Posture control method, device and equipment of switch cabinet transfer car and medium

Abstract

The application discloses a posture control method, device, equipment and medium of a switch cabinet transfer trolley. The method comprises the following steps: constructing a posture balance equation of the switch cabinet transfer trolley according to first posture data of the switch cabinet transfer trolley; constructing a robust control model according to an adjustable length of a movable swing arm, a movable length of an electric control support rod, second posture data of a target switch cabinet and the posture balance equation; solving the robust control model to determine a target adjustment length of the electric control support rod and a target moving length of the movable swing arm, so as to control the switch cabinet transfer trolley to adjust and align the switch cabinet transfer trolley and the target switch cabinet. The technical scheme is based on the robust control theory to control the movable swing arm and the electric control support rod of the switch cabinet transfer trolley, so as to realize dynamic adjustment of the height and angle of the switch cabinet transfer trolley, facilitate accurate alignment of the switch cabinet transfer trolley and the switch cabinet, and improve the working efficiency and safety of the switch cabinet transfer trolley.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data processing, and particularly relates to a posture control method and device of a switch cabinet transfer trolley, equipment and a medium. BACKGROUND

[0002] The switch cabinet is an electrical equipment. In the high-voltage room of a substation, the switch cabinet is usually used to open, close, control and protect the electrical equipment in the process of power generation, power transmission, power distribution and power conversion of the power system. When the line needs to be powered off, the switch cabinet can be controlled electrically to make the switch reach the test position, thereby providing great convenience for the staff.

[0003] When the switch cabinet is overhauled, the switch cabinet needs to be pulled out and transferred to a preset position for overhaul. Usually, the maintenance personnel will pull out the switch cabinet with the help of the switch cabinet transfer trolley. In order to accurately align the switch cabinet transfer trolley and the switch cabinet, the maintenance personnel will manually adjust the deflection angle and the lifting height of the switch cabinet transfer trolley. However, this process needs to consume a lot of manpower and time, and the efficiency is low. Moreover, when the height or angle adjusted by the maintenance personnel is inaccurate, the switch cabinet is easily deviated from the transfer trolley due to excessive force, so that the switch cabinet is dropped on the ground, causing the risk of equipment damage or injury to the maintenance personnel. Therefore, a safe and efficient control scheme of the switch cabinet transfer trolley is urgently needed. SUMMARY

[0004] The present application provides a posture control method, device, equipment and medium of a switch cabinet transfer trolley. The movable swing arm and the electric control support rod are arranged on the switch cabinet transfer trolley, and the movable swing arm and the electric control support rod are controlled based on the robust control theory, so as to realize the dynamic adjustment of the height and angle of the switch cabinet transfer trolley, facilitate the accurate alignment of the switch cabinet transfer trolley and the switch cabinet, and improve the working efficiency and safety of the switch cabinet transfer trolley.

[0005] According to an aspect of the present application, a posture control method of a switch cabinet transfer trolley is provided, wherein the switch cabinet transfer trolley is composed of a vehicle body, a movable swing arm, a controller and wheels, and an electric control support rod is arranged in the movable swing arm. The method comprises the following steps:

[0006] First posture data of the switch cabinet transfer trolley are acquired, and a posture balance equation of the switch cabinet transfer trolley is constructed according to the first posture data. 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.

[0007] Second posture data of a target switch cabinet are acquired, and a robust control model is constructed according to the adjustable length, the movable length, the second posture data and the posture balance equation.

[0008] Solving the robust control model to determine a target adjustment length of the electric control strut and a target moving length of the movable swing arm to control the switch cabinet transfer trolley to adjust according to the target adjustment length and the target moving length, so that the switch cabinet transfer trolley and the target switch cabinet are aligned.

[0009] According to another aspect of the present application, a posture control device of a switch cabinet transfer trolley is provided, which comprises:

[0010] A posture balance equation construction module is configured to acquire first posture data of the switch cabinet transfer trolley, and construct a posture balance equation of the switch cabinet transfer trolley 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 strut.

[0011] A robust control model construction module is configured to acquire second posture data of a 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.

[0012] A transfer trolley posture control module is configured to solve the robust control model to determine a target adjustment length of the electric control strut and a target moving length of the movable swing arm to control the switch cabinet transfer trolley to adjust according to the target adjustment length and the target moving length, so that the switch cabinet transfer trolley and the target switch cabinet are aligned.

[0013] According to another aspect of the present application, an electronic device is provided, which comprises at least one processor, and a memory connected with the at least one processor in communication; 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 to enable the at least one processor to execute the posture control method of the switch cabinet transfer trolley according to any one of the embodiments of the present application.

[0014] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to execute the posture control method of the switch cabinet transfer trolley according to any one of the embodiments of the present application when executed by the processor.

[0015] The technical scheme provided in the application comprises the following steps: constructing a posture balance equation of the switch cabinet transfer trolley according to first posture data of the switch cabinet transfer trolley; constructing a robust control model according to an adjustable length of the movable swing arm, a movable length of the electric control support rod, second posture data of the target switch cabinet and the posture balance equation; solving the robust control model to determine a target adjustment length of the electric control support rod and a target moving length of the movable swing arm, so as to control the switch cabinet transfer trolley to adjust according to the target adjustment length and the target moving length, and to align the switch cabinet transfer trolley with the target switch cabinet. The technical scheme controls the posture of the switch cabinet transfer trolley based on the robust control theory, so as to realize dynamic adjustment of the height and angle of the switch cabinet transfer trolley, facilitate accurate alignment of the switch cabinet transfer trolley and the switch cabinet, and improve the working efficiency and safety of the switch cabinet transfer trolley.

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

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0018] Figure 1 A flow chart of a posture control method of a switch cabinet transfer trolley provided in Embodiment One of the application is provided.

[0019] Figure 2 A structural diagram of a switch cabinet transfer trolley provided in Embodiment One of the application is provided.

[0020] Figure 3 A flow chart of a posture control method of a switch cabinet transfer trolley provided in Embodiment Two of the application is provided.

[0021] Figure 4 A robust control model schematic diagram provided in Embodiment Two of the application is provided.

[0022] Figure 5 A structural schematic diagram of a posture control device of a switch cabinet transfer trolley provided in Embodiment Three of the application is provided.

[0023] Figure 6 A structural schematic diagram of a posture control device of a switch cabinet transfer trolley provided in Embodiment Three of the application is provided. DETAILED DESCRIPTION

[0024] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application, so that those skilled in the art can better understand the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art 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" and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, 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 "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0026] Embodiment one

[0027] Figure 1 A flowchart of a posture control method of a switch cabinet transfer trolley is provided for the first embodiment of the present application. The present embodiment can be applicable to the alignment of the switch cabinet transfer trolley and the switch cabinet. The method can be executed by a posture control device of the switch cabinet transfer trolley. The posture control device of the switch cabinet transfer trolley can be realized in the form of hardware and / or software. The posture control device of the switch cabinet transfer trolley can be configured in a device with data processing capability. As shown in the figure, the method comprises: Figure 1

[0028] S110, acquiring first posture data of the switch cabinet transfer trolley, and constructing a posture balance equation of the switch cabinet transfer trolley 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.

[0029] The switch cabinet transfer trolley is a device for transporting switch cabinets, which can move the switch cabinet from one position to another position. It can be composed of a vehicle body, a movable swing arm, a controller and wheels. The electric control support rod is installed in the movable swing arm.

[0030] Figure 2 A structural diagram of a switch cabinet transfer trolley is provided for the first embodiment of the present application. As shown in the figure, Figure 2 ​As shown, A is the vehicle body, which can be used for alignment with the target switch cabinet; B is a movable swing arm, which is composed of two supports, one end of which is connected to the vehicle body and the other end of which is connected to the wheel, which can be used to adjust the height of the vehicle body of the switch cabinet transfer vehicle; C is the moving groove of the movable swing arm B, which is used for the directional movement of the movable swing arm along the moving groove; the movable swing arm B is built-in with an electric control support, which can be used to adjust the height of the switch cabinet transfer vehicle; D is the wheel, which can be used for movement and support.

[0031] The first attitude data can be size data, position data and motion data of the switch cabinet transfer vehicle. Among them, the size data can be the overall size of the switch cabinet transfer vehicle and the size of each component; the position data can be the real-time position coordinates of one or more key points on the switch cabinet transfer vehicle; the motion data can be the speed, acceleration, motion direction and the like of the switch cabinet transfer vehicle in the driving process.

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

[0033] The attitude balance equation can be a position relationship equation, a force balance equation or a torque balance equation involved in the attitude adjustment process of the switch cabinet transfer vehicle. For example, during the attitude adjustment process of the switch cabinet transfer vehicle, the position and force of the movable swing arm and the electric control support will change, but the force balance and torque balance will be maintained, so the force of the movable swing arm and the electric control support can be analyzed to construct the attitude 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 for force analysis to obtain the force balance equation and / or the torque balance equation, so as to construct the attitude balance equation according to the force analysis result and the first attitude data.

[0034] For another example, during the attitude adjustment process of the switch cabinet transfer vehicle, the movable length of the movable swing arm and the adjustable length of the electric control support are both changing, but the vehicle body still maintains a certain position or angle relationship, so the position relationship between the movable length of the movable swing arm, the adjustable length of the electric control support and the vehicle body can be analyzed to construct the attitude balance equation.

[0035] Optionally, the attitude balance equation of the switch cabinet transfer vehicle is constructed according to the first attitude data, comprising: determining the position relationship between the movable length and the adjustable length according to the first attitude data of the switch cabinet transfer vehicle; constructing the attitude balance equation of the switch cabinet transfer vehicle according to the position relationship.

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

[0037] by Figure 2 The following explanation uses the switchgear transport vehicle structure as an example. Based on the correspondence maintained between the movable swing arm, the electrically controlled support rod, and the vehicle body during attitude adjustment, the attitude balance equation of the switchgear transport vehicle is constructed. Specifically, it can be expressed using the following formula:

[0038]

[0039] In the formula, α represents the angle between the movable swing arm and the horizontal direction of the vehicle body, and L... y The adjustable length of the electronically controlled strut is represented by 'a', where 'a' represents the linear distance from the thrust of the electronically controlled strut to the center of the swing arm, 'b' represents the horizontal distance from the thrust of the electronically controlled strut to the center of the wheel, and 'W' represents the wheelbase. Here, 'b' is a parameter related to the adjustable length, and 'L' represents the horizontal distance from the thrust of the electronically controlled strut to the center of the wheel. y These are parameters related to the adjustable length.

[0040] It should be noted that the attitude balance equations are similar for switchgear transfer vehicles of the same structural type. The attitude balance equations for the current switchgear transfer vehicle can be constructed by pre-constructing a general attitude balance equation for each structural type of switchgear transfer vehicle and then substituting the first attitude data measured by the current switchgear transfer vehicle into the general attitude balance equation.

[0041] S120. Obtain the second attitude data of the target switchgear, and construct a robust control model based on the adjustable length, the movable length, the second attitude data and the attitude balance equation.

[0042] The target switchgear is the switchgear that the switchgear transport vehicle is to transport to the correct location.

[0043] The second attitude data can include the target switchgear's position data, dimensional data, and mass data. The position data can include the target switchgear's position data and the position data of its positioning components. The dimensional data can include the overall dimensions of the target switchgear and the dimensions of each component.

[0044] Specifically, the position data of the positioning part on the target switchgear can be acquired by an infrared alignment device installed on the switchgear transport vehicle, and the distance that the switchgear transport vehicle needs to adjust relative to the target switchgear can be determined accordingly. Alternatively, the second attitude data of the target switchgear can be obtained from a pre-set attribute parameter file.

[0045] A robust control model is a model that maintains certain performance characteristics of a switchgear transport vehicle under parameter perturbations during its travel and attitude adjustment processes. Specifically, a suitable robust control method, such as H... ∞The controller, mu-synthesis controller, etc., is designed based on the system state equation and uncertainty information.

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

[0047] Optionally, before constructing the robust control model according to the adjustable length, the movable length, the second attitude data and the attitude balance equation, the method further comprises: constructing a force model of the switch cabinet transfer trolley according to the maximum thrust of the electric control strut and the first attitude data, and determining the maximum mass that can be borne by the switch cabinet transfer trolley based on the force model; obtaining the actual mass of the target switch cabinet and determining the comparison result of the actual mass and the maximum mass, so as to construct the robust control model according to the adjustable length, the movable length, the second attitude data and the attitude 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 strut can be the maximum support force or adjustment force generated by the trolley body and the movable swing arm under different attitudes of the transfer trolley. For example, when the transfer trolley needs to adjust the attitude to dock with the target switch cabinet, the electric control strut will provide a corresponding thrust according to the control instruction to change the angle and position of the transfer trolley.

[0049] Specifically, by combining the maximum thrust of the electric control strut with the first attitude data, a mathematical model can be established to describe the force condition of the transfer trolley under different attitudes by considering the effects of various forces such as gravity, support force, thrust, friction, etc., and the balance relationship between them.

[0050] Further, by solving the force balance equation, the maximum mass that can be borne by the transfer trolley under a specific attitude can be determined. It should be noted that when determining the maximum mass, some unexpected situations may occur in actual use, such as uneven ground, impact load, etc., which may increase the force borne by the transfer trolley and reduce its carrying capacity. Therefore, in order to ensure the safe operation of the transfer trolley, a certain margin, i.e. safety factor, is left when calculating the maximum mass.

[0051] Optionally, the force model of the switch cabinet transfer trolley is constructed according to the maximum thrust of the electric control strut and the first attitude data, comprising: constructing the force model of the switch cabinet transfer trolley by using the following formula: In the formula, 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] F1L1L2 Figure 2 Take this formula as an example to explain. F1 is the maximum thrust that the electric control support rod can provide, which can be determined according to the parameters of the electric control support rod. L1 is the straight-line distance from the thrust action 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 moment provided by two electric control support rods to the swing arm center, F1L1L2

[0053] Further, according to the moment balance of the thrust of the electric control support rod and the pressure of the ground on the roller relative to the rotation center of the swing arm, the above force model can be constructed.

[0054] S130, solving 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 that the switch cabinet transfer vehicle adjusts according to the target adjustment length and the target moving length, and the switch cabinet transfer vehicle and the target switch cabinet are aligned.

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

[0056] The solving method of the robust control model can be an optimization algorithm, such as genetic algorithm, particle swarm optimization algorithm, simulated annealing algorithm, etc. For example, the genetic algorithm simulates the biological evolution process, encodes the solution of the problem, and then gradually optimizes the solution through selection, crossover and mutation operations. For another example, the particle swarm optimization algorithm simulates the foraging behavior of bird flocks, and finds the optimal solution by the flight of particles in the search space.

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

[0058] In this application, the convergence condition can be set to judge whether the solving process has converged. The convergence condition can be that the change of the objective function value is less than a certain threshold, the number of iterations reaches a certain value, or the change of the solution is less than a certain range, etc. If the convergence condition is met, the solving is stopped, and the target adjustment length of the electric control support rod and the target moving length of the movable swing arm are obtained; otherwise, the iteration optimization is continued.

[0059] The embodiment of the application provides a posture control method of a switch cabinet transfer trolley, which comprises the following steps: constructing a posture balance equation of the switch cabinet transfer trolley according to first posture data of the switch cabinet transfer trolley; constructing a robust control model according to an adjustable length of a movable swing arm, a movable length of an electric control support rod, second posture data of a target switch cabinet and the posture balance equation; solving the robust control model to determine a target adjustment length of the electric control support rod and a target movable length of the movable swing arm, so as to control the switch cabinet transfer trolley to adjust and align the switch cabinet transfer trolley with the target switch cabinet. The technical scheme is based on the robust control theory to control the movable swing arm and the electric control support rod of the switch cabinet transfer trolley, so as to realize dynamic adjustment of the height and angle of the switch cabinet transfer trolley, facilitate accurate alignment of the switch cabinet transfer trolley and the switch cabinet, and improve the working efficiency and safety of the switch cabinet transfer trolley.

[0060] Embodiment two

[0061] Figure 3 A flowchart of a posture control method of a switch cabinet transfer trolley is provided in the embodiment two of the application, and the embodiment is optimized on the basis of the above-mentioned embodiment, and the specific optimization is that the controller is an H ∞ controller. As shown in the figure, the method of the embodiment specifically comprises the following steps: Figure 3

[0062] S210, first posture data of the switch cabinet transfer trolley is acquired, and a posture balance equation of the switch cabinet transfer trolley is constructed according to the first posture data. The first posture data at least comprises a movable length of the movable swing arm and an adjustable length of the electric control support rod.

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

[0064] The robust control model is a multiple-input and multiple-output model with uncertainty, so that the system is stable and safe even if there is external disturbance or internal model coefficient change. Therefore, the H ∞ controller based on mixed sensitivity optimization is selected in the application.

[0065] Specifically, the adjustable length and the movable length are taken as control objects, and the second posture data is taken as reference input.

[0066] S230, a robust control model under the H ∞ controller is constructed according to the control objects, the reference input and the posture balance equation.

[0067] Figure 4 ​A robust control model diagram provided for Embodiment Two of the present application. As shown in Figure 4 r represents a reference input, i.e., second attitude data; e represents an error signal; K(s) represents a controller module; u represents a control signal; G(s) represents a control object; d represents external interference; y represents an output signal; W1(s) is a performance weighting function, reflecting the interference characteristics of the external environment on the variable pitch system; W2(s) is a controller output weighting function, representing a voltage threshold limit controllable by the system itself; and W3(s) is a system robustness weight.

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

[0069] W1(s) represents a weighting function of the sensitivity function S, is used for shaping S, is a transfer function from the reference input to the tracking error, and is also a transfer function from the interference input to the parameter output of the system. W1(s) is usually a low-pass transfer function, which can be represented by the following formula wherein T represents a time parameter, and K represents a coefficient of the transfer function.

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

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

[0072] S240, solving the robust control model to determine the target adjustment length of the electric control strut and the target movement 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 movement length, and align the switch cabinet transfer vehicle with the target switch cabinet.

[0073] Optionally, solving the robust control model to determine the target adjustment length of the electric control strut and the target movement length of the movable swing arm includes: constructing a target function according to the transfer function of the robust control model; and solving the robust control model according to the target function to determine the target adjustment length of the electric control strut and the target movement distance of the movable swing arm.

[0074] In high-voltage rooms, different types of switchgear may have different heights, and the presence of cable trenches and the cable covers on their surfaces can cause uneven ground. Therefore, it is necessary to consider the uncertainties present on-site and improve the robustness of the trolley control.

[0075] by Figure 4 Let's take an example to explain. The transfer functions from external disturbance d to z1, z2, and z3 are:

[0076]

[0077] From Φ, we can deduce that... Figure 4 The generalized object P of the system shown can be expressed by the following formula:

[0078]

[0079] Furthermore, with ||Φ|| ∞ The minimum objective function is used to solve for the minimum value.

[0080] In this application, the weighting functions W1, W2, and W3 can be determined by testing based on important performance characteristics such as system robustness and anti-interference; the following can be derived from Φ: Figure 4 The system shown is a generalized object P; the output substation high-voltage indoor trolley attitude automatic adjustment scheme.

[0081] This application provides an embodiment of a switchgear transfer vehicle attitude control method, which constructs an H... ∞ The robust control model under the controller improves the robust stability and anti-interference of the switchgear transfer vehicle's robust control model, thereby realizing the automatic adjustment of the switchgear transfer vehicle's attitude and improving the transfer efficiency of the switchgear.

[0082] Example 3

[0083] Figure 5 This is a structural schematic diagram of a switchgear transfer vehicle's attitude control device provided in Embodiment 3 of this application. Figure 5 As shown, the device includes:

[0084] The attitude balance equation construction module 310 is used to acquire the first attitude data of the switch cabinet transfer vehicle and construct the attitude balance equation of the switch cabinet transfer vehicle based on the first attitude data; wherein, the first attitude data includes at least the movable length of the movable swing arm and the adjustable length of the electrically controlled support rod.

[0085] The robust control model construction module 320 is used to acquire the second attitude data of the target switchgear and construct a robust control model based on the adjustable length, the movable length, the second attitude data and the attitude balance equation.

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

[0087] The posture control device of the switch cabinet transfer vehicle provided in the embodiments of the present application comprises: a posture balance equation construction module configured to construct a posture balance equation of the switch cabinet transfer vehicle according to first posture data of the switch cabinet transfer vehicle; a robust control model construction module configured to construct a robust control model according to an adjustable length of a movable swing arm, a movable length of an electric control strut, second posture data of a target switch cabinet, and the posture balance equation; and a robust control model solving module configured to solve the robust control model, determine a target adjustment length of the electric control strut and a target movement length of the movable swing arm, and control the switch cabinet transfer vehicle to adjust, so that the switch cabinet transfer vehicle and the target switch cabinet are aligned. The technical scheme is based on the robust control theory to control the movable swing arm and the electric control strut of the switch cabinet transfer vehicle, so as to realize dynamic adjustment of the height and angle of the switch cabinet transfer vehicle, facilitate 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] Further, the device further comprises:

[0089] The maximum mass determination module is configured to, before constructing the robust control model according to the adjustable length, the movable length, the second posture data, and the posture balance equation, construct a force model of the switch cabinet transfer vehicle according to a maximum thrust of the electric control strut and the first posture data, and determine a maximum mass that can be borne by the switch cabinet transfer vehicle based on the force model.

[0090] The mass comparison module is configured to obtain a target mass of the target switch cabinet and determine a comparison result of the actual mass and the maximum mass, so as to construct the 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] Further, the maximum mass determination module is specifically configured to construct the force model of the switch cabinet transfer vehicle by using the following formula:

[0092]

[0093] In the formula, F1 represents the maximum thrust of the electric control support rod, L1 represents the linear distance of 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] Further, the attitude balance equation construction module 310 comprises:

[0095] A corresponding relationship determination unit is configured to determine a corresponding relationship between the movable length and the adjustable length according to the first attitude data of the switch cabinet transfer trolley.

[0096] An attitude balance equation construction unit is configured to construct an attitude balance equation of the switch cabinet transfer trolley according to the corresponding relationship.

[0097] Further, the controller is an H ∞ controller.

[0098] Correspondingly, the robust control model construction module 320 comprises:

[0099] A parameter setting unit is configured to set the adjustable length and the movable length as control objects and set the second attitude data as a reference input.

[0100] A robust control model construction unit is configured to construct a robust control model of the H ∞ controller according to the control objects, the reference input, and the attitude balance equation.

[0101] Further, the transfer trolley attitude control module 330 comprises:

[0102] A target function construction unit is configured to construct a target function according to a transfer function of the robust control model.

[0103] A control parameter solving unit is configured to solve the robust control model according to the target function, to determine a target adjustment length of the electric control support rod and a target moving distance of the movable swing arm.

[0104] The attitude control device of the switch cabinet transfer trolley provided by the embodiments of the present application can execute the attitude control method of the switch cabinet transfer trolley provided by any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0105] Embodiment Four

[0106] Figure 6A structural diagram of a device 10 that can be used to implement embodiments of the present application is shown. The device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application described and / or claimed in this document.

[0107] As shown in Figure 6 The device 10 includes at least one processor 11, and memory, such as read-only memory (ROM) 12, random access memory (RAM) 13, etc., communicatively connected to the at least one processor 11, where the memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer programs stored in the read-only memory (ROM) 12 or loaded from the storage unit 18 into 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, the ROM 12, and the 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] Various 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 magnetic 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 can be various general and / or special purpose 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 special-purpose 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 performs various methods and processes described above, such as the posture control method of the switchgear transfer trolley.

[0110] In some embodiments, the attitude control method of the switchgear transfer trolley can be implemented as a computer program tangibly embodied in a computer readable storage medium, e.g., storage unit 18. In some embodiments, parts or all of the computer program can be loaded and / or installed onto device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the above-described attitude control method of the switchgear transfer trolley can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the attitude control method of the switchgear transfer trolley by any other suitable means, e.g., by means of firmware.

[0111] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0112] Computer programs used to implement the processes of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0113] In the context of this application, a computer readable storage medium can be a tangible medium that can contain or store computer programs for use by or in connection with an instruction execution system, apparatus, or device. Computer readable storage media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer readable storage medium can be a machine readable signal medium. More specific examples of the machine readable storage medium will include a one or more lines of a electrical connection, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0114] To provide for interaction with a user, the systems and techniques described here can be implemented on a device having a display (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 a trackball) by which the user can provide input to the device. Other kinds of devices can be used to provide for interaction with a user as well; for example, 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, speech, or tactile input.

[0115] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can 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] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can 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 large management difficulty and weak business scalability in traditional physical host and VPS service.

[0117] It should be understood that the various forms of flow shown above can be reordered, added to, or have steps deleted. For example, the steps described in this application can be performed in parallel, in series, or in a different order, as long as the desired results of the technical solutions of this application can be achieved, and this application does not limit herein.

[0118] The above detailed description does not constitute a limitation on the scope of protection of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A posture control method of a switchgear transfer trolley, characterized by, The switch cabinet transfer trolley is composed of a trolley body, a movable swing arm, a controller and wheels, and an electric control support rod is installed in the movable swing arm. First attitude data of the switch cabinet transfer trolley is acquired, and an attitude balance equation of the switch cabinet transfer trolley is constructed according to the first attitude data, wherein the first attitude data at least includes a movable length of the movable swing arm and an adjustable length of the electric control support rod. Second attitude data of a target switch cabinet is acquired, and a robust control model is constructed according to the adjustable length, the movable length, the second attitude data and the attitude balance equation. The robust control model is solved to determine a target adjustment length of the electric control support rod and a target movement length of the movable swing arm, so as to control the switch cabinet transfer trolley to adjust according to the target adjustment length and the target movement length, and to align the switch cabinet transfer trolley with the target switch cabinet.

2. The method of claim 1, wherein, Before constructing the robust control model according to the adjustable length, the movable length, the second attitude data and the attitude balance equation, the method further includes: A force model of the switch cabinet transfer trolley is constructed according to a maximum thrust of the electric control support rod and the first attitude data, and based on the force model, a maximum mass that can be borne by the switch cabinet transfer trolley is determined; Actual mass of the target switch cabinet is acquired, and a comparison result of the actual mass and the maximum mass is determined, so as to construct the robust control model according to the adjustable length, the movable length, the second attitude data and the attitude balance equation when the comparison result is that the actual mass is less than the maximum mass.

3. The method of claim 2, wherein, The force model of the switch cabinet transfer trolley is constructed according to the maximum thrust of the electric control support rod and the first attitude data, including: The force model of the switch cabinet transfer trolley is constructed by using the following formula: In the formula, F1 represents the maximum thrust of the electric control support rod, L1 represents a straight-line distance from the thrust to the center of the swing arm, m represents actual mass of the target switch cabinet, g represents gravitational acceleration, L2 represents a vertical distance from the center of the wheels to the center of the swing arm, and n represents the number of the wheels.

4. The method of claim 1, wherein, The attitude balance equation of the switch cabinet transfer trolley is constructed according to the first attitude data, including: According to the first attitude data of the switch cabinet transfer trolley, a corresponding relationship between the movable length and the adjustable length is determined; According to the corresponding relationship, the attitude balance equation of the switch cabinet transfer trolley is constructed.

5. The method of claim 1, wherein, The controller is H ∞ Controller; Accordingly, the robust control model is constructed according to the adjustable length, the movable length, the second attitude data and the attitude balance equation, including: The adjustable length and the movable length are taken as control objects, and the second attitude data is taken as reference input; According to the control object, the reference input and the attitude balance equation, the H ∞ Robust control model under the controller.

6. The method of claim 5, wherein, The robust control model is solved to determine the target adjustment length of the electric control support rod and the target movement length of the movable swing arm, including: A target function is constructed according to a transfer function of the robust control model; Solving the robust control model according to the target function, determining a target adjustment length of the electric control support rod and a target moving distance of the movable swing arm.

7. A posture control device for a switchgear transfer cart, characterized in that, The device comprises: The attitude balance equation construction module is configured to acquire first attitude data of the switch cabinet transfer trolley, and construct an attitude balance equation of the switch cabinet transfer trolley according to the first attitude data, wherein the first attitude data at least includes a movable length of a movable swing arm and an adjustable length of an electric control support rod. The robust control model construction module is configured to acquire second attitude data of a target switch cabinet, and construct a robust control model according to the adjustable length, the movable length, the second attitude data and the attitude balance equation. The transfer trolley attitude control module is configured to solve the robust control model, determine a target adjustment length of the electric control support rod and a target moving length of the movable swing arm, and control the switch cabinet transfer trolley to adjust according to the target adjustment length and the target moving length, so that the switch cabinet transfer trolley and the target switch cabinet are aligned.

8. The apparatus of claim 7, wherein, The device further comprises: The maximum quality determination module is configured to, before constructing the robust control model according to the adjustable length, the movable length, the second attitude data and the attitude balance equation, construct a force model of the switch cabinet transfer trolley according to a maximum thrust of the electric control support rod and the first attitude data, and determine a maximum quality that can be borne by the switch cabinet transfer trolley based on the force model. The quality comparison module is configured to acquire a target quality of the target switch cabinet and determine a comparison result of an actual quality and the maximum quality, so as to construct the robust control model according to the adjustable length, the movable length, the second attitude data and the attitude balance equation when the comparison result is that the actual quality is less than the maximum quality.

9. An electronic device, comprising: The device comprises: at least one processor; and a memory connected with the at least one processor in communication; wherein The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the attitude control method of the switch cabinet transfer trolley according to any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to execute the attitude control method of the switch cabinet transfer trolley according to any one of claims 1-6 when executed.

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