A quick switch control method for a wind cover of a ball release shelter

Abstract

This invention discloses a rapid opening and closing control method for the windshield of a balloon launching container, relating to an intelligent control method for the windshield of a balloon launching container. The method includes the windshield itself, and opening and closing steps. The opening and closing steps are as follows: First, the PLC control system issues an instruction to open or close the windshield. When issuing the instruction, wind force data is first determined. If the detected wind force is less than 25 meters per second, an instruction to open the windshield is input to the PLC control system; if the wind force exceeds 25 meters per second, an instruction to close the windshield is input to the PLC control system. The servo motor used in this invention has a slight delay when it stops running. Furthermore, since the speed control is 8% when the opening or closing angle reaches 90° or 0°, the final 1° is achieved through inertia, allowing the windshield to close completely. This enables rapid, smooth, and precise opening and closing of the windshield of the balloon launching container.

Description

Technical Field

[0001] A method for controlling the rapid switching of the windshield cover of a ball-launching container is disclosed, which relates to a control method for an intelligent switch of the windshield cover of a ball-launching container. Background Technology

[0002] A balloon is a device used in upper-air meteorological observation stations. Upper-air meteorological observation devices are a type of auxiliary device for conventional meteorological observation, used to detect atmospheric parameters from the ground to tens of kilometers above the ground. The balloon acts as a carrier, carrying radiosondes into the air. During the ascent, the radiosondes measure meteorological data such as temperature, air pressure, and air humidity at different altitudes and latitudes and longitudes, and transmit them back to the ground via radio signals.

[0003] Currently, weather balloons can ascend to high altitudes to directly "take the pulse" of the meteorological environment. The "diagnostic data" they obtain is generally considered to be the most accurate. Therefore, they play an irreplaceable benchmark role in verifying the authenticity and calibration of atmospheric remote sensing observations. Weather balloons have advantages such as low cost, relatively large payload, long flight time, and stable attitude of instruments carried. Moreover, during the launch process, they are less affected by regional and climatic factors, and the data they acquire is highly accurate and takes less time.

[0004] In existing technologies, the wind deflector mechanism of the balloon launch container carried by high-altitude balloons is prone to overshooting due to its large mass and inertia, making it difficult to close or open precisely. This is because when the balloon launch speed is too fast, the opening and closing positions of the wind deflector will exceed the required adjustment angle, which will also cause the mechanism to shake violently. Therefore, it is necessary to design a mechanism that can stop the balloon launch container wind deflector mechanism quickly, smoothly and precisely. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention designs a rapid opening and closing control method for the windshield of a ball-launching container, which enables intelligent opening and closing of the windshield. The method includes the windshield of the ball-launching container, and opening and closing steps for the windshield.

[0006] The windproof cover of the ball launch container adopts a large inertia equipment deceleration algorithm and PI closed-loop control embedded in the PLC control system in both the opening and closing steps.

[0007] The steps for opening and closing the windproof cover of the balloon launching container are as follows:

[0008] First, the PLC control system issues an instruction to open or close the windshield cover of the balloon launch container. When issuing the instruction, the wind force data is first judged. When the wind force is less than 25 meters per second, the instruction to open the windshield cover is sent to the PLC control system; when the wind force exceeds 25 meters per second, the instruction to close the windshield cover is sent to the PLC control system.

[0009] Steps for opening the windshield cover of the S1 ball-launching container:

[0010] (1) The PLC control system starts the servo motor to make it run and begin to execute the instruction to open the windshield cover of the ball release container;

[0011] (2) When the windproof cover of the ball launch container is closed at 0°, the servo motor is controlled to open the windproof cover of the ball launch container from 0°. The initial speed is accelerated from uniform to the set speed.

[0012] (3) Once the opening speed of the ball launch container windproof cover reaches the set speed, continue running at the set speed until the ball launch container windproof cover is opened;

[0013] (4) When the windproof cover of the ball launching container opens to 84° at the set speed, the PLC control system will decelerate according to the large inertia equipment deceleration algorithm.

[0014] (5) When the windproof cover of the ball launching container 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.

[0015] S2 Ball Deployment Container Windshield Closing Procedure

[0016] (1) Send a command to the PLC control system to close the windshield cover, start the servo motor to run, and start executing the command to close the windshield cover of the ball launching container.

[0017] (2) When the windproof cover of the ball launch container is in a fully open state at a 90° angle, the control servo motor starts to accelerate uniformly to the set speed;

[0018] (3) When the closing speed of the ball launching container windproof cover reaches the set speed, continue to run at the set speed until the ball launching container windproof cover is completely closed;

[0019] (4) When the windshield of the ball launching container 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.

[0020] (5) When the windproof cover of the ball launching container closes to an angle of 1°, the closing speed is reduced to 8%, the control system controls the servo motor to stop running, and the remaining 1° angle is made to be closed to 0° by inertia.

[0021] Preferably, the windproof cover of the ball launching container is set to 0° when closed;

[0022] Preferably, the parameter indicating when the opening speed of the ball launch container's windproof cover reaches the set speed is fed back to the control system by the server for measurement;

[0023] Preferably: the angle at which the windshield of the ball launching container opens to 84° at a set speed is measured by an encoder and fed back to the control system;

[0024] Preferably: the inertia that causes the windshield of the ball launch container to fully open to 90° is when the windshield of the ball launch container reaches an opening angle of 89°, and the remaining 1° is caused by the delayed inertia of the servo motor stopping to fully open the windshield to 90°.

[0025] Preferably: the angle at which the inertia causes the ball launching container to close completely to 0° is when the ball launching container's windshield is closed to 1°, and the remaining 1° is the angle at which the inertia of the servo motor stopping operation causes the ball launching container to close completely to 0°.

[0026] Preferably, the speed reduction algorithm for the large inertia equipment described in steps S1 and S2 is as follows:

[0027] Let the running speed be V. 运 The speed is set to V. 设 However, the acceleration speed is V 冲 The deceleration begins at position S. 减 ,

[0028] The deceleration completion position is S 完 The stop position is S 停 The target location is S 目 The current position is S 当 ,

[0029] That is: V 运 =V 设 -(V) 设 -V 冲 ) / |S 减 -S 完 |*(|S 减 -S 停 |-|S 目 -S 当 |);

[0030] During the opening or closing of the windshield cover of the balloon launch container, the minimum normal operating speed is 8V. 冲 =10, |S 减 -S 完 |=5,|S 减 -S 停 |=6, therefore:

[0031] V 运 =V 设 -(V)设 -10) / 5*(6-|S 目 -S 当 |);

[0032] When V 运 <=8,V 设 >10, V 运 =8.

[0033] Beneficial technical effects of the present invention:

[0034] 1. The servo motor used in this invention will have a slight delay when it stops running. Also, since the speed is controlled to 8% when the closing or opening angle reaches 90° or 0°, the final 1° is achieved by inertia so that the windshield is completely closed.

[0035] 2. The windshield is controlled by the control system to change the servo speed, enabling the heavy-duty mechanism to start and stop quickly, smoothly, and accurately. Therefore, the large inertia equipment deceleration algorithm used in this invention sets the corresponding deceleration angle position for the windshield mechanism of the ball launching container. When the windshield of the ball launching container reaches the set deceleration position, the control system uniformly reduces the servo speed to the maximum speed that allows stopping according to the current speed, and then the servo achieves free stopping, thereby enabling the windshield of the ball launching container to stop quickly, smoothly, and accurately.

[0036] 3. The method of the present invention achieves smooth opening and closing of the windshield, ensuring that the opening and closing position of the windshield is constant. The entire control process takes ≤40 seconds when the windshield opens from 0° to 90° or closes from 90° to 0°. Attached Figure Description

[0037] Figure 1 This is a system block diagram of the present invention;

[0038] Figure 2 This is a schematic diagram illustrating the process of opening the windshield cover of the ball-launching container of the present invention;

[0039] Figure 3 This is a schematic diagram of the opening process of the windshield cover of the ball-launching container of the present invention;

[0040] Figure 4 This is a schematic diagram of the closing process of the windshield cover of the ball-launching container of the present invention.

[0041] Example

[0042] To further describe the content and implementation process of the present invention, the following are the preferred embodiments of the present invention:

[0043] This invention designs a control method for achieving precise opening and closing of the windbreak cover mechanism of an intelligent ball launcher. The control method includes the ball launcher windbreak cover mechanism, the opening step of the ball launcher windbreak cover, and the closing step of the ball launcher windbreak cover.

[0044] Example 1: Method for opening and closing the windproof cover of the ball launch container of the present invention

[0045] An actuator is provided in the windproof cover mechanism of the ball launching container. The windproof cover of the ball launching container adopts a PLC control system in both the opening and closing steps. The PLC control system is equipped with a speed reduction algorithm for large inertia equipment and a PI closed-loop control system.

[0046] The steps for opening and closing the windproof cover of the balloon launching container are as follows:

[0047] First, the PLC control system issues an instruction to open or close the windshield cover of the balloon launch container. When issuing the instruction, the wind force data is first judged. When the wind force is less than 25 meters per second, the instruction to open the windshield cover is sent to the PLC control system; when the wind force exceeds 25 meters per second, the instruction to close the windshield cover is sent to the PLC control system.

[0048] Steps for opening the windshield cover of the S1 ball-launching container:

[0049] (1) The PLC control system starts the servo motor to make it run and begin to execute the instruction to open the windshield cover of the ball release container;

[0050] (2) When the windproof cover of the ball launch container is closed at 0°, the servo motor is controlled to open the windproof cover of the ball launch container from 0°. The initial speed is accelerated from uniform to the set speed.

[0051] (3) Once the opening speed of the ball launch container windproof cover reaches the set speed, continue running at the set speed until the ball launch container windproof cover is opened;

[0052] (4) When the windproof cover of the ball launching container opens to 84° at the set speed, the PLC control system will decelerate according to the large inertia equipment deceleration algorithm.

[0053] (5) When the windproof cover of the ball launching container 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.

[0054] Specifically: due to a slight delay when the servo motor stops running, and at a speed of 8%, the windshield opens completely due to inertia, at an angle of 90°.

[0055] After the windshield of the ball launch container is opened, it is necessary to determine whether it is fully open. If it is not fully open, a windshield positioning fault is reported, and manual judgment is required to determine whether it is open. If the manual judgment is that the windshield is not open, a windshield mechanism fault is recorded, and a closing command is sent to the PLC. If the manual judgment is that the windshield is open, the main control records a windshield positioning fault, and the process ends.

[0056] S2 Ball Deployment Container Windshield Closing Procedure:

[0057] (1) Send a command to the PLC control system to close the windshield cover, start the servo motor to run, and start executing the command to close the windshield cover of the ball launching container.

[0058] (2) When the windproof cover of the ball launch container is in a fully open state at a 90° angle, the control servo motor starts to accelerate uniformly to the set speed;

[0059] (3) When the closing speed of the ball launching container windproof cover reaches the set speed, continue to run at the set speed until the ball launching container windproof cover is completely closed;

[0060] (4) When the windshield of the ball launching container 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.

[0061] (5) When the windproof cover of the ball launching container closes to an angle of 1°, the closing speed is reduced to 8%, the control system controls the servo motor to stop running, and the remaining 1° angle is made to close the ball launching container to a completely 0° angle by inertia.

[0062] Preferably, the windproof cover of the ball launching container is set to 0° when closed;

[0063] Preferably: the opening speed of the ball-launching container's windproof cover reaches the set speed, which is then fed back to the control system by the server for measurement;

[0064] Preferably: the angle at which the windshield of the ball launching container opens to 84° at a set speed is measured by an encoder and fed back to the control system;

[0065] Preferably: the inertia that causes the windshield of the ball launch container to fully open at 90° is caused by the delayed inertia of the servo motor stopping;

[0066] Preferably: when the speed is low and overshoot will not occur, the system runs at the originally set speed.

[0067] The overshoot speed is defined as no more than 10% when the working compartment windshield is opened or closed.

[0068] Preferably: when the distance to the target location is greater than the absolute difference between the current location and the target location, the following method is adopted:

[0069] When operating at the original speed, the distance is set to 6 degrees when the windshield of the ball-launching container is opened and closed.

[0070] The speed reduction algorithm for high-inertia equipment described in steps S1 and S2 is as follows:

[0071] When the running speed is less than or equal to 8 and the set speed is greater than 10, the running speed is 8.

[0072] Let the running speed be V. 运 The speed is set to V. 设 However, the acceleration speed is V 冲 The deceleration begins at position S. 减 ,

[0073] The deceleration completion position is S 完 The stopping position is S. 停 The target location is S 目 ,

[0074] Current location: S 当

[0075] That is: V 运 =V 设 -(V) 设 -V 冲 ) / |S 减 -S 完 |*(|S 减 -S 停 |-|S 目 -S 当 |);

[0076] During the opening or closing of the windshield cover of the balloon launch container, the minimum normal operating speed is 8 V. 冲 =10, |S minus -S 完 |=5,|S 减 -S 停 |=6, therefore:

[0077] V 运 =V 设 -(V) 设 -10) / 5*(6-|S 目 -S 当 |);

[0078] When V 运 <=8,V 设 >10, V 运 =8.

[0079] Example 2: Calculation and setting of the servo speed of the present invention

[0080] 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 start deceleration position and the deceleration completion position, 6 represents the absolute difference between the start deceleration position and the stop position, T represents the deceleration completion position, and B represents the current position of the windshield.

[0081] When the angle reaches 84° when the above formula is applied, A is the set speed, which is usually 100%, 8 means that the servo speed is 8% when the angle is 89°, 5 means that there are 5 deceleration gradients from 84° to 89°, 6 means that there are 6 deceleration gradients from 84° to 90°, T is equal to 89° here, and B is the current position, which is between 84° and 89° here.

[0082] When the angle reaches 6° when the above formula is applied to the closing position, A is the set speed, which is generally 100%, 8 indicates that the servo speed is 8% when the angle is 1°, 5 indicates that there are 5 deceleration gradients from 6° to 1°, 6 indicates that there are 6 deceleration gradients from 6° to 1°, T is equal to 1° here, and B is the current position, which is between 6° and 1° here.

[0083] The formula can be described as follows: Subtract the maximum servo stop speed from the set speed, divide the difference by the absolute difference between the start deceleration position and the finish deceleration position, and get a quotient. Subtract the absolute difference between the finish deceleration position and the current position from the absolute difference between the start deceleration position and the stop position, and get a difference. Multiply this difference by the previous quotient to get a product. Subtract this product from the set speed to get the current servo speed.

[0084] The current servo speed is when the windshield opens to 84° or closes to 6°. In subsequent positions, the windshield will obtain the corresponding speed according to the above algorithm, thereby achieving the purpose of deceleration.

[0085] By extension, changing the parameters in the formula can change the speed and time of deceleration when stopping. For example, changing 8 to 10 means that the speed is 10% when deceleration is complete. For another example, if you feel that deceleration from 84° is too abrupt, 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.

[0086] Example 3: Theoretical Features of the Application of the Invention

[0087] This invention employs a closed-loop control system, characterized by the fact that the output of the controlled object (i.e., the controlled variable) is fed back to affect the output of the controller, forming one or more closed loops. Closed-loop control systems have positive feedback and negative feedback. If the feedback signal is opposite to the system setpoint signal, it is called negative feedback; if the polarities are the same, it is called positive feedback. Generally, closed-loop control systems use negative feedback PID controllers, also known as negative feedback control systems. Proportional control is the simplest control method, where the controller output is proportional to the input error signal. When only proportional control is used, the system output has a steady-state error. In integral (I) control, the controller output is proportional to the integral of the input error signal. For an automatic control system, if a steady-state error exists after reaching steady state, the control system is said to have a steady-state error, or simply a system with error. To eliminate the steady-state error, an "integral term" must be introduced into the controller. The integral term depends on the integral of the error over time. As time increases, the integral term increases. Thus, even if the error is small, the integral term will increase with time, driving the controller output to increase and further reduce the steady-state error until it equals zero. A proportional-integral (PI) controller can make the system free of steady-state error after reaching steady state.

[0088] Furthermore, the PI closed-loop control described in this invention is a technique for achieving steady-speed control of a motor using analog input and analog feedback. This technique is familiar to those skilled in the art. This invention applies this technique to the control of the rapid opening or closing of the windshield cover of the ball launch container. Therefore, the PI closed-loop control technique will not be described in detail in this application.

[0089] Furthermore, the speed reduction algorithm for high-inertia equipment described in this invention is a measure of the inertia of a rigid body rotating around an axis. Moment of inertia is a physical quantity that characterizes the magnitude of the rotational inertia of a rigid body. This technology is well known to those skilled in the art. Inertia is the inertial quantity of a material's motion, a physical quantity representing its magnitude. Its magnitude corresponds to the mass of the material and is also an important indicator of a servo motor. Since this technology controls the rapid opening or closing of the windshield of a high-altitude ball-launching container, which is affected by wind speed and requires smooth opening and closing, a speed reduction algorithm for high-inertia equipment is adopted. However, a theoretical detail of the speed reduction algorithm for high-inertia equipment will not be provided here.

Claims

1. A method for quickly opening and closing a windshield cover for a ball launch container, comprising a windshield cover for the ball launch container, and a windshield opening step and a closing step, characterized in that: The steps for opening and closing the windshield cover of the ball launch container are as follows: First, the PLC control system issues an instruction to open or close the windshield cover of the balloon launch container. When issuing the instruction, the wind force data is first judged. When the wind force is less than 25 meters per second, the instruction to open the windshield cover is sent to the PLC control system; when the wind force exceeds 25 meters per second, the instruction to close the windshield cover is sent to the PLC control system. Steps for opening the windshield cover of the S1 ball-launching container: (1) The PLC control system starts the servo motor to make it run and begin to execute the instruction to open the windshield cover of the ball release container; (2) When the windproof cover of the launching container is closed at 0°, the servo motor is controlled to open the windproof cover of the launching container from 0°. The initial speed is uniformly accelerated to the set speed. (3) Once the opening speed of the ball launch container windproof cover reaches the set speed, continue running at the set speed until the ball launch container windproof cover is opened; (4) When the windproof cover of the ball launching container opens to 84° at the set speed, the PLC control system will decelerate according to the deceleration algorithm of large inertia equipment; (5) When the windproof cover of the ball launching container 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 Deployment Container Windshield Closing Procedure: (1) Send a command to the PLC control system to close the windshield cover, start the servo motor to run, and start executing the command to close the windshield cover of the ball launching container. (2) When the windproof cover of the ball launch container is in a fully open state at a 90° angle, the control servo motor starts to accelerate uniformly to the set speed; (3) When the closing speed of the ball launching container windproof cover reaches the set speed, continue to run at the set speed until the ball launching container windproof cover is completely closed; (4) When the windshield of the ball launching container closes at the set speed and reaches an angle of 6°, the PLC control system will decelerate according to the deceleration algorithm of large inertia equipment. (5) When the windproof cover of the ball launching container closes to an angle of 1°, the closing speed is reduced to 8%, the control system controls the servo motor to stop running, and the remaining 1° angle is made to close the ball launching container to a completely 0° angle by inertia.

2. The method for quickly opening and closing the windshield cover of a ball-launching container according to claim 1, characterized in that: The windshield of the ball-launching container is set to 0° when closed.

3. The method for quickly opening and closing the windshield cover of a ball-launching container according to claim 1, characterized in that: The parameter indicating when the opening speed of the buoy deployment container's windshield reaches the set speed is fed back to the control system by the servo for measurement.

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

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

6. The method for quickly opening and closing the windshield cover of a ball-launching container according to claim 1, characterized in that: The angle at which the ball-launching container closes completely to 0° is when the windshield of the ball-launching container closes to 1°. The remaining 1° is the angle at which the ball-launching container closes completely to 0° due to the inertia of the servo motor stopping.

7. The method for quickly opening and closing the windshield cover of a ball-launching container according to claim 1, characterized in that: The deceleration algorithms for high-inertia equipment in steps S1 and S2 are as follows: Let the running speed be V. 运 The speed is set to V. 设 However, the acceleration speed is V 冲 The deceleration begins at position S. 减 , The deceleration completion position is S 完 The stopping position is S. 停 The target location is S 目 The current position is S 当 , That is: V 运 = V 设 - (V 设 - V 冲 ) / |S 减 - S 完 | * (|S 减 - S 停 | - |S 目 - S 当 |); During the opening or closing of the windshield cover of the balloon launch container, the minimum normal operating speed is 8V. 冲 =10, |S 减 -S 完 |=5,|S 减 -S 停 |=6, therefore: ①V 运 =V 设 -(V 设 -10) / 5*(6-|S 目 -S 当 |); ②When V 运 <=8,V 设 >10, V 运 =8.

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