Attitude control method, device and equipment of switch cabinet transfer trolley and medium

Abstract

The invention discloses an attitude control method and device for a switch cabinet transfer trolley, equipment and a medium. According to the method, an attitude balance equation of the switch cabinet transfer trolley is constructed according to first attitude data of the switch cabinet transfer trolley; constructing a robust control model according to the adjustable length of the movable swing arm, the movable length of the electric control support rod, the second attitude data of the target switch cabinet and the attitude balance equation; and solving the robust control model, and determining the target adjustment length of the electric control support rod and the target movement length of the movable swing arm so as to control the switch cabinet transfer trolley to carry out adjustment, so that the switch cabinet transfer trolley and the target switch cabinet are aligned. According to the technical scheme, the movable swing arm and the electric control supporting rod of the switch cabinet transfer trolley are controlled based on the robust control theory, so that the height and angle of the switch cabinet transfer trolley are dynamically adjusted, the switch cabinet transfer trolley and a switch cabinet can be accurately aligned, and the working efficiency and safety of the switch cabinet transfer trolley are improved.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a posture control method, device, equipment and medium for a switch cabinet transfer vehicle. Background Art

[0002] Switchgear is an electrical device. In the high-voltage room of a substation, switchgear is usually used to open and close, control and protect electrical equipment during power generation, transmission, distribution and energy conversion in the power system. When the line needs to be shut down, the switchgear can be electrically controlled to make the switch reach the test position, which provides great convenience for the staff.

[0003] When inspecting the switch cabinet, the switch cabinet needs to be pulled out and transported to a preset location for inspection. Normally, the operation and maintenance personnel will use a switch cabinet transfer vehicle to pull out the switch cabinet. In order to accurately align the switch cabinet transfer vehicle and the switch cabinet, the operation and maintenance personnel will manually adjust the deflection angle and lifting height of the switch cabinet transfer vehicle. However, this process requires a lot of manpower and time, and the guarantee efficiency is low. When the height or angle adjusted by the operation and maintenance personnel is inaccurate, excessive force may easily cause the switch cabinet to deviate from the transfer vehicle, causing the switch cabinet to fall to the ground, causing equipment damage or the risk of injury to the operation and maintenance personnel. Therefore, a safe and efficient switch cabinet transfer vehicle control solution is urgently needed. Summary of the invention

[0004] The present application provides a posture control method, device, equipment and medium for a switch cabinet transfer vehicle. A movable swing arm and an electric-controlled support rod are arranged on the switch cabinet transfer vehicle, and the movable swing arm and the electric-controlled support rod are controlled based on robust control theory to realize dynamic adjustment of the height and angle of the switch cabinet transfer vehicle, thereby facilitating accurate alignment of the switch cabinet transfer vehicle and the switch cabinet, and improving the working efficiency and safety of the switch cabinet transfer vehicle.

[0005] According to one aspect of the present application, a method for controlling the posture of a switch cabinet transfer vehicle is provided, wherein the switch cabinet transfer vehicle is composed of a vehicle body, a movable swing arm, a controller and wheels, and an electrically controlled support rod is installed in the movable swing arm; the method comprises:

[0006] Acquire first posture data of the switch cabinet transfer vehicle, and construct a posture balance equation of the switch cabinet transfer vehicle according to the first posture data; wherein the first posture data at least includes a movable length of the movable swing arm and an adjustable length of the electric control support rod;

[0007] Acquire second posture data of the target switch cabinet, and construct a robust control model according to the adjustable length, the movable length, the second posture data and the posture balance equation;

[0008] The robust control model is solved to determine the target adjustment length of the electric control support rod and the target moving length of the movable swing arm, so as to control the switch cabinet transfer vehicle to adjust according to the target adjustment length and the target moving length, so that the switch cabinet transfer vehicle and the target switch cabinet are aligned.

[0009] According to another aspect of the present application, a posture control device for a switch cabinet transfer vehicle is provided, the device comprising:

[0010] A posture balance equation construction module, used for acquiring first posture data of the switch cabinet transfer vehicle, and constructing a posture balance equation of the switch cabinet transfer vehicle according to the first posture data; wherein the first posture data at least includes a movable length of the movable swing arm and an adjustable length of the electric control support rod;

[0011] A robust control model building module, used for acquiring the second posture data of the target switch cabinet, and building a robust control model according to the adjustable length, the movable length, the second posture data and the posture balance equation;

[0012] The transfer vehicle posture control module is used to solve the robust control model, determine the target adjustment length of the electric control support rod and the target moving length of the movable swing arm, so as to control the switch cabinet transfer vehicle to adjust according to the target adjustment length and the target moving length, so that the switch cabinet transfer vehicle and the target switch cabinet are aligned.

[0013] According to another aspect of the present application, an electronic device is provided, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the posture control method of the switch cabinet transfer vehicle described in any embodiment of the present application.

[0014] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the posture control method of a switch cabinet transfer vehicle described in any embodiment of the present application when executed.

[0015] The technical solution provided by the present application is to construct the posture balance equation of the switch cabinet transfer vehicle according to the first posture data of the switch cabinet transfer vehicle; to construct a robust control model according to the adjustable length of the movable swing arm, the movable length of the electric control support rod, the second posture data of the target switch cabinet and the posture balance equation; to solve the robust control model to determine the target adjustment length of the electric control support rod and the target moving length of the movable swing arm, so as to control the switch cabinet transfer vehicle to adjust according to the target adjustment length and the target moving length, so that the switch cabinet transfer vehicle and the target switch cabinet are aligned. This technical solution controls the posture of the switch cabinet transfer vehicle based on the robust control theory to realize the dynamic adjustment of the height and angle of the switch cabinet transfer vehicle, so as to facilitate the accurate alignment of the switch cabinet transfer vehicle and the switch cabinet, and improve the working efficiency and safety of the switch cabinet transfer vehicle.

[0016] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 A flow chart of a method for controlling the posture of a switch cabinet transfer vehicle provided in Embodiment 1 of the present application;

[0019] Figure 2 A structural diagram of a switch cabinet transfer vehicle provided in Example 1 of the present application;

[0020] Figure 3 A flow chart of a method for controlling the posture of a switch cabinet transfer vehicle provided in Embodiment 2 of the present application;

[0021] Figure 4 A schematic diagram of a robust control model provided in Example 2 of the present application;

[0022] Figure 5 A schematic structural diagram of a posture control device for a switch cabinet transfer vehicle provided in Embodiment 3 of the present application;

[0023] Figure 6 It is a structural schematic diagram of a device for implementing a posture control method of a switch cabinet transfer vehicle in an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "history", "to be identified", "sub", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] Embodiment 1

[0027] Figure 1 This is a flow chart of a method for controlling the posture of a switch cabinet transfer vehicle provided in the first embodiment of the present application. This embodiment is applicable to the situation where the switch cabinet transfer vehicle and the switch cabinet are aligned. The method can be executed by the posture control device of the switch cabinet transfer vehicle. The posture control device of the switch cabinet transfer vehicle can be implemented in the form of hardware and / or software. The posture control device of the switch cabinet transfer vehicle can be configured in a device with data processing capabilities. Figure 1 As shown, the method includes:

[0028] S110, obtaining first posture data of the switch cabinet transfer vehicle, and constructing a posture balance equation of the switch cabinet transfer vehicle according to the first posture data, wherein the first posture data at least includes a movable length of the movable swing arm and an adjustable length of the electric control support rod.

[0029] The switchgear transfer vehicle is a device used for transporting switchgear. It can move the switchgear from one location to another. It consists of a vehicle body, a movable swing arm, a controller and wheels. An electric control support rod is installed in the movable swing arm.

[0030] Figure 2 This is a structural diagram of a switch cabinet transfer vehicle provided in Example 1 of the present application. Figure 2As shown, A is the vehicle body, which can be used to align with the target switch cabinet; B is a movable swing arm, which is composed of two sections of brackets, one end of which is connected to the vehicle body and the other end is connected to the wheel, which can be used to adjust the vehicle body height of the switch cabinet transfer vehicle; C is the moving groove of the movable swing arm B, which is used for the movable swing arm to move in a directional manner along the moving groove; the movable swing arm B is equipped with an electric control support rod, which can be used to adjust the height of the switch cabinet transfer vehicle; D is a wheel, which can be used for movement and support.

[0031] The first posture data may be the size data, position data and motion data of the switch cabinet transfer vehicle, etc. Among them, the size data may be the size of the entire switch cabinet transfer vehicle and the size of each component; the position data may be the real-time position coordinates of one or more key points on the switch cabinet transfer vehicle; the motion data may be the speed, acceleration, motion direction, etc. of the switch cabinet transfer vehicle during driving.

[0032] Specifically, the first posture data can be acquired in real time through measuring equipment such as an inertial measurement unit, a sensor, a laser radar, a depth camera or an optical motion capture system installed on the switch cabinet transfer vehicle.

[0033] The posture balance equation may be a position relationship equation, a force balance equation, or a torque balance equation involved in the posture adjustment process of the switch cabinet transfer vehicle. For example, during the posture adjustment process of the switch cabinet transfer vehicle, the position and force conditions of the movable swing arm and the electric control support rod will change, but the force balance and torque balance will be maintained. Therefore, the force conditions of the movable swing arm and the electric control support rod can be analyzed to construct the posture balance equation. Specifically, any force balance point and / or torque balance point can be selected in the movable swing arm or the electric control support rod for force analysis to obtain the force balance equation and / or torque balance equation, thereby constructing the posture balance equation based on the force analysis results and the first posture data.

[0034] For another example, during the posture adjustment process of the switchgear transfer vehicle, although the movable length of the movable swing arm and the adjustable length of the electric control strut are changing, they still maintain a certain position or angle relationship with the vehicle body. Therefore, the positional relationship between the movable length of the movable swing arm, the adjustable length of the electric control strut and the vehicle body can also be analyzed to construct the posture balance equation.

[0035] Optionally, constructing a posture balance equation of the switch cabinet transfer vehicle based on the first posture data, including: determining the positional relationship between the movable length and the adjustable length based on the first posture data of the switch cabinet transfer vehicle; and constructing a posture balance equation of the switch cabinet transfer vehicle based on the positional relationship.

[0036] The corresponding relationship can be expressed by length relationship, angle relationship or position relationship. For example, it can be expressed by the Pythagorean theorem, trigonometric function and the like.

[0037] by Figure 2 The switch cabinet transfer vehicle structure shown in FIG. 1 is used as an example to explain. According to the correspondence between the movable swing arm, the electric control support rod and the vehicle body during the posture adjustment process, the posture balance equation of the switch cabinet transfer vehicle is constructed. Specifically, it can be expressed by the following formula:

[0038]

[0039] Where α represents the angle between the movable swing arm and the horizontal direction of the vehicle body, L y represents the adjustable length of the electric control strut, a represents the linear distance from the thrust of the electric control strut to the center of the swing arm, b represents the horizontal distance from the thrust of the electric control strut to the center of the wheel, and W represents the wheelbase between the wheels. Among them, b is a parameter related to the movable length, L y Parameters related to adjustable length.

[0040] It should be noted that for switch cabinet transfer vehicles of the same structural type, their posture balance equations are similar. The posture balance equation of the current switch cabinet transfer vehicle can be constructed by pre-constructing general posture balance equations for switch cabinet transfer vehicles of various structural types, and then substituting the first posture data measured by the current switch cabinet transfer vehicle into the general posture balance equation.

[0041] S120, acquiring second posture data of the target switch cabinet, and constructing a robust control model according to the adjustable length, the movable length, the second posture data and the posture balance equation.

[0042] The target switch cabinet is the switch cabinet to be transferred by the switch cabinet transfer vehicle.

[0043] The second posture data may be position data, size data, and mass data of the target switch cabinet. The position data may include position data of the target switch cabinet and position data of a positioning part on the target switch cabinet. The size data may include overall size data of the target switch cabinet and size data of each component.

[0044] Specifically, the position data of the positioning part on the target switch cabinet can be obtained through the infrared alignment device installed on the switch cabinet transfer vehicle, and the distance that the switch cabinet transfer vehicle needs to adjust relative to the target switch cabinet can be determined. The second posture data of the target switch cabinet can also be obtained through the attribute parameter file pre-set for the target switch cabinet.

[0045] The robust control model can be a model for the switch cabinet transfer vehicle to maintain certain performance under certain parameter perturbations during the driving process and posture adjustment process. Specifically, a suitable robust control method can be selected first, such as H ∞Controller, μ integrated controller, etc., and then design the controller based on the system state equation and uncertainty information.

[0046] In the present application, the posture balance equation can be used as a constraint of the robust control model, and the robust control model can be constructed according to the adjustable length, the movable length and the second posture data.

[0047] Optionally, before constructing a robust control model based on the adjustable length, the movable length, the second posture data and the posture balance equation, the method also includes: constructing a force model of the switch cabinet transfer vehicle based on the maximum thrust of the electric control support rod and the first posture data, and determining the maximum mass that the switch cabinet transfer vehicle can withstand based on the force model; obtaining the actual mass of the target switch cabinet and determining a comparison result between the actual mass and the maximum mass, so as to construct a robust control model based on the adjustable length, the movable length, the second posture data and the posture balance equation when the comparison result is that the actual mass is less than the maximum mass.

[0048] The maximum thrust of the electric control support rod can be the maximum support force or adjustment force generated by the transfer vehicle on the vehicle body and the movable swing arm in different postures. For example, when the transfer vehicle needs to adjust its posture to dock with the target switch cabinet, the electric control support rod will provide corresponding thrust according to the control command to change the angle and position of the transfer vehicle.

[0049] Specifically, by combining the maximum thrust of the electric control support rod with the first posture data, and by considering the effects of various forces such as gravity, support force, thrust, friction force, and the balance relationship between them, a mathematical model can be established to describe the force conditions of the transfer vehicle in different postures.

[0050] Furthermore, by solving the force balance equation, the maximum mass that the transfer vehicle can bear in a specific posture can be determined. It should be noted that when determining the maximum mass, due to some unexpected situations that may occur in actual use, such as uneven ground, impact loads, etc., which may increase the force on the transfer vehicle and reduce its carrying capacity, in order to ensure the safe operation of the transfer vehicle, a certain margin, that is, the safety factor, is reserved when calculating the maximum mass.

[0051] Optionally, constructing a force model of the switch cabinet transfer vehicle according to the maximum thrust of the electric control support rod and the first posture data includes: constructing the force model of the switch cabinet transfer vehicle using the following formula: Wherein, F1 represents the maximum thrust of the electric control strut, L1 represents the straight-line distance from the thrust to the center of the swing arm, m represents the actual mass of the target switch cabinet, g represents the acceleration of gravity, L2 represents the vertical distance from the center of the wheel to the center of the swing arm, and n represents the number of wheels.

[0052] by Figure 2 The formula is explained using the example of F1. F1 is the maximum thrust that the electric control strut can provide, which can be determined based on the parameters of the electric control strut. L1 is the straight-line distance from the thrust point to the center B of the movable swing arm. L2 is the vertical distance from the wheel center to the center B of the movable swing arm. 2F1L1 represents the torque provided by the two electric control struts to the center of the swing arm. The torque provided by the wheel to the center of the swing arm.

[0053] Furthermore, the above-mentioned force model can be constructed based on the moment balance between the thrust of the electric control strut and the pressure of the ground on the roller relative to the rotation center of the swing arm.

[0054] S130. Solve the robust control model to determine the target adjustment length of the electric control support rod and the target moving length of the movable swing arm, so as to control the switch cabinet transfer vehicle to adjust according to the target adjustment length and the target moving length, so that the switch cabinet transfer vehicle and the target switch cabinet are aligned.

[0055] Specifically, the objective function can be defined according to the constraints of the robust control model and the model objectives. For example, the weighted sum of the position deviation and the angle deviation between the transfer vehicle and the target switch cabinet can be used as the objective function to minimize the value of the objective function.

[0056] The robust control model can be solved by an optimization algorithm, such as a genetic algorithm, a particle swarm optimization algorithm, a simulated annealing algorithm, etc. For example, a genetic algorithm encodes the solution to the problem by simulating the biological evolution process, and then gradually optimizes the solution through operations such as selection, crossover, and mutation. For another example, a particle swarm optimization algorithm simulates the behavior of a flock of birds foraging, and searches for the optimal solution by flying particles in the search space.

[0057] The robust control model can also be solved by numerical methods. For example, the robust control model is represented as a set of equations, and Newton's method or gradient descent method can be considered to be used for solving. Through iterative calculation, the optimal solution is gradually approached. In each iteration, the gradient or approximate gradient of the objective function is calculated based on the information of the current solution, and then updated along the gradient direction.

[0058] In the present application, a convergence condition can be set to determine whether the solution process has converged. The convergence condition can be that the change in the objective function value is less than a certain threshold, the number of iterations reaches a certain value, or the change in the solution is less than a certain range. If the convergence condition is met, the solution is stopped and the target adjustment length of the electric control strut and the target moving length of the movable swing arm are obtained; otherwise, the iterative optimization continues.

[0059] The embodiment of the present application provides a method for controlling the posture of a switch cabinet transfer vehicle, which constructs a posture balance equation of the switch cabinet transfer vehicle according to the first posture data of the switch cabinet transfer vehicle; constructs a robust control model according to the adjustable length of the movable swing arm, the movable length of the electric control support rod, the second posture data of the target switch cabinet, and the posture balance equation; solves the robust control model to determine the target adjustment length of the electric control support rod and the target moving length of the movable swing arm to control the switch cabinet transfer vehicle to adjust so that the switch cabinet transfer vehicle and the target switch cabinet are aligned. This technical solution controls the movable swing arm and the electric control support rod of the switch cabinet transfer vehicle based on the robust control theory to realize the dynamic adjustment of the height and angle of the switch cabinet transfer vehicle, so as to facilitate the accurate alignment of the switch cabinet transfer vehicle and the switch cabinet, and improve the working efficiency and safety of the switch cabinet transfer vehicle.

[0060] Embodiment 2

[0061] Figure 3 This is a flow chart of a posture control method for a switch cabinet transfer vehicle provided in the second embodiment of the present application. This embodiment is optimized based on the above embodiment, and is specifically optimized as follows: the controller is H ∞ Controller. Figure 3 As shown, the method of this embodiment specifically includes the following steps:

[0062] S210, obtaining first posture data of the switch cabinet transfer vehicle, and constructing a posture balance equation of the switch cabinet transfer vehicle according to the first posture data, wherein the first posture data at least includes a movable length of the movable swing arm and an adjustable length of the electric control support rod.

[0063] S220, acquiring second posture data of the target switch cabinet, and taking the adjustable length and the movable length as control objects, and taking the second posture data as a reference input.

[0064] The robust control model has multiple inputs and multiple outputs and has uncertainty, so that the system can remain stable and safe after external disturbances or changes in internal model coefficients. Therefore, this application uses H based on mixed sensitivity optimization. ∞ Robust control.

[0065] Specifically, the adjustable length and the movable length may be used as control objects, and the second posture data may be used as a reference input.

[0066] S230: construct the H according to the control object, the reference input and the posture balance equation. ∞ Robust control model under the controller.

[0067] Figure 4A schematic diagram of a robust control model provided in Example 2 of the present application. Figure 4 As shown, r represents the reference input, that is, the second attitude data; e represents the error signal, K(s) represents the controller module, u represents the control signal, G(s) represents the control object, d represents the external interference, y represents the output signal, W1(s) is the performance weighted function, which reflects the interference characteristics of the external environmental factors on the variable pitch system; W2(s) is the controller output weighted function, which represents the controllable voltage threshold limit of the system itself; W3(s) is the system robust weight.

[0068] Among them, the closed-loop transfer functions from r to e, u and y are S, R and T respectively, S = 1-T, S is the sensitivity function, which represents the requirements for the control system performance, and R and T are the complementary sensitivity functions, which represent the requirements for the robust stability of the system. Specifically,

[0069] W1(s) represents the weighted function of the sensitivity function S, which is used to shape S. It is the transfer function from the reference input to the tracking error, and also the transfer function from the interference input to the system parameter output. W1(s) usually takes a low-pass transfer function, which can be expressed by the following formula: In the formula, T represents the time parameter and K represents the coefficient of the transfer function.

[0070] W2(s) is a weighted function of the complementary sensitivity R, which represents the norm bound of the additive perturbation. It is determined by the perturbation range of the system parameters and is used to constrain the output of the designed hydraulic pitch controller. W2(s) is usually a real rational function that satisfies |W2(jw)|≤σ(G(jw)).

[0071] W3(s) is a weighted function of T, which represents the norm bound of the multiplicative perturbation and reflects the robust stability performance requirement. W3(s) generally has a high-pass property, which can not only reflect the range of changes in the parameters of the switch cabinet transfer vehicle itself, but also reflect the dynamic characteristics of the modeling. For example,

[0072] S240. Solve the robust control model to determine the target adjustment length of the electric control support rod and the target moving length of the movable swing arm, so as to control the switch cabinet transfer vehicle to adjust according to the target adjustment length and the target moving length, so that the switch cabinet transfer vehicle and the target switch cabinet are aligned.

[0073] Optionally, the robust control model is solved to determine the target adjustment length of the electrically-controlled strut and the target moving length of the movable swing arm, including: constructing an objective function based on the transfer function of the robust control model; solving the robust control model based on the objective function to determine the target adjustment length of the electrically-controlled strut and the target moving distance of the movable swing arm.

[0074] In the high-voltage room, different types of switch cabinets may have different heights, and due to the existence of the cable trench, the cable cover plate laid on its surface may cause the ground to be uneven. Therefore, it is necessary to consider the uncertain factors existing in the actual site and improve the robustness of the trolley control.

[0075] by Figure 4 Take this as an example to explain. The transfer function of external disturbance d to z1, z2 and z3 is:

[0076]

[0077] From Φ, we can infer that Figure 4 The generalized object P of the system shown can be expressed as follows:

[0078]

[0079] Furthermore, with ‖Φ‖ ∞ The minimum objective function is solved.

[0080] In this application, the weighting functions W1, W2 and W3 can be tested and determined according to important performances such as system robustness and anti-interference; from Φ, it can be deduced as follows Figure 4 The generalized object P of the system shown; output the automatic adjustment scheme of the trolley posture in the high-voltage room of the substation.

[0081] The embodiment of the present application provides a method for controlling the posture of a switch cabinet transfer vehicle. The method constructs H ∞ The robust control model under the controller improves the robust stability and anti-interference of the robust control model of the switch cabinet transfer vehicle, thereby realizing automatic adjustment of the switch cabinet transfer vehicle's posture and improving the transfer efficiency of the switch cabinet.

[0082] Embodiment 3

[0083] Figure 5 This is a schematic diagram of the structure of a posture control device for a switch cabinet transfer vehicle provided in Example 3 of the present application. Figure 5 As shown, the device comprises:

[0084] The posture balance equation construction module 310 is used to obtain the first posture data of the switch cabinet transfer vehicle and construct the posture balance equation of the switch cabinet transfer vehicle according to the first posture data; wherein the first posture data at least includes the movable length of the movable swing arm and the adjustable length of the electric control support rod;

[0085] A robust control model building module 320, for acquiring second posture data of the target switch cabinet, and building a robust control model according to the adjustable length, the movable length, the second posture data and the posture balance equation;

[0086] The transfer vehicle posture control module 330 is used to solve the robust control model, determine the target adjustment length of the electric control support rod and the target moving length of the movable swing arm, so as to control the switch cabinet transfer vehicle to adjust according to the target adjustment length and the target moving length, so that the switch cabinet transfer vehicle and the target switch cabinet are aligned.

[0087] The embodiment of the present application provides a posture control device for a switch cabinet transfer vehicle, which constructs a posture balance equation of the switch cabinet transfer vehicle according to the first posture data of the switch cabinet transfer vehicle; constructs a robust control model according to the adjustable length of the movable swing arm, the movable length of the electric control support rod, the second posture data of the target switch cabinet and the posture balance equation; solves the robust control model to determine the target adjustment length of the electric control support rod and the target moving length of the movable swing arm to control the switch cabinet transfer vehicle to adjust so that the switch cabinet transfer vehicle and the target switch cabinet are aligned. This technical solution controls the movable swing arm and the electric control support rod of the switch cabinet transfer vehicle based on the robust control theory to realize the dynamic adjustment of the height and angle of the switch cabinet transfer vehicle, so as to facilitate the accurate alignment of the switch cabinet transfer vehicle and the switch cabinet, and improve the working efficiency and safety of the switch cabinet transfer vehicle.

[0088] Furthermore, the device also includes:

[0089] A maximum mass determination module, used for constructing a force model of the switch cabinet transfer vehicle according to the maximum thrust of the electric control support rod and the first posture data before constructing a robust control model according to the adjustable length, the movable length, the second posture data and the posture balance equation, and determining the maximum mass that the switch cabinet transfer vehicle can withstand based on the force model;

[0090] A mass comparison module is used to obtain the target mass of the target switch cabinet and determine the comparison result of the actual mass and the maximum mass, so as to construct a robust control model according to the adjustable length, the movable length, the second posture data and the posture balance equation when the comparison result is that the actual mass is less than the maximum mass.

[0091] Furthermore, the maximum mass determination module is specifically used to construct the force model of the switch cabinet transfer vehicle using the following formula:

[0092]

[0093] Wherein, F1 represents the maximum thrust of the electric control strut, L1 represents the straight-line distance from the thrust to the center of the swing arm, m represents the actual mass of the target switch cabinet, g represents the acceleration of gravity, L2 represents the vertical distance from the center of the wheel to the center of the swing arm, and n represents the number of wheels.

[0094] Furthermore, the posture balance equation construction module 310 includes:

[0095] a corresponding relationship determining unit, configured to determine a corresponding relationship between the movable length and the adjustable length according to the first posture data of the switch cabinet transfer vehicle;

[0096] The posture balance equation construction unit is used to construct the posture balance equation of the switch cabinet transfer vehicle according to the corresponding relationship.

[0097] Furthermore, the controller is H ∞ Controller;

[0098] Accordingly, the robust control model building module 320 includes:

[0099] a parameter setting unit for taking the adjustable length and the movable length as control objects and taking the second posture data as reference input;

[0100] A robust control model building unit is used to build the H according to the control object, the reference input and the posture balance equation. ∞ Robust control model under the controller.

[0101] Furthermore, the transfer vehicle posture control module 330 includes:

[0102] An objective function construction unit, used to construct an objective function according to the transfer function of the robust control model;

[0103] A control parameter solving unit is used to solve the robust control model according to the objective function to determine the target adjustment length of the electrically controlled strut and the target moving distance of the movable swing arm.

[0104] A posture control device for a switch cabinet transfer vehicle provided in an embodiment of the present application can execute a posture control method for a switch cabinet transfer vehicle provided in any embodiment of the present application, and has functional modules and beneficial effects corresponding to the execution method.

[0105] Embodiment 4

[0106] Figure 6A schematic diagram of a device 10 that can be used to implement an embodiment of the present application is shown. The device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or required herein.

[0107] like Figure 6 As shown, the device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the device 10 can also be stored. The processor 11, ROM 12 and RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0108] A number of components in the device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0109] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the posture control method of the switch cabinet transfer vehicle.

[0110] In some embodiments, the posture control method of the switch cabinet transfer vehicle can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the posture control method of the switch cabinet transfer vehicle described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the posture control method of the switch cabinet transfer vehicle by any other appropriate means (for example, by means of firmware).

[0111] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0112] The computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer programs are executed by the processor, the functions / operations specified in the flow charts and / or block diagrams are implemented. The computer programs may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0113] In the context of the present application, a computer readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device or equipment. A computer readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer readable storage medium may be a machine readable signal medium. A more specific example of a machine readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0114] To provide interaction with a user, the systems and techniques described herein can be implemented on a device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0115] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0116] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0117] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution of this application can be achieved, and this document is not limited here.

[0118] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A method for controlling the posture of a switch cabinet transfer vehicle, characterized in that: The switch cabinet transfer vehicle is composed of a vehicle body, a movable swing arm, a controller and wheels, wherein an electric control support rod is installed in the movable swing arm; wherein the method comprises: Acquire first posture data of the switch cabinet transfer vehicle, and construct a posture balance equation of the switch cabinet transfer vehicle according to the first posture data; wherein the first posture data at least includes a movable length of the movable swing arm and an adjustable length of the electric control support rod; Acquire second posture data of the target switch cabinet, and construct a robust control model according to the adjustable length, the movable length, the second posture data and the posture balance equation; The robust control model is solved to determine the target adjustment length of the electric control support rod and the target moving length of the movable swing arm, so as to control the switch cabinet transfer vehicle to adjust according to the target adjustment length and the target moving length, so that the switch cabinet transfer vehicle and the target switch cabinet are aligned.

2. The method according to claim 1, characterized in that: Before constructing a robust control model according to the adjustable length, the movable length, the second posture data and the posture balance equation, the method further includes: Constructing a force model of the switch cabinet transfer vehicle according to the maximum thrust of the electric control support rod and the first posture data, and determining the maximum mass that the switch cabinet transfer vehicle can bear based on the force model; The actual mass of the target switch cabinet is obtained and a comparison result between the actual mass and the maximum mass is determined, so that when the comparison result is that the actual mass is less than the maximum mass, a robust control model is constructed according to the adjustable length, the movable length, the second posture data and the posture balance equation.

3. The method according to claim 2, characterized in that The force model of the switch cabinet transfer vehicle is constructed according to the maximum thrust of the electric control support rod and the first posture data, including: The force model of the switch cabinet transfer vehicle is constructed using the following formula: Wherein, F1 represents the maximum thrust of the electric control strut, L1 represents the straight-line distance from the thrust to the center of the swing arm, m represents the actual mass of the target switch cabinet, g represents the acceleration of gravity, L2 represents the vertical distance from the center of the wheel to the center of the swing arm, and n represents the number of wheels.

4. The method according to claim 1, characterized in that: Constructing a posture balance equation of the switch cabinet transfer vehicle according to the first posture data, including: Determining a corresponding relationship between the movable length and the adjustable length according to the first posture data of the switch cabinet transfer vehicle; According to the corresponding relationship, a posture balance equation of the switch cabinet transfer vehicle is constructed.

5. The method according to claim 1, characterized in that The controller is H ∞ Controller; Accordingly, a robust control model is constructed according to the adjustable length, the movable length, the second posture data and the posture balance equation, including: using the adjustable length and the movable length as control objects, and the second posture data as reference input; According to the control object, the reference input and the posture balance equation, the H ∞ Robust control model under the controller.

6. The method according to claim 5, characterized in that Solving the robust control model to determine a target adjustment length of the electrically controlled strut and a target moving length of the movable swing arm includes: constructing an objective function according to the transfer function of the robust control model; The robust control model is solved according to the objective function to determine the target adjustment length of the electronically controlled strut and the target movement distance of the movable swing arm.

7. A posture control device for a switch cabinet transfer vehicle, characterized in that: The device comprises: A posture balance equation construction module, used for acquiring first posture data of the switch cabinet transfer vehicle, and constructing a posture balance equation of the switch cabinet transfer vehicle according to the first posture data; wherein the first posture data at least includes a movable length of the movable swing arm and an adjustable length of the electric control support rod; A robust control model building module, used for acquiring the second posture data of the target switch cabinet, and building a robust control model according to the adjustable length, the movable length, the second posture data and the posture balance equation; The transfer vehicle posture control module is used to solve the robust control model, determine the target adjustment length of the electric control support rod and the target moving length of the movable swing arm, so as to control the switch cabinet transfer vehicle to adjust according to the target adjustment length and the target moving length, so that the switch cabinet transfer vehicle and the target switch cabinet are aligned.

8. The device according to claim 7, characterized in that The device also includes: A maximum mass determination module, used for constructing a force model of the switch cabinet transfer vehicle according to the maximum thrust of the electric control support rod and the first posture data before constructing a robust control model according to the adjustable length, the movable length, the second posture data and the posture balance equation, and determining the maximum mass that the switch cabinet transfer vehicle can withstand based on the force model; A mass comparison module is used to obtain the target mass of the target switch cabinet and determine the comparison result of the actual mass and the maximum mass, so as to construct a robust control model according to the adjustable length, the movable length, the second posture data and the posture balance equation when the comparison result is that the actual mass is less than the maximum mass.

9. An electronic device, characterized in that: The device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the posture control method of the switch cabinet transfer vehicle according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the posture control method of a switch cabinet transfer vehicle according to any one of claims 1 to 6 when executed.

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