an electric cylinder

Abstract

The application relates to an underwater door opening mechanism control system and control method based on an electric cylinder, relates to the underwater door opening mechanism control technology field, and solves the problem that the prior art lacks an underwater door opening mechanism control mode based on an electric cylinder. The system comprises a controller, a servo driver, a door opening electric cylinder motor and an absolute value photoelectric encoder and an angle sensor built therein; the controller is used for generating an opening enable instruction and a positive rotation speed instruction of the door opening electric cylinder motor, and calculating a real-time position of the door opening electric cylinder according to the absolute value photoelectric encoder absolute number; when the real-time position reaches a target door opening position, the actual door opening angle of the angle sensor is read, if the actual door opening angle is not less than the target door opening angle, a stop instruction and a close enable instruction of the door opening electric cylinder motor are generated; the servo driver is used for controlling the door opening electric cylinder to extend outward to perform a door opening action based on the opening enable instruction and the positive rotation speed instruction, and reporting the absolute number to the controller in real time.

Description

Technical Field

[0001] This invention relates to the field of underwater door opening mechanism control technology, and in particular to an underwater door opening mechanism control system and control method based on an electric cylinder. Background Technology

[0002] The underwater door opening mechanism consists of an actuator, a linkage, and a door. One or more actuators are mounted on the linkage to push the door and complete the opening or closing action.

[0003] Currently, when underwater door opening mechanisms perform opening and closing actions, if hydraulic cylinders are used as the actuator, the buoyancy underwater reduces the load, and the complex structure of hydraulic cylinders, requiring motors, pumps, oil tanks, valves, pressure sensors, etc., results in a large size and heavy weight. Electric cylinders, due to environmental limitations, require high waterproofing when used underwater, leading to higher costs. However, due to the aforementioned drawbacks of hydraulic cylinders, electric cylinders are still necessary for applications with strict size and critical requirements to perform the opening and closing actions of underwater door opening mechanisms.

[0004] Therefore, it is essential to study the control method of underwater door opening mechanism based on electric cylinder. Summary of the Invention

[0005] Based on the above analysis, the present invention aims to provide a control system and control method for an underwater door opening mechanism based on an electric cylinder, in order to solve the problem that the prior art lacks a control method for an underwater door opening mechanism based on an electric cylinder.

[0006] On one hand, this invention discloses a control system for an underwater door opening mechanism based on an electric cylinder, including a controller, a servo driver, a door opening electric cylinder motor, an absolute photoelectric encoder built into the door opening electric cylinder motor, and an angle sensor; wherein,

[0007] The controller is used to sequentially generate an enable command and a forward rotation speed command for the door opening electric cylinder motor, and calculate the real-time position of the door opening electric cylinder based on the absolute number of revolutions of the absolute value photoelectric encoder; when the real-time position reaches the target door opening position, it reads the actual door opening angle from the angle sensor; if the read actual door opening angle is not less than the target door opening angle, it sequentially generates a stop command and an enable command for the door opening electric cylinder motor; the target door opening position is obtained by mapping the maximum angle value after considering the angle deviation of the target door opening angle.

[0008] The servo driver is used to control the door opening electric cylinder to extend outward to perform the door opening action based on the enable command and the forward rotation speed command, and to report the absolute number of revolutions to the controller in real time.

[0009] Based on the above solution, the present invention also makes the following improvements:

[0010] Furthermore, the system also includes an upper limit switch for the electric door opening cylinder;

[0011] When performing the door opening action, if the door opening electric cylinder triggers the upper limit switch of the door opening electric cylinder, the servo driver reports the upper limit switch signal of the upper limit switch of the door opening electric cylinder to the controller in real time, so that the controller can generate a stop command and an enable command for the door opening electric cylinder motor in sequence based on the upper limit switch signal.

[0012] Furthermore, the controller is also used to sequentially generate an on enable command and a reverse rotation speed command for the door opening electric cylinder motor, and calculate the real-time position of the door opening electric cylinder based on the absolute number of revolutions; when the real-time position reaches the target closing position, the actual opening angle of the angle sensor is read; if the actual opening angle read is not greater than the target closing angle, a stop command and an off enable command for the door opening electric cylinder motor are generated sequentially; the target closing position is obtained by mapping the minimum angle value after considering the angle deviation of the target closing angle.

[0013] The servo driver is used to control the door opening electric cylinder to retract inward to perform the door closing action based on the enable command and the reverse speed command, and to report the absolute number of revolutions to the controller in real time.

[0014] Furthermore, the system also includes a lower limit switch for the electric door opening cylinder;

[0015] When performing the closing action, if the door opening electric cylinder triggers the lower limit switch of the door opening electric cylinder, the servo driver reports the lower limit switch signal of the door opening electric cylinder to the controller in real time, so that the controller can generate a stop command and an off enable command for the door opening electric cylinder motor in sequence based on the lower limit switch signal.

[0016] Furthermore, the electric cylinder motor for opening the door is mounted on the cylinder body of the electric cylinder for opening the door, and is used to drive the electric cylinder for opening the door to extend outward to perform the opening action when the servo driver controls the electric cylinder motor for opening the door, or to drive the electric cylinder for opening the door to retract inward to perform the closing action.

[0017] Furthermore, the upper limit switch of the electric door opening cylinder is installed at the upper limit position of the cylinder body of the electric door opening cylinder, and the output terminal of the upper limit switch of the electric door opening cylinder is also connected to the I / O input of the servo driver;

[0018] The lower limit switch of the door opening electric cylinder is installed at the lower limit position of the cylinder body, and the output terminal of the lower limit switch is connected to the I / O input of the servo driver.

[0019] Furthermore, the system also includes a power supply;

[0020] The DC 24V output terminal of the power supply is connected to the DC 24V input terminal of the controller, the DC 24V input terminal of the angle sensor, and the DC 24V input terminal of the servo driver via cables.

[0021] The DC 48V output terminal of the power supply is connected to the DC 48V input terminal of the servo driver via a cable.

[0022] Furthermore, the controller, servo driver, and power supply are housed in a sealed, waterproof chamber.

[0023] The door-opening electric cylinder body, the door-opening electric cylinder upper limit switch, the door-opening electric cylinder lower limit switch, the door-opening electric cylinder motor, and the angle sensor are placed outside the sealed waterproof chamber.

[0024] The angle sensor is installed at the pivot of the underwater door opening mechanism.

[0025] On the other hand, the present invention also discloses a control method for an underwater door opening mechanism based on an electric cylinder, comprising:

[0026] The controller sequentially sends the enable command and the forward rotation speed command of the door opening electric cylinder motor to the servo driver;

[0027] The servo driver controls the door-opening electric cylinder to extend outward based on the forward rotation speed command to perform the door-opening action, and reports the absolute number of revolutions of the absolute value photoelectric encoder built into the door-opening electric cylinder motor to the controller in real time.

[0028] The controller calculates the real-time position of the door-opening electric cylinder based on the absolute number of revolutions.

[0029] When the controller detects that the real-time position has reached the target door opening position, it reads the actual door opening angle from the angle sensor. If the actual door opening angle read is not less than the target door opening angle, it sequentially generates a stop command and a disable enable command for the door opening electric cylinder motor.

[0030] The target door opening position is obtained by mapping the maximum angle value after considering the angle deviation of the target door opening angle.

[0031] Furthermore, it also includes:

[0032] The controller sequentially sends the enable command and the reverse speed command of the door opening electric cylinder motor to the servo driver;

[0033] The servo driver controls the door-opening electric cylinder to retract inward based on the reverse rotation speed command to perform the door-closing action, and reports the absolute number of revolutions of the absolute photoelectric encoder to the controller in real time.

[0034] The controller calculates the real-time position of the door-opening electric cylinder based on the absolute number of revolutions.

[0035] When the controller detects that the real-time position has reached the target closing position, it reads the actual opening angle of the angle sensor. If the actual opening angle read is not greater than the target closing angle, it sequentially generates a stop command and an enable command for the electric cylinder motor.

[0036] The target closing position is obtained by mapping the minimum angle value after considering the angle deviation of the target closing angle.

[0037] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0038] The present invention provides a control system and control method for an underwater door opening mechanism based on an electric cylinder, which has the following beneficial effects:

[0039] First, the system has a simple structure, small size, and light weight; it solves the problem that hydraulic cylinders are complex in structure, require motor pumps, oil tanks, valves, pressure sensors, etc., and have a large size and heavy weight.

[0040] Secondly, during the door opening action, the controller and servo driver work together to control the electric cylinder to extend outward until the real-time position reaches the target door opening position. Then, the actual door opening angle is read from the angle sensor. If the actual door opening angle is not less than the target door opening angle, a stop command and a shutdown enable command are generated sequentially for the electric cylinder motor. During the door closing action, the controller and servo driver work together to control the electric cylinder to retract inward until the real-time position reaches the target door closing position. Then, the actual door opening angle is read from the angle sensor. If the actual door opening angle is not greater than the target door closing angle, a stop command and a shutdown enable command are generated sequentially for the electric cylinder motor. Through the dual judgment of position and angle, precise control of the underwater door opening mechanism's opening and closing is achieved.

[0041] Third, by monitoring the upper limit switch signal of the upper limit switch of the electric door opening cylinder, it is possible to monitor whether the electric door opening cylinder has reached the upper limit position of the cylinder body. If so, a stop command and an off enable command for the electric door opening cylinder motor are generated in sequence. Similarly, by monitoring the lower limit switch signal of the electric door opening cylinder, it is possible to monitor whether the electric door opening cylinder has reached the lower limit position of the cylinder body. If so, a stop command and an off enable command for the electric door opening cylinder motor are generated in sequence, thereby achieving protection of the cylinder body of the electric door opening cylinder.

[0042] Fourth, by setting the positions of each component in the underwater door opening mechanism control system, it is ensured that each component can adapt to the underwater environment and that the entire control process can be completed smoothly.

[0043] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0044] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0045] Figure 1 This is a schematic diagram of the control system structure for an underwater door opening mechanism based on an electric cylinder.

[0046] Figure 2 Flowchart of a control method for performing door opening actions using an underwater door opening mechanism based on an electric cylinder;

[0047] Figure 3 A flowchart of a control method for performing a closing action on an underwater door opening mechanism based on an electric cylinder. Detailed Implementation

[0048] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0049] Example 1

[0050] Specific embodiment 1 of the present invention discloses an underwater door opening mechanism control system based on an electric cylinder, the connection diagram of which is shown below. Figure 1 As shown, the control system includes a controller, a servo driver, a door-opening electric cylinder motor, an absolute photoelectric encoder built into the door-opening electric cylinder motor, and an angle sensor; wherein,

[0051] The controller is used to sequentially generate an enable command and a forward rotation speed command for the electric cylinder motor, and calculate the real-time position of the electric cylinder motor based on the absolute revolution count of the absolute value photoelectric encoder. When the real-time position reaches the target opening position, the actual opening angle of the angle sensor is read. If the actual opening angle is not less than the target opening angle, a stop command and an enable command for the electric cylinder motor are generated sequentially. The target opening position is obtained by mapping the maximum angle value after considering the angle deviation of the target opening angle. The mapping relationship between the position of the electric cylinder motor and the opening angle can be obtained by simulating the operation of the electric cylinder motor. During the simulation, the position of the electric cylinder motor and its corresponding opening angle are recorded and summarized into a mapping relationship table to obtain the target opening position. Here, the angle deviation can be determined based on the control accuracy of the opening while maintaining a certain margin. It should be emphasized that under normal opening action, when the controller detects that the real-time position has reached the target opening position, the actual opening angle should not be less than the target opening angle, thus realizing the dual judgment of "position + angle", thereby better maintaining the precise control of the underwater opening mechanism.

[0052] The servo driver is used to control the door opening electric cylinder to extend outward to perform the door opening action based on the enable command and the forward rotation speed command, and to report the absolute number of revolutions to the controller in real time.

[0053] Furthermore, the controller is also used to sequentially generate an on enable command and a reverse rotation speed command for the door opening electric cylinder motor, and calculate the real-time position of the door opening electric cylinder based on the absolute number of revolutions; when the real-time position reaches the target closing position, the actual door opening angle of the angle sensor is read; if the actual door opening angle read is not greater than the target closing angle, a stop command and an off enable command for the door opening electric cylinder motor are generated sequentially; the target closing position is obtained by mapping the minimum angle value after considering the angle deviation of the target closing angle; under normal door closing action, when the controller detects that the real-time position has reached the target closing position, the actual door opening angle should not be greater than the target closing angle, thereby realizing the dual judgment of "position + angle", thus better maintaining the precise control of the underwater door opening mechanism.

[0054] The servo driver is used to control the door opening electric cylinder to retract inward to perform the door closing action based on the enable command and the reverse speed command, and to report the absolute number of revolutions to the controller in real time.

[0055] Based on the aforementioned functions of the controller and servo driver, the opening and closing actions of the underwater door opening mechanism can be realized.

[0056] Preferably, the system further includes an upper limit switch for the door-opening electric cylinder; when performing the door-opening action, if the door-opening electric cylinder triggers the upper limit switch, the servo driver reports the upper limit switch signal of the upper limit switch to the controller in real time, so that the controller can sequentially generate a stop command and an off-enable command for the door-opening electric cylinder motor based on the upper limit switch signal. The system also includes a lower limit switch for the door-opening electric cylinder; when performing the door-closing action, if the door-opening electric cylinder triggers the lower limit switch, the servo driver reports the lower limit switch signal of the lower limit switch to the controller in real time, so that the controller can sequentially generate a stop command and an off-enable command for the door-opening electric cylinder motor based on the lower limit switch signal.

[0057] Preferably, the electric cylinder motor is mounted on the cylinder body of the electric cylinder and is used to drive the electric cylinder to extend outward to perform the opening action when the servo driver controls the electric cylinder motor, or to drive the electric cylinder to retract inward to perform the closing action.

[0058] Preferably, the upper limit switch of the door-opening electric cylinder is installed at the upper limit position of the cylinder body, and the output terminal of the upper limit switch is also connected to the I / O input of the servo driver; the lower limit switch of the door-opening electric cylinder is installed at the lower limit position of the cylinder body, and the output terminal of the lower limit switch is connected to the I / O input of the servo driver.

[0059] In addition, the system also includes a power supply; the DC 24V output terminal of the power supply is connected to the DC 24V input terminal of the controller, the DC 24V input terminal of the angle sensor, and the DC 24V input terminal of the servo driver via cables; the DC 48V output terminal of the power supply is connected to the DC 48V input terminal of the servo driver via a cable.

[0060] Since the underwater door opening mechanism control system is used underwater, the waterproof function of each device needs to be given special attention. In this embodiment, the controller, servo driver, and power supply are placed inside a sealed waterproof chamber; the door opening electric cylinder body, the door opening electric cylinder upper limit switch, the door opening electric cylinder lower limit switch, the door opening electric cylinder motor, and the angle sensor are placed outside the sealed waterproof chamber; the angle sensor is installed at the rotating shaft of the underwater door opening mechanism.

[0061] Example 2

[0062] Specific embodiment 2 of the present invention discloses a control method for an underwater door opening mechanism based on an electric cylinder. When the door opening action is performed, the flowchart is as follows: Figure 2 As shown, it includes:

[0063] Step S201: The controller sequentially sends an enable command and a forward rotation speed command for the door opening electric cylinder motor to the servo driver.

[0064] Before executing step S201, the controller first sends a motor revolution query command to the servo driver. The servo driver reports the absolute number of revolutions of the motor built into the door opening electric cylinder as the initial extension position of the door opening electric cylinder.

[0065] Step S202: The servo driver controls the door-opening electric cylinder to extend outward based on the forward rotation speed command to perform the door-opening action, and reports the absolute number of revolutions of the absolute photoelectric encoder to the controller in real time;

[0066] Step S203: The controller calculates the real-time position of the door-opening electric cylinder based on the absolute number of revolutions;

[0067] Step S204: When the controller detects that the real-time position has reached the target door opening position, it reads the actual door opening angle of the angle sensor. If the actual door opening angle read is not less than the target door opening angle, it generates a stop command and an enable command for the door opening electric cylinder motor in sequence.

[0068] The target door opening position is obtained by mapping the maximum angle value after considering the angle deviation of the target door opening angle.

[0069] In addition, during the above-mentioned door opening action, the servo driver also monitors the upper limit switch signal of the upper limit switch of the door opening electric cylinder in real time. If the door opening electric cylinder triggers the upper limit switch, the servo driver reports the upper limit switch signal of the upper limit switch to the controller in real time, so that the controller can generate the stop command and the off enable command of the door opening electric cylinder motor in sequence based on the upper limit switch signal.

[0070] When the door closing action is performed, the flowchart is as follows: Figure 3 As shown, it includes:

[0071] Step S301: The step controller sequentially sends an enable command and a reverse speed command for the door opening electric cylinder motor to the servo driver.

[0072] Before executing step S301, the controller first sends a motor revolution query command to the servo driver. The servo driver reports the absolute revolution count of the photoelectric encoder of the door opening electric cylinder motor as the initial retraction position of the door opening electric cylinder.

[0073] Step S302: The servo driver controls the door opening electric cylinder to retract inward based on the reverse rotation speed command to perform the door closing action, and reports the absolute number of revolutions of the absolute photoelectric encoder to the controller in real time;

[0074] Step S303: The controller calculates the real-time position of the door-opening electric cylinder based on the absolute number of revolutions;

[0075] Step S304: When the controller detects that the real-time position has reached the target closing position, it reads the actual opening angle of the angle sensor. If the actual opening angle read is not greater than the target closing angle, it generates a stop command and an enable command for the door opening electric cylinder motor in sequence.

[0076] The target closing position is obtained by mapping the minimum angle value after considering the angle deviation of the target closing angle.

[0077] In addition, during the aforementioned door closing action, the servo driver also monitors the lower limit switch signal of the door opening electric cylinder in real time. If the door opening electric cylinder triggers the lower limit switch, the servo driver reports the lower limit switch signal of the door opening electric cylinder to the controller in real time, so that the controller can generate a stop command and an off enable command for the door opening electric cylinder motor in sequence based on the lower limit switch signal.

[0078] The above-described method embodiments and system embodiments are based on the same principle, and their related aspects can be referenced from each other, and can achieve the same technical effect.

[0079] Example 3

[0080] To facilitate the implementation of the technical solutions in this application by technicians, this embodiment provides the entire control process of the underwater door opening mechanism based on an electric cylinder, and the specific steps are as follows:

[0081] The first step is to build a control system for the electric cylinder of the underwater door opening mechanism.

[0082] The underwater door opening mechanism electric cylinder control system includes: a controller, a door opening electric cylinder body, an upper limit switch, a lower limit switch, a door opening electric cylinder motor, a servo driver, an angle sensor, and a power supply. The controller, servo driver, and power supply are housed in a sealed, waterproof chamber and connected to the outside via a waterproof connector. The door opening electric cylinder body, upper limit switch, lower limit switch, motor, and angle sensor are located outside the chamber and submerged in water; therefore, waterproof and pressure-resistant types must be selected.

[0083] The motor of the electric door opener cylinder is mounted on the cylinder body. The upper limit switch of the electric door opener cylinder is installed at the upper limit position of the cylinder body. The lower limit switch of the electric door opener cylinder is installed at the lower limit position of the cylinder body. The limit switches can be either mechanical switches or inductive switches.

[0084] The output of the upper limit switch of the electric door opener is connected to the I / O input of the servo driver via a cable. The output of the lower limit switch of the electric door opener is also connected to the I / O input of the servo driver via a cable.

[0085] The electric door opener cylinder motor has a built-in absolute photoelectric encoder for measuring the absolute number of motor rotations. The output of the absolute photoelectric encoder of the electric door opener cylinder motor is connected to the input of the photoelectric encoder of the servo driver via a cable.

[0086] An angle sensor is installed at the pivot of the door opening mechanism to measure the door opening angle.

[0087] The controller is connected to the servo driver and the angle sensor via communication cables.

[0088] The power supply output is connected to the power input of the controller, servo driver, and angle sensor via cables. The controller's 24V DC input is connected to the power supply's 24V DC output via a cable. The angle sensor's 24V DC input is connected to the power supply's 24V DC output via a cable. The servo driver's 48V DC input is connected to the power supply's 48V DC output via a cable. The door-opening electric cylinder motor's power input is connected to the servo driver's power output via a cable.

[0089] Step 2: Power supply to all electrical devices.

[0090] The power supply provides 24V DC to the controller, servo driver, and angle sensor. The power supply also provides 48V DC to the servo driver.

[0091] Step 3: The electric cylinder for opening the door performs the door opening action.

[0092] When the electric door cylinder performs the door opening action, the controller first sends a motor revolution query command to the servo driver. The servo driver reports the absolute revolution count of the photoelectric encoder of the electric door cylinder motor as the initial extension position of the electric door cylinder.

[0093] The controller sends an enable command to the servo driver, and then sends a forward rotation speed command to the servo driver. The door opening electric cylinder extends, and the servo driver continuously reports the absolute number of revolutions of the photoelectric encoder to the controller. The controller calculates the real-time position of the door opening electric cylinder (the real-time position of the door opening electric cylinder is obtained by multiplying the absolute number of revolutions by the lead of the door opening electric cylinder).

[0094] The controller continuously sends motor rotation speed commands to the servo driver. The controller calculates the real-time position of the electric door cylinder. When the controller detects that the real-time position has reached the target opening position, it reads the actual opening angle from the angle sensor. If the actual opening angle is not less than the target opening angle, the door is considered to be in position. The target closing position is obtained by mapping the minimum angle after considering the angle deviation of the target closing angle. Under normal door opening conditions, when the controller detects that the real-time position has reached the target opening position, the actual opening angle should not be less than the target opening angle, thus achieving dual judgment of "position + angle," thereby better maintaining the precise control of the underwater door opening mechanism. Then, the controller sends a motor stop command to the servo driver, stopping the electric door cylinder motor and stopping its extension. After the electric door cylinder motor stops running, the controller also sends a shut-off enable command to the servo driver to avoid damage caused by motor malfunction.

[0095] During the door opening process, the servo driver collects the upper limit switch signal from the electric door opening cylinder and reports it to the controller via the communication cable. If the electric door opening cylinder triggers the upper limit switch signal during movement, the controller sends a motor stop command to the servo driver, causing the electric door opening cylinder motor to stop moving and the cylinder to stop extending, thus protecting the cylinder body. Simultaneously, after the electric door opening cylinder motor stops running, the controller also sends a shutdown enable command to the servo driver to prevent damage caused by motor malfunction.

[0096] Step 4: The electric door cylinder performs the door closing action.

[0097] When the electric door cylinder performs the closing action, the controller first sends a motor revolution query command to the servo driver. The servo driver reports the absolute revolution count of the photoelectric encoder of the electric door cylinder motor as the initial retraction position of the electric door cylinder.

[0098] The controller sends an enable command to the servo driver, and then sends a motor reverse speed command to the servo driver. The door opening electric cylinder retracts, and the servo driver continuously reports the absolute number of revolutions of the current photoelectric encoder to the controller. The controller calculates the real-time position of the door opening electric cylinder.

[0099] The controller continuously sends motor reverse speed commands to the servo driver. The controller calculates the real-time position of the door-opening electric cylinder. When the controller detects that the real-time position has reached the target closing position, it reads the actual opening angle from the angle sensor. If the actual opening angle is not greater than the target closing angle, the door is considered closed. Under normal closing conditions, when the controller detects that the real-time position has reached the target closing position, the actual opening angle should not exceed the target closing angle. This achieves dual judgment based on "position + angle," thus better maintaining the precise control of the underwater door-opening mechanism. Then, the controller sends a motor stop command to the servo driver, stopping the door-opening electric cylinder motor and halting its retraction. After the door-opening electric cylinder motor stops running, the controller also sends a shutdown enable command to the servo driver to prevent damage caused by motor malfunction.

[0100] During the closing process, the servo driver collects the lower limit switch signal of the door-opening electric cylinder and reports it to the controller via the communication cable. If the door-opening electric cylinder triggers the lower limit switch signal during movement, the controller sends a motor stop command to the servo driver, causing the door-opening electric cylinder motor to stop moving and the door-opening electric cylinder to stop retracting, thus protecting the cylinder body. Simultaneously, after the door-opening electric cylinder motor stops running, the controller also sends a shutdown enable command to the servo driver to prevent damage caused by motor malfunction.

[0101] This completes the opening and closing control process of the underwater door opening mechanism based on an electric cylinder.

[0102] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0103] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A control system for an underwater door opening mechanism based on an electric cylinder, characterized in that, It includes a controller, a servo driver, a door-opening electric cylinder motor, an absolute photoelectric encoder built into the door-opening electric cylinder motor, and an angle sensor; wherein, The controller is used to sequentially generate an enable command and a forward rotation speed command for the electric door opening cylinder motor, and calculate the real-time position of the electric door opening cylinder based on the absolute number of revolutions of the absolute value photoelectric encoder. When the real-time position reaches the target door opening position, the actual door opening angle of the angle sensor is read. If the actual door opening angle is not less than the target door opening angle, a stop command and an enable command for the electric door opening cylinder motor are generated sequentially. The target door opening position is obtained by mapping the maximum angle value after considering the angle deviation of the target door opening angle. The mapping relationship between the position of the electric door opening cylinder and the door opening angle is obtained by simulating the operation process of the electric door opening cylinder. During the simulation, the position of the electric door opening cylinder and its corresponding door opening angle are recorded and summarized into a mapping relationship table to obtain the target door opening position. The servo driver is used to control the door opening electric cylinder to extend outward to perform the door opening action based on the enable command and the forward rotation speed command, and to report the absolute number of revolutions to the controller in real time. The controller is also used to sequentially generate an on enable command and a reverse rotation speed command for the door opening electric cylinder motor, and calculate the real-time position of the door opening electric cylinder based on the absolute number of revolutions; when the real-time position reaches the target closing position, the actual opening angle of the angle sensor is read; if the actual opening angle read is not greater than the target closing angle, a stop command and an off enable command for the door opening electric cylinder motor are generated sequentially; the target closing position is obtained by mapping the minimum angle value after considering the angle deviation of the target closing angle. The servo driver is also used to control the door opening electric cylinder to retract inward to perform the door closing action based on the enable command and the reverse speed command, and to report the absolute number of revolutions to the controller in real time.

2. The underwater door opening mechanism control system based on an electric cylinder according to claim 1, characterized in that, The system also includes an upper limit switch for the electric door opening cylinder; When performing the door opening action, if the door opening electric cylinder triggers the upper limit switch of the door opening electric cylinder, the servo driver reports the upper limit switch signal of the upper limit switch of the door opening electric cylinder to the controller in real time, so that the controller can generate a stop command and an enable command for the door opening electric cylinder motor in sequence based on the upper limit switch signal.

3. The underwater door opening mechanism control system based on an electric cylinder according to claim 2, characterized in that, The system also includes a lower limit switch for the electric door opening cylinder; When performing the closing action, if the door opening electric cylinder triggers the lower limit switch of the door opening electric cylinder, the servo driver reports the lower limit switch signal of the door opening electric cylinder to the controller in real time, so that the controller can generate a stop command and an off enable command for the door opening electric cylinder motor in sequence based on the lower limit switch signal.

4. The underwater door opening mechanism control system based on an electric cylinder according to claim 3, characterized in that, The electric cylinder motor for opening the door is mounted on the cylinder body of the electric cylinder for opening the door. When the servo driver controls the electric cylinder motor for opening the door, it drives the electric cylinder for opening the door to extend outward to perform the opening action, or drives the electric cylinder for opening the door to retract inward to perform the closing action.

5. The underwater door opening mechanism control system based on an electric cylinder according to claim 4, characterized in that, The upper limit switch of the electric door opening cylinder is installed at the upper limit position of the cylinder body, and the output terminal of the upper limit switch of the electric door opening cylinder is also connected to the I / O input of the servo driver. The lower limit switch of the electric door opening cylinder is installed at the lower limit position of the cylinder body, and the output terminal of the lower limit switch is connected to the I / O input of the servo driver.

6. The underwater door opening mechanism control system based on an electric cylinder according to claim 5, characterized in that, The system also includes a power supply; The DC 24V output terminal of the power supply is connected to the DC 24V input terminal of the controller, the DC 24V input terminal of the angle sensor, and the DC 24V input terminal of the servo driver via cables. The DC 48V output terminal of the power supply is connected to the DC 48V input terminal of the servo driver via a cable.

7. The underwater door opening mechanism control system based on an electric cylinder according to claim 6, characterized in that, The controller, servo driver, and power supply are housed in a sealed waterproof chamber. The door-opening electric cylinder body, the door-opening electric cylinder upper limit switch, the door-opening electric cylinder lower limit switch, the door-opening electric cylinder motor, and the angle sensor are placed outside the sealed waterproof chamber. The angle sensor is installed at the pivot of the underwater door opening mechanism.

8. A control method for an underwater door opening mechanism based on an electric cylinder, characterized in that, The method is implemented based on the underwater door opening mechanism control system based on an electric cylinder as described in any one of claims 1-7, and the method includes: The controller sequentially sends the enable command and the forward rotation speed command of the door opening electric cylinder motor to the servo driver; The servo driver controls the door-opening electric cylinder to extend outward based on the forward rotation speed command to perform the door-opening action, and reports the absolute number of revolutions of the absolute value photoelectric encoder built into the door-opening electric cylinder motor to the controller in real time. The controller calculates the real-time position of the door-opening electric cylinder based on the absolute number of revolutions. When the controller detects that the real-time position has reached the target door opening position, it reads the actual door opening angle from the angle sensor. If the actual door opening angle read is not less than the target door opening angle, it sequentially generates a stop command and a disable enable command for the door opening electric cylinder motor. The target door opening position is obtained by mapping the maximum angle value after considering the angle deviation of the target door opening angle.

9. The control method for an underwater door opening mechanism based on an electric cylinder according to claim 8, characterized in that, The method further includes: The controller sequentially sends the enable command and the reverse speed command of the door opening electric cylinder motor to the servo driver; The servo driver controls the door-opening electric cylinder to retract inward based on the reverse rotation speed command to perform the door-closing action, and reports the absolute number of revolutions of the absolute photoelectric encoder to the controller in real time. The controller calculates the real-time position of the door-opening electric cylinder based on the absolute number of revolutions. When the controller detects that the real-time position has reached the target closing position, it reads the actual opening angle of the angle sensor. If the actual opening angle read is not greater than the target closing angle, it sequentially generates a stop command and an enable command for the electric cylinder motor. The target closing position is obtained by mapping the minimum angle value after considering the angle deviation of the target closing angle.

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