Balance control system and method and electronic equipment

Abstract

The invention provides a balance control system and method and electronic equipment, the balance control system comprises N control modules, one control module is a master control module, the rest control modules are slave control modules, and each control module comprises a motion control device; the driving assembly comprises a driver and a motor, and the driver is connected with the motion control device; the tilt angle sensor is connected with the motion control device; the motion control device of each slave control module is connected with the motion control device of the master control module, and the motion control device of each slave control module is configured to obtain balance adjustment parameters of the master control module and balance adjustment parameters of the control module to which the master control module belongs in real time; and according to the balance adjustment parameter of the main control module and the balance adjustment parameter of the control module to which the main control module belongs, based on the given value of the motion control parameter of the control module to which the main control module belongs, obtaining the current adjustment value of the motion control parameter capable of maintaining the target equipment in a predetermined balance state.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of mechanical control technology, and in particular to a balance control system and an electronic device. Background Art

[0002] The existing rotating car usually adopts a single motor and a single drive, and drives the two gears to rotate the car through the double shaft of the reducer. The control system is only equipped with a PLC system to handle the logic control and drive operation control of the entire car. However, this solution has the following problems:

[0003] (1) The existing rotating car adopts a single motor and a single drive mode, and drives two gears to rotate the car at the same time through the double-axle lift of the reducer. When the motor and the driver fail, the entire car cannot move to a horizontal position at a safe speed. Also, when passengers are unevenly distributed in the car, the single drive solution cannot perform load balance control, and the passenger comfort and experience are not good; and the drive system works in an unbalanced state for a long time, which increases the mechanical wear between the gears and the noise.

[0004] (2) Existing revolving cars are generally equipped with only one PLC control system to handle the logic control and drive operation control of the entire car. When the PLC system fails to operate or the communication with the ground main control system is interrupted, the entire car will be paralyzed, which can easily cause panic among passengers. Summary of the invention

[0005] In view of this, the present application provides a balanced control solution, which realizes redundant control and load balancing by configuring multiple independent control modules.

[0006] In a first aspect, the present application provides a balancing control system, including N control modules, one of which is a master control module and the rest are slave control modules, each of which includes:

[0007] Motion control devices;

[0008] A drive assembly, the drive assembly comprising a driver and a motor, wherein the driver is connected to the motion control device;

[0009] A tilt sensor connected to the motion control device, used to measure the tilt angle of the execution terminal side of the control module to which it belongs in real time and send it to the motion control device;

[0010] The motion control devices of each slave control module are respectively connected to the motion control device of the master control module, and the motion control devices of each slave control module are configured to: obtain the balance adjustment parameters of the master control module and the balance adjustment parameters of the control module to which it belongs in real time, and obtain the current adjustment value of the motion control parameter that can maintain the target device in a predetermined balance state based on the balance adjustment parameters of the master control module and the balance adjustment parameters of the control module to which it belongs and the given value of the motion control parameter of the control module to which it belongs;

[0011] The balance adjustment parameters include at least: actual torque of the motor and a tilt angle.

[0012] Optionally, each of the control modules comprises a master drive component and at least one slave drive component, wherein each slave drive component is configured to be synchronized with the position of the master drive component.

[0013] Optionally, each slave drive assembly is configured to be positionally synchronized with the master drive assembly via electronic gears.

[0014] Optionally, the motion control device includes a standard controller and a motion control unit connected to the standard controller, the standard controller is used to be connected to a host computer, and the motion control unit is connected to a driver of the control module to which it belongs; and the standard controller of each slave control module is respectively connected to the standard controller of the master control module;

[0015] The standard controller of the main control module is configured to: receive the motion control parameters of the main control module sent by the host computer and the tilt angle of the main control module sent by the tilt sensor of the main control module;

[0016] The standard controller of each slave control module is configured to: receive the motion control parameters of the control module to which it belongs sent by the host computer, the tilt angle of the control module to which it belongs sent by the inclination sensor of the control module to which it belongs, and the balance adjustment parameters of the main control module sent by the standard controller of the main control module, and send them to the motion control unit of the control module to which it belongs;

[0017] The motion control unit of each slave control module is configured as:

[0018] According to the balance adjustment parameters of the main control module and the balance adjustment parameters of the respective control modules, the adjustment values ​​of the motion control parameters that can maintain the target device in a predetermined balance state are obtained based on the given values ​​of the motion control parameters of the respective control modules.

[0019] Optionally, the motion control unit of each slave control module is further configured as follows:

[0020] Calculate the difference between the actual torque of the motor of the main control module and the actual torque of the motor of each control module to which they belong, and obtain the current torque difference of each control module to which they belong;

[0021] According to the current torque difference of the control modules to which they belong, the current speed correction value of the control modules to which they belong is obtained;

[0022] According to the current speed correction value and the speed given value of the control module to which they belong, the current speed adjustment value of the control module to which they belong is obtained.

[0023] Optionally, the motion control unit of each slave control module is further configured as follows:

[0024] Calculating the difference between the inclination angle of the main control module and the inclination angle of the control module to which each of the control modules belongs, and obtaining the current inclination angle difference of the control module to which each of the control modules belongs;

[0025] When the absolute value of the current tilt angle difference is greater than a preset threshold, start accumulating the duration of the absolute value of the current tilt angle difference being greater than the preset threshold;

[0026] When the absolute value of the current inclination angle difference is greater than the preset threshold for a duration greater than the preset time length, the current angle adjustment value of each control module is obtained according to the current inclination angle difference of each control module and the angle given value.

[0027] In a second aspect, the present application provides a balance control method for a balance control system of a target device, wherein the balance control system includes N control modules, one of which is a master control module and the rest are slave control modules, and the balance control method includes the following steps:

[0028] Each slave control module obtains the balance adjustment parameters of the master control module and the balance adjustment parameters of the control modules to which it belongs in real time;

[0029] Each slave control module obtains an adjustment value of the motion control parameter that enables the target device to maintain a predetermined balance state based on the balance adjustment parameter of the master control module and the balance adjustment parameter of the control module to which it belongs and the given value of the motion control parameter of the control module to which it belongs;

[0030] The balance adjustment parameters include at least: actual torque of the motor and a tilt angle.

[0031] Optionally, the step of obtaining, by each slave control module, an adjustment value of the motion control parameter capable of maintaining the target device in a predetermined balance state based on the balance adjustment parameter of the master control module and the balance adjustment parameter of the control module to which it belongs, and based on the given value of the motion control parameter of the control module to which it belongs further includes:

[0032] Each slave control module calculates the difference between the actual torque of the motor of the master control module and the actual torque of the motor of the control module to which it belongs, and obtains the current torque difference of the control module to which it belongs;

[0033] Each slave control module obtains a current speed correction value of the control module to which it belongs according to the current torque difference of the control module to which it belongs;

[0034] Each slave control module obtains the current speed adjustment value of the control module to which it belongs according to the current speed correction value and the speed given value of the control module to which it belongs.

[0035] Optionally, the step of obtaining, by each slave control module, an adjustment value of the motion control parameter capable of maintaining the target device in a predetermined balance state based on the balance adjustment parameter of the master control module and the balance adjustment parameter of the control module to which it belongs, and based on a given value of the motion control parameter of the control module to which it belongs further comprises:

[0036] Each slave control module calculates the difference between the tilt angle of the master control module and the tilt angle of the control module to which it belongs, and obtains the current tilt angle difference of the control module to which it belongs;

[0037] When the absolute value of the current tilt angle difference is greater than a preset threshold, start accumulating the duration of the absolute value of the current tilt angle difference being greater than the preset threshold;

[0038] When the absolute value of the current tilt angle difference is greater than the preset threshold for a duration greater than the preset time, each slave control module obtains the current angle adjustment value of its own control module based on the current tilt angle difference of its own control module and the angle given value.

[0039] In a third aspect, the present application provides an electronic device, comprising: a processor, a communication interface, a memory, and a bus, wherein the processor, the communication interface, and the memory communicate with each other through the bus;

[0040] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform an operation corresponding to the method as claimed in any one of claims 7 to 9.

[0041] It can be seen from the above technical solution that the present application realizes redundant control by setting up multiple independent control modules. When one of the control modules has an operation failure or a communication failure, the target device is adjusted to a predetermined balance state by relying on the remaining control modules, thereby greatly improving the safety and reliability of the equipment operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is an architectural diagram of a control module of an exemplary embodiment of the present application.

[0043] Figure 2 It is a system architecture diagram of a balance control system of a double-track rotating car according to an exemplary embodiment of the present application.

[0044] Figure 3 Flowchart of a balancing control method according to an exemplary embodiment of the present application.

[0045] Figure 4 It is a schematic diagram of the operation principle of a double-track rotating car according to an exemplary embodiment of the present application.

[0046] Figure 5 This is a control flow chart of a balance control system according to an exemplary embodiment of the present application.

[0047] Figure 6 It is a schematic diagram of the operation of a double-track rotating elevator according to an exemplary embodiment of the present application.

[0048] List of reference numerals:

[0049] 11: Motion control device;

[0050] 12: Tilt sensor;

[0051] 13: drive assembly;

[0052] 131: Driver;

[0053] 132: Motor;

[0054] 31: first track;

[0055] 32: Second track;

[0056] 40: Rotating car;

[0057] 401: Passive gear;

[0058] 402: first driving gear;

[0059] 403: second driving gear;

[0060] 404: rack;

[0061] 50: first control module;

[0062] 51: First standard controller;

[0063] 52: a first motion control unit;

[0064] 531: First drive;

[0065] 532: first motor;

[0066] 541: Second drive;

[0067] 542: second motor;

[0068] 55: first inclination sensor;

[0069] 60: second control module;

[0070] 61: second standard controller;

[0071] 62: second motion control unit;

[0072] 631: Third drive;

[0073] 632: The third motor;

[0074] 641: Fourth drive;

[0075] 642: fourth motor;

[0076] 65: second inclination sensor;

[0077] 70: Gateway:

[0078] 80: host computer;

[0079] 90: HMI;

[0080] 101: speed given value;

[0081] 102: Angle given value;

[0082] 103: speed adjustment value;

[0083] 104: Angle adjustment value;

[0084] 105: tilt angle of the first control module;

[0085] 106: tilt angle of the second control module;

[0086] 107: Current tilt angle difference of the first control module;

[0087] 108: Position synchronization;

[0088] 109: Perform PID calculation on the difference between the current actual torque of the motor of the second control module and the current actual torque of the motor of the first control module. DETAILED DESCRIPTION

[0089] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions 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. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the embodiments of the present application should fall within the scope of protection of the embodiments of the present application.

[0090] Some embodiments of the present application are described in detail below in conjunction with the accompanying drawings. In the case where there is no conflict between the embodiments, the following embodiments and the features in the embodiments can be combined with each other. The steps in the following method embodiments are only used for exemplary description and are not intended to limit the present invention.

[0091] The operating principle of the revolving car is as follows: the revolving car runs along two parallel arc tracks, each track is provided with an annular rack, and the revolving car is provided with a gear that matches the annular rack. The revolving car of the prior art is a single drive system, that is, a motor drives the above two gears through a double-axle lift of a reducer, but this solution has the following problems:

[0092] (1) The existing rotating car adopts a single motor and a single drive mode. When the motor and the drive fail, the entire car cannot move to a horizontal position at a safe speed. Also, when the passengers are unevenly distributed in the car, the single drive solution cannot perform load balance control, and the passenger comfort and experience are poor; and the drive system works in an unbalanced state for a long time, which increases the mechanical wear between the gears and the noise.

[0093] (2) The existing rotating car is equipped with only one control system to handle the logic control and drive operation control of the entire car. When the PLC system fails to operate or the communication with the ground main control system is interrupted, the entire car will be in a paralyzed state, which is likely to cause panic among passengers.

[0094] Based on the various problems existing in the above-mentioned prior art, each embodiment of the present application provides a balanced control solution, which realizes redundant control and load balancing by configuring multiple independent control modules.

[0095] The following will describe in detail the balance control system, method and electronic device provided by each embodiment of the present application in conjunction with the accompanying drawings.

[0096] The balance control scheme provided in various aspects of the present application can be applied to various devices that require balance control, including but not limited to: Ferris wheel cars, cable car cars, etc. In the following embodiments, the Ferris wheel car will be used as an example to describe the specific implementation schemes of various aspects of the present application in detail. The Ferris wheel car is only used for description purposes and is not used to limit the scope of application of the technical solution of the present application.

[0097] Balance control system

[0098] The balancing control system of this embodiment includes N control modules, each of which controls a balancing execution terminal of the target device. One of these control modules is the main control module, and the rest are slave control modules. Figure 1 As shown, each control module includes a motion control device 11, a drive component 13 and a tilt sensor 12. The drive component 13 includes a driver 131 and a motor 132, wherein the driver 131 is connected to the motion control device 11, and the output shaft of the motor 132 is connected to the execution terminal. The tilt sensor 12 is connected to the motion control device 111, and the tilt sensor 12 measures the tilt angle of the execution terminal side of the control module to which it belongs in real time and sends it to the motion control device 11, wherein the tilt angle is used to characterize the angle of the execution terminal side deviating from the vertical line. The motion control devices 11 of each slave control module are respectively connected to the motion control device 11 of the master control module, and the motion control devices 11 of each slave control module are configured to: obtain the balance adjustment parameters of the master control module and the balance adjustment parameters of the control module to which it belongs in real time, and obtain the current adjustment value of the motion control parameter that can maintain the target device in a predetermined balance state based on the given value of the motion control parameter of the control module to which it belongs, wherein the balance adjustment parameter at least includes: the actual torque of the motor and the tilt angle.

[0099] The balance control system of the present application includes N independent control modules. When one of the control modules has an operational failure or a communication failure, the target device is adjusted to a predetermined balance state by relying on the remaining control modules, thereby achieving redundant control and greatly improving the safety and reliability of the equipment operation.

[0100] In some embodiments, each of the control modules includes a master drive component and at least one slave drive component, wherein each slave drive component is configured to synchronize the position of the master drive component, such as Figure 2 and Figure 5 shown.

[0101] In this embodiment, a control module includes multiple drive components. When one of the drive components fails, the other components can still continue to work, thereby achieving control system redundancy while also achieving drive redundancy within a control module, further improving the safety and reliability of system operation.

[0102] In the prior art, when a large load needs to be driven by a single motor, a high-power drive device is required to meet the power requirements. However, the high-power drive device is large in size and weight, so it places high demands on the spatial layout of the target device during installation. Especially in some application scenarios with limited space, such a large-sized drive device may become a bottleneck in the design. The present application adopts multiple relatively low-power drive components to share the load, which can effectively reduce the power requirement of each drive component, so that the size and weight of each component can be reduced accordingly, making it easier to adapt to compact installation spaces.

[0103] In some embodiments, each slave drive assembly is configured to be positionally synchronized with the master drive assembly via electronic gears.

[0104] In some embodiments, the motion control device 11 includes a standard controller 51 and a motion control unit 52 connected to the standard controller 51, wherein the standard controller 51 is used to connect to the host computer 80, and the motion control unit 52 is connected to the driver of the control module to which it belongs; and the standard controller of each slave control module is respectively connected to the standard controller of the master control module, such as Figure 2 shown.

[0105] The standard controller of the main control module is configured to: receive the motion control parameters of the main control module sent by the host computer and the tilt angle of the main control module sent by the tilt sensor of the main control module;

[0106] The standard controller of each slave control module is configured to receive the motion control parameters of the control module to which it belongs sent by the host computer, the inclination angle of the control module to which it belongs sent by the inclination sensor of the control module to which it belongs, and the balance adjustment parameters of the main control module sent by the standard controller of the main control module, and send these data to the motion control unit of the control module to which it belongs.

[0107] The motion control unit of each slave control module is configured as:

[0108] According to the balance adjustment parameters of the main control module and the balance adjustment parameters of the respective control modules, the adjustment values ​​of the motion control parameters that can maintain the target device in a predetermined balance state are obtained based on the given values ​​of the motion control parameters of the respective control modules.

[0109] In this embodiment, balance control is achieved by a motion control unit, and the motion control unit is connected to the driver through a high-speed data transmission protocol, thereby achieving fast and reliable data transmission, thereby greatly reducing the communication delay between the motion control unit and the driver, thereby improving the response speed of the entire system and improving the real-time performance of the synchronous control.

[0110] Furthermore, in an embodiment in which the motion control device includes a standard controller and a motion control unit, the position synchronization of the main drive component and the slave drive component is implemented in the motion control unit, thereby greatly reducing the communication delay between the motion control unit and the drive, and greatly improving the synchronization accuracy of the main drive component and the slave drive component.

[0111] In some embodiments, the standard controller is connected to the motion control unit via Profinet, and the motion control unit is connected to the drive via Drive-CLIQ.

[0112] In other feasible implementations, a controller with a motion control function may also be used as the motion control device.

[0113] In some embodiments, the motion control unit of each slave control module is further configured as follows:

[0114] Calculate the difference between the actual torque of the motor of the main control module and the actual torque of the motor of each control module to which they belong, and obtain the current torque difference of each control module to which they belong;

[0115] According to the current torque difference of the control modules to which they belong, the current speed correction value of the control modules to which they belong is obtained;

[0116] According to the current speed correction value and the speed given value of the control module to which they belong, the current speed adjustment value of the control module to which they belong is obtained.

[0117] Exemplarily, for a balancing control system with three control modules, the motion control unit of the slave control module 1 calculates the difference between the actual torque of the motor of the main control module and the actual torque of the motor of the slave control module 1, and obtains the current torque difference of the slave control module 1; based on the current torque difference of the slave control module 1, the current speed correction value of the slave control module 1 is obtained; according to the current speed correction value and the speed given value of each slave control module 1, the current speed adjustment value of the slave control module 1 is obtained and output to the driver of the slave control module 1. Correspondingly, the motion control unit of the slave control module 2 calculates the difference between the actual torque of the motor of the main control module and the actual torque of the motor of the slave control module 2, and obtains the current torque difference of the slave control module 2; based on the current torque difference of the slave control module 2, the current speed correction value of the slave control module 2 is obtained; according to the current speed correction value and the speed given value of each slave control module 2, the current speed adjustment value of the slave control module 2 is obtained and output to the driver of the slave control module 2.

[0118] In view of the real-time load changes that may occur during the operation of the target equipment, especially in applications such as rotating cars, the movement of passengers will directly lead to dynamic changes in the load. This application compares the actual motor torque of each slave control module with the actual motor torque of the master motor module in real time, and performs real-time dynamic correction on the speed set value of each slave control module, so that the output of each motor remains consistent, and real-time torque balance control of multiple motors is achieved, thereby greatly reducing the mechanical wear of the equipment, reducing operating noise, enhancing operating comfort, and extending the service life of the equipment.

[0119] In some implementations, the current speed correction value is equal to the product of the result obtained by performing PID operation on the current torque difference and the proportional coefficient K, such as Figure 5 shown.

[0120] In some embodiments, the motion control unit of each slave control module is further configured as follows:

[0121] Calculating the difference between the inclination angle of the main control module and the inclination angle of the control module to which each of the control modules belongs, and obtaining the current inclination angle difference of the control module to which each of the control modules belongs;

[0122] When the absolute value of the current tilt angle difference is greater than a preset threshold, start accumulating the duration of the absolute value of the current tilt angle difference being greater than the preset threshold;

[0123] When the absolute value of the current inclination angle difference is greater than the preset threshold for a duration greater than the preset time length, the current angle adjustment value of each control module is obtained according to the current inclination angle difference of each control module and the angle given value.

[0124] In this embodiment, by comparing the current tilt angle of each slave control module with the current tilt angle of the master control module in real time, when the difference is greater than the threshold and lasts for a period of time, the difference is compensated to the angle given value of the corresponding motor, thereby achieving real-time deviation correction and keeping the target device in a preset balance state. Taking the car of the Ferris wheel as an example, this embodiment keeps each car in a horizontal state during operation, improving the comfort and experience of passengers.

[0125] In some embodiments, a clutch is provided between each motor and the execution terminal. When a control module fails, such as a device failure or a communication failure, the host computer or the standard controller of the control module outputs a disconnection signal to disconnect the clutch of the module, so that the control module in the accident stops running, and the control module with it performs balance control on the target device at a safe speed.

[0126] Figure 2 The system architecture diagram of a balance control system for a double-track rotating car 40 is shown as an example. Figure 3The double-track rotary car 40 runs along two parallel arc-shaped tracks 31 and 32. An annular rack 404 is provided on each track. The rotary car 40 is provided with an actuator that cooperates with the annular rack 404: the first actuator corresponds to the first track 31, and the second actuator corresponds to the second track 32. Figure 4 Each actuator includes a passive gear 401, which meshes with a rack 404 on the track. At the same time, there is a driving gear on each side of the passive gear 401 to mesh with it, forming a symmetrical layout. In order to simplify the description, the driving gears of the first actuator are named the first driving gear 402 and the second driving gear 403, and the second actuator are named the third driving gear 405 and the fourth driving gear 406. The balance control system of the double-track rotating car 40 includes two independent control modules, wherein the first control module 50 is used to control the first actuator, and the second control module 60 is used to control the second actuator. Reference Figure 2 , the first control module 50 includes: a first standard controller 51, a first motion control unit 52, a first drive assembly (including a first driver 531 and a first motor 532) for driving the first driving gear 402, a second drive assembly (including a second driver 541 and a second motor 542) for driving the second driving gear 403, and a first inclination sensor 55 for real-time detection of the inclination angle at the installation position of the first execution terminal, wherein the second drive assembly 13 is synchronized with the first drive assembly 13 through electronic gears. The corresponding second control module 60 includes: a second standard controller 61, a second motion control unit 62, a third drive assembly (including a third driver 631 and a third motor 632) for driving the third driving gear 405, a fourth drive assembly (including a fourth driver 641 and a fourth motor 642) for driving the fourth driving gear 406, and a second inclination sensor 65 for real-time detection of the inclination angle at the installation position of the second execution terminal, wherein the fourth drive assembly is synchronized with the third drive assembly through electronic gears. Figure 3As shown, the first inclination sensor 55 is connected to the first standard controller 51, the first standard controller 51 is connected to the first motion control unit 52 through Profinet, and the first motion control unit 52 is connected to the first driver 531 and the second driver 541 through Drive-CLIQ. Correspondingly, the second inclination sensor 65 is connected to the second standard controller 61, the second standard controller 61 is connected to the second motion control unit 62 through Profinet, and the second motion control unit 62 is connected to the third driver 631 and the third driver 631 through Drive-CLIQ. The first standard controller 51 and the second standard controller 61 are interconnected through a gateway 70. The first control module 50 and the second control module 60 are both installed in the rotating car 40, and the upper computer 80 located on the ground is connected to the first standard controller 51 and the second standard controller 61 through the gateway 70. The upper computer 80 sends the angle given value and the speed given value of the current car to the first standard controller 51 and the second standard controller 61 respectively, and the angle given value is used to control the position of the rotating car on the outer ring of the Ferris wheel. The following description will be made of an implementation in which the first control module 50 is a slave control module and the second control module 60 is a master control module.

[0127] The second motion control unit 62 obtains the actual torque of the main drive motor (third motor 632) in real time and sends it to the second standard controller 61, and the second inclination sensor 65 detects the inclination angle of the second execution terminal side in real time and sends it to the second standard controller 61; correspondingly, the first motion control unit 52 obtains the actual torque of the first motor 532 in real time, and the first inclination sensor 55 detects the inclination angle of the first execution terminal side in real time and sends it to the first standard controller 51. The first standard controller 51 obtains the current motor actual torque and current inclination angle of the second control module 60 by periodically exchanging signals with the second standard controller 61, and periodically sends them to the first motion control unit 52.

[0128] The present application realizes real-time torque balance control of multiple motors by comparing the actual motor torque of each slave control module with the actual motor torque of the master motor module in real time, and dynamically correcting the speed given value of each slave control module in real time.

[0129] refer to Figure 5, the first motion control unit 52 obtains the current speed given value 101 and the current motor actual torque of the second control module 60 by periodically exchanging data with the first standard controller 51, and the first motion control unit 52 obtains the current actual torque of the first motor 532 by periodically exchanging data with the first driver 531. The first motion control unit 52 calculates the difference between the current motor actual torque of the second control module 60 and the current actual torque of the first motor 532 to obtain the current torque difference of the first control module 50; according to the current torque difference of the first control module 50, the current speed correction value of the first control module 50 is obtained; according to the current speed correction value of the first control module 50 and the speed given value 101, the current speed adjustment value 103 of the first control module 50 is obtained, and the speed adjustment value is equal to the sum of the speed given value and the speed correction value. The speed adjustment value 103 makes the output of the four motors consistent, and the operating positions of the two execution terminals are basically synchronized, which greatly reduces mechanical wear, reduces operating noise, and prolongs the service life of the equipment.

[0130] In some implementations, the current speed correction value is equal to the product of the result obtained by performing PID operation on the current torque difference and the proportional coefficient K, such as Figure 5 shown.

[0131] The present application compares the current tilt angle of the slave control module with the current tilt angle of the master control module in real time, and compensates the rotation angle in real time, so that the rotating car remains in a preset balance state, thereby improving the comfort and experience of passengers.

[0132] The first motion control unit 52 obtains the current angle setting value, the current tilt angle of the second control module 60 , and the current tilt angle of the first control module 50 by periodically exchanging data with the first standard controller 51 .

[0133] The first motion control unit 52 calculates the difference between the inclination angle 105 of the first control module 50 and the inclination angle of the second control module to obtain the current inclination difference 107 of the first control module 50; when the absolute value of the current inclination difference 107 of the first control module 50 is greater than the preset threshold, start to accumulate the duration of the absolute value of the current inclination difference being greater than the preset threshold; when the duration of the absolute value of the current inclination difference being greater than the preset threshold is greater than the preset duration, according to the current inclination difference 107 of the first control module 50 and the current angle given value 102, obtain the current angle adjustment value 104 of the first control module, the current angle adjustment value 104 is equal to the sum of the current inclination difference and the current angle given value 102, thereby realizing real-time correction.

[0134] It should be noted that, in this embodiment, the position synchronization between the master drive component and the slave drive component of each control module is implemented in the motion control unit described above. As mentioned above, each control unit communicates with the drive through Drive-CLIQ, and Drive-CLiQ adopts a high-speed data transmission protocol, which can achieve fast and reliable data transmission, thereby greatly reducing the communication delay between the control unit and the drive, thereby improving the response speed of the entire system and the real-time performance of the synchronous control.

[0135] In this embodiment, a relay is provided between each motor and the execution terminal. In an accident state, a set of clutches with problems is disconnected, and the control module thereof exits operation, and another set adjusts the car to a horizontal position at a safe speed.

[0136] Balance control method

[0137] Figure 1 Schematic diagram of a balance control system of an exemplary embodiment of the present application. As shown in the figure, the balance control method includes the following steps:

[0138] S101: Each slave control module obtains the balance adjustment parameters of the master control module and the balance adjustment parameters of the control modules to which it belongs in real time;

[0139] S103: Each slave control module obtains an adjustment value of the motion control parameter that can maintain the target device in a predetermined balance state based on the balance adjustment parameter of the master control module and the balance adjustment parameter of the control module to which it belongs and the given value of the motion control parameter of the control module to which it belongs;

[0140] The balance adjustment parameters include at least: actual torque of the motor and a tilt angle, wherein the tilt angle is used to characterize the angle at which the execution terminal deviates from the vertical line.

[0141] In some implementations, step S103 is further implemented as follows:

[0142] S201: Each slave control module calculates the difference between the actual torque of the motor of the master control module and the actual torque of the motor of the control module to which it belongs, and obtains the current torque difference of the control module to which it belongs;

[0143] S203: Each slave control module obtains a current speed correction value of the control module to which it belongs according to the current torque difference of the control module to which it belongs;

[0144] In some implementations, the speed correction value is equal to the product of a result obtained by performing a PID operation on the current torque difference and a proportional coefficient K.

[0145] S205: Each slave control module obtains the current speed adjustment value of the control module to which it belongs according to the current speed correction value and the speed given value of the control module to which it belongs, and the speed adjustment value is equal to the sum of the speed given value and the speed correction value.

[0146] In some implementations, step S103 is further implemented as follows:

[0147] S301: Each slave control module calculates the difference between the inclination angle of the master control module and the inclination angle of the control module to which it belongs, and obtains the current inclination angle difference of the control module to which it belongs;

[0148] S303: When the absolute value of the current tilt angle difference is greater than a preset threshold, start accumulating the duration of the absolute value of the current tilt angle difference being greater than the preset threshold;

[0149] S307: When the absolute value of the current inclination angle difference is greater than the preset threshold and the duration is greater than the preset time length, each slave control module obtains the current angle adjustment value of the control module to which it belongs based on the current inclination angle difference and the given angle value of the control module to which it belongs, and the current angle adjustment value is equal to the sum of the current inclination angle difference and the current given angle value.

[0150] It should be noted that the above-mentioned balance control method is based on the same concept as the above-mentioned multi-axis control system embodiment. The specific content can be found in the description of the above-mentioned balance control system embodiment, and will not be repeated here.

[0151] Electronic devices

[0152] The electronic device provided in the embodiment of the present application includes: a processor, a communication interface, a memory, and a bus. Among them:

[0153] The processor, the communication interface, and the memory communicate with each other via the bus.

[0154] Communication interface, used to communicate with other electronic devices or servers.

[0155] The processor is used to execute the program, and specifically can execute the relevant steps in the above-mentioned balance control method embodiment.

[0156] Specifically, the program may include program codes including computer operation instructions.

[0157] The processor may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0158] The memory is used to store programs. The memory may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory.

[0159] The program can be specifically used to enable a processor to execute the balance control method in any of the aforementioned embodiments.

[0160] The specific implementation of each step in the program can refer to the corresponding description of the corresponding steps and units in the above-mentioned balance control method embodiment, which will not be repeated here. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described devices and modules can refer to the corresponding process description in the above-mentioned method embodiment, which will not be repeated here.

[0161] It should be noted that not all steps and modules in the above-mentioned processes and system structure diagrams are necessary, and some steps or modules can be ignored according to actual needs. The execution order of each step is not fixed and can be adjusted as needed. The system structure described in the above-mentioned embodiments can be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or some components in multiple independent devices may be implemented together.

[0162] Nouns and pronouns relating to persons in this patent application are not limited to a specific gender.

[0163] In the above embodiments, the hardware module can be implemented mechanically or electrically. For example, a hardware module can include permanent dedicated circuits or logic (such as special processors, FPGA or ASIC) to complete the corresponding operation. The hardware module can also include programmable logic or circuits (such as general-purpose processors or other programmable processors), which can be temporarily set by software to complete the corresponding operation. The specific implementation method (mechanical method, or dedicated permanent circuit, or temporarily set circuit) can be determined based on cost and time considerations.

Claims

1. A balance control system, characterized in that: It includes N control modules, one of which is a master control module and the others are slave control modules. Each control module includes: Motion control device (11); A drive assembly (13), the drive assembly (13) comprising a driver (131) and a motor (132), wherein the driver (131) is connected to the motion control device (11); A tilt sensor (12), connected to the motion control device (11), for measuring in real time the tilt angle of the execution terminal side of the control module to which it belongs and sending it to the motion control device (11); The motion control devices of each slave control module are respectively connected to the motion control device of the master control module, and the motion control devices of each slave control module are configured to: obtain the balance adjustment parameters of the master control module and the balance adjustment parameters of the control module to which it belongs in real time, and obtain the current adjustment value of the motion control parameter that can maintain the target device in a predetermined balance state based on the balance adjustment parameters of the master control module and the balance adjustment parameters of the control module to which it belongs and the given value of the motion control parameter of the control module to which it belongs; The balance adjustment parameters include at least: actual torque of the motor and a tilt angle.

2. The balance control system according to claim 1, characterized in that: Each of the control modules includes a master drive assembly and at least one slave drive assembly, wherein each slave drive assembly is configured to synchronize a position with the master drive assembly.

3. The balance control system according to claim 2, characterized in that: Each slave drive assembly is configured to be positionally synchronized with the master drive assembly via electronic gears.

4. The balance control system according to claim 1, characterized in that: The motion control device comprises a standard controller and a motion control unit connected to the standard controller, wherein the standard controller is used to be connected to a host computer, and the motion control unit is connected to a driver of a control module to which it belongs; and the standard controller of each slave control module is respectively connected to the standard controller of the master control module; The standard controller of the main control module is configured to: receive the motion control parameters of the main control module sent by the host computer and the tilt angle of the main control module sent by the tilt sensor of the main control module; The standard controller of each slave control module is configured to: receive the motion control parameters of the control module to which it belongs sent by the host computer, the tilt angle of the control module to which it belongs sent by the inclination sensor of the control module to which it belongs, and the balance adjustment parameters of the main control module sent by the standard controller of the main control module, and send them to the motion control unit of the control module to which it belongs; The motion control unit of each slave control module is configured as: According to the balance adjustment parameters of the main control module and the balance adjustment parameters of the respective control modules, the adjustment values ​​of the motion control parameters that can maintain the target device in a predetermined balance state are obtained based on the given values ​​of the motion control parameters of the respective control modules.

5. The balance control system according to claim 4, characterized in that: The motion control unit of each slave control module is further configured as follows: Calculate the difference between the actual torque of the motor of the main control module and the actual torque of the motor of each control module to which they belong, and obtain the current torque difference of each control module to which they belong; According to the current torque difference of the control modules to which they belong, the current speed correction value of the control modules to which they belong is obtained; According to the current speed correction value and the speed given value of the control module to which they belong, the current speed adjustment value of the control module to which they belong is obtained.

6. The balance control system according to claim 5, characterized in that: The motion control unit of each slave control module is further configured as follows: Calculating the difference between the inclination angle of the main control module and the inclination angle of the control module to which each of the control modules belongs, and obtaining the current inclination angle difference of the control module to which each of the control modules belongs; When the absolute value of the current tilt angle difference is greater than a preset threshold, start accumulating the duration of the absolute value of the current tilt angle difference being greater than the preset threshold; When the absolute value of the current inclination angle difference is greater than the preset threshold for a duration greater than the preset time length, the current angle adjustment value of each control module is obtained according to the current inclination angle difference of each control module and the angle given value.

7. A balance control method, used in a balance control system of a target device, characterized in that: The balance control system includes N control modules, one of which is a main control module and the others are slave control modules. The balance control method includes the following steps: Each slave control module obtains the balance adjustment parameters of the master control module and the balance adjustment parameters of the control modules to which it belongs in real time; Each slave control module obtains an adjustment value of the motion control parameter that enables the target device to maintain a predetermined balance state based on the balance adjustment parameter of the master control module and the balance adjustment parameter of the control module to which it belongs and the given value of the motion control parameter of the control module to which it belongs; The balance adjustment parameters include at least: actual torque of the motor and a tilt angle.

8. The balance control method according to claim 7, characterized in that: The step of each slave control module obtaining an adjustment value of the motion control parameter capable of maintaining the target device in a predetermined balance state based on the balance adjustment parameter of the master control module and the balance adjustment parameter of the control module to which it belongs and the given value of the motion control parameter of the control module to which it belongs further includes: Each slave control module calculates the difference between the actual torque of the motor of the master control module and the actual torque of the motor of the control module to which it belongs, and obtains the current torque difference of the control module to which it belongs; Each slave control module obtains a current speed correction value of the control module to which it belongs according to the current torque difference of the control module to which it belongs; Each slave control module obtains the current speed adjustment value of the control module to which it belongs according to the current speed correction value and the speed given value of the control module to which it belongs.

9. The balance control method according to claim 8, characterized in that: The step of obtaining, according to the balance adjustment parameters of the master control module and the balance adjustment parameters of the control modules to which they belong, the adjustment values ​​of the motion control parameters that enable the target device to maintain a predetermined balance state by the slave control modules based on the given values ​​of the motion control parameters of the control modules to which they belong further includes: Each slave control module calculates the difference between the tilt angle of the master control module and the tilt angle of the control module to which it belongs, and obtains the current tilt angle difference of the control module to which it belongs; When the absolute value of the current tilt angle difference is greater than a preset threshold, start accumulating the duration of the absolute value of the current tilt angle difference being greater than the preset threshold; When the absolute value of the current tilt angle difference is greater than the preset threshold for a duration greater than the preset time, each slave control module obtains the current angle adjustment value of its own control module based on the current tilt angle difference of its own control module and the angle given value.

10. An electronic device, comprising: A processor, a communication interface, a memory and a bus, wherein the processor, the communication interface and the memory communicate with each other via the bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform an operation corresponding to the method as claimed in any one of claims 7 to 9.

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