Full-closed-loop position control method and system for aerial trolley

Abstract

The invention relates to the technical field of automation control, and discloses an air trolley full-closed-loop position control method and system, and the method comprises the following steps: S1, calling target position data through a control system; s2, measuring the current position of the trolley by using distance detection equipment; s3, comparing the target position with the current position of the aerial trolley; s4, according to the distance difference between the real-time position and the target position, in combination with a closed-loop control algorithm, outputting movement speed and direction signals; s5, when the distance from the target position is far, the control system outputs an acceleration signal, and when the distance from the target position is close, the control system outputs a deceleration signal; and S6, data abnormity alarm is carried out. The speed of the trolley is adjusted through the dynamic distance difference between the real-time position feedback and the target position, the positioning precision can be remarkably improved, the control system adjusts power output based on the distance error, it is ensured that the trolley decelerates stably when approaching the target position, the overshoot phenomenon is avoided, and finally high-precision and rapid positioning control is achieved.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, and in particular to a full-closed-loop position control method and system for an aerial vehicle. Background Art

[0002] With the development of industrial automation and intelligent logistics, aerial vehicles (such as automated storage vehicles and unmanned transport equipment) have been widely used in modern industrial production and logistics management. In order to achieve efficient and accurate material transportation, the positioning and motion control technology of aerial vehicles has become the key. As a high-precision control method, the closed-loop control system dynamically adjusts the speed and direction of the vehicle by real-time feedback of the error between the current position and the target position of the vehicle, ensuring that the vehicle can reach the target position quickly and smoothly. This technology not only improves the positioning accuracy, but also significantly improves the efficiency and reliability of the system.

[0003] Most of the existing trolley positioning control methods rely on photoelectric sensors and simple counting positioning methods. This method has the following defects: Positioning location limitations: Each additional positioning point requires an additional photoelectric sensor and induction board, which has poor flexibility and is difficult to adapt to complex scene requirements.

[0004] Insufficient positioning accuracy: Parking via photoelectric triggering is easily affected by factors such as the vehicle's movement inertia and slippage, resulting in large positioning errors.

[0005] Low safety: When the photoelectric sensor fails, the system cannot detect it in time, which can easily lead to positioning deviation or even safety accidents.

[0006] Difficulty in increasing speed: Under high-speed operation, the traditional deceleration mechanism is difficult to control the deceleration distance and time, and overshoot problems are prone to occur, which seriously affects the positioning effect. Summary of the invention

[0007] In view of the deficiencies in the prior art, the present invention provides a full-closed-loop position control method and system for an aerial vehicle, which solves the problems in the prior art of the existing vehicle positioning control method, such as limited positioning position, insufficient positioning accuracy, low safety and difficulty in speed increase.

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions: a full-closed-loop position control method for an aerial vehicle, comprising the following steps: S1. Obtain target position coordinates: call target position data through the control system; S2, real-time position feedback: use the distance detection equipment to measure the current position of the car, and feed back the real-time position information to the control system; S3, calculate the required moving distance: compare the target position with the current position of the aerial vehicle to obtain the required moving distance; S4, closed-loop speed control: According to the distance difference between the real-time position and the target position, the closed-loop control algorithm is combined to output the motion speed and direction signal; S5, dynamic deceleration and stop: When the distance to the target position is far, the control system outputs an acceleration signal, and when the distance to the target position is close, the control system outputs a deceleration signal, so that the car can decelerate smoothly until it is accurately positioned; S6, data abnormality alarm: During the positioning process, if the real-time position information or system logic is abnormal, an alarm signal will be output and the car will stop immediately.

[0009] Among them, after the target position data is called by the control system, it is compared with the current positioning data; the required moving distance is calculated: the position information is then fed back to the control system in real time; according to the distance difference between the target position and the current position, the movement speed and direction of the car are adjusted through a closed-loop control algorithm; when the distance to the target position is far, the control system outputs an acceleration signal; when approaching the target position, the system outputs a deceleration signal to ensure that the car decelerates smoothly until it is accurately positioned; data abnormality alarm: during the positioning process, if the position information or system logic is abnormal, the control system immediately outputs an alarm signal and stops the car.

[0010] Preferably, the distance detection device is a SICK DL100 laser rangefinder.

[0011] Among them, the laser rangefinder is used to provide high-precision real-time position feedback and support fast data acquisition and transmission to ensure the precise positioning and real-time control of the car throughout the movement process.

[0012] Preferably, the closed-loop control algorithm calculates the speed control signal based on the distance difference between the real-time position and the target position, specifically including: Where: v is the output speed, x target is the target position, x current is the current position, K p , K i and K d are the proportional, integral and differential coefficients of the control algorithm respectively.

[0013] Among them, the closed-loop control algorithm calculates the speed control signal based on the distance difference between the real-time position and the target position, specifically including: dynamically adjusting the movement speed of the car according to the error between the target position and the current position, combining proportional, integral and differential control strategies, where proportional control is used to quickly respond to errors, integral control is used to eliminate long-term deviations, and differential control is used for smooth adjustment and reduction of overshoot, thereby ensuring that the car reaches the target position smoothly and accurately.

[0014] Preferably, the method further comprises: after the positioning is completed, storing the error data, speed curve and current position of the vehicle for each positioning to form a positioning history record.

[0015] After positioning is completed, the system stores the error data, speed curve and current position of the vehicle for each positioning, forming a detailed positioning history record for subsequent analysis, optimization of control algorithms or fault diagnosis.

[0016] Preferably, the alarm signal includes a stop driving signal, an audible and visual alarm signal, and system status prompt information.

[0017] Among them, the alarm signal includes a stop drive signal, an audible and visual alarm signal, and a system status prompt information, which is used to promptly notify the operator and automatically pause the movement of the trolley when an abnormality occurs, ensuring the safe operation of the system and enhancing the emergency response capability of the system.

[0018] A fully closed-loop position control system for a trolley, comprising: Distance detection device: used to measure the current position of the aerial vehicle in real time; Control system: including PLC control unit and closed-loop control algorithm module, used to calculate the distance difference between the target position and the current position and output the speed control signal; Driving system: used to receive speed control signals to drive the car to move; Alarm module: used to output alarm signals when data is abnormal; Data storage module: used to record key data during the positioning process of the car.

[0019] Preferably, the alarm module supports a multi-level alarm mechanism, and when an abnormal state occurs, alarm signals of different levels are output according to the severity.

[0020] Preferably, the multi-level alarm mechanism supports a three-level alarm mechanism, specifically including: e 1 =|x target -x current |>ε 1 ,t 1 <t threshold1 Warning level 1, i.e. mild abnormality, when the error between the current position of the car and the target position is e 1 Greater than the set threshold ε 1 And, when the system detects that the current time delay t 1 Less than the preset time threshold t threshold1 When , the warning level 1 signal is output; e 2 =|x target -x current |>ε 2 ,t 2 <t threshold2 Warning level 2, that is, moderate abnormality, when the error between the current position of the car and the target position is e 2 Greater than the set threshold ε 2 And, when the system detects that the current time delay t 2 Less than the preset time threshold t threshold2 When , the warning level 2 signal is output; e 3 =|x target -x current |>ε 3 ,t 3 <t threshold3 Warning level 3, that is, serious abnormality, when the error between the current position of the car and the target position is e 3 Greater than the set threshold ε 3 And, when the system detects that the current time delay t 3 Less than the preset time threshold t threshold3 When the alarm is on, the warning level 3 signal is output.

[0021] Among them, the three-level alarm mechanism includes: Warning level 1: Mild abnormality. When the error between the current position of the vehicle and the target position is greater than the set threshold, and the time delay is less than the preset time threshold, a warning level 1 signal is output; Warning level 2: Moderate abnormality. When the error is greater than the set threshold and the time delay is less than the preset time threshold, a warning level 2 signal is output; Warning level 3: Severe abnormality. When the error is greater than the set threshold and the time delay exceeds the preset time threshold, a warning level 3 signal is output and an emergency stop or other safety protection measures are initiated; Therefore, by adding emergency stop and safety protection measures, the safe response of the system can be ensured.

[0022] Preferably, the control system dynamically adjusts the power output signal in combination with the distance between the trolley and the target position and transmits it to the drive system. When the trolley is far from the target position, the control system outputs an acceleration signal to the drive system to increase the speed of the trolley; when the trolley is close to the target position, the control system outputs a deceleration signal to the drive system to reduce the speed of the trolley. The specific formula is: P=K·(d target -d current ) Where: P is the output power signal, d target is the target position, d current is the current position of the car, and K is the proportional coefficient, which is used to adjust the power.

[0023] Among them, when the car is far away from the target position, the control system calculates the result through the formula and outputs an acceleration signal to the drive system to increase the speed of the car; when the car is close to the target position, the control system calculates the result through the formula and outputs a deceleration signal to the drive system to reduce the speed of the car, thereby ensuring that the car completes the positioning smoothly and accurately.

[0024] Preferably, the drive system includes an anti-slip design and a vibration absorbing structure to reduce the positioning error of the trolley under complex working conditions.

[0025] The present invention provides a fully closed-loop position control method and system for an aerial vehicle, which has the following beneficial effects: 1. The present invention can significantly improve positioning accuracy by adjusting the vehicle speed through real-time position feedback and the dynamic distance difference between the target position. The control system adjusts the power output based on the distance error to ensure that the vehicle decelerates smoothly when approaching the target position, thereby avoiding overshoot and ultimately achieving high-precision and rapid positioning control.

[0026] 2. The present invention adopts a multi-level alarm mechanism to automatically adjust the alarm level according to the difference in error and time delay. Therefore, the system can handle abnormal conditions of different degrees in a timely manner to ensure that the trolley can make corresponding adjustments when deviations occur to avoid danger. At the same time, in serious abnormal situations, the system will trigger an emergency stop to ensure the safety of the trolley and the surrounding environment.

[0027] 3. The present invention avoids complex and expensive hardware modification by using the existing laser rangefinder sensor and combining it with intelligent algorithm to adjust the control power. Through software optimization and intelligent control, the system improves accuracy and stability while reducing costs, and has high economic and application value.

[0028] 4. The current position of the car is monitored in real time through a fully closed-loop positioning system, and the speed is dynamically adjusted according to the distance difference from the target position. When the car is far away from the target position, the system outputs an acceleration signal to make the car move quickly; when the car approaches the target position, the system outputs a deceleration signal in advance to achieve smooth deceleration and ensure that the car stops accurately at the target position. It effectively avoids the overshoot problem in traditional positioning methods and ensures high positioning accuracy and stability. At the same time, by decelerating in advance and optimizing the control signal, the system not only improves the positioning accuracy, but also effectively improves the movement efficiency and response speed of the car, avoiding positioning errors caused by improper acceleration and deceleration. When approaching another car, by decelerating in advance, redundant time can be reserved for system response, so it can also ensure the safety of the car and the surrounding environment in various abnormal situations. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a flow chart of the method of the present invention; Figure 2 It is a flow chart of the positioning principle of the present invention; Figure 3 is a system architecture diagram of the present invention; DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the specification of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] In order to better understand the present invention, the above contents are described in detail below in conjunction with specific embodiments. Embodiment 1: Please see attached Figure 1 and Figure 2 , an embodiment of the present invention provides a full-closed-loop position control method for an aerial vehicle, comprising the following steps: S1, obtaining target position coordinates: calling target position data through a control system; S2, real-time position feedback: use the distance detection device to measure the current position of the car, and feed back the current real-time position information to the control system; S3, calculate the required moving distance: compare the target position with the current position of the aerial vehicle to obtain the required moving distance; S4, closed-loop speed control: According to the distance difference between the real-time position and the target position, the closed-loop control algorithm is combined to output the motion speed and direction signal; S5, dynamic deceleration and stop: When the distance to the target position is far, the control system outputs an acceleration signal, and when the distance to the target position is close, the control system outputs a deceleration signal, so that the car can decelerate smoothly until it is accurately positioned; S6, data abnormality alarm: During the positioning process, if the real-time position information or system logic is abnormal, an alarm signal will be output and the car will stop immediately.

[0032] In the present invention, the fully closed-loop position control method of the aerial vehicle achieves precise positioning control through a series of steps. First, the control system obtains the target position coordinates by calling the target position data, and uses the coordinates as a reference value for the movement of the vehicle. By measuring the current position of the vehicle in real time and transmitting the feedback data to the control system, the system can accurately understand the real-time position information of the vehicle, and calculate the required distance to move based on the distance difference between the current position and the target position. Based on this information, the control system dynamically calculates and outputs appropriate movement speed and direction signals through a closed-loop control algorithm. The closed-loop control system automatically adjusts the control signal through continuous real-time feedback to ensure that the vehicle moves accurately according to the predetermined path; When the distance between the car and the target position is far, the control system outputs an acceleration signal to make the car move quickly to the target position at a higher speed; when the car approaches the target position, the system automatically adjusts the output deceleration signal according to the change in distance, thereby gradually reducing the speed of the car and making it decelerate smoothly to the target position. In the final stage, the control system ensures that the car stops at the target position accurately and correctly through precise deceleration control to avoid overshoot or deviation caused by excessive speed. The real-time position monitoring and closed-loop control algorithm in the whole process can ensure that the car always maintains the best motion state in a dynamic environment; in addition, during the positioning process, once the real-time position information or system logic is detected to be abnormal, the control system will automatically trigger an alarm signal to promptly remind the operator and automatically stop the movement of the car. Through data anomaly detection and alarm mechanism, the present invention not only improves the positioning accuracy, but also enhances the safety of the system, and can effectively deal with various possible abnormal situations, ensuring that the car is always in a controllable and safe state during operation.

[0033] The distance detection device is a SICK DL100 laser distance meter.

[0034] In the present invention, the distance detection device is a SICK DL100 laser rangefinder, which has high-precision measurement capabilities and can provide real-time feedback of the position data of the aerial vehicle. The laser rangefinder uses laser technology and has millimeter-level positioning accuracy, and can provide stable and reliable position data feedback in various complex environments. Through this high-precision real-time position measurement, the control system can accurately track the movement state of the vehicle, perform position correction and adjustment in a timely manner, thereby ensuring that the vehicle accurately runs along the predetermined path during the entire movement process; The high-frequency data acquisition and fast response characteristics of the SICK DL100 laser rangefinder enable the control system to instantly receive position information during the movement of the trolley. Whether it is at a long distance or close to the target position, the system can respond quickly to achieve closed-loop control. The device can not only provide accurate distance measurement, but also transmit data in real time during the movement of the trolley, effectively supporting dynamic acceleration and deceleration control, thereby ensuring the precise positioning and movement stability of the trolley during operation. With the support of this high-precision laser rangefinder, the present invention can provide excellent positioning performance and stability in different working environments, ensuring the successful completion of positioning tasks.

[0035] The closed-loop control algorithm calculates the speed control signal based on the distance difference between the real-time position and the target position, including: Where: v is the output speed, x target is the target position, x current is the current position, K p , K i and K d are the proportional, integral and differential coefficients of the control algorithm respectively.

[0036] In the present invention, the closed-loop control algorithm calculates and outputs a control signal based on the distance difference between the real-time position and the target position to adjust the speed and direction of the vehicle. The algorithm combines proportional, integral and differential control strategies to enable the vehicle to dynamically adjust its motion state according to the error of the target position; In addition, proportional control is used to quickly respond and adjust the speed of the car according to the error between the current position and the target position. Integral control is used to deal with long-term accumulated errors, ensuring that the system can eliminate small deviations and maintain the stability of the car near the target position. Differential control smoothly adjusts the speed to avoid oscillation and overshoot during movement, ensuring that the car decelerates smoothly and stops accurately at the target position. Therefore, the system can dynamically adjust the movement of the car under different working conditions, maintain high-precision positioning capabilities, and avoid positioning errors or oscillations caused by improper speed.

[0037] After positioning is completed, the error data, speed curve and current position of the car are stored to form a positioning history record.

[0038] In the present invention, after positioning is completed, the system automatically records and stores the error data, speed change curve and current position of the car during each positioning process. By recording these data, the system can generate detailed positioning history records for subsequent analysis and optimization. These historical data can not only help evaluate the performance of the system under different working conditions, but also provide important references for the adjustment and optimization of the algorithm. In addition, the positioning history records can also be used for fault diagnosis, help identify potential system problems, and provide timely warnings and maintenance to improve the reliability and stability of the overall system.

[0039] The alarm signals include stop driving signals, sound and light alarm signals and system status prompt information.

[0040] In the present invention, during the positioning process, when the system detects an abnormal situation, an alarm signal is immediately triggered. First, the movement of the trolley is cut off by stopping the driving signal to ensure that the trolley stops safely. At the same time, the sound and light alarm signal will warn the operator to indicate the current abnormal state of the system. In addition, the system status prompt information provides detailed fault or abnormal information through the display interface to help the operator quickly locate the problem and take corresponding measures. Through the linkage of the alarm mechanism, the present invention can respond in time when any abnormality occurs to ensure the safety of the trolley and the stability of the system.

[0041] Embodiment 2: Please see attached Figure 3 , based on Example 1 This embodiment provides a control system for implementing the above method, including: Distance detection device: used to measure the current position of the aerial vehicle in real time; Control system: including PLC control unit and closed-loop control algorithm module, used to calculate the distance difference between the target position and the current position and output the speed control signal; Driving system: used to receive speed control signals to drive the car to move; Alarm module: used to output alarm signals when data is abnormal; Data storage module: used to record key data during the positioning process of the car.

[0042] The alarm module supports a multi-level alarm mechanism. When an abnormal state occurs, different levels of alarm signals are output according to the severity. The multi-level alarm mechanism supports a three-level alarm mechanism, including: e 1 =|x target -x current |>ε 1 ,t 1 <t threshold1 Warning level 1, i.e. mild abnormality, when the error between the current position of the car and the target position is e 1Greater than the set threshold ε 1 And, when the system detects that the current time delay t 1 Less than the preset time threshold t threshold1 When , the warning level 1 signal is output; e 2 =|x target -x current |>ε 2 ,t 2 <t threshold2 Warning level 2, that is, moderate abnormality, when the error between the current position of the car and the target position is e 2 Greater than the set threshold ε 2 And, when the system detects that the current time delay t 2 Less than the preset time threshold t threshold2 When , the warning level 2 signal is output; e 3 =|x target -x current |>ε 3 ,t 3 <t threshold3 Warning level 3, that is, serious abnormality, when the error between the current position of the car and the target position is e 3 Greater than the set threshold ε 3 And, when the system detects that the current time delay t 3 Less than the preset time threshold t threshold3 When the alarm is on, the warning level 3 signal is output.

[0043] In the present invention, the alarm module supports a multi-level alarm mechanism, and outputs alarm signals of different levels according to the severity of the abnormal state. Therefore, the alarm level can be intelligently adjusted according to the real-time state of the system, thereby providing timely and accurate abnormal feedback to the operator. Specifically, the multi-level alarm mechanism supports three levels of alarm, as follows: Warning level 1 (mild abnormality): When the error between the current position of the vehicle and the target position is greater than the set threshold, and the system detects that the current time delay is less than the preset time threshold, the system will output a warning level 1 signal. At this time, the system will remind the operator to pay attention, but will not take emergency measures immediately, which usually means that the system error is within an acceptable range and may need to be adjusted or checked; Warning level 2 (moderate abnormality): When the error between the current position of the vehicle and the target position is greater than the set threshold, and the time delay is less than the preset threshold, the system will output a warning level 2 signal. At this time, the system detects that the positioning error is large, which may affect the accuracy and safety of the vehicle, and reminds the operator to take appropriate measures, such as slowing down or recalibrating, to avoid further error accumulation; Warning level 3 (serious abnormality): When the error between the current position of the car and the target position is greater than the set threshold, and the time delay exceeds the preset threshold, the system will output a warning level 3 signal. In this case, the error is large and the system response is delayed, which may lead to more serious positioning deviation or safety hazards. The system will automatically trigger an emergency stop or other protective measures to prevent further safety risks; Therefore, through the multi-level alarm mechanism, the system can automatically adjust the response mode according to different degrees of abnormality, ensuring that operators can receive timely and effective alarm information at any time and take appropriate measures to ensure the safe operation of the car.

[0044] The control system dynamically adjusts the power output signal based on the distance between the trolley and the target position and transmits it to the drive system. When the trolley is far from the target position, the control system outputs an acceleration signal to the drive system to increase the speed of the trolley; when the trolley is close to the target position, the control system outputs a deceleration signal to the drive system to reduce the speed of the trolley. The specific formula is: P=K·(d target -d current ) Where: P is the output power signal, d target is the target position, d current is the current position of the car, and K is the proportional coefficient, which is used to adjust the power.

[0045] In the present invention, the control system dynamically adjusts the power output signal based on the distance between the trolley and the target position and transmits it to the drive system. When the trolley is far from the target position, the control system outputs an acceleration signal to the drive system according to the distance difference, increasing the movement speed of the trolley to improve positioning efficiency; when the trolley approaches the target position, the control system gradually outputs a deceleration signal by calculating the distance difference to reduce the speed of the trolley, thereby ensuring smooth deceleration and precise parking at the target position. This not only improves the positioning accuracy of the trolley, but also optimizes the stability of the entire movement process, avoiding errors caused by sudden acceleration or deceleration; The power regulation in the system is calculated based on the error difference between the target position and the current position. The control system adjusts the output power through the proportional coefficient to ensure that appropriate acceleration or deceleration signals are provided at different stages, ultimately achieving accurate target positioning. This method can efficiently respond to environmental changes and changes in the state of the car, automatically adjust the power output, and ensure that the car always operates in the best condition.

[0046] The drive system includes an anti-slip design and a vibration absorbing structure to reduce the positioning error of the trolley under complex working conditions.

[0047] In the present invention, the drive system includes an anti-slip design and a vibration absorption structure, which aims to reduce the positioning error of the trolley under complex working conditions. The anti-slip design effectively reduces the slip phenomenon caused by uneven surface friction or external disturbances by optimizing the contact mechanical properties between the trolley and the ground or supporting surface, ensuring that the trolley can maintain stable traction and precise trajectory control during movement. The vibration absorption structure reduces the impact of vibration on the movement accuracy of the trolley by absorbing and isolating vibrations from the ground or the internal drive system, especially at high speeds or on uneven surfaces. It can effectively reduce deviations and errors caused by vibrations, thereby improving the overall positioning accuracy and stability of the system; Therefore, the drive system can maintain excellent performance in various complex and dynamic working environments, ensuring high precision and high stability of the trolley during positioning, and further improving the reliability of the entire system in practical applications.

[0048] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A fully closed-loop position control method for an aerial vehicle, characterized in that: The following steps are involved: S1. Obtain target position coordinates: call target position data through the control system; S2, real-time position feedback: use the distance detection device to measure the current position of the car, and feed back the current real-time position information to the control system; S3, calculate the required moving distance: compare the target position with the current position of the aerial vehicle to obtain the required moving distance; S4, closed-loop speed control: According to the distance difference between the real-time position and the target position, the closed-loop control algorithm is combined to output the motion speed and direction signal; S5, dynamic deceleration and stop: When the distance to the target position is far, the control system outputs an acceleration signal, and when the distance to the target position is close, the control system outputs a deceleration signal, so that the car can decelerate smoothly until it is accurately positioned; S6, data abnormality alarm: During the positioning process, if the real-time position information or system logic is abnormal, an alarm signal will be output and the car will stop immediately.

2. A fully closed-loop position control method for an aerial vehicle according to claim 1, characterized in that: The distance detection device is a SICK DL100 laser rangefinder.

3. A fully closed-loop position control method for an aerial vehicle according to claim 1, characterized in that: The closed-loop control algorithm calculates the speed control signal based on the distance difference between the real-time position and the target position, specifically including: Where: v is the output speed, x target is the target position, x current is the current position, K p , K i and K d are the proportional, integral and differential coefficients of the control algorithm respectively.

4. The method for controlling the position of an aerial vehicle in a fully closed loop according to claim 1, characterized in that: The method further comprises: after the positioning is completed, storing the error data, speed curve and current position of the vehicle for each positioning to form a positioning history record.

5. The method for controlling the position of an aerial vehicle in a fully closed loop according to claim 1, characterized in that: The alarm signal includes a stop driving signal, an audible and visual alarm signal, and system status prompt information.

6. A trolley full-closed-loop position control system, used to execute an aerial trolley full-closed-loop position control method as claimed in any one of claims 1 to 5, characterized in that: include: Distance detection device: used to measure the current position of the aerial vehicle in real time; Control system: including PLC control unit and closed-loop control algorithm module, used to calculate the distance difference between the target position and the current position and output the speed control signal; Driving system: used to receive speed control signals to drive the car to move; Alarm module: used to output alarm signals when data is abnormal; Data storage module: used to record key data during the positioning process of the car.

7. The fully closed-loop position control system of an aerial vehicle according to claim 6, characterized in that: The alarm module supports a multi-level alarm mechanism and outputs alarm signals of different levels according to the severity when an abnormal state occurs.

8. The fully closed-loop position control system of an aerial vehicle according to claim 7, characterized in that: The multi-level alarm mechanism supports a three-level alarm mechanism, specifically including: e1=|x target -x current |>ε1,t1 <t threshold1 Warning level 1, i.e., mild abnormality, occurs when the error e1 between the current position of the vehicle and the target position is greater than the set threshold ε1, and when the system detects that the current time delay t1 is less than the preset time threshold t threshold1 When , the warning level 1 signal is output; e2=|x target -x current |>ε2,t2<t threshold2 Warning level 2, that is, moderate abnormality, occurs when the error e2 between the current position of the car and the target position is greater than the set threshold ε2, and when the system detects that the current time delay t2 is less than the preset time threshold t threshold2 When , the warning level 2 signal is output; e3=|x target -x current |>ε3,t3<t threshold3 Warning level 3, i.e. serious abnormality, occurs when the error e3 between the current position of the vehicle and the target position is greater than the set threshold ε3, and when the system detects that the current time delay t3 is less than the preset time threshold t threshold3 When the alarm is on, the warning level 3 signal is output.

9. The fully closed-loop position control system of an aerial vehicle according to claim 1, characterized in that: The control system dynamically adjusts the power output signal based on the distance between the trolley and the target position and transmits it to the drive system. When the trolley is far from the target position, the control system outputs an acceleration signal to the drive system to increase the speed of the trolley; when the trolley is close to the target position, the control system outputs a deceleration signal to the drive system to reduce the speed of the trolley. The specific formula is: P=K·(d target -d current ) Where: P is the output power signal, d target is the target position, d current is the current position of the car, and K is the proportional coefficient, which is used to adjust the power.

10. The method and system for controlling the fully closed-loop position of an aerial vehicle according to claim 1, characterized in that: The drive system includes an anti-slip design and a vibration absorbing structure to reduce the positioning error of the trolley under complex working conditions.

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