Anchor rod trolley handle calibration method

Abstract

The invention discloses a method for calibrating a handle of an anchor rod trolley, which belongs to the field of automatic control and comprises the following steps of: dividing control signals of the handle into IN1 and IN2 according to a shaft 1 and a shaft 2; the IN1 and the IN2 are converted into calibration values R1 and R2; the minimum value and the maximum value of the handle in the positive and negative directions of the shaft 1 and the shaft 2 are calibrated; points are taken from intervals from the minimum value to the maximum value of the calibrated handle in the positive and negative directions of the shaft 1 and the shaft 2, and the intervals are equally divided into n intervals; according to the action characteristics of the execution unit in each working mode, independently setting return values in the controller for each point in the positive and negative directions of the shaft 1 and the shaft 2 in each calibration interface to obtain positive and negative characteristic curves of the shaft 1 and the shaft 2 matched with the corresponding working mode; and according to the R1 and the R2 in the current working mode, the R1 and the R2 are converted into corresponding control quantities PWM1 and PWM2 by searching positive and negative characteristic curves. Aiming at the low adaptability of the anchor rod trolley handle in the prior art, the anchor rod trolley handle adapts to different working modes.

Description

Technical Field

[0001] The present application relates to the field of automatic control, and more specifically, to a handle calibration method for an anchor trolley. Background Art

[0002] Anchor trolley is a special equipment used for roadway or tunnel support. It improves the stability and safety of roadways or tunnels by drilling holes and installing anchors around them. Anchor trolleys are usually equipped with a handle, through which the operator controls the movement, positioning, drilling, spraying, anchoring and hanging of the anchor trolley.

[0003] With the continuous expansion of the application field of anchor trolleys, higher requirements are placed on the handle control of anchor trolleys. The traditional anchor trolley handle control method usually adopts fixed control characteristics, that is, there is a linear relationship between the control signal of the handle and the control amount of the execution unit, and the same control characteristics are used in different working modes. The anchor trolley has different requirements for handle control in different working modes. For example, in positioning mode, the handle control is required to be smooth and precise; in drilling mode, the handle control is required to be sensitive and efficient; in anchoring mode, the handle control is required to be reliable and powerful. The use of fixed control characteristics makes it difficult to meet the control requirements in different working modes, resulting in poor adaptability of handle control.

[0004] The Chinese patent application, application number CN202210794187.1, published on October 14, 2022, discloses an automatic control method, system, anchor drilling rig and storage medium for an anchor drilling rig, and the technical field to which it belongs is the field of automatic control technology. The automatic control method of the anchor drilling rig includes: using a sensing unit to collect the current state parameters of the anchor drilling rig; wherein the current state parameters include the manipulator rotation into position signal, the support plate stroke, the drilling rig stroke, the manipulator clamping into position pressure, the manipulator loosening into position pressure, the support plate to the top plate pressure and the drilling rig reversal pressure; according to the current state parameters, the execution unit is controlled to execute each sub-process in the anchor drilling rig process in sequence, and the execution unit is controlled to perform follow-up control operations during the execution of the anchor drilling rig process. Summary of the invention

[0005] 1. Technical issues to be solved

[0006] In response to the problem of low adaptability of the anchor trolley handle in the prior art, the present application provides a handle calibration method for an anchor trolley. Through the adaptive handle calibration method, the control characteristics of the handle are adaptively calibrated according to different working modes of the anchor trolley, so as to adapt to different working modes.

[0007] 2. Technical solution

[0008] The purpose of this application is achieved through the following technical solutions.

[0009] The present application provides a handle calibration method for an anchor trolley, comprising: S1, inputting a control signal of the handle into a controller, wherein the control signal is divided into IN1 and IN2 according to axis 1 and axis 2; S2, the controller converts the input signals IN1 and IN2 of the handle into calibration values ​​R1 and R2; the execution unit comprises an electro-hydraulic proportional valve; S3, calibrating the minimum and maximum values ​​of the handle in the positive and negative directions of axis 1 and axis 2, and obtaining IN1p_min, IN1n_min, IN2p_min, IN2n_min and IN1p_ max, IN1n_max, IN2p_max, IN2n_max; S4, the controller divides the range from the minimum to the maximum value of the handle calibrated in S3 in the positive and negative directions of axis 1 and axis 2 into n intervals, and divides each point in the positive direction of axis 1 (N1p, N2p, ..., Nn+1p), each point in the negative direction of axis 1 (N1n, N2n, ..., Nn+1n), each point in the positive direction of axis 2 (N1p', N2p', ..., Nn+1 p') and the numerical value of each point (N1n', N2n', ..., Nn+1n') in the negative direction of axis 2 are sent to the display; S5, a calibration interface corresponding to the equally divided points in the positive and negative directions of axis 1 and axis 2 in S4 is set on the display for each working mode of the anchor trolley, and the return value in the controller is set separately for each point in the positive and negative directions of axis 1 and axis 2 in each calibration interface according to the action characteristics of the execution unit in each working mode, so as to obtain the positive and negative characteristic curve of axis 1 and axis 2 matching the corresponding working mode; wherein the return value is the control amount based on the calibration values ​​R1 and R2; S6, the controller converts the calibration values ​​R1 and R2 according to the calibration values ​​R1 and R2 obtained by converting the handle input signals IN1 and IN2 in the current working mode, and converts the calibration values ​​R1 and R2 into corresponding control amounts PWM1 and PWM2 by searching the positive and negative characteristic curve of axis 1 and axis 2 matched with the current working mode obtained by S5, and outputs the control amounts PWM1 and PWM2 to the electro-hydraulic proportional valve of the execution unit to control the anchor trolley in the current working mode.

[0010] Furthermore, the working modes of the anchor trolley include positioning mode, drilling mode, injection mode, anchoring mode and mesh hanging mode.

[0011] Furthermore, in S3, the minimum and maximum values ​​of the handle in the positive and negative directions of axis 1 and axis 2 are calibrated, including: controlling the handle to the middle position of axis 1 and axis 2, and the controller obtains the corresponding IN1' and IN2' as IN1p_min, IN1n_min and IN2p_min, IN2n_min respectively; pushing the handle to the maximum position in the positive and negative directions of axis 1 and axis 2 respectively, and the controller obtains the corresponding IN1" and IN2", as IN1p_max, IN1n_max and IN2p_max, IN2n_max.

[0012] Furthermore, the control signals IN1 and IN2 output by the handle are analog signals or CAN signals.

[0013] Furthermore, the electro-hydraulic proportional valve is an electro-hydraulic proportional directional valve or an electro-hydraulic proportional flow valve.

[0014] Further, in S6, the controller searches for corresponding control quantities PWM1 and PWM2 in the positive and negative characteristic curves of axis 1 and axis 2 matching the current working mode by interpolation calculation according to the calibration values ​​R1 and R2 obtained by converting the handle input signals IN1 and IN2 in the current working mode.

[0015] Further, S2, the controller converts the input signals IN1 and IN2 of the handle into calibration values ​​R1 and R2, including: the controller receives the input signals IN1 and IN2 of the handle; the controller converts the input signals IN1 and IN2 into corresponding calibration values ​​R1 and R2 respectively according to a preset conversion function, wherein the conversion function is a linear function or a nonlinear function; when the conversion function is a linear function, the controller calculates the calibration values ​​R1 and R2 according to the formulas R1=k1*IN1+b1 and R2=k2*IN2+b2, wherein k1 and k2 are proportional coefficients, and b1 and b2 are offsets; when the conversion function is a nonlinear function, the controller converts the input signals IN1 and IN2 into corresponding calibration values ​​R1 and R2 by looking up a preset lookup table.

[0016] Further, S5, obtains the positive and negative characteristic curves of axis 1 and axis 2 matching the corresponding working mode, including: on the display, setting a corresponding calibration interface for each working mode of the anchor trolley, each calibration interface contains four calibration areas: axis 1 positive, axis 1 negative, axis 2 positive and axis 2 negative; in each calibration area, according to the averaging result in S4, generate a corresponding number of calibration points, and display the coordinate positions of the calibration points on the calibration interface; according to the action characteristics of the execution unit in the current working mode, in each calibration area, set a corresponding return value for each calibration point, and the return value is a control amount based on the calibration values ​​R1 and R2; in each calibration area, according to the return value set for each calibration point, generate the corresponding control characteristic curve in the controller as the control characteristic curve of axis 1 positive, axis 1 negative, axis 2 positive and axis 2 negative in the current working mode; repeat the above steps until the calibration interface setting and control characteristic curve generation under all working modes are completed.

[0017] Furthermore, according to the action characteristics of the execution unit in the current working mode, in each calibration area, a corresponding return value is set for each calibration point, including: at each calibration point, the controller receives the input signals IN1 and IN2 of the handle and converts them into corresponding calibration values ​​R1 and R2; according to the action characteristics of the execution unit in the current working mode, the target action state of the execution unit at the calibration point is determined; the target action state includes action speed, torque and displacement; according to the preset execution unit action model, the target action state is converted into the corresponding control quantity value; according to the control quantity value and the calibration values ​​R1 and R2, a corresponding relationship between the control quantity return value and the calibration value is established, and the corresponding relationship includes a linear relationship and a nonlinear relationship; according to the established corresponding relationship, the return value of the control quantity corresponding to the calibration value R1 or R2 at the calibration point is calculated;

[0018] Furthermore, the action characteristics of the execution unit in the current working mode include at least one of the following: in the positioning mode, the action characteristics of the execution unit are smooth, low speed and high precision; in the drilling mode, the action characteristics of the execution unit are high speed, large torque and impact; in the injection mode, the action characteristics of the execution unit are medium speed, continuous and stable; in the anchoring mode, the action characteristics of the execution unit are low speed, large torque and vibration; in the net hanging mode, the action characteristics of the execution unit are low speed, small torque and intermittent.

[0019] 3. Beneficial effects

[0020] Compared with the prior art, the advantages of this application are:

[0021] By inputting the control signal of the handle into the controller and dividing it into IN1 and IN2 according to axis 1 and axis 2, the controller converts the input signal of the handle into calibration values ​​R1 and R2, thereby realizing the mapping between the handle control signal and the calibration value of the controller.

[0022] By calibrating the minimum and maximum values ​​of the handle in the positive and negative directions of axis 1 and axis 2, and dividing the interval into n intervals, the quantification and discretization of the handle control amount is achieved, which facilitates the subsequent individual setting of each calibration point and improves the accuracy and flexibility of the calibration.

[0023] By setting a corresponding calibration interface for each working mode of the anchor trolley on the display, and according to the action characteristics of the execution unit in each working mode, for each calibration point in the positive and negative directions of axis 1 and axis 2 in each calibration interface, the return value in the controller is set separately, so as to obtain the positive and negative characteristic curves of axis 1 and axis 2 matching the corresponding working mode, thereby realizing adaptive calibration for different working modes and improving the adaptability and flexibility of handle control.

[0024] The controller obtains the calibration value according to the handle input signal in the current working mode, converts the calibration value into the corresponding control quantity by searching the characteristic curve matching the current working mode, and outputs it to the electro-hydraulic proportional valve of the execution unit to control the anchor trolley in the current working mode, realizing the adaptive conversion of the handle control signal to the execution unit control quantity, and improving the accuracy and response speed of the handle control.

[0025] By reasonably setting the control quantity return value at each calibration point according to the action characteristics of the execution unit in the current working mode, and establishing a linear or nonlinear correspondence between the control quantity return value and the calibration value, nonlinear adaptation of the handle control is achieved, making the handle control more in line with the operator's control habits and improving the user experience of the anchor trolley. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of an adaptive handle calibration system applied to an anchor trolley in the present application;

[0027] Figure 2 This is a schematic diagram of the handle input signal components of the present application;

[0028] Figure 3 This is the calibration curve of handle axis 1 of the positioning mode of this application;

[0029] Figure 4 The calibration curve of handle axis 2 for the drilling mode of this application;

[0030] Figure 5 The calibration curve of the anchoring mode handle axis 1 of the present application;

[0031] Figure 6 The calibration curve of the spray mode handle axis 2 of this application;

[0032] Figure 7This is the calibration curve of handle axis 1 in the mesh hanging mode of this application. DETAILED DESCRIPTION

[0033] The present application is described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0034] like Figure 1 As shown, the system includes a universal proportional handle (the output signal is an analog quantity or a CAN signal), a controller, and a display. A handle calibration method for an anchor trolley includes: in step S1, as Figure 2 As shown, the control signal of the handle is input into the controller, and the control signal is divided into IN1 and IN2 according to axis 1 and axis 2. Among them, the control signals IN1 and IN2 output by the handle can be analog signals or CAN signals. When the handle outputs analog signals, it is usually represented by voltage signals or current signals. For example, the displacement or force of the handle in the direction of axis 1 and axis 2 can be converted into a voltage or current signal of 0 to 5V or 4 to 20mA, and input into the controller as control signals IN1 and IN2.

[0035] When the handle outputs a CAN signal, it is usually represented by a digital quantity. For example, the displacement or force of the handle in the direction of axis 1 and axis 2 can be converted into a digital quantity of 0-1023 or 0-4095, and the digital quantity is packaged into a CAN frame through the CAN bus protocol and input into the controller as control signals IN1 and IN2. After the controller receives the control signals IN1 and IN2 of the handle, it enters step S2 to convert the input signals IN1 and IN2 of the handle into calibration values ​​R1 and R2. Among them, the calibration values ​​R1 and R2 have a value range of 0-1000, indicating the size of the control amount of the handle in the direction of axis 1 and axis 2.

[0036] In this embodiment, the execution unit includes an electro-hydraulic proportional valve, which is used to control the movement of the anchor trolley according to the control amount output by the controller. The electro-hydraulic proportional valve can be an electro-hydraulic proportional directional valve or an electro-hydraulic proportional flow valve. The electro-hydraulic proportional directional valve can change the position of the valve core according to the control amount output by the controller, thereby changing the flow direction of the oil and realizing the control of the movement direction of the anchor trolley. The electro-hydraulic proportional flow valve can change the opening of the valve port according to the control amount output by the controller, thereby changing the flow of the oil and realizing the control of the movement speed of the anchor trolley.

[0037] The process of the controller converting the handle input signals IN1 and IN2 into calibration values ​​R1 and R2 can be implemented by using a preset conversion function. The conversion function can be a linear function or a nonlinear function. The specific function to be selected depends on the corresponding relationship between the handle input signal and the calibration value. When the conversion function is a linear function, the controller can calculate the calibration values ​​R1 and R2 according to the formula R1=k1*IN1+b1 and R2=k2*IN2+b2. Among them, k1 and k2 are proportional coefficients, b1 and b2 are bias values, and their values ​​can be set according to the model and characteristics of the handle. For example, when the handle outputs a 0-5V voltage signal, k1 and k2 can be set to 200, b1 and b2 can be set to 0, and the controller can convert the 0-5V voltage signal into a 0-1000 calibration value. When the conversion function is a nonlinear function, the controller can convert the input signals IN1 and IN2 into corresponding calibration values ​​R1 and R2 by looking up the preset lookup table. For example, a lookup table containing multiple input signals and corresponding calibration values ​​may be pre-established, and the controller searches for the corresponding calibration values ​​R1 and R2 in the lookup table according to the values ​​of the received input signals IN1 and IN2.

[0038] In step S3, the minimum and maximum values ​​of the handle in the positive and negative directions of axis 1 and axis 2 are calibrated. First, the handle is controlled to the middle position of axis 1 and axis 2. This means that the handle is at zero or neutral position in both axis 1 and axis 2 without any offset. At this time, the controller obtains the input signals of the handle in the directions of axis 1 and axis 2, respectively, recorded as IN1' and IN2'. IN1' and IN2' are respectively used as the minimum values ​​IN1p_min and IN1n_min in the positive and negative directions of axis 1, and the minimum values ​​IN2p_min and IN2n_min in the positive and negative directions of axis 2. These minimum values ​​represent the input signal values ​​corresponding to the zero or neutral position of the handle in the directions of axis 1 and axis 2.

[0039] Then, the handle is pushed to the maximum position in the positive and negative directions of axis 1 and axis 2, respectively. This means that the handle has been pushed to the limit position of the stroke in both the directions of axis 1 and axis 2. In the process of pushing the handle, the controller obtains the input signal of the handle in the directions of axis 1 and axis 2 in real time, and records the input signal values ​​when the maximum positive and negative positions are reached, which are recorded as IN1” and IN2”, respectively. IN1” and IN2” are respectively used as the maximum values ​​IN1p_max and IN1n_max in the positive and negative directions of axis 1, and the maximum values ​​IN2p_max and IN2n_max in the positive and negative directions of axis 2. These maximum values ​​represent the input signal values ​​corresponding to the limit positions of the handle in the directions of axis 1 and axis 2. Through the above calibration process, the minimum and maximum values ​​of the handle in the positive and negative directions of axis 1 and axis 2, namely, IN1p_min, IN1n_min, IN2p_min, IN2n_min and IN1p_max, IN1n_max, IN2p_max, IN2n_max, are obtained. These values ​​determine the control range of the handle in the direction of axis 1 and axis 2, laying the foundation for subsequent averaging and mapping.

[0040] In step S4, the controller divides the range from the minimum value to the maximum value of the handle in the positive and negative directions of axis 1 and axis 2 equally, and sends the value of the dividing point to the display. Specifically, the controller divides the range from the minimum value IN1p_min to the maximum value IN1p_max in the positive direction of axis 1 into n sub-intervals. The boundary points of each sub-interval constitute the dividing points in the positive direction of axis 1, which are recorded as N1p, N2p, ..., Nn+1p. Among them, N1p is the minimum value IN1p_min, and Nn+1p is the maximum value IN1p_max.

[0041] Similarly, the controller divides the interval from the minimum to the maximum value of the negative direction of axis 1, the positive direction of axis 2, and the negative direction of axis 2 into n sub-intervals respectively, and obtains the corresponding dividing points N1n, N2n, ..., Nn+1n, N1p', N2p', ..., Nn+1p' and N1n', N2n', ..., Nn+1n'. The controller sends the values ​​of all the dividing points of the positive direction of axis 1, the negative direction of axis 1, the positive direction of axis 2, and the negative direction of axis 2 to the display. The display can generate corresponding scales or marks on the interface according to the received dividing point values, and intuitively display the control range and dividing situation of the handle in the positive and negative directions of axis 1 and axis 2.

[0042] Through the averaging process in step S4, the continuous control range of the handle in the positive and negative directions of axis 1 and axis 2 is discretized into multiple averaging intervals. Each averaging interval corresponds to an averaging point, which represents the control amount of the handle in the interval. This discretization process can simplify the subsequent calibration and mapping process and improve the control accuracy and response speed.

[0043] In step S5, according to different working modes of the anchor trolley, a corresponding calibration interface is set on the display, and according to the action characteristics of the execution unit in each working mode, the return value of the calibration point is set separately to generate a control characteristic curve matching the working mode, such as Figures 3 to 7 shown.

[0044] First, a corresponding calibration interface is set on the display for each working mode of the anchor trolley. Each calibration interface contains four calibration areas, corresponding to the positive direction of axis 1, the negative direction of axis 1, the positive direction of axis 2, and the negative direction of axis 2. In each calibration area, according to the averaging result in step S4, calibration points with the same number as the averaging points are generated, and the coordinate positions of the calibration points are displayed on the calibration interface. In this way, the operator can intuitively see the control range of the handle in the positive and negative directions of axis 1 and axis 2 and the distribution of calibration points in each working mode.

[0045] Then, according to the action characteristics of the execution unit in the current working mode, a corresponding return value is set for each calibration point in each calibration area. The return value is the control amount based on the calibration values ​​R1 and R2, indicating the control instruction or signal that the controller needs to output at this calibration point to achieve the target action state of the execution unit.

[0046] At each calibration point, the controller receives the input signals IN1 and IN2 of the handle, and converts the input signals into corresponding calibration values ​​R1 and R2 according to the conversion function or lookup table in step S2. Next, the target motion state of the actuator at the calibration point is determined according to the motion characteristics of the actuator in the current working mode. The target motion state may include parameters such as motion speed, torque, displacement, etc., indicating the ideal motion state that the actuator needs to achieve at the calibration point.

[0047] Then, according to the preset execution unit action model, the target action state is converted into the corresponding control quantity value. The execution unit action model can be a mathematical model based on physical principles or empirical formulas, which describes the quantitative relationship between the action state of the execution unit and the control quantity. Through this model, the target action state can be converted into the control quantity value that the controller needs to output. According to the control quantity value and the calibration values ​​R1 and R2, a corresponding relationship between the control quantity return value and the calibration value is established. The corresponding relationship can be a linear relationship or a nonlinear relationship, depending on the action characteristics and control requirements of the execution unit. A linear relationship means that the control quantity return value changes in direct proportion to the calibration value, and a nonlinear relationship means that there is a more complex functional relationship between the two.

[0048] According to the established correspondence, calculate the control quantity return value corresponding to the calibration value R1 or R2 at the calibration point. This return value is the control quantity that the controller needs to output at the calibration point to achieve the target action state of the execution unit. Repeat the above steps, and in each calibration area, generate the corresponding control characteristic curve in the controller according to the return value set at each calibration point. The control characteristic curve reflects the correspondence between the calibration value and the control quantity return value, and is the control strategy for axis 1 positive, axis 1 negative, axis 2 positive, and axis 2 negative in the current working mode.

[0049] Finally, repeat the above steps until the calibration interface settings and control characteristic curve generation in all working modes are completed. In this way, a control characteristic curve matching each working mode is obtained, and adaptive calibration of handle control is realized. In the example where the controller takes an average of 9 points in the interval of IN1p_min-IN1p_max and sets the calibration value R of the controller separately in the positioning mode of the display, the results are shown in Table 1. It can be seen that by reasonably setting the control quantity return value at each calibration point, a nonlinear correspondence between the calibration value and the control quantity is established. This nonlinear relationship can better adapt to the action characteristics of the actuator in the positioning mode and improve the accuracy and flexibility of control.

[0050] IN R 0.5 0 1.0 80 1.5 250 2 500 2.5 700 3.0 900 3.5 950 4.0 975 4.5 1000

[0051] In step S6, the controller obtains the calibration value by converting the handle input signal in the current working mode, and searches for the control characteristic curve matching the current working mode, such as Figures 3 to 7 As shown, the calibration value is converted into the corresponding control quantity and output to the electro-hydraulic proportional valve of the execution unit to control the anchor trolley.

[0052] First, the controller determines the positive and negative characteristic curves of axis 1 and axis 2 that match the current working mode of the anchor trolley. These characteristic curves are generated in step S5 according to the action characteristics of the execution unit in different working modes, reflecting the corresponding relationship between the calibration value and the control amount. Then, the controller receives the control signals IN1 and IN2 input by the handle, and converts the control signals into corresponding calibration values ​​R1 and R2 according to the conversion function or lookup table in step S2.

[0053] Next, the controller uses interpolation calculation to find the control quantities PWM1 and PWM2 corresponding to the calibration values ​​R1 and R2 in the positive and negative characteristic curves of axis 1 and axis 2 that match the current working mode. Interpolation calculation is a numerical approximation method that estimates the value of unknown data points based on the information of known data points. Common interpolation methods include linear interpolation, polynomial interpolation, spline interpolation, etc. The controller can select a suitable interpolation method according to the shape of the characteristic curve and the control requirements to calculate the control quantities PWM1 and PWM2 corresponding to the calibration values ​​R1 and R2 on the characteristic curve.

[0054] Finally, the controller outputs the obtained control quantities PWM1 and PWM2 to the electro-hydraulic proportional valve of the execution unit. The electro-hydraulic proportional valve adjusts the valve opening or valve core position according to the received control quantity, changes the oil flow or direction, and thus realizes the control of the anchor trolley action.

[0055] The working modes of the anchor trolley usually include positioning mode, drilling mode, injection mode, anchoring mode and mesh hanging mode. In different working modes, the action characteristics of the execution unit are different, and a control strategy adapted to them needs to be adopted.

[0056] In positioning mode, the action characteristics of the actuator are usually smooth, low speed and high precision. This means that the controller needs to output a small control amount to make the actuator move smoothly and slowly to achieve precise positioning. In drilling mode, the action characteristics of the actuator are usually high speed, high torque and impact type. This means that the controller needs to output a large control amount to make the actuator rotate quickly and provide sufficient torque to overcome the resistance of the rock, while adapting to the impact and vibration during drilling. In jet hose positioning mode, the action characteristics of the actuator are usually medium speed, smooth and precise. This means that the controller needs to output a moderate control amount so that the actuator can move the jet hose smoothly at a suitable speed and accurately position it to the target position to ensure the accuracy and uniformity of the shotcrete. The controller needs to adapt to the flexible characteristics of the jet hose to avoid jitter or position deviation of the hose due to abrupt movements. In anchoring mode, the action characteristics of the actuator are usually low speed, high torque and vibration type. This means that the controller needs to output a large control amount so that the actuator can slowly but forcefully anchor the anchor rod in place and adapt to the vibration and impact during the anchoring process. In net hanging mode, the action characteristics of the actuator are usually low speed, small torque and intermittent. This means that the controller needs to output a smaller control amount to enable the actuator to move and position slowly and provide moderate torque during the net hanging process while adapting to the intermittent nature of the net hanging process.

[0057] By generating corresponding control characteristic curves for different working modes in step S5, and searching for corresponding control quantities according to the current working mode and handle input signals in step S6, the controller can adaptively adjust the control strategy so that the action characteristics of the execution unit match the current working mode, thereby improving the working efficiency and control accuracy of the anchor trolley.

[0058] The invention of the present application and its implementation methods are described schematically above. The description is not restrictive. Without departing from the spirit or basic features of the present application, the present application can be implemented in other specific forms. What is shown in the accompanying drawings is only one of the implementation methods of the invention of the present application. The actual structure is not limited to this. Any figure mark in the claims should not limit the claims involved. Therefore, if a person of ordinary skill in the art is inspired by it, without departing from the purpose of the present invention, a structural method and an embodiment similar to the technical solution are designed without creativity, which should all fall within the scope of protection of this patent. In addition, the word "including" does not exclude other elements or steps, and the word "one" before the element does not exclude the inclusion of "multiple" elements. The multiple elements stated in the product claim can also be implemented by one element through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any specific order.

Claims

1. A method for calibrating a handle of an anchor trolley, comprising: S1, input the control signal of the handle into the controller, and the control signal is divided into IN1 and IN2 according to axis 1 and axis 2; S2, the controller converts the input signals IN1 and IN2 of the handle into calibration values ​​R1 and R2; the actuator unit includes an electro-hydraulic proportional valve; S3, calibrate the minimum and maximum values ​​of the handle in the positive and negative directions of axis 1 and axis 2, and obtain IN1p_min, IN1n_min, IN2p_min, IN2n_min and IN1p_max, IN1n_max, IN2p_max, IN2n_max; S4, the controller divides the range from the minimum value to the maximum value of the handle in the positive and negative directions of axis 1 and axis 2 calibrated in S3 into n intervals by taking points respectively, and sends the value of each point in the positive direction of axis 1 (N1p, N2p, ..., Nn+1p), each point in the negative direction of axis 1 (N1n, N2n, ..., Nn+1n), each point in the positive direction of axis 2 (N1p', N2p', ..., Nn+1p') and each point in the negative direction of axis 2 (N1n', N2n', ..., Nn+1n') to the display; S5, a calibration interface corresponding to the equally divided points in the positive and negative directions of axis 1 and axis 2 in S4 is set in each working mode of the anchor trolley on the display, and the return value in the controller is set separately for each point in the positive and negative directions of axis 1 and axis 2 in each calibration interface according to the action characteristics of the execution unit in each working mode, so as to obtain the positive and negative characteristic curves of axis 1 and axis 2 matching the corresponding working mode; wherein the return value is the control amount based on the calibration values ​​R1 and R2; S6, the controller converts the calibration values ​​R1 and R2 obtained according to the handle input signals IN1 and IN2 in the current working mode, and converts the calibration values ​​R1 and R2 into corresponding control quantities PWM1 and PWM2 by looking up the positive and negative characteristic curves of axis 1 and axis 2 that match the current working mode obtained in S5, and outputs the control quantities PWM1 and PWM2 to the electro-hydraulic proportional valve of the execution unit to control the anchor trolley in the current working mode.

2. The handle calibration method of the anchor trolley according to claim 1 is characterized in that: The working modes of the anchor trolley include positioning mode, drilling mode, jetting mode, anchoring mode and net hanging mode.

3. The handle calibration method of the anchor trolley according to claim 1 is characterized in that: In S3, the minimum and maximum values ​​of the handle in the positive and negative directions of axis 1 and axis 2 are calibrated, including: The handle is controlled to the middle position of axis 1 and axis 2, and the controller obtains the corresponding IN1' and IN2' as IN1p_min, IN1n_min and IN2p_min, IN2n_min respectively; Push the handle to the maximum position of axis 1 and axis 2 in the positive direction and negative direction respectively, and the controller obtains the corresponding IN1" and IN2" as IN1p_max, IN1n_max and IN2p_max, IN2n_max.

4. The handle calibration method of the anchor trolley according to claim 3 is characterized in that: The control signals IN1 and IN2 output by the handle are analog signals or CAN signals.

5. The handle calibration method of the anchor trolley according to claim 4 is characterized in that: The electro-hydraulic proportional valve is an electro-hydraulic proportional directional valve or an electro-hydraulic proportional flow valve.

6. The handle calibration method of the anchor trolley according to claim 5, characterized in that: In S6, the controller searches for corresponding control quantities PWM1 and PWM2 in the positive and negative characteristic curves of axis 1 and axis 2 matching the current working mode by interpolation calculation according to the calibration values ​​R1 and R2 obtained by converting the handle input signals IN1 and IN2 in the current working mode.

7. The handle calibration method of the anchor trolley according to claim 6, characterized in that: S2, the controller converts the handle input signals IN1 and IN2 into calibration values ​​R1 and R2, including: The controller receives input signals IN1 and IN2 from the handle; The controller converts the input signals IN1 and IN2 into corresponding calibration values ​​R1 and R2 respectively according to a preset conversion function, wherein the conversion function is a linear function or a nonlinear function; When the conversion function is a linear function, the controller calculates the calibration values ​​R1 and R2 according to the formulas R1=k1IN1+b1 and R2=k2IN2+b2, where k1 and k2 are proportional coefficients and b1 and b2 are offsets; When the conversion function is a nonlinear function, the controller converts the input signals IN1 and IN2 into corresponding calibration values ​​R1 and R2 by looking up a preset lookup table.

8. The handle calibration method of the anchor trolley according to claim 1, characterized in that: S5, obtain the positive and negative characteristic curves of axis 1 and axis 2 matching the corresponding working mode, including: On the display, a corresponding calibration interface is set for each working mode of the anchor trolley. Each calibration interface contains four calibration areas: axis 1 positive, axis 1 negative, axis 2 positive and axis 2 negative. In each calibration area, a corresponding number of calibration points are generated according to the average division result in S4, and the coordinate positions of the calibration points are displayed on the calibration interface; According to the action characteristics of the execution unit in the current working mode, a corresponding return value is set for each calibration point in each calibration area, and the return value is a control amount based on the calibration values ​​R1 and R2; In each calibration area, according to the return value set at each calibration point, the corresponding control characteristic curve in the controller is generated as the control characteristic curve of axis 1 positive direction, axis 1 negative direction, axis 2 positive direction and axis 2 negative direction in the current working mode; Repeat the above steps until the calibration interface settings and control characteristic curve generation in all working modes are completed.

9. The handle calibration method of the anchor trolley according to claim 8, characterized in that: According to the action characteristics of the execution unit in the current working mode, in each calibration area, set the corresponding return value for each calibration point, including: At each calibration point, the controller receives the input signals IN1 and IN2 from the handle and converts them into corresponding calibration values ​​R1 and R2; According to the action characteristics of the execution unit in the current working mode, the target action state of the execution unit at the calibration point is determined; the target action state includes action speed, torque and displacement; According to the preset execution unit action model, the target action state is converted into the corresponding control value; According to the control value and the calibration values ​​R1 and R2, a corresponding relationship between the control return value and the calibration value is established, and the corresponding relationship includes a linear relationship and a nonlinear relationship; According to the established corresponding relationship, the return value of the control amount corresponding to the calibration value R1 or R2 at the calibration point is calculated.

Images