Motor compensation method

Abstract

The invention discloses a motor compensation method. The motor compensation method comprises the following steps: acquiring parameters of a rail shuttle vehicle; acquiring a hardness parameter of the wheel; determining a friction coefficient between wheels of the rail shuttle vehicle and the rail; establishing a kinetic equation based on the self parameter, the hardness parameter and the friction coefficient; and fitting motor rotating speeds corresponding to different target displacements through the kinetic equation, and performing real-time compensation on the motor in combination with the motor rotating speeds. According to the motor compensation method, accurate control over the motor is achieved, the operation stability and control precision of the rail type shuttle vehicle are remarkably improved, the transportation efficiency is improved, the adaptability of the rail type shuttle vehicle in the complex environment is enhanced, and therefore the motor compensation method has wide application prospects and important practical value.

Description

Technical Field

[0001] The invention relates to the technical field of shuttle vehicle control, and in particular to a motor compensation method. Background Art

[0002] As an efficient and environmentally friendly means of transportation, rail-mounted shuttles have been widely used in modern logistics systems. However, in actual operation, due to factors such as uneven tracks and load changes, the rotation speed of the wheels will be affected, which in turn affects the stability and control accuracy of the vehicle. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a motor compensation method, which realizes precise control of the motor and significantly improves the operating stability and control accuracy of the rail-type shuttle vehicle, which not only improves the transportation efficiency, but also enhances the adaptability of the rail-type shuttle vehicle in complex environments. Therefore, the present invention has broad application prospects and important practical value.

[0004] The present invention provides a motor compensation method, comprising the following steps:

[0005] Get the rail shuttle's own parameters;

[0006] Obtaining a hardness parameter of the wheel;

[0007] determining a coefficient of friction between wheels of the rail-mounted shuttle and the rail;

[0008] Establishing a dynamic equation based on the self parameter, the hardness parameter and the friction coefficient;

[0009] The motor speeds corresponding to different target displacements are fitted through the dynamic equation, and the motor is compensated in real time in combination with the motor speeds.

[0010] In one embodiment, the step of obtaining the parameters of the rail shuttle further includes:

[0011] Obtaining the center of gravity coordinates and the vehicle weight of the rail shuttle vehicle;

[0012] The relative coordinates of the wheel relative to the center of gravity coordinates are calculated.

[0013] In one embodiment, obtaining the hardness parameter of the wheel further comprises:

[0014] Obtaining deformation parameters of the wheel under different working conditions;

[0015] The hardness parameter of the wheel is obtained by fitting based on the deformation parameter and through the deformation equation.

[0016] In one embodiment, determining the friction coefficient between the wheels of the rail shuttle and the track further comprises:

[0017] Obtaining material properties of the wheel and surface properties of the track;

[0018] The friction coefficient is determined based on the material properties and surface properties.

[0019] In one embodiment, the step of fitting the motor speeds corresponding to different target displacements through the dynamic equation and performing real-time compensation on the motor in combination with the motor speed further includes:

[0020] The deformation angle is fitted by combining the dynamic equation and the deformation equation;

[0021] The target displacement is used as the parameter;

[0022] The motor speed corresponding to different target displacements is fitted by the kinematic equation;

[0023] The deformation and friction conditions of the wheel during real-time movement are acquired, and the motor speed is compensated in real time in combination with the motor speed.

[0024] In one embodiment, the motor compensation method further includes:

[0025] Monitoring the actual speed of the motor and the running state of the rail shuttle;

[0026] Verify and improve compensation strategies.

[0027] The motor compensation method provided by the present invention realizes precise control of the motor by taking into account a variety of working conditions and environmental factors, thereby significantly improving the operating stability and control accuracy of the rail-based shuttle vehicle. This not only improves the transportation efficiency, but also enhances the adaptability of the rail-based shuttle vehicle in complex environments. Therefore, the present invention has broad application prospects and important practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 A schematic flow chart of the motor compensation method provided by the present invention.

[0030] Figure 2 This is a schematic diagram of each control equation in the motor compensation method provided by the present invention.

[0031] Figure 3 This is a control logic diagram of the motor compensation method provided by the present invention.

[0032] Figure 4 A schematic structural diagram of a rail-mounted shuttle vehicle with a motor compensation method provided by the present invention. DETAILED DESCRIPTION

[0033] The specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the description of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] In the description of the present invention, unless otherwise clearly specified and limited, the terms "set", "install", "connection" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0035] The directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “front”, “back”, “top”, “bottom”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when used. They are only for the convenience of description and simplified description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0036] The terms "first", "second", "third", etc. are merely used to distinguish elements of similar nature, and do not indicate or imply relative importance or a particular order.

[0037] The terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of the elements listed and may also include additional elements not expressly listed.

[0038] See also Figure 1 The motor compensation method provided by the present invention comprises the following steps:

[0039] S1, obtain the parameters of the rail shuttle vehicle.

[0040] It is understandable that the above steps may further include:

[0041] S101, obtaining the center of gravity coordinates and the vehicle weight of the rail shuttle vehicle.

[0042] It is understandable that the center of gravity of the rail shuttle can be known or obtained by contact sensor detection. A coordinate system is established based on the center of gravity, and the coordinates of the center of gravity can be expressed as (X i ,Y i ), the vehicle's deadweight can be a known parameter at the time of production.

[0043] S102, calculating the relative coordinates of the wheel relative to the center of gravity coordinates.

[0044] For your information, please refer to Figure 4 The coordinates of wheel A may be the coordinates of the center of gravity of the wheel, which are in the same coordinate system as the center of gravity coordinates of the vehicle.

[0045] The above parameters can be used to calculate the force at each position of the rail shuttle:

[0046]

[0047] Where N i Represents the force at each position, L xi Indicates the lateral distance from each position to the center of gravity of the rail shuttle, L yi It represents the longitudinal distance from each position to the center of gravity of the rail shuttle; m is the overall gross weight, i.e. the vehicle's own weight.

[0048] S2, obtaining the hardness parameter of the wheel.

[0049] It is understandable that the above steps may further include:

[0050] S201, obtaining deformation parameters of the wheel under different working conditions.

[0051] It is understandable that the laser displacement sensor can be used to perform high-precision detection of wheel deformation under both full load and static load conditions, which can be continuous data collection and processing. The deformation parameters can be obtained as follows:

[0052]

[0053] Where N i is the force at each position, A i is the contact area under force, E is the elastic modulus of the material, r i is the wheel radius, ∆r i is the wheel force deformation parameter.

[0054] S202, fitting is performed based on the deformation parameters and through the deformation equation to obtain the hardness parameters of the wheel.

[0055] It is understandable that the hardness parameter of the wheel can be obtained by fitting the deformation equation based on the deformation parameter of the wheel.

[0056] S3, determine the friction coefficient between the wheels of the rail shuttle and the track.

[0057] It is understandable that the above steps may further include:

[0058] S301, obtaining material properties of the wheel and surface properties of the track.

[0059] It is understood that the appropriate friction coefficient is determined based on the material the wheel is made of (such as steel or rubber, etc.) and the surface characteristics of the track, and the friction coefficient will be used to calculate the interaction force between the wheel and the track.

[0060] S302, determining the friction coefficient according to material properties and surface properties.

[0061] It can be understood that the calculation formula of the interaction force can be expressed as:

[0062]

[0063] Among them, N i is the force, μ i is the friction coefficient, r i is the wheel radius, ∆r i is the deformation dimension of the wheel under stress.

[0064] See also Figure 2 , S4, establishes the dynamic equation based on its own parameters, hardness parameters and friction coefficient.

[0065] See also Figure 3 ,S5,The motor speed corresponding to different target displacements is fitted through the dynamic equation, and the motor is compensated in real time based on the motor speed.

[0066] It is known that the above steps may further include:

[0067] S501, fitting the deformation angle by combining the dynamic equation and the deformation equation;

[0068] S502, taking the target displacement as a parameter;

[0069] S503, fitting the motor speed corresponding to different target displacements through kinematic equations;

[0070] S504, obtaining the deformation and friction conditions of the wheels during real-time movement, and compensating the motor speed in real time in combination with the motor speed.

[0071] It is understood that the compensation strategy includes but is not limited to adjusting the input voltage, current or frequency of the motor to achieve precise control of the motor. The compensation strategy is to combine the following methods, using the speed comparison of the left and right motors to achieve the same linear speed during the movement, and the main motor torque of the front and rear wheels to achieve the same torque, which can be achieved by adjusting the input voltage, current or frequency of the motor to achieve precise control of the motor. The compensation algorithm can adopt modern control strategies such as fuzzy control or sliding mode control to meet the requirements of real-time and accuracy.

[0072] S6, monitor the actual speed of the motor and the operating status of the rail shuttle; verify and improve the compensation strategy.

[0073] It is understandable that optimization and adjustment should be carried out according to the actual operating conditions, and the compensation strategy should be continuously improved and perfected to improve the operating stability and control accuracy of the rail-mounted shuttle vehicle.

[0074] From the above description, it can be known that the motor compensation method provided by the present invention realizes precise control of the motor by considering various working conditions and environmental factors, and significantly improves the operating stability and control accuracy of the rail-type shuttle vehicle, which not only improves the transportation efficiency, but also enhances the adaptability of the rail-type shuttle vehicle in complex environments. Therefore, the present invention has broad application prospects and important practical value.

[0075] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A motor compensation method, characterized in that: The steps include: Get the rail shuttle's own parameters; Obtaining a hardness parameter of the wheel; determining a coefficient of friction between wheels of the rail-mounted shuttle and the rail; Establishing a dynamic equation based on the self parameter, the hardness parameter and the friction coefficient; The motor speeds corresponding to different target displacements are fitted through the dynamic equation, and the motor is compensated in real time in combination with the motor speeds.

2. The motor compensation method according to claim 1, characterized in that: The step of obtaining the parameters of the rail shuttle vehicle further includes: Obtaining the center of gravity coordinates and the vehicle weight of the rail shuttle vehicle; The relative coordinates of the wheel relative to the center of gravity coordinates are calculated.

3. The motor compensation method according to claim 1, characterized in that: The step of obtaining the hardness parameter of the wheel further comprises: Obtaining deformation parameters of the wheel under different working conditions; The hardness parameter of the wheel is obtained by fitting based on the deformation parameter and through the deformation equation.

4. The motor compensation method according to claim 1, characterized in that: The determining of the friction coefficient between the wheels of the rail shuttle and the rail further comprises: Obtaining material properties of the wheel and surface properties of the track; The friction coefficient is determined based on the material properties and surface properties.

5. The motor compensation method according to claim 4, characterized in that: The method further includes fitting the motor speed corresponding to different target displacements through the dynamic equation, and performing real-time compensation on the motor in combination with the motor speed: The deformation angle is fitted by combining the dynamic equation and the deformation equation; The target displacement is used as the parameter; The motor speed corresponding to different target displacements is fitted by the kinematic equation; The deformation and friction conditions of the wheel during real-time movement are acquired, and the motor speed is compensated in real time in combination with the motor speed.

6. The motor compensation method according to claim 5, characterized in that: The motor compensation method further comprises: Monitoring the actual speed of the motor and the running state of the rail shuttle; Verify and improve compensation strategies.

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