Rapid opening and closing control method for wind shield cover of spherical shelter

Abstract

The invention discloses a quick opening and closing control method for a wind shield cover of a ball placing shelter, and relates to an intelligent opening and closing control method for the wind shield cover of the ball placing shelter, which comprises a wind shield cover of the ball placing shelter, a wind shield cover opening step and a wind shield cover closing step, the step of opening and closing the wind shielding cover of the ball placing square cabin comprises the following steps: firstly, the PLC control system issues an instruction for opening or closing the wind shielding cover of the ball placing square cabin; when an instruction is given, wind power data are judged firstly, and when it is detected that the wind power is smaller than 25 meters per second, a wind shielding cover opening instruction is input to the PLC control system; when the wind power exceeds 25 meters per second, a wind shielding cover closing instruction is input to the PLC control system; the servo motor adopted by the invention has a little time delay when stopping running, and meanwhile, when the closing or opening angle reaches 90 degrees or 0 degree, the adjacent speed is controlled to be 8%, so that the wind shield cover is just completely closed through inertia at the last 1 degree, and the wind shield cover of the spherical shelter can be quickly, stably and accurately opened and closed.

Description

Technical Field

[0001] A method for quickly opening and closing a wind shield cover of a ball-laying cabin is used for quickly opening and closing the wind shield cover of the ball-laying cabin, and relates to a method for controlling the intelligent opening and closing of the wind shield cover of the ball-laying cabin. Background Art

[0002] The balloon is a device used in high-altitude meteorological observation stations. The high-altitude meteorological observation device is a conventional auxiliary device for meteorological observation, which is used to detect atmospheric parameters from the ground to tens of kilometers high. The balloon is used as a carrier to carry the sounding instrument into the air. During the ascent, the sounding instrument measures the temperature, air pressure, air humidity and other meteorological data at different altitudes and longitudes and latitudes, and sends it back to the ground via radio signals. At present, sounding balloons can rise to high altitudes to directly "take the pulse" of the meteorological environment. The "diagnostic data" obtained by them are generally considered to be the most accurate. Therefore, they play an irreplaceable benchmark role in the authenticity inspection and calibration inspection of atmospheric remote sensing observations. Sounding balloons have the advantages of low cost, relatively large load capacity, long flight time, and stable attitude of the instruments they carry. In addition, during the launch process, they are less affected by geographical and climatic factors, and the data obtained are of high accuracy and short time. In the existing technology, the wind shield cover mechanism of the balloon launching cabin carried by the high-altitude balloon is difficult to close or open accurately due to its large mass and inertia, which makes it easy to overshoot. This is because when the balloon launches at too fast a speed, the opening and closing positions of the wind shield cover will exceed the angles that need to be adjusted, and the mechanism will shake violently. Therefore, it is necessary to design a mechanism that can achieve a quick, stable and accurate stopping of the wind shield cover mechanism of the balloon launching cabin. Summary of the invention

[0003] In view of the shortcomings of the prior art, the present invention designs a method for quickly opening and closing the wind shield cover of a ball-releasing cabin, which can realize intelligent opening and closing of the wind shield cover, including the wind shield cover of the ball-releasing cabin, and the opening and closing steps of the wind shield cover: The wind shield cover of the ball release cabin adopts a large inertia device speed reduction algorithm and PI closed-loop control implanted in the PLC control system in both the opening and closing steps of the wind shield cover; The steps of opening and closing the wind shield cover of the ball placing cabin are as follows: First, the PLC control system issues an instruction to open or close the wind shield cover of the ball launch cabin; when issuing the instruction, the wind force data is first determined, and when the detected wind force is less than 25 meters per second, an instruction to open the wind shield cover is input to the PLC control system; when the wind force exceeds 25 meters per second, an instruction to close the wind shield cover is input to the PLC control system; Steps to open the wind shield cover of S1 ball cabin: (1) The PLC control system starts the servo motor to make it run and starts to execute the command steps for opening the wind shield cover of the ball release cabin; (2) The closed state of the wind shield cover of the ball-releasing cabin is 0°. The wind shield cover of the ball-releasing cabin is opened from 0° by controlling the servo motor. The speed in the initial stage is from uniform acceleration to a set acceleration. The set acceleration can be from 1% to 100%; (3) When the opening speed of the wind shield cover of the ball launching cabin reaches the set speed, the cabin will run at the set speed until the wind shield cover of the ball launching cabin is opened; (4) When the wind shield cover of the ball-releasing cabin opens to 84° at the set speed, the PLC control system will decelerate according to the large inertia equipment deceleration algorithm; (5) When the wind shield of the ball launch cabin reaches an opening angle of 89°, the opening speed is automatically reduced to 8%. Then, the PLC control system controls the servo motor to stop running. The remaining 1° angle is fully opened to 90° by inertia. S2 Ball Cabin Windshield Closing Procedure (1) Sending a command to the PLC control system to close the wind shield cover, starting the servo motor to make it run, and starting to execute the steps of closing the wind shield cover of the ball launch cabin; (2) When the wind shield cover of the ball launch cabin is at a fully open angle of 90°, the control servo motor starts to accelerate uniformly to the set speed; (3) When the closing speed of the wind shield cover of the ball launching cabin reaches the set speed, continue to run at the set speed until the wind shield cover of the ball launching cabin is completely closed; (4) When the wind shield cover of the ball-releasing cabin closes at the set speed and reaches an angle of 6°, the PLC control system will decelerate according to the large inertia equipment deceleration algorithm; (5) When the wind shield cover of the ball launch cabin closes to an angle of 1°, the closing speed is reduced to 8%, and the control system controls the servo motor to stop running. The remaining 1° angle is completely closed to 0° by inertia; Preferably: the wind shield cover of the ball placing cabin is set to 0° when in a closed state; Preferably: the parameter of the opening speed of the wind shield cover of the ball release cabin reaching the set speed is fed back to the control system by the server for measurement; Preferably: the angle of the wind shield cover of the ball placing cabin when it opens at a set speed to 84° is measured by an encoder and fed back to the control system; Preferably: the inertia causes the wind shield cover of the ball-releasing cabin to fully open to an angle of 90° when the wind shield cover of the ball-releasing cabin is opened to 89°, and the remaining 1° is caused by the delayed inertia of the servo motor stopping operation to fully open the wind shield cover to an angle of 90°; Preferably: the inertia that makes the closing angle of the ball-releasing cabin completely reach 0° is when the wind shield cover of the ball-releasing cabin is closed to an angle of 1°, and the remaining 1° is the inertia caused by the servo motor stopping running that makes the closing angle of the ball-releasing cabin completely reach 0°.

[0004] Preferably, the speed reduction algorithm for the large inertia equipment described in steps S1 and S2 is as follows: When the running speed is <= 8 and the set speed is > 10, the running speed = 8; Command: running speed is: V 运 , set the speed to V 设 , but the overshoot speed is V 冲 , the starting deceleration position is: S 减 , The deceleration completion position is: S 完 , stop position: S 停 , the target position is: S 目 , current location: S 当 , That is: V 运 =V 设 -(V 设 -V 冲 ) / |S 减 -S 完 |*(|S 减 -S 停 |-|S 目 -S 当 |); When the wind shield of the ball cabin is opened or closed, the minimum normal operating speed is 8, V 冲 =10,|S 减 -S 完 |=5,|S 减 -S 停 ||=6, so: V 运 =V 设 -(V 设 -10) / 5*(6-|S 目 -S 当 |); When V 运 <=8,V 设 >10, V 运 =8.

[0005] Beneficial technical effects of the present invention: 1. The servo motor used in the present invention will have a slight delay when it stops running. At the same time, since the speed of the closing or opening angle is controlled to 8% when it reaches 90° or 0°, the last 1° is used by inertia to completely close the windshield cover.

[0006] 2. The wind shield covers control the change of servo speed through the control system, so that the heavy mechanism can be moved and stopped quickly, smoothly and accurately. Therefore, the large inertia equipment deceleration algorithm adopted in the present invention sets the corresponding deceleration angle position for the wind shield cover mechanism of the ball launching cabin. When the wind shield cover of the ball launching cabin reaches the set deceleration position, the control system evenly reduces the servo speed to the maximum speed allowed for shutdown according to the current speed, and then the servo realizes free shutdown, thereby realizing that the wind shield cover of the ball launching cabin can be stopped quickly, smoothly and accurately.

[0007] 3. The method of the present invention realizes the smooth opening and closing of the wind shield cover, ensures that the opening and closing position of the wind shield cover is constant, and the wind shield cover is opened from 0° to 90° or closed from 90° to 0°, and the entire control process time is ≤40S. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 is a system block diagram of the present invention; Figure 2 It is a schematic diagram of the process of opening the wind shield cover of the ball placing cabin of the present invention; Figure 3 It is a schematic diagram of the process of opening the wind shield cover of the ball placing cabin of the present invention; Figure 4 The present invention is a schematic diagram of the closing process of the wind shield cover of the ball placing cabin.

[0009] Example In order to further describe the content and implementation process of the present invention, the best embodiment of the present invention is given below: The present invention designs a control method capable of realizing precise position opening and closing of a wind shield cover mechanism of an intelligent ball-releasing cabin. The control method comprises a wind shield cover mechanism of a ball-releasing cabin, a step of opening the wind shield cover of the ball-releasing cabin, and a step of closing the wind shield cover of the ball-releasing cabin: Embodiment 1: Method for opening and closing the wind shield cover of the ball-laying cabin of the present invention An actuator is provided in the wind shield cover mechanism of the ball-releasing cabin. The wind shield cover of the ball-releasing cabin adopts a PLC control system in both the opening and closing steps of the wind shield cover. A large inertia equipment speed reduction algorithm and a PI closed-loop control system are implanted in the PLC control system. The steps of opening and closing the wind shield cover of the ball placing cabin are as follows: First, the PLC control system issues an instruction to open or close the wind shield cover of the ball launch cabin; when issuing the instruction, the wind force data is first determined, and when the detected wind force is less than 25 meters per second, an instruction to open the wind shield cover is input to the PLC control system; when the wind force exceeds 25 meters per second, an instruction to close the wind shield cover is input to the PLC control system; Steps to open the wind shield cover of S1 ball cabin: (1) The PLC control system starts the servo motor to make it run and starts to execute the command steps for opening the wind shield cover of the ball release cabin; (2) The closed state of the wind shield cover of the ball-releasing cabin is 0°. The wind shield cover of the ball-releasing cabin is opened from 0° by controlling the servo motor. The speed in the initial stage is from uniform acceleration to a set acceleration. The set acceleration can be from 1% to 100%; (3) When the opening speed of the wind shield cover of the ball launching cabin reaches the set speed, the cabin will run at the set speed until the wind shield cover of the ball launching cabin is opened; (4) When the wind shield cover of the ball-releasing cabin opens to 84° at the set speed, the PLC control system will decelerate according to the large inertia equipment deceleration algorithm; (5) When the wind shield of the ball launch cabin reaches an opening angle of 89°, the opening speed is automatically reduced to 8%. Then, the PLC control system controls the servo motor to stop running. The remaining 1° angle is fully opened to 90° by inertia. Specifically: there is a slight delay when the servo motor stops running, and the speed is 8%, so the windshield cover is fully opened by inertia, with an angle of 90°; When the wind shield cover of the ball launching cabin is opened, it is necessary to determine whether it is fully opened. If not, a wind shield cover positioning failure is reported and manual judgment is made as to whether it is opened. If it is manually determined that the wind shield cover is not opened, a wind shield cover mechanism failure is recorded and a cover closing instruction is sent to the PLC. If it is manually determined that the wind shield cover is already opened, the main control records a wind shield cover in place failure and the process ends.

[0010] Steps for closing the wind shield cover of the S2 ball-releasing cabin: (1) Sending a command to the PLC control system to close the wind shield cover, starting the servo motor to make it run, and starting to execute the steps of closing the wind shield cover of the ball launch cabin; (2) When the wind shield cover of the ball launch cabin is at a fully open angle of 90°, the control servo motor starts to accelerate uniformly to the set speed; (3) When the closing speed of the wind shield cover of the ball launching cabin reaches the set speed, continue to run at the set speed until the wind shield cover of the ball launching cabin is completely closed; (4) When the wind shield cover of the ball-releasing cabin closes at the set speed and reaches an angle of 6°, the PLC control system will decelerate according to the large inertia equipment deceleration algorithm; (5) When the wind shield cover of the ball launch cabin closes to an angle of 1°, the closing speed is reduced to 8%, and the control system controls the servo motor to stop running. The remaining 1° angle is completely closed to 0° by inertia.

[0011] Preferably: the wind shield cover of the ball placing cabin is set to 0° when in a closed state; Preferably: when the opening speed of the wind shield cover of the ball placing cabin reaches the set speed, the server feeds back to the control system for measurement; Preferably: the angle of the wind shield cover of the ball placing cabin when it opens at a set speed to 84° is measured by an encoder and fed back to the control system; Preferably: the inertia causing the windshield cover of the ball-releasing cabin to fully open at an angle of 90° is caused by the delayed inertia of the servo motor stopping operation causing the windshield cover to fully open at an angle of 90°; Preferably: when the speed is low and there is no overshoot, run at the original set speed. The overshoot speed is when the wind shield cover of the working cabin is opened or closed, and the overshoot speed does not exceed 10%; Preferably: when the target position distance is greater than the absolute value difference of the current position distance, use When the original set speed is used to open and close the wind shield cover of the ball-releasing cabin, the distance is set to 6 degrees; The speed reduction algorithm for large inertia equipment described in steps S1 and S2 is as follows: When the running speed is <= 8 and the set speed is > 10, the running speed = 8; Command: running speed is: V 运 , set the speed to V 设 , but the overshoot speed is V 冲 , the starting deceleration position is: S 减 , The deceleration completion position is: S 完 , stop position: S 停 , the target position is: S 目 , Current location: S 当 That is: V 运 =V 设 -(V 设 -V 冲 ) / |S 减 -S 完 |*(|S 减 -S 停 |-|S 目 -S 当 |); When the wind shield of the ball cabin is opened or closed, the minimum normal operating speed is 8, V 冲 =10, |S minus -S 完 |=5,|S 减 -S 停 ||=6, so: V 运 =V 设 -(V 设 -10) / 5*(6-|S 目-S 当 |); When V 运 <=8,V 设 >10, V 运 =8.

[0012] Embodiment 2: Calculation and setting of servo speed of the present invention Servo speed = A-(A-8) / 5*(6-|TB|), where A represents the set speed, 8 represents the maximum servo stop speed, 5 represents the absolute difference between the deceleration start position and the deceleration completion position, 6 represents the absolute difference between the deceleration start position and the stop position, T represents the deceleration completion position, and B represents the current position of the wind shield; Substitute the above formula into the angle of 84° when opening, A is the set speed, which is generally 100%, 8 means the servo speed is 8% when the angle is 89°, 5 means 5 deceleration gradients from 84° to 89°, 6 means 6 deceleration gradients from 84° to 90°, T is 89° here, B is the current position, which is between 84° and 89°; Substitute the above formula into the closed angle and it reaches 6°, A is the set speed which is generally 100%, 8 means the servo speed is 8% when the angle is 1°, 5 means 5 deceleration gradients from 6° to 1°, 6 means 6 deceleration gradients from 6° to 1°, T is equal to 1° here, B is the current position which is between 6° and 1°; The formula is described in words as follows: The difference between the set speed and the maximum servo stop speed is divided by the absolute difference between the start deceleration position and the deceleration completion position to get a quotient. The absolute difference between the start deceleration position and the stop position minus the absolute difference between the deceleration completion position and the current position is a difference, which is multiplied by the previous quotient to get a product. The difference between the set speed and the product is the current servo speed. The current servo speed is when the wind shield reaches 84° at the opening angle or 6° at the closing angle, the wind shield will obtain the corresponding speed of the corresponding position according to the above algorithm, thereby achieving the purpose of deceleration; By extension, changing the parameters in the formula can change the speed of deceleration and the deceleration time when stopping. For example, changing 8 to 10 means that the speed is 10% when deceleration is completed. For another example, if you think that deceleration from 84° is a bit drastic, you can change it to deceleration from 80°. You only need to change the number 5 to 9 and the number 6 to 10 to achieve a smoother deceleration when stopping. Embodiment 3: Application theory characteristics of the present invention The present invention adopts a closed-loop control system, which is characterized in that the output of the system controlled object (i.e., the controlled quantity) will be fed back to affect the output of the controller, forming one or more closed loops; the closed-loop control system has positive feedback and negative feedback. If the feedback signal is opposite to the system given value signal, it is called negative feedback. If the polarity is the same, it is called positive feedback. Generally, closed-loop control systems use negative feedback PID regulators, also known as negative feedback control systems. Proportional control is the simplest control method. The output of the controller is proportional to the input error signal. When only proportional control is used, there is a steady-state error in the system output. Among them: integral (I) control, in integral control, the output of the controller is proportional to the integral of the input error signal. For an automatic control system, if there is a steady-state error after entering the steady state, the control system is called a system with steady-state error or a system with a steady-state error. In order to eliminate the steady-state error, an "integral term" must be introduced in the controller. The integral term depends on the integral of time for the error. As time increases, the integral term will increase. In this way, even if the error is very small, the integral term will increase with time. It drives the controller's output to increase and further reduce the steady-state error until it is equal to zero. The proportional + integral (PI) controller can make the system have no steady-state error after entering the steady state.

[0013] Furthermore: The PI closed-loop control described in the present invention is a technology that uses analog given and analog feedback to achieve steady-speed control of the motor. This technology is a technical means familiar to ordinary technicians in this technical field. The present invention applies this technology to the control of the rapid opening or closing of the wind shield cover of the ball launching cabin. Therefore, the PI closed-loop control technology will not be described in detail in this application.

[0014] Furthermore: the large inertia device speed reduction algorithm described in the present invention is a measure of the inertia of a rigid body rotating around an axis. The moment of inertia is a physical quantity that characterizes the magnitude of the rigid body's rotational inertia. This technology is also well known to ordinary technicians in this technical field. The so-called inertia is the inertia value of the movement of matter, the physical quantity of its inertia, its inertia size and the inertia corresponding to the mass of the matter, and is also an important indicator of the servo motor. Since this technology is to control the rapid opening or closing of the wind shield cover of the high-altitude ball launching cabin, it is affected by wind speed and needs to be opened and closed smoothly, so the large inertia device speed reduction algorithm is adopted, and the large inertia device speed reduction algorithm is not theoretically described in detail here.

Claims

1. A method for quickly opening and closing a windshield cover of a ball-laying cabin, comprising a windshield cover of a ball-laying cabin, and a step of opening and closing the windshield cover, characterized in that: The steps of opening and closing the wind shield cover of the ball placing cabin are as follows: First, the PLC control system issues an instruction to open or close the wind shield cover of the ball launch cabin; when issuing the instruction, the wind force data is first determined, and when the detected wind force is less than 25 meters per second, an instruction to open the wind shield cover is input to the PLC control system; when the wind force exceeds 25 meters per second, an instruction to close the wind shield cover is input to the PLC control system; Steps to open the wind shield cover of S1 ball cabin: (1) The PLC control system starts the servo motor to make it run and starts to execute the command steps for opening the wind shield cover of the ball launch cabin; (2) The closed state of the wind shield cover of the ball-releasing cabin is 0°. The wind shield cover of the ball-releasing cabin is opened from 0° by controlling the servo motor. The speed in the initial stage is from uniform acceleration to a set acceleration. The set acceleration can be from 1% to 100%; (3) When the opening speed of the wind shield cover of the ball launching cabin reaches the set speed, the cabin will run at the set speed until the wind shield cover of the ball launching cabin is opened; (4) When the wind shield cover of the ball-releasing cabin opens to 84° at the set speed, the PLC control system will decelerate according to the large inertia equipment deceleration algorithm; (5) When the wind shield of the ball launch cabin reaches an opening angle of 89°, the opening speed is automatically reduced to 8%. Then, the PLC control system controls the servo motor to stop running. The remaining 1° angle is fully opened to 90° by inertia. Steps for closing the wind shield cover of the S2 ball-releasing cabin: (1) Sending a command to the PLC control system to close the wind shield cover, starting the servo motor to make it run, and starting to execute the steps of closing the wind shield cover of the ball launch cabin; (2) When the wind shield cover of the ball launch cabin is at a fully open angle of 90°, the control servo motor starts to accelerate uniformly to the set speed; (3) When the closing speed of the wind shield cover of the ball launching cabin reaches the set speed, continue to run at the set speed until the wind shield cover of the ball launching cabin is completely closed; (4) When the wind shield cover of the ball-releasing cabin closes at the set speed and reaches an angle of 6°, the PLC control system will decelerate according to the large inertia equipment deceleration algorithm; (5) When the wind shield cover of the ball launch cabin closes to an angle of 1°, the closing speed is reduced to 8%, and the control system controls the servo motor to stop running. The remaining 1° angle is completely closed to 0° by inertia.

2. A method for quickly opening and closing a windshield cover of a ball-releasing cabin according to claim 1, characterized in that: The wind shield cover of the ball placing cabin is set to 0° when in a closed state.

3. A method for quickly opening and closing a windshield cover of a ball-releasing cabin according to claim 1, characterized in that: The parameter of the opening speed of the wind shield cover of the ball release cabin reaches the set speed is fed back to the control system by the server for measurement.

4. A method for quickly opening and closing a windshield cover of a ball-releasing cabin according to claim 1, characterized in that: The angle at which the wind shield cover of the ball-releasing cabin opens to 84° at a set speed is measured by an encoder and fed back to the control system.

5. A method for quickly opening and closing a windshield cover of a ball-releasing cabin according to claim 1, characterized in that: The inertia causes the wind shield cover of the ball launching cabin to fully open to an angle of 90° when the wind shield cover of the ball launching cabin is opened to 89°. The remaining 1° is caused by the delayed inertia of the servo motor stopping operation, which causes the wind shield cover to fully open to an angle of 90°.

6. A method for quickly opening and closing a windshield cover of a ball-releasing cabin according to claim 1, characterized in that: The inertia makes the closing angle of the ball launching cabin completely reach 0° when the wind shield cover of the ball launching cabin is closed to 1°, and the remaining 1° is the inertia caused by the servo motor stopping the operation, which makes the closing angle of the ball launching cabin completely reach 0°.

7. A method for quickly opening and closing a windshield cover of a ball-releasing cabin according to claim 1, characterized in that: The speed reduction algorithm for large inertia equipment described in steps S1 and S2 is as follows: When the running speed is <= 8 and the set speed is > 10, the running speed = 8; Command: running speed is: V 运 , set the speed to V, and do not overshoot the speed to V 冲 , the starting deceleration position is: S 减 , The deceleration completion position is: S 完 , stop position: S 停 , the target position is: S 目 , current location: S 当 , That is: V 运 =V 设 - (V 设 - V 冲 ) / |S 减 - S 完 | * (|S 减 - S 停 | - |S 目 - S 当 |); When the wind shield of the ball cabin is opened or closed, the minimum normal operating speed is 8, V 冲 =10,|S 减 -S 完 |=5,|S 减 -S 停 ||=6, so: ①V 运 =V 设 -(V 设 -10) / 5*(6-|S 目 -S 当 |); ②When V 运 <=8,V 设 >10, V 运 =8.

Images