Double-push-rod position control method, system and equipment and storage medium

Abstract

The invention discloses a double-push-rod position control method, system and device and a storage medium, and the method comprises the steps: firstly calculating a position difference and a difference amplitude value based on a target position and a previous moment position, and then calculating a position ratio; an initial position change value is calculated by setting a first position change total parameter. Thirdly, estimating the required converted torque and current, and calculating a protection coefficient in combination with the maximum torque and current of the system; finally, the current moment position of the push rod is adjusted and determined based on the protection coefficients. According to the control method, the converted torque and the converted current of the third position change value of the current state of the left push rod and the third position change value of the current state of the right push rod are smaller than or equal to the maximum torque and the maximum current which can be provided by the system respectively, so that overload work of a system device due to violent position change can be effectively avoided; through a series of calculation and adjustment, the stability and safety of the system can be effectively improved, and the service life of equipment is prolonged.

Description

Technical Field

[0001] The present invention relates to the field of mechanical engineering and automation control technology, and in particular to a double push rod position control method, system, device and storage medium. Background Art

[0002] With the rapid development of the logistics and transportation industry, the demand for loading and unloading of various heavy goods is increasing. In order to improve operating efficiency and reduce labor costs, many chassis models are equipped with lifting devices in the rear cargo box to assist in loading and unloading operations. This lifting device usually includes two lifting push rods on both sides, and the positions of the two push rods are precisely controlled to achieve safe lifting and placement of the goods. However, in actual applications, due to the influence of factors such as the heavy weight and uneven distribution of the goods, the control of the lifting push rod faces many challenges.

[0003] Most existing lifting devices use simple open-loop control or basic closed-loop control strategies to manage the position of the lifting push rod. This type of control method mainly relies on preset position parameters and speed limits, and adjusts the action of the push rod in real time through sensor feedback. Although these methods can meet the needs of daily operations to a certain extent, their performance is often unsatisfactory when dealing with heavy loads or complex working conditions. In particular, when faced with sudden load changes or extreme environmental conditions, the lifting device may be slow to respond or over-adjust.

[0004] The main drawback of the existing technology is that it cannot effectively deal with the drastic changes in the push rod position during the lifting process, which may cause the lifting device to exceed its designed working range, thereby affecting the reliability and service life of the equipment. In addition, when the lifting device is running under high load, excessive current and torque requirements may also cause motor overheating or other mechanical failures, further reducing the stability and safety of the system. Summary of the invention

[0005] In view of the above defects or improvement needs of the prior art, the object of the present invention is to provide a dual push rod position control method, system, equipment and storage medium, which can significantly improve the reliability and service life of the lifting device. Through multi-step calculation and dynamic adjustment, the present invention can accurately control the position changes of the left push rod and the right push rod to avoid system overload caused by drastic position changes. Specifically, the present invention first calculates the position difference and the difference amplitude based on the target position and the position at the previous moment, and then calculates the position ratio. By setting the first position change total parameter, the initial position change value is calculated. Next, the required converted torque and current are estimated, and the protection factor is calculated in combination with the maximum torque and current of the system. Finally, based on these protection coefficients, the current position of the push rod is adjusted and determined, wherein the converted torque and converted current of the third position change value of the current state of the left push rod and the third position change value of the current state of the right push rod in the control method are respectively less than or equal to the maximum torque and the maximum current that the system can provide. This can effectively avoid the problem of overload of the system device due to drastic position changes, which may cause reduced reliability and life of the device. Through a series of calculations and adjustments, the present invention can effectively protect the system from damage, prevent motor overheating and other mechanical failures, improve the stability and safety of the system, and extend the service life of the equipment.

[0006] According to a first aspect of the present invention, a dual push rod position control method is provided, comprising:

[0007] S100, calculating a previous state difference of the left putter position and a previous state difference of the right putter position based on the left putter target position, the right putter target position, the left putter position at a previous moment, and the right putter position at a previous moment; calculating a previous state difference amplitude of the putter position based on the previous state difference of the left putter position and the previous state difference of the right putter position;

[0008] S200, based on the last state difference of the left push rod position, the last state difference of the right push rod position and the last state difference amplitude of the push rod position, set the first position change total parameter to calculate the first position change value of the current state of the left push rod and the first position change value of the current state of the right push rod;

[0009] S300, calculating a second position change value of the left push rod in the current state and a second position change value of the right push rod in the current state based on the first position change value of the left push rod in the current state, the first position change value of the right push rod in the current state, and a maximum torque that can be provided by the system;

[0010] S400, calculating a third position change value of the current state of the left push rod and a third position change value of the current state of the right push rod based on the second position change value of the current state of the left push rod, the second position change value of the current state of the right push rod, and a maximum current that can be provided by the system;

[0011] S500, calculating the current position of the left push rod and the current position of the right push rod based on the third position change value of the current state of the left push rod, the third position change value of the current state of the right push rod, the position of the left push rod at a previous moment, and the position of the right push rod at a previous moment.

[0012] Furthermore, step S100 includes:

[0013]

[0014] Δs(k-1)=|Δs(k-1) f |+|Δs(k-1) r |

[0015] In the formula, st f Indicates the target position of the left push rod; st r Indicates the target position of the right push rod; s(k-1) f Indicates the position of the left push rod at the previous moment; s(k-1) r Indicates the previous position of the right push rod, Δs(k-1) f Indicates the previous state difference of the left push rod position; Δs(k-1) r Indicates the previous state difference of the right push rod position, st f 、st r Indicates the set target state; Δs(k-1) indicates the amplitude of the state difference of the push rod position.

[0016] Further, step S200 includes:

[0017] S201, calculating the left push rod last state position ratio and the right push rod last state position ratio based on the left push rod position last state difference, the right push rod position last state difference and the push rod position last state difference amplitude:

[0018]

[0019] S202: Based on the position ratio of the previous state of the left push rod and the position ratio of the previous state of the right push rod, the first position change total parameter is set to calculate the first position change value of the current state of the left push rod and the first position change value of the current state of the right push rod:

[0020]

[0021] Where, Δsr(k-1) f Indicates the position ratio of the left push rod to the previous state; Δsr(k-1) r Indicates the position ratio of the right push rod to the previous state; Δs1(k) f Indicates the first position change value of the left push rod in the current state; Δs1(k) rIndicates the first position change value of the right push rod in the current state; ΔSp indicates the total parameter for setting the first position change.

[0022] Further, step S300 includes:

[0023] S301, estimating the converted torque required to push the push rod in the current state based on the first position change value of the left push rod in the current state and the first position change value of the right push rod in the current state:

[0024] ΔF(K)=γf f *Δs1(k) f +γf r *Δs1(k) r

[0025] S302, calculating the protection factor of the first position of the push rod in the current state based on the converted torque required to push the push rod in the current state and the maximum torque that the system can provide:

[0026]

[0027] S303, calculating the second position change value of the current state of the left push rod and the second position change value of the current state of the right push rod based on the protection coefficient of the first position of the current state of the push rod, the first position change value of the current state of the left push rod, and the first position change value of the current state of the right push rod:

[0028]

[0029] Where ΔF(K) represents the torque required to push the push rod in the current state; γf f Represents the torque conversion coefficient of the left push rod; γf r represents the torque conversion coefficient of the right push rod; ΔFMAX represents the maximum torque that the system can provide; Δsr1(K) represents the protection coefficient of the first position of the push rod in the current state; Δs2(k) f Indicates the second position change value of the left push rod in the current state; Δs2(k) r Indicates the second position change value of the right push rod in the current state.

[0030] Further, step S400 includes:

[0031] S401, estimating the converted current required to push the push rod in the current state based on the second position change value of the left push rod in the current state and the second position change value of the right push rod in the current state:

[0032] ΔI(K)=γI f *Δs2(k) f +γI r *Δs2(k) r

[0033] S402, calculating the protection factor of the second position of the push rod in the current state based on the converted current required by the push rod in the current state and the maximum current that the system can provide:

[0034]

[0035] S403, calculating the third position change value of the current state of the left push rod and the third position change value of the current state of the right push rod based on the protection coefficient of the second position of the current state of the push rod, the second position change value of the current state of the left push rod and the second position change value of the current state of the right push rod:

[0036]

[0037] Where ΔI(K) represents the converted current required to push the push rod in the current state; γI f Indicates the current conversion coefficient of the left push rod; γI r Indicates the current conversion coefficient of the right push rod; Δsr2(K) indicates the protection coefficient of the second position of the push rod in the current state; ΔIMAX indicates the maximum current that the system can provide; Δs3(k) f Indicates the third position change value of the left push rod in the current state; Δs3(k) r Indicates the third position change value of the right push rod's current state.

[0038] Further, step S500 includes:

[0039]

[0040] Where s(k) f Indicates the current position of the left push rod; s(k) r Indicates the current position of the right push rod.

[0041] Further, including:

[0042] γI f *Δs3(k) f +γI r *Δs3(k) r ≤ΔFMAX

[0043] γI f *Δs3(k) f +γI r *Δs3(k) r ≤ΔIMAX

[0044] It can be seen from the above formula that the converted torque of the third position change value of the left push rod in the current state and the converted current of the third position change value of the right push rod in the current state are respectively less than or equal to the maximum torque and the maximum current that the system can provide, which effectively avoids the system device from overloading due to drastic position changes.

[0045] According to a second aspect of the present invention, there is provided a dual push rod position control system, comprising:

[0046] The first module calculates the last state difference of the left push rod position and the last state difference of the right push rod position based on the left push rod target position, the right push rod target position, the left push rod position at a previous moment, and the right push rod position at a previous moment; and calculates the last state difference amplitude of the push rod position based on the last state difference of the left push rod position and the last state difference of the right push rod position;

[0047] The second module calculates the position ratio of the left push rod in the previous state and the position ratio of the right push rod in the previous state based on the position difference of the left push rod in the previous state, the position difference of the right push rod in the previous state and the amplitude of the position difference of the push rod in the previous state; and sets the first position change total parameter to calculate the first position change value of the current state of the left push rod and the first position change value of the current state of the right push rod based on the position ratio of the previous state of the left push rod and the position ratio of the previous state of the right push rod;

[0048] The third module estimates the converted torque required to push the push rod in the current state based on the first position change value of the left push rod in the current state and the first position change value of the right push rod in the current state; calculates the protection coefficient of the first position of the push rod in the current state based on the converted torque required to push the push rod in the current state and the maximum torque that the system can provide; calculates the second position change value of the left push rod in the current state and the second position change value of the right push rod in the current state based on the protection coefficient of the first position of the push rod in the current state, the first position change value of the left push rod in the current state and the first position change value of the right push rod in the current state;

[0049] The fourth module estimates the converted current required to push the push rod in the current state based on the second position change value of the current state of the left push rod and the second position change value of the current state of the right push rod; calculates the protection factor of the second position of the current state of the push rod based on the converted current required for the push rod in the current state and the maximum current that the system can provide; calculates the third position change value of the current state of the left push rod and the third position change value of the current state of the right push rod based on the protection factor of the second position of the current state of the push rod, the second position change value of the current state of the left push rod and the second position change value of the current state of the right push rod;

[0050] The fifth module calculates the current position of the left push rod and the current position of the right push rod based on the third position change value of the current state of the left push rod, the third position change value of the current state of the right push rod, the position of the left push rod at a previous moment, and the position of the right push rod at a previous moment.

[0051] According to a third aspect of the present invention, there is provided an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements any step in the above-mentioned dual push rod position control method when loading and executing the computer program.

[0052] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium, in which a computer program is stored. The computer program is loaded and executed by a processor to implement any step in the above-mentioned dual push rod position control method.

[0053] Beneficial effects of the present invention:

[0054] 1. A double push rod position control method provided by the present invention can significantly improve the reliability and service life of the lifting device. Through multi-step calculation and dynamic adjustment, the present invention can accurately control the position changes of the left push rod and the right push rod to avoid system overload caused by drastic position changes. Specifically, the present invention first calculates the position difference and the difference amplitude based on the target position and the position at the previous moment, and then calculates the position ratio. By setting the first position change total parameter, the initial position change value is calculated. Next, the required converted torque and current are estimated, and the protection factor is calculated in combination with the maximum torque and current of the system. Finally, based on these protection coefficients, the current position of the push rod is adjusted and determined, wherein the converted torque and converted current of the third position change value of the current state of the left push rod and the third position change value of the current state of the right push rod in the control method are respectively less than or equal to the maximum torque and the maximum current that the system can provide. This can effectively avoid the problem of overload of the system device due to drastic position changes, which may cause reduced reliability and life of the device. Through a series of calculations and adjustments, the present invention can effectively protect the system from damage, prevent motor overheating and other mechanical failures, improve the stability and safety of the system, and extend the service life of the equipment.

[0055] Additional aspects and advantages of the present application will be partially given in the following description, which will become apparent from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0057] Figure 1 It is a flow chart of a dual push rod position control method in an embodiment of the present invention. DETAILED DESCRIPTION

[0058] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0059] Those skilled in the art will appreciate that, unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present application refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0060] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the general understanding of those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and will not be interpreted with an idealized or overly formal meaning unless specifically defined as in the embodiments of this application.

[0061] The present invention provides a dual push rod position control method, system, equipment and storage medium, which can significantly improve the reliability and service life of the lifting device. Through multi-step calculation and dynamic adjustment, the present invention can accurately control the position changes of the left push rod and the right push rod to avoid system overload caused by drastic position changes. Specifically, the present invention first calculates the position difference and the difference amplitude based on the target position and the position at the previous moment, and then calculates the position ratio. By setting the first position change total parameter, the initial position change value is calculated. Then, the required converted torque and current are estimated, and the protection factor is calculated in combination with the maximum torque and current of the system. Finally, based on these protection coefficients, the current position of the push rod is adjusted and determined, wherein the converted torque and converted current of the third position change value of the current state of the left push rod and the third position change value of the current state of the right push rod in the control method are respectively less than or equal to the maximum torque and the maximum current that the system can provide. This can effectively avoid the problem of overload of the system device due to drastic position changes, which may cause reduced reliability and life of the device. Through a series of calculations and adjustments, the present invention can effectively protect the system from damage, prevent motor overheating and other mechanical failures, improve the stability and safety of the system, and extend the service life of the equipment.

[0062] Embodiment 1:

[0063] like Figure 1As shown, an embodiment of the present invention provides a dual push rod position control method, comprising:

[0064] S100, calculating a previous state difference of the left putter position and a previous state difference of the right putter position based on the left putter target position, the right putter target position, the left putter position at a previous moment, and the right putter position at a previous moment; calculating a previous state difference amplitude of the putter position based on the previous state difference of the left putter position and the previous state difference of the right putter position;

[0065] Specifically, based on the left push rod target position, the right push rod target position, the left push rod position at a previous moment, and the right push rod position at a previous moment, a left push rod position state difference and a right push rod position state difference are calculated; based on the left push rod position state difference and the right push rod position state difference, a push rod position state difference amplitude is calculated;

[0066] The last state difference of the left push rod position is equal to the left push rod target position minus the left push rod position at the last moment; the last state difference of the right push rod position is equal to the right push rod target position minus the right push rod position at the last moment. The calculation formulas for the left push rod position difference and the right push rod position difference are:

[0067]

[0068] In the formula, st f Indicates the target position of the left push rod; st r Indicates the push rod target position; s(k-1) f Indicates the position of the left push rod at the previous moment; s(k-1) r Indicates the previous position of the right push rod, Δs(k-1) f Indicates the previous state difference of the left push rod position; Δs(k-1) r Indicates the previous state of the right push rod position is poor; st f and st r Indicates setting the target state.

[0069] Among them, the amplitude of the difference between the current state of the push rod position and the previous state is equal to the sum of the absolute value of the difference between the previous state of the left push rod position and the absolute value of the difference between the previous state of the right push rod position. The calculation formula for the amplitude of the difference between the previous state of the push rod position is:

[0070] Δs(k-1)=|Δs(k-1) f |+|Δs(k-1) r |

[0071] Where Δs(k-1) represents the difference between the current and previous states of the push rod position.

[0072] S200, based on the last state difference of the left push rod position, the last state difference of the right push rod position and the last state difference amplitude of the push rod position, set the first position change total parameter to calculate the first position change value of the current state of the left push rod and the first position change value of the current state of the right push rod;

[0073] Specifically, based on the last state difference of the left push rod position, the last state difference of the right push rod position and the last state difference amplitude of the push rod position, the last state position ratio of the left push rod and the last state position ratio of the right push rod are calculated; based on the last state position ratio of the left push rod and the last state position ratio of the right push rod, the first position change total parameter is set to calculate the first position change value of the current state of the left push rod and the first position change value of the current state of the right push rod;

[0074] Among them, the left push rod last state position ratio is equal to the left push rod position last state difference divided by the push rod position last state difference amplitude; the right push rod last state position ratio is equal to the right push rod position last state difference divided by the push rod position last state difference amplitude. The calculation formulas for the left push rod last state position ratio and the right push rod last state position ratio are:

[0075]

[0076] Where, Δsr(k-1) f Indicates the position ratio of the left push rod to the previous state; Δsr(k-1) r Indicates the previous position ratio of the right push rod.

[0077] Among them, the first position change value of the left push rod in the current state is equal to the product of the position ratio of the left push rod in the previous state multiplied by the total parameter of the first position change set; the first position change value of the right push rod in the current state is equal to the product of the position ratio of the right push rod in the previous state multiplied by the total parameter of the first position change set. The calculation formulas for the first position change value of the left push rod in the current state and the first position change value of the right push rod in the current state are:

[0078]

[0079] Where, Δs1(k) f Indicates the first position change value of the left push rod in the current state; Δs1(k) r It indicates the first position change value of the right push rod in the current state; ΔSp indicates the total parameter of the first position change, which can be calibrated.

[0080] S300, calculating a second position change value of the left push rod in the current state and a second position change value of the right push rod in the current state based on the first position change value of the left push rod in the current state, the first position change value of the right push rod in the current state, and a maximum torque that can be provided by the system;

[0081] Specifically, based on the first position change value of the current state of the left push rod and the first position change value of the current state of the right push rod, the converted torque required to push the push rod in the current state is estimated; based on the converted torque required to push the push rod in the current state and the maximum torque that the system can provide, the protection coefficient of the first position of the current state of the push rod is calculated; based on the protection coefficient of the first position of the current state of the push rod, the first position change value of the current state of the left push rod and the first position change value of the current state of the right push rod, the second position change value of the current state of the left push rod and the second position change value of the current state of the right push rod are calculated;

[0082] Among them, the conversion torque required to push the push rod in the current state is equal to the sum of the first position change value of the left push rod in the current state multiplied by the obtained value of the left push rod torque conversion coefficient and the first position change value of the right push rod in the current state multiplied by the obtained value of the right push rod torque conversion coefficient. The calculation formula for the conversion torque required to push the push rod in the current state is:

[0083] ΔF(K)=γf f *Δs1(k) f +γf r *Δs1(k) r

[0084] Where ΔF(K) represents the torque required to push the push rod in the current state; γf f Represents the left push rod torque conversion coefficient, obtained by bench test; γf r Represents the right push rod torque conversion coefficient, obtained through bench testing.

[0085] The protection factor of the first position of the push rod in the current state is equal to the reciprocal of the maximum value of the maximum torque that the system can provide and the converted torque required to push the push rod in the current state multiplied by the maximum torque that the system can provide. The calculation formula of the protection factor of the first position of the push rod in the current state is:

[0086]

[0087] Wherein, ΔFMAX represents the maximum torque that the system can provide, which is obtained by bench testing; Δsr1(K) represents the protection factor of the first position of the push rod in the current state.

[0088] The first position change value of the left push rod in the current state is equal to the product of the protection coefficient of the first position of the push rod in the current state and the first position change value of the left push rod in the current state; the first position change value of the right push rod in the current state is equal to the product of the protection coefficient of the first position of the push rod in the current state and the first position change value of the right push rod in the current state. The calculation formulas for the first position change value of the left push rod in the current state and the first position change value of the right push rod in the current state are:

[0089]

[0090] Where, Δs2(k) f Indicates the second position change value of the left push rod in the current state; Δs2(k) r Indicates the second position change value of the right push rod in the current state.

[0091] Furthermore, we know that:

[0092] γf f *Δs2(k)+γf r *Δs2(k) r =γf f *Δs1(k) f *Δsr1(K)+γf r *Δs1(k) r *Δsr1(K)

[0093] Furthermore, we know that:

[0094]

[0095] Furthermore, we know that:

[0096]

[0097] Furthermore, we know that:

[0098]

[0099] Furthermore, we know that:

[0100] γf f *Δs2(k)+γf r *Δs2(k) r ≤ΔFMAX

[0101] S400, calculating a third position change value of the current state of the left push rod and a third position change value of the current state of the right push rod based on the second position change value of the current state of the left push rod, the second position change value of the current state of the right push rod, and a maximum current that can be provided by the system;

[0102] Specifically, the converted current required to push the push rod in the current state is estimated based on the second position change value of the left push rod in the current state and the second position change value of the right push rod in the current state; the protection factor of the second position of the push rod in the current state is calculated based on the converted current required for the push rod in the current state and the maximum current that the system can provide; the third position change value of the left push rod in the current state and the third position change value of the right push rod in the current state are calculated based on the protection factor of the second position of the push rod in the current state, the second position change value of the left push rod in the current state and the second position change value of the right push rod in the current state;

[0103] Among them, the converted current required to push the push rod in the current state is equal to the sum of the second position change value of the left push rod in the current state multiplied by the obtained value of the left push rod current conversion coefficient and the second position change value of the right push rod in the current state multiplied by the obtained value of the right push rod current conversion coefficient. The calculation formula for the converted current required to push the push rod in the current state is:

[0104] ΔI(K)=γI f *Δs2(k) f +γI r *Δs2(k) r

[0105] Where ΔI(K) represents the converted current required to push the push rod in the current state; γI f Represents the left push rod current conversion coefficient, obtained from bench test; γI r Indicates the current conversion coefficient of the right push rod, obtained through bench testing.

[0106] The protection factor of the second position of the push rod in the current state is equal to the reciprocal of the converted current required by the push rod in the current state and the maximum current value that the system can provide multiplied by the maximum current that the system can provide. The calculation formula of the protection factor of the second position of the push rod in the current state is:

[0107]

[0108] Wherein, Δsr2(K) represents the protection factor of the second position of the push rod in the current state; ΔIMAX represents the maximum current that the system can provide, which is obtained from the bench test.

[0109] The third position change value of the current state of the left push rod is equal to the product of the protection coefficient of the current state of the second position of the push rod and the second position change value of the current state of the left push rod; the third position change value of the current state of the right push rod is equal to the product of the protection coefficient of the current state of the second position of the push rod and the second position change value of the current state of the right push rod. The calculation formulas for the third position change value of the current state of the left push rod and the third position change value of the current state of the right push rod are:

[0110]

[0111] Where, Δs3(k) f Indicates the third position change value of the left push rod in the current state; Δs3(k) r Indicates the third position change value of the right push rod's current state.

[0112] Furthermore, we know that:

[0113] γI f *Δs3(k) f +γI r *Δs3(k) r =(γI f*Δs2(k) f +γI r *Δs2(k) r )*Δsr2(K)

[0114] Furthermore, from Δsr2(K)≤1, we know that:

[0115] γI f *Δs3(k) f +γI r *Δs3(k) r ≤ΔFMAX

[0116] Furthermore, we know that:

[0117]

[0118] Furthermore, we know that:

[0119]

[0120] Furthermore, we know that:

[0121] γI f *Δs3(k) f +γI r *Δs3(k) r ≤ΔIMAX

[0122] In summary, the converted torque and converted current of the third position change value of the left push rod in the current state and the third position change value of the right push rod in the current state are respectively less than or equal to the maximum torque and the maximum current that the system can provide, which protects the system device from over-capacity operation and induces problems such as reduced device reliability and lifespan, thereby improving the reliability and service life of the system.

[0123] S500, calculating the current position of the left push rod and the current position of the right push rod based on the third position change value of the current state of the left push rod, the third position change value of the current state of the right push rod, the position of the left push rod at a previous moment, and the position of the right push rod at a previous moment.

[0124] Specifically, the current position of the left push rod and the current position of the right push rod are calculated based on the third position change value of the current state of the left push rod, the third position change value of the current state of the right push rod, the last position of the left push rod and the last position of the right push rod.

[0125] Among them, the current position of the left push rod is equal to the third position change value of the current state of the left push rod plus the position of the left push rod at the previous moment; the current position of the right push rod is equal to the third position change value of the current state of the right push rod plus the position of the right push rod at the previous moment. The calculation formula for the current position of the left push rod and the current position of the right push rod is:

[0126]

[0127] Where s(k) f Indicates the current position of the left push rod; s(k) r Indicates the current position of the right push rod.

[0128] Embodiment 2:

[0129] Based on Example 1, an embodiment of the present invention provides a dual push rod position control system, including:

[0130] The first module calculates the last state difference of the left push rod position and the last state difference of the right push rod position based on the left push rod target position, the right push rod target position, the left push rod position at a previous moment, and the right push rod position at a previous moment; and calculates the last state difference amplitude of the push rod position based on the last state difference of the left push rod position and the last state difference of the right push rod position;

[0131] The last state difference of the left push rod position is equal to the left push rod target position minus the left push rod position at the last moment; the last state difference of the right push rod position is equal to the right push rod target position minus the right push rod position at the last moment. The calculation formulas for the left push rod position difference and the right push rod position difference are:

[0132]

[0133] In the formula, st f Indicates the target position of the left push rod; st r Indicates the push rod target position; s(k-1) f Indicates the position of the left push rod at the previous moment; s(k-1) r Indicates the previous position of the right push rod, Δs(k-1) f Indicates the previous state difference of the left push rod position; Δs(k-1) r Indicates the previous state difference of the right push rod position; st f and st r Indicates setting the target state.

[0134] Among them, the amplitude of the difference between the current state of the push rod position and the previous state is equal to the sum of the absolute value of the difference between the previous state of the left push rod position and the absolute value of the difference between the previous state of the right push rod position. The calculation formula for the amplitude of the difference between the previous state of the push rod position is:

[0135] Δs(k-1)=|Δs(k-1) f |+|Δs(k-1) r |

[0136] Where Δs(k-1) represents the difference between the current and previous states of the push rod position.

[0137] The second module calculates the position ratio of the left push rod in the previous state and the position ratio of the right push rod in the previous state based on the position difference of the left push rod in the previous state, the position difference of the right push rod in the previous state and the amplitude of the position difference of the push rod in the previous state; and sets the first position change total parameter to calculate the first position change value of the current state of the left push rod and the first position change value of the current state of the right push rod based on the position ratio of the previous state of the left push rod and the position ratio of the previous state of the right push rod;

[0138] Among them, the left push rod last state position ratio is equal to the left push rod position last state difference divided by the push rod position last state difference amplitude; the right push rod last state position ratio is equal to the right push rod position last state difference divided by the push rod position last state difference amplitude. The calculation formulas for the left push rod last state position ratio and the right push rod last state position ratio are:

[0139]

[0140] Where, Δsr(k-1) f Indicates the position ratio of the left push rod to the previous state; Δsr(k-1) r Indicates the previous position ratio of the right push rod.

[0141] Among them, the first position change value of the left push rod in the current state is equal to the product of the position ratio of the left push rod in the previous state multiplied by the total parameter of the first position change set; the first position change value of the right push rod in the current state is equal to the product of the position ratio of the right push rod in the previous state multiplied by the total parameter of the first position change set. The calculation formulas for the first position change value of the left push rod in the current state and the first position change value of the right push rod in the current state are:

[0142]

[0143] Where, Δs1(k) f Indicates the first position change value of the left push rod in the current state; Δs1(k) r It indicates the first position change value of the right push rod in the current state; ΔSp indicates the total parameter of the first position change, which can be calibrated.

[0144] The third module estimates the converted torque required to push the push rod in the current state based on the first position change value of the left push rod in the current state and the first position change value of the right push rod in the current state; calculates the protection coefficient of the first position of the push rod in the current state based on the converted torque required to push the push rod in the current state and the maximum torque that the system can provide; calculates the second position change value of the left push rod in the current state and the second position change value of the right push rod in the current state based on the protection coefficient of the first position of the push rod in the current state, the first position change value of the left push rod in the current state and the first position change value of the right push rod in the current state;

[0145] Among them, the conversion torque required to push the push rod in the current state is equal to the sum of the first position change value of the left push rod in the current state multiplied by the obtained value of the left push rod torque conversion coefficient and the first position change value of the right push rod in the current state multiplied by the obtained value of the right push rod torque conversion coefficient. The calculation formula for the conversion torque required to push the push rod in the current state is:

[0146] ΔF(K)=γf f *Δs1(k) f +γf r *Δs1(k) r

[0147] Where ΔF(K) represents the torque required to push the push rod in the current state; γf f Represents the left push rod torque conversion coefficient, obtained by bench test; γf r Represents the right push rod torque conversion coefficient, obtained through bench testing.

[0148] The protection factor of the first position of the push rod in the current state is equal to the reciprocal of the maximum value of the maximum torque that the system can provide and the converted torque required to push the push rod in the current state multiplied by the maximum torque that the system can provide. The calculation formula of the protection factor of the first position of the push rod in the current state is:

[0149]

[0150] Wherein, ΔFMAX represents the maximum torque that the system can provide, which is obtained by bench testing; Δsr1(K) represents the protection factor of the first position of the push rod in the current state.

[0151] The first position change value of the left push rod in the current state is equal to the product of the protection coefficient of the first position of the push rod in the current state and the first position change value of the left push rod in the current state; the first position change value of the right push rod in the current state is equal to the product of the protection coefficient of the first position of the push rod in the current state and the first position change value of the right push rod in the current state. The calculation formulas for the first position change value of the left push rod in the current state and the first position change value of the right push rod in the current state are:

[0152]

[0153] Where, Δs2(k) f Indicates the second position change value of the left push rod in the current state; Δs2(k) r Indicates the second position change value of the right push rod in the current state.

[0154] The fourth module estimates the converted current required to push the push rod in the current state based on the second position change value of the current state of the left push rod and the second position change value of the current state of the right push rod; calculates the protection factor of the second position of the current state of the push rod based on the converted current required for the push rod in the current state and the maximum current that the system can provide; calculates the third position change value of the current state of the left push rod and the third position change value of the current state of the right push rod based on the protection factor of the second position of the current state of the push rod, the second position change value of the current state of the left push rod and the second position change value of the current state of the right push rod;

[0155] Among them, the converted current required to push the push rod in the current state is equal to the sum of the second position change value of the left push rod in the current state multiplied by the obtained value of the left push rod current conversion coefficient and the second position change value of the right push rod in the current state multiplied by the obtained value of the right push rod current conversion coefficient. The calculation formula for the converted current required to push the push rod in the current state is:

[0156] ΔI(K)=γI f *Δs2(k) f +γI r *Δs2(k) r

[0157] Where ΔI(K) represents the converted current required to push the push rod in the current state; γI f Represents the left push rod current conversion coefficient, obtained from bench test; γI r Indicates the current conversion coefficient of the right push rod, obtained through bench testing.

[0158] The protection factor of the second position of the push rod in the current state is equal to the reciprocal of the converted current required by the push rod in the current state and the maximum current value that the system can provide multiplied by the maximum current that the system can provide. The calculation formula of the protection factor of the second position of the push rod in the current state is:

[0159]

[0160] Wherein, Δsr2(K) represents the protection factor of the second position of the push rod in the current state; ΔIMAX represents the maximum current that the system can provide, which is obtained from the bench test.

[0161] The third position change value of the current state of the left push rod is equal to the product of the protection coefficient of the current state of the second position of the push rod and the second position change value of the current state of the left push rod; the third position change value of the current state of the right push rod is equal to the product of the protection coefficient of the current state of the second position of the push rod and the second position change value of the current state of the right push rod. The calculation formulas for the third position change value of the current state of the left push rod and the third position change value of the current state of the right push rod are:

[0162]

[0163] Where, Δs3(k) f Indicates the third position change value of the left push rod in the current state; Δs3(k) r Indicates the third position change value of the right push rod's current state.

[0164] The fifth module calculates the current position of the left push rod and the current position of the right push rod based on the third position change value of the current state of the left push rod, the third position change value of the current state of the right push rod, the position of the left push rod at a previous moment, and the position of the right push rod at a previous moment.

[0165] Among them, the current position of the left push rod is equal to the third position change value of the current state of the left push rod plus the position of the left push rod at the previous moment; the current position of the right push rod is equal to the third position change value of the current state of the right push rod plus the position of the right push rod at the previous moment. The calculation formula for the current position of the left push rod and the current position of the right push rod is:

[0166]

[0167] Where s(k) f Indicates the current position of the left push rod; s(k) r Indicates the current position of the right push rod.

[0168] An embodiment of the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any step in the above-mentioned dual push rod position control method when loading and executing the computer program.

[0169] An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored. The computer program is loaded and executed by a processor to implement any step in the above-mentioned dual-push rod position control method.

[0170] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0171] The above description is only a partial implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A dual push rod position control method, characterized in that: include: S100, calculating a last state difference of the left putter position and a last state difference of the right putter position based on the left putter target position, the right putter target position, the left putter position at a previous moment, and the right putter position at a previous moment; Calculating a push rod position last state difference amplitude based on the left push rod position last state difference and the right push rod position last state difference; S200, based on the last state difference of the left push rod position, the last state difference of the right push rod position and the last state difference amplitude of the push rod position, set the first position change total parameter to calculate the first position change value of the current state of the left push rod and the first position change value of the current state of the right push rod; S300, calculating a second position change value of the left push rod in the current state and a second position change value of the right push rod in the current state based on the first position change value of the left push rod in the current state, the first position change value of the right push rod in the current state, and a maximum torque that can be provided by the system; S400, calculating a third position change value of the current state of the left push rod and a third position change value of the current state of the right push rod based on the second position change value of the current state of the left push rod, the second position change value of the current state of the right push rod, and a maximum current that can be provided by the system; S500, calculating the current position of the left push rod and the current position of the right push rod based on the third position change value of the current state of the left push rod, the third position change value of the current state of the right push rod, the position of the left push rod at a previous moment, and the position of the right push rod at a previous moment.

2. A dual push rod position control method according to claim 1, characterized in that: Step S100 includes: Δs(k-1)=|Δs(k-1) f |+|Δs(k-1) r | In the formula, st f Indicates the target position of the left push rod; st r Indicates the target position of the right push rod; s(k-1) f Indicates the position of the left push rod at the previous moment; s(k-1) r Indicates the previous position of the right push rod, Δs(k-1) f Indicates the previous state difference of the left push rod position; Δs(k-1) r Indicates the previous state difference of the right push rod position, st f 、st r Indicates the set target state; Δs(k-1) indicates the amplitude of the state difference of the push rod position.

3. A dual push rod position control method according to claim 2, characterized in that: Step S200 includes: S201, calculating the left push rod last state position ratio and the right push rod last state position ratio based on the left push rod position last state difference, the right push rod position last state difference and the push rod position last state difference amplitude: S202: Based on the position ratio of the previous state of the left push rod and the position ratio of the previous state of the right push rod, the first position change total parameter is set to calculate the first position change value of the current state of the left push rod and the first position change value of the current state of the right push rod: Where, Δsr(k-1) f Indicates the position ratio of the left push rod to the previous state; Δsr(k-1) r Indicates the position ratio of the right push rod to the previous state; Δs1(k) f Indicates the first position change value of the left push rod in the current state; Δs1(k) r Indicates the first position change value of the right push rod in the current state; ΔSp indicates the total parameter for setting the first position change.

4. A dual push rod position control method according to claim 3, characterized in that: Step S300 includes: S301, estimating the converted torque required to push the push rod in the current state based on the first position change value of the left push rod in the current state and the first position change value of the right push rod in the current state: ΔF(K)=γf f *Δs1(k) f +γf r *Δs1(k) r S302, calculating the protection factor of the first position of the push rod in the current state based on the converted torque required to push the push rod in the current state and the maximum torque that the system can provide: S303, calculating the second position change value of the current state of the left push rod and the second position change value of the current state of the right push rod based on the protection coefficient of the first position of the current state of the push rod, the first position change value of the current state of the left push rod, and the first position change value of the current state of the right push rod: Where ΔF(K) represents the torque required to push the push rod in the current state; γf f Represents the torque conversion coefficient of the left push rod; γf r Indicates the torque conversion coefficient of the right push rod; ΔFMAX indicates the maximum torque that the system can provide; Δsr1(K) represents the protection factor of the first position of the push rod in the current state; Δs2(k) f Indicates the second position change value of the left push rod in the current state; Δs2(k) r Indicates the second position change value of the right push rod in the current state.

5. A dual push rod position control method according to claim 4, characterized in that: Step S400 includes: S401, estimating the converted current required to push the push rod in the current state based on the second position change value of the left push rod in the current state and the second position change value of the right push rod in the current state: ΔI(K)=γI f *Δs2(k) f +γI r *Δs2(k) r S402, calculating the protection factor of the second position of the push rod in the current state based on the converted current required by the push rod in the current state and the maximum current that the system can provide: S403, calculating the third position change value of the current state of the left push rod and the third position change value of the current state of the right push rod based on the protection coefficient of the second position of the current state of the push rod, the second position change value of the current state of the left push rod and the second position change value of the current state of the right push rod: Where ΔI(K) represents the converted current required to push the push rod in the current state; γI f Indicates the current conversion coefficient of the left push rod; γI r Indicates the current conversion coefficient of the right push rod; Δsr2(K) indicates the protection coefficient of the second position of the push rod in the current state; ΔIMAX indicates the maximum current that the system can provide; Δs3(k) f Indicates the third position change value of the left push rod in the current state; Δs3(k) r Indicates the third position change value of the right push rod's current state.

6. A dual push rod position control method according to claim 5, characterized in that: Step S500 includes: Where s(k) f Indicates the current position of the left push rod; s(k) r Indicates the current position of the right push rod.

7. A dual push rod position control method according to any one of claims 1-6, characterized in that: include: γI f *Δs3(k) f +γI r *Δs3(k) r ≤ΔFMAX γI f *Δs3(k) f +γI r *Δs3(k) r ≤ΔIMAX It can be seen from the above formula that the converted torque of the third position change value of the left push rod in the current state and the converted current of the third position change value of the right push rod in the current state are respectively less than or equal to the maximum torque and the maximum current that the system can provide, which effectively avoids the system device from overloading due to drastic position changes.

8. A dual push rod position control system, characterized in that: include: The first module calculates a last state difference of the left putter position and a last state difference of the right putter position based on the left putter target position, the right putter target position, the left putter position at a previous moment, and the right putter position at a previous moment; Calculating a push rod position last state difference amplitude based on the left push rod position last state difference and the right push rod position last state difference; A second module calculates a left push rod last state position ratio and a right push rod last state position ratio based on the left push rod position last state difference, the right push rod position last state difference and the push rod position last state difference amplitude; Based on the position ratio of the previous state of the left push rod and the position ratio of the previous state of the right push rod, the first position change total parameter is set to calculate the first position change value of the current state of the left push rod and the first position change value of the current state of the right push rod; A third module estimates the converted torque required to push the push rod in the current state based on the first position change value of the left push rod in the current state and the first position change value of the right push rod in the current state; The protection coefficient of the first position of the current state of the push rod is calculated based on the converted torque required to push the push rod in the current state and the maximum torque that the system can provide; the second position change value of the current state of the left push rod and the second position change value of the current state of the right push rod are calculated based on the protection coefficient of the first position of the current state of the push rod, the first position change value of the current state of the left push rod and the first position change value of the current state of the right push rod; The fourth module estimates the converted current required to push the push rod in the current state based on the second position change value of the current state of the left push rod and the second position change value of the current state of the right push rod; calculates the protection factor of the second position of the current state of the push rod based on the converted current required for the push rod in the current state and the maximum current that the system can provide; calculates the third position change value of the current state of the left push rod and the third position change value of the current state of the right push rod based on the protection factor of the second position of the current state of the push rod, the second position change value of the current state of the left push rod and the second position change value of the current state of the right push rod; The fifth module calculates the current position of the left push rod and the current position of the right push rod based on the third position change value of the current state of the left push rod, the third position change value of the current state of the right push rod, the position of the left push rod at a previous moment, and the position of the right push rod at a previous moment.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor loads and executes the computer program, a dual push rod position control method according to any one of claims 1-7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which is loaded and executed by a processor to implement a dual-push rod position control method according to any one of claims 1 to 7.

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