Volumetric intelligent paper taking machine and control method thereof

Abstract

The invention relates to the technical field of automatic control, in particular to a volumetric intelligent paper taking machine and a control method thereof.A tray in the paper taking machine is pushed and controlled by a lifting lead screw, a track lead screw, a lifting motor and all track motors, and the lifting motor and any one of all the track motors are marked as a target motor; obtaining the regulation and control effectiveness of the target motor according to the inclination characteristic at the current moment and the predicted inclination characteristic of the target motor; according to the predicted inclination characteristics of the target motor and the predicted inclination characteristics of the reference motor, the auxiliary regulation and control capability of the target motor is obtained, and the regulation and control effectiveness of the motors and the auxiliary regulation and control capability are fused to obtain the regulation and control priority of the motors by using the inclination reduction amplitude after a plurality of times of regulation and control before the current moment; and regulating and controlling the motor with the maximum regulation and control priority. According to the invention, when the tray efficiently and vertically moves under the pressure of paper, the influence caused by the inclination condition or the existing inclination trend of the tray can be avoided.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, and in particular to a volumetric intelligent paper feeder and a control method thereof. Background Art

[0002] In modern office equipment, the paper dispenser is an important part of efficient printing and copying. It is designed to automatically lift the stored copy paper from the tray to the paper outlet for subsequent printing or copying operations. Usually, the paper dispenser can handle a maximum weight of 15 kg of paper stacks, which requires the equipment to have sufficient load-bearing and lifting capacity.

[0003] In order to achieve smooth lifting of paper, paper dispensers usually use a lifting mechanism driven by a screw. The lifting mechanism driven by a screw moves the nut along the axis of the screw through a rotational motion, thereby achieving the up and down movement of the paper tray. However, when the tray is tilted or tends to tilt under the weight of the paper, it may increase the resistance during the lifting process, and even cause problems such as jamming. If the up and down movement of the paper tray is directly controlled, such as using a PID control algorithm, improper control may result in the inability to restore the paper tray to a horizontal state in a timely and efficient manner and continue to lift the paper, and may even affect the service life of the paper dispenser. Although some paper dispensers can be equipped with a more stable support structure to ensure that the paper tray is level and avoid tilting, it will result in a larger paper dispenser or a smaller paper storage space. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a volumetric intelligent paper feeder and a control method thereof.

[0005] A volumetric intelligent paper dispenser and a control method thereof of the present invention adopt the following technical solutions:

[0006] An embodiment of the present invention provides a volumetric intelligent paper dispenser, comprising: a cabinet, a cabinet door, a tray for holding paper placed in the cabinet, and a paper outlet; a tray bracket is installed in the cabinet for placing the tray; a lifting screw is installed on the rear side of the cabinet, and the lifting screw is rollingly connected to the tray bracket through a lifting screw sleeve; track screws are installed on both sides of the cabinet, and the track screws are rollingly connected to the tray bracket through the track screw sleeve;

[0007] The lifting screw rod and the track screw rod are driven by the lifting motor and the track motor respectively; the rotation of the lifting motor and the track motor is driven and regulated by the controller using the PID control algorithm, and when the lifting motor rotates, the tray bracket is pushed to move through the lifting screw rod;

[0008] Among them, the diameter of the track screw is smaller than the diameter of the lifting screw. When the tray is not in a tilted state, the lifting motor is started and the track motor is not started; when there is a tilted state, both the lifting motor and the track motor are started.

[0009] An embodiment of the present invention further provides a control method for a volumetric intelligent paper dispenser, using the above-mentioned volumetric intelligent paper dispenser, the control method includes:

[0010] The lifting motor and any one of the track motors are recorded as the target motor, and the motion state of the target motor after one adjustment is obtained by using the PID control algorithm, which is recorded as the pre-adjustment state of the target motor. The motion state of all motors at the current moment, the pre-adjustment state of the target motor and the tilt characteristics at the current moment are recorded as the current adjustment characteristics of the target motor; the tilt characteristics are used to describe the tilt state of the tray;

[0011] The predicted tilt feature of the target motor is obtained according to the similarity between the current control feature and the tilt feature and motor motion state of the historical record, and the control effectiveness of the target motor is obtained according to the difference between the tilt feature at the current moment and the predicted tilt feature of the target motor;

[0012] Any motor other than the target motor is recorded as a reference motor; the motion state of the reference motor after one adjustment is obtained by using a PID control algorithm, which is recorded as a pre-adjustment state of the reference motor;

[0013] The motion states of all motors except the target motor at the current moment, the pre-adjustment state of the target motor, the pre-adjustment state of the reference motor, and the predicted tilt characteristics of the target motor are recorded as auxiliary control characteristics of the reference motor; the predicted tilt characteristics of the reference motor are obtained according to the similarity between the auxiliary control characteristics of the reference motor and the tilt characteristics of the historical records and the motion state of the motor;

[0014] Obtaining the control effectiveness of the reference motor according to the difference between the predicted tilt characteristics of the target motor and the predicted tilt characteristics of the reference motor; taking the maximum value of the control effectiveness of all reference motors as the auxiliary control capability of the target motor;

[0015] By using the tilt reduction amplitude after several adjustments before the current moment, the motor's control effectiveness and auxiliary control capability are integrated to obtain the motor's control priority, and the motor with the highest control priority is controlled.

[0016] Preferably, the specific steps of obtaining the tilt feature are as follows:

[0017] The tilt sensor is used to obtain the tilt direction and tilt angle of the pallet, and the vector formed by the tilt angles of all tilt directions is recorded as the tilt feature.

[0018] Preferably, the specific steps of acquiring the predicted tilt feature of the target motor and the predicted tilt feature of the reference motor are as follows:

[0019] Record the motion state and tilt characteristics of each motor of the paper machine at each moment in the historical working process; at each moment in the historical working process, concatenate the motion state of all motors, the motion state of the target motor after the next regulation, and the tilt characteristics at each moment to form a one-dimensional vector, which is recorded as the historical regulation characteristics of the target motor;

[0020] Calculate the similarity between the current control feature of the target motor and each historical control feature of the target motor, record the historical control feature with the greatest similarity to the current control feature as the historical similar control feature of the target motor; record the tilt feature contained in the historical similar control feature of the target motor as the predicted tilt feature of the target motor;

[0021] Calculate the similarity between the auxiliary control feature of the reference motor and each historical control feature of the target motor, and record the historical control feature with the greatest similarity to the current control feature as the historical similar control feature of the reference motor; the tilt feature contained in the historical similar control feature of the reference motor is recorded as the predicted tilt feature of the reference motor.

[0022] Preferably, the step of obtaining the control effectiveness of the target motor according to the difference between the tilt feature at the current moment and the predicted tilt feature of the target motor includes the following specific steps:

[0023] The average of the tilt angles in all directions of the tilt feature is recorded as the average tilt amplitude of the tilt feature; the difference between the average tilt amplitude of the tilt feature at the current moment and the average tilt amplitude of the predicted tilt feature of the target motor is recorded as the control effectiveness of the target motor.

[0024] Preferably, the specific steps for obtaining the tilt reduction amplitude are as follows:

[0025] The tilt features obtained from several control processes before the current moment constitute a tilt feature sequence. For two adjacent tilt features in the tilt feature sequence, the difference between the average tilt amplitude of the latter tilt feature and the average tilt amplitude of the previous tilt feature is recorded as the tilt amplitude change of the two adjacent tilt features. The mean value h of the tilt amplitude change between all adjacent tilt features in the tilt feature sequence is obtained, and 2h / π is recorded as the tilt reduction amplitude.

[0026] Preferably, the control priority of the motor is obtained by integrating the control effectiveness of the motor with the auxiliary control capability by using the tilt reduction amplitude after several controls before the current moment, and the specific formula included is as follows:

[0027] k×a+(1-k)×b is recorded as the motor control priority, where a represents the motor control effectiveness, b represents the motor auxiliary control capability, and k represents the motor motion error interference factor;

[0028] The motor motion error interference factor is obtained by the tilt reduction amplitude, the similarity between the historical similar control characteristics of the target motor and the current control characteristics of the target motor, and the similarity between the auxiliary control characteristics of the reference motor and the historical similar control characteristics of the reference motor.

[0029] Preferably, the specific steps of obtaining the motor motion error interference factor are as follows:

[0030] The similarity between the historical similar regulation features of the target motor and the current regulation features of the target motor is recorded as f1, and the similarity between the auxiliary regulation features of the reference motor and the historical similar regulation features of the reference motor is recorded as f2;

[0031] Let F = exp(-(f1+f2) / 2) be recorded as the predicted tilt characteristic error, and the motor motion error interference factor k = exp(-x)-w×F; x represents the tilt reduction amplitude, w represents the attention coefficient of the predicted tilt characteristic error, and exp() represents an exponential function with a natural constant as the base; the attention coefficient of the predicted tilt characteristic error is obtained based on the control order of the motor in several controls before the current moment.

[0032] Preferably, the specific steps of obtaining the attention coefficient of the predicted tilt feature error are as follows:

[0033] For the t-th regulation process among several regulation processes before the current moment, the t+1-th regulation process represents the next regulation process of the t-th regulation process; the motor regulated in the t-th regulation process is recorded as motor A; for reference motors other than motor A, the reference motor with the greatest regulation effectiveness is recorded as motor B; when the motor regulated in the t+1-th regulation process is motor B, the attention degree of the t-th reference motor is recorded as 1; when the motor regulated in the t+1-th regulation process is not motor B, the attention degree of the t-th reference motor is recorded as 0;

[0034] The attention coefficient of the predicted tilt feature error is negatively correlated with the reference motor attention in several regulation processes before the current moment.

[0035] Preferably, the specific steps of obtaining the attention coefficient of the predicted tilt feature error are as follows:

[0036] The mean value m of the reference motor attention in several control processes before the current moment is obtained, and exp(-m) is used as the attention coefficient for predicting the tilt feature error.

[0037] The beneficial effects of the technical solution of the present invention are:

[0038] A lifting screw is installed on the rear side of the cabinet of the present invention, and track screws are installed on both sides of the cabinet respectively. The lifting screw and the track screw are independently driven by the lifting motor and the track motor respectively; the lifting screw plays the role of a push rod for lifting the tray, and the track screw is used to start the track guiding function to prevent the tray from tipping over. At the same time, the diameter of the track screw is smaller than the diameter of the lifting screw, so that the tray has a larger holding space, and the paper machine has the characteristics of small size and compact structure. When there is no tilting state, the lifting motor is started and the track motor is not started. The purpose is to prevent the track screw with a smaller diameter from bearing a large load pressure; when there is a tilting state, both the lifting motor and the track motor are started, which can ensure that the tray returns to a horizontal state when moving up and down.

[0039] Furthermore, the present invention provides a volumetric intelligent paper feeder control method to further ensure that when there is a tilt state, the lifting motor and the track motor can be regulated in a reasonable order to improve the working efficiency of the paper feeder. In this method, the control effectiveness of the target motor is first obtained to describe the ability of the target motor to alleviate the tilt situation after regulation; then the control effectiveness of the reference motor is obtained to describe the ability of each other motor to alleviate the tilt situation after regulation after the target motor is regulated, and further the auxiliary control ability of the target motor is obtained to describe the ability of other motors to alleviate the tilt situation when they cooperate with further adjustments after the target motor is regulated. Finally, according to the previous control process and using the control effectiveness and auxiliary control ability of the target motor, the control priority of the target point is obtained, and the motor with the highest control priority is used as the motor that needs to be controlled at the current moment. On the one hand, this process allows the lifting motor and the track motor to be controlled in an appropriate control order, so that the tray can eliminate the impact of the tilt as much as possible on the basis of moving up and down, so that the tray can remain level under the heavy pressure of paper, thereby improving the working efficiency of the paper feeder and extending its service life. On the other hand, it can avoid the problem of inaccurate control priority caused by error interference in the control process. This problem of inaccurate control priority will make the control coordination process of the lifting motor and the track motor unreasonable, affecting the working process of the paper feeder. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1It is a schematic diagram of the first axis side structure of a volumetric intelligent paper feeding machine provided by one embodiment of the present invention;

[0042] Figure 2 It is a front cross-sectional structural schematic diagram of a volumetric intelligent paper dispenser provided by an embodiment of the present invention;

[0043] Figure 3 It is a schematic diagram of a side cross-sectional structure of a volumetric intelligent paper dispenser provided by an embodiment of the present invention;

[0044] Figure 4 It is a schematic diagram of a top cross-sectional structure of a volumetric intelligent paper dispenser provided by an embodiment of the present invention;

[0045] Figure 5 It is a schematic diagram of a tray support structure of a volumetric intelligent paper dispenser provided by an embodiment of the present invention;

[0046] Figure 6 It is a step flow chart of a volumetric intelligent paper feeder control method provided by an embodiment of the present invention.

[0047] The following are the descriptions of the reference numerals:

[0048] 1. Cabinet body; 2. Cabinet door; 3. Paper; 4. Paper outlet; 5. Tray; 6. Tray bracket; 7. Display screen; 8. Lifting screw; 9. Track screw; 10. Lifting motor; 11. Track motor; 12. Lifting screw sleeve; 13. Track screw sleeve; 14. Controller; 15. Paper adsorption mechanism; 16. Track protection block; 17. Scanning control. DETAILED DESCRIPTION

[0049] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of a volumetric intelligent paper dispenser and its control method proposed by the present invention, its specific implementation method, structure, features and effects, in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0050] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0051] The specific scheme of a volumetric intelligent paper feeder and a control method thereof provided by the present invention is described in detail below with reference to the accompanying drawings.

[0052] Embodiment 1:

[0053] See also Figures 1 to 5 , which shows a volumetric intelligent paper dispenser provided in this embodiment, the paper dispenser specifically comprises: a cabinet 1, a cabinet door 2, paper 3, a paper outlet 4, and a display screen 7. The paper 3 is formed by stacking a plurality of single sheets of paper and is placed on a tray 5 inside the cabinet 1. The paper outlet 4 is used to take out the paper 3 in the cabinet 1. The display screen 7 is a touch screen, which is used to display the number of remaining sheets of paper and to interact with the user.

[0054] In addition, the cabinet 1 further includes a tray support 6, a lifting screw 8 and a track screw 9. The tray support 6 is used to place the tray 5; the lifting screw 8 and the track screw 9 are used to realize the rise and fall of the tray support 6.

[0055] Specifically, the upper ends of the lifting screw rod 8 and the track screw rod 9 are rollingly connected to the cabinet 1, that is, the lifting screw rod 8 and the track screw rod 9 can rotate around their own central axis in the cabinet 1. The lower ends of the lifting screw rod 8 and the track screw rod 9 are respectively fixedly connected to the rotating shafts of the lifting motor 10 and the track motor 11, and the lifting motor 10 and the track motor 11 can drive the lifting screw rod 8 and the track screw rod 9 to rotate when they are started; wherein the lifting motor 10 and the track motor 11 are fixed at the bottom of the cabinet 1.

[0056] Furthermore, the lifting screw 8 passes through the lifting screw sleeve 12, and the track screw 9 passes through the track screw sleeve 13; the lifting screw sleeve 12 and the track screw sleeve 13 are fixed on the tray bracket 6, and the inner walls of the lifting screw sleeve 12 and the track screw sleeve 13 have internal threads that are engaged with the external threads of the lifting screw 8 and the track screw 9.

[0057] like Figures 2 to 4 In this embodiment, the lifting screw 8, the lifting screw sleeve 12 and the lifting motor 10 are on the rear side of the cabinet 1. There is a set of track screws 9, track screw sleeves 13 and track motors 11 on the left and right sides of the cabinet 1. When the lifting motor 10 is started, it drives the lifting screw 8 to rotate, and the rotation of the lifting screw 8 pushes the tray bracket 6 to move up and down. When the lifting motor 10 is started, the track motor 11 will not start actively. When the track motor 11 is not started, the track screw 9 can rotate freely, that is, when the lifting motor 10 pushes the tray bracket 6 to move up and down, the lifting screw 8 will rotate with the up and down movement of the tray bracket 6. At this time, the lifting motor 10 and the lifting screw 8 provide the tray bracket 6 with power to move up and down. The track motor 11 and the track screw 9 are regarded as a pair of guide rails, which provide auxiliary rail guidance for the up and down movement of the tray bracket 6 to avoid rollover.

[0058] The tray support 6 drives the tray 5 and the paper 3 to move when it moves up and down. Since the weight of the paper 3 is relatively large, and the maximum weight of the paper 3 in this embodiment is 15.3 kg, the tray support 6 may tilt or tend to tilt when it moves up and down, and even cause the lifting screw 8 to get stuck. In this embodiment, when the tilt occurs, the track motor 11 is started, and the started track motor 11 drives the track screw 9 to rotate, so as to restore the tray support 6 to a horizontal state, so as to avoid the tilt of the tray support 6 carrying heavier paper 3 during movement. This tilt makes the movement of the tray support 6 unstable on the one hand, and on the other hand, it will compress the lifting screw 8 and the track screw 9, thereby affecting the service life of the paper dispenser.

[0059] When the tray support 6 returns to the horizontal state, the track motor 11 stops starting.

[0060] In this embodiment, the lifting screw 8 and the lifting motor 10 are the power sources for the up and down movement of the tray bracket 6, so the diameter of the lifting screw 8 is relatively large; the track screw 9 plays an auxiliary role for the up and down movement of the tray bracket 6 (such as track guiding and horizontal recovery), and its diameter is relatively small. At the same time, when the diameter of the track screw 9 is relatively small, it can provide a larger space for the tray 5 to hold the paper 3, or in other words, the diameter of the track screw 9 in this embodiment is relatively small, which can ensure that the paper feeding machine has the characteristics of small size and compact structure. In this embodiment, the diameter of the track screw 9 is half of the diameter of the lifting screw 8.

[0061] It should also be noted that when the lifting motor 10 is started, the track motor 11 is not started. At this time, the lifting motor 10 drives the tray bracket 6 to move up and down, and the track screw 9 also rotates accordingly. At this time, the track motor 11 also rotates passively. The reason why the track motor 11 is not started when the lifting motor 10 is started is to avoid the track motor 11 and the track screw 9 having a large load pressure, which will damage the threads on the track screw 9 and the track motor 11.

[0062] The working principle of the paper feeding machine in this embodiment is:

[0063] The cabinet door 2 is opened, and the paper 3 is placed in the tray 5, and the cabinet door 2 is closed. When the user takes out the paper from the paper outlet 4, the controller 14 starts the lifting motor 10, and the lifting motor 10 drives the tray support 6 to move upward. When the uppermost layer of the paper 3 reaches the paper outlet 4, the user can continue to take out the paper, and the display screen 7 displays the mass percentage of the paper 3, which represents the ratio of the weight of the paper 3 to the maximum load weight of the paper 3 in the paper dispenser.

[0064] When the mass percentage of the paper 3 is equal to 0, the paper 3 is re-inserted. In other embodiments, the paper 3 may also be re-inserted when the mass percentage is less than a preset percentage (for example, less than 5%).

[0065] The working process of re-inserting the paper 3 includes: the controller 14 starts the lifting motor 10, the lifting motor 10 drives the tray bracket 6 to move downward, and when the tray bracket 6 moves to the bottom, the electronic lock of the cabinet door 2 is automatically opened, and the user manually opens the cabinet door 2 and puts the paper 3 into the tray 5. After the user re-locks the cabinet door 2 and the mass percentage of the paper 3 is greater than 0 or greater than or equal to the preset percentage, the controller 14 starts the lifting motor 10, and the lifting motor 10 drives the tray bracket 6 to move upward, so that the uppermost layer of the paper 3 reaches the paper outlet 4, so that the user can continue to take out the paper.

[0066] It should be noted that the up and down movement of the tray bracket 6 is controlled by a volumetric intelligent paper feeder control method running in the controller 14. In addition to controlling the up and down movement of the tray bracket 6, this control method can also restore the tray 5 to a horizontal state when it is tilted, thereby improving the operating efficiency of the tray 5 in the paper feeder during vertical operation (especially when the diameter of the lifting screw 8 is much smaller than the diameter of the track screw 9, this control method can greatly increase its operating efficiency and service life).

[0067] In other embodiments, the paper dispenser further includes a track protection block 16 for stabilizing the track screw rod 9 and allowing a gap to exist between the tray support 6 and the cabinet 1 to avoid paper jams.

[0068] In addition, Figure 2 , 3 As shown, the paper feeder is respectively installed with scanning controls 17 at the upper and lower ends. The scanning control 17 is a laser transmitter. A laser receiver is installed on the opposite side of the laser transmitter. The laser signal emitted by the laser transmitter can be received by the laser receiver. When the laser receiver receives the laser signal, the paper feeder works normally. During normal operation, if the tray support 6 lifts the paper 3 and moves upward, when the paper 3 blocks the laser signal emitted by the scanning control 17 above, the laser receiver above cannot receive the laser signal, and the controller 14 no longer controls the tray support 6 to move upward, but can only move downward. If part of the paper 3 is taken out and the laser receiver can receive the laser signal again, the controller 14 can allow the tray support 6 to move upward.

[0069] If the tray support 6 moves downward, when the tray support 6 blocks the laser signal emitted by the scanning control 17 below, the laser receiver below cannot receive the laser signal, and the controller 14 no longer controls the tray support 6 to move downward. After the paper 3 is put back in and the cabinet door 2 is locked again, and the mass percentage of the paper 3 is greater than 0 or greater than or equal to the preset percentage, the controller 14 is allowed to control the tray support 6 to move upward. The scanning control 17 in this embodiment is used to prevent the tray support 6 from exceeding the maximum movable limit or the tray support 6 from derailing when moving up and down.

[0070] In addition, the cabinet door 2 in this embodiment is as Figure 1 , Figure 3 As shown, the cabinet door 2 can be folded up and down. Figure 1 The closed state of the cabinet door 2 is shown in FIG. Figure 3 The cabinet door 2 is shown in an open state.

[0071] Embodiment 2:

[0072] This embodiment provides a volumetric intelligent paper dispenser control method, such as Figure 6 As shown, the method utilizes a volumetric intelligent paper dispenser provided in the first embodiment, and the method includes the following steps:

[0073] Step S001: Use the PID algorithm to control the movement of the lifting motor and the track motor, and obtain the tilt characteristics of the tray during the movement.

[0074] The top of the cabinet 1 in this embodiment also includes a distance sensor for measuring the vertical distance between the top of the paper 3 and the top of the cabinet 1. The distance minus the vertical distance between the paper outlet 4 and the top of the cabinet 1 is equal to the distance between the top of the paper 3 and the paper outlet 4. In this embodiment, when taking paper, it is necessary to control the lifting motor 10 so that the distance between the top of the paper 3 and the paper outlet 4 is 0. When paper needs to be loaded, it is necessary to control the lifting motor 10 to move the tray bracket 6 down to the bottom of the cabinet 1 so that the distance between the top of the paper 3 and the paper outlet 4 reaches the maximum value.

[0075] In this embodiment, the lifting motor 10 is controlled by using a PID algorithm.

[0076] In addition, the tilt feature describes the tilt or tilt tendency of the tray 5 when the tray 5 moves up and down following the tray bracket 6. The reason for the tilt feature is that under the gravity of the paper 3, the tray bracket 6 compresses the lifting screw 8 and the track screw 9. This compression phenomenon affects the up and down movement of the tray bracket 6, so that when the external threads of the lifting screw 8 and the track screw 9 are engaged with the internal threads of the lifting screw sleeve 12 and the track screw sleeve 13, there is additional load pressure, which can cause the movement of the tray bracket 6 to be non-smooth, asynchronous, and vibrating. In severe cases, the threads are damaged, the movement is jammed, and even the lifting screw 8 and the track screw 9 are deformed, and finally a tilt occurs. The occurrence of a tilt will reduce the service life of the paper dispenser.

[0077] As an example, the method for obtaining the tilt feature includes:

[0078] A tilt sensor is installed at the bottom of the tray 5 to obtain the tilt direction and tilt angle of the tray 5 in real time. In this embodiment, the vector formed by the tilt angles in all directions is recorded as a tilt feature, and all directions refer to the horizontal and vertical directions of the tray 5 in a top-down perspective.

[0079] In other examples, a gyroscope or an inertial measurement unit (IMU) is used to obtain the tilt direction and tilt angle of the tray 5 .

[0080] When there is a tilt feature, the present embodiment starts the track motor 11. After the track motor 11 is started, the PID algorithm is used to control its rotation so that the tray 5 returns to a horizontal state.

[0081] Step S002: Control the lifting motor and the track motor according to the tilt characteristics at the current moment.

[0082] For the sake of convenience, when the paper machine is working, when the tray support 6 is at the lowest end and the tray 5 is in a horizontal state without paper, the motion state of the lifting motor 10 is recorded as 0. On this basis, every time the lifting motor 10 actively rotates N circles, the motion state of the lifting motor 10 is recorded as N, where N is an arbitrary real number (N is greater than 0 when rotating counterclockwise, and N is less than 0 when rotating clockwise). When there is a tilt, the track motor 11 starts to start, and its motion state at the start is recorded as 0. After that, every time the track motor 11 actively rotates N circles (note that the number of circles generated when the track motor 11 passively rotates as the tray support 6 moves up and down is not considered as a motion state), the motion state of the track motor 11 is recorded as N. When the tray 5 is in a horizontal state, the motion state of the track motor 11 is reset to 0.

[0083] When the paper dispenser is working, for any motor among the lifting motor 10 and all the track motors 11, the motion state of each motor at each moment, the distance between the top of the paper 3 and the paper outlet 4 (abbreviated as the paper outlet distance), the weight of the paper 3 (abbreviated as the paper weight) and the tilt characteristics are recorded in real time. In this embodiment, every 0.5 seconds is a moment.

[0084] As an optional example, a method for determining whether a tilt condition exists is:

[0085] When the tilt angle in the tilt feature is greater than 2 degrees, it is determined that a tilt condition exists.

[0086] As another optional example, a method for determining whether a tilt condition exists is:

[0087] During the time period of each startup of the lifting motor 10, the change rate of the paper outlet distance (that is, the absolute value of the difference in the paper outlet distance at adjacent moments) is obtained in real time. When the frequency of the change rate equal to 0 among all the change rates is greater than the preset frequency threshold (for example, greater than 0.1), it is determined that there is a tilt.

[0088] As a preferred example, the method for determining whether there is a tilt condition is:

[0089] When any one of the above two optional examples satisfies the judgment conditions, it is determined that a tilt situation exists.

[0090] As an example, a method for determining that there is no tilt is:

[0091] When the tilt angles in the tilt feature are all equal to 0 degrees, it is determined that there is no tilt.

[0092] The process of controlling the lifting motor 10 using the PID control algorithm includes: recording the paper outlet distance at the current moment as the initial distance a, and recording the final required paper outlet distance as the target distance b (for example, when performing a paper picking operation, the target distance b is 0; when filling paper, the target distance b is: the maximum distance between the top of the paper 3 and the paper outlet 4 when the tray bracket 6 reaches the bottom).

[0093] First, the error (i.e., the difference) between b and a is calculated. This error value is the basis for the PID control algorithm to calculate the output. The proportional control part of the PID control algorithm directly adjusts the drive signal of the lifting motor 10 (i.e., controls the rotation of the lifting motor 10) according to the current error. The larger the error, the greater the adjustment force, so that the position deviation can be responded to quickly. The integral control part of the PID control algorithm processes the accumulation of errors over time. It is used to eliminate the steady-state error of the system and ensure that the paper 3 can accurately reach the target position b. By considering the cumulative effect of the error, the integral control can fine-tune the system when the error is zero. The differential control part of the PID control algorithm is adjusted according to the speed of error change. It predicts the future trend of the error and pre-adjusts the lifting motor 10 to improve the response speed and stability and reduce overshoot and oscillation. The PID controller adds the calculation results of the proportional, integral and differential parts to generate a comprehensive control signal to drive the lifting motor 10 to rotate, thereby driving the tray 5 to move. The paper exit distance is obtained in real time (i.e., real-time update of a), and the error value is updated in real time, and the control signal is recalculated according to the new error. This cycle continues until the top of the paper 3 is stabilized at the target position b.

[0094] The above process included in the PID control algorithm is well known and will not be described in detail in this embodiment. The above process is a cyclic process, and the motion state of the lifting motor 10 can be changed once (or the lifting motor 10 is regulated once) after each cycle. After the motion state of the lifting motor 10 is changed multiple times (or the lifting motor 10 is regulated multiple times), the top of the paper 3 is stabilized at the target position b.

[0095] However, during the above control process, when the tray 5 is tilted, if the motion state of the lifting motor 10 continues to change, the tilt state may become serious or even get stuck.

[0096] A feasible method to solve this problem is: when a tilt occurs, start the track motor 11, and use the PID algorithm to control the rotation of the track motor 11 (the two track motors 11 are controlled synchronously). The control method is the same as that of the lifting motor 10. The control is also a cyclic and continuous process. The motion state of the track motor 11 can be changed once after each cycle (or the track motor 11 is adjusted once). After changing the motion state of the track motor 11 multiple times, the tray 5 is restored to a horizontal state (that is, the tilt angle in the tilt feature is equal to 0 degrees). However, the problem with this method is that the track motor 11 must be adjusted multiple times after each adjustment of the lifting motor 10, resulting in low working efficiency of the paper feeder. For example, when a tilt occurs, it is necessary to wait for a longer time to make the initial distance a equal to the target position b.

[0097] Another method is: when a tilt occurs, the PID control algorithm is used to adjust the track motor 11 once, then the lifting motor 10 is adjusted once, and then the track motor 11 is adjusted once again, and so on, and the lifting motor 10 and the track motor 11 are adjusted alternately. Although this method can improve the working efficiency of the paper feeding machine, if the track motor 11 or the lifting motor 10 changes the motion state, the change of the motion state is inappropriate (for example, due to overshoot or insufficient adjustment force of the PID control algorithm, the next time the motion state of the lifting motor 10 or the track motor 11 is adjusted, the tray may still be in a more serious tilt state or tilt trend).

[0098] Therefore, it is necessary to reasonably control the movement state regulation sequence of the lifting motor 10 and the track motor 11 according to the tilt characteristics at the current moment, so that the paper feeding machine can operate efficiently and stably.

[0099] Step S201 : obtaining a predicted tilt feature of a target motor according to the tilt feature, and obtaining control effectiveness of the target motor according to a difference between the tilt feature at a current moment and the predicted tilt feature of the target motor.

[0100] It should be noted that the control parameters (including proportion P, integral I, differential D) in the above-mentioned PID control algorithm are pre-set, and the setting method is well known, so this embodiment will not be described in detail. For the lifting motor 10 and any one of all the track motors 11, when the control parameters are known and the initial state is known (including the motion state of the motor at the current moment, the paper outlet distance at the current moment, and the tilt characteristics at the current moment), without considering the motion error of the controller 14 when controlling the motor, the change curve of the motion state of the motor under the control of the PID control algorithm is known or predictable, that is, the PID control algorithm can be used to obtain the next motion state of the motor (the specific acquisition method is a well-known technology in the PID control algorithm, and this embodiment will not be described in detail).

[0101] For any one of the lifting motors 10 and all the track motors 11, it is recorded as the target motor. At the current moment, the PID algorithm is used to obtain the motion state of the target motor after one adjustment, which is recorded as the pre-adjustment state of the target motor. Note that after the pre-adjustment state is calculated, the motion state of the target motor is not adjusted. The motion state of all motors at the current moment, the pre-adjustment state of the target motor, and the tilt characteristics at the current moment are spliced ​​to form a one-dimensional vector, which is recorded as the current adjustment feature of the target motor.

[0102] The above records the motion state and tilt characteristics of each motor at each moment in the historical working process of the paper machine. At each moment in the historical process, the motion state of all motors, the motion state of the target motor after the next regulation, and the tilt characteristics at each moment are concatenated to form a one-dimensional vector, which is recorded as the historical regulation characteristics of the target motor.

[0103] The control effectiveness of the target motor is obtained according to the current control characteristics of the target motor and all the historical control characteristics of the target motor. The control effectiveness is used to describe whether the target motor can effectively reduce the tilt after being controlled by the PID control algorithm at the current moment. The greater the control effectiveness, the more the tilt can be reduced.

[0104] As an example, the method for obtaining the control effectiveness of the target motor includes:

[0105] Calculate the similarity between the current control feature of the target motor and each historical control feature of the target motor, and record the historical control feature with the greatest similarity to the current control feature as the historical similar control feature of the target motor; the tilt feature corresponding to the historical similar control feature is recorded as the predicted tilt feature of the target motor after being controlled by the PID control algorithm, which is simply recorded as the predicted tilt feature of the target motor;

[0106] The average value of the tilt angles in all directions of the tilt feature is recorded as the average tilt amplitude of the tilt feature.

[0107] The difference between the average tilt amplitude of the tilt feature at the current moment and the average tilt amplitude of the predicted tilt feature of the target motor is recorded as the control effectiveness of the target motor.

[0108] As an example, the similarity between the current control feature and the historical control feature is equal to the cosine similarity between the current control feature and the historical control feature.

[0109] Step S202, obtaining the predicted tilt feature of the reference motor according to the tilt feature, and obtaining the control effectiveness of the reference motor according to the difference between the predicted tilt feature of the target motor and the predicted tilt feature of the reference motor; and taking the maximum value of the control effectiveness of all reference motors as the auxiliary control capability of the target motor.

[0110] Any motor other than the target motor is recorded as a reference motor; the motion state of the reference motor after one adjustment is obtained using a PID algorithm, which is recorded as the pre-adjustment state of the reference motor.

[0111] The motion states of all motors except the target motor at the current moment, the pre-adjustment state of the target motor, the pre-adjustment state of the reference motor, and the predicted tilt feature of the target motor are also concatenated to form a one-dimensional vector, which is recorded as the auxiliary control feature of the reference motor.

[0112] The control effectiveness of the reference motor is obtained based on the similarity between the auxiliary control characteristics of the reference motor and the historical control characteristics. This process is similar to the method for obtaining the control effectiveness of the target motor, and specifically includes:

[0113] Calculate the similarity between the auxiliary control feature of the reference motor and each historical control feature of the target motor, and record the historical control feature with the greatest similarity to the auxiliary control feature of the reference motor as the historical similar control feature of the reference motor; the tilt feature corresponding to the historical similar control feature is recorded as the predicted tilt feature of the reference motor; the predicted tilt feature of the reference motor describes the predicted tilt feature that exists after the reference motor is regulated once based on the target motor being regulated once.

[0114] The difference between the average tilt amplitude of the predicted tilt feature of the target motor and the average tilt amplitude of the predicted tilt feature of the reference motor is recorded as the control effectiveness of the reference motor. The greater the control effectiveness of the reference motor, the less tilt the reference motor can achieve after the target motor is controlled once.

[0115] The maximum value of the control effectiveness of all reference motors is taken as the auxiliary control capability of all motors other than the target motor, which is simply referred to as the auxiliary control capability of the target motor.

[0116] The auxiliary control capability of the target motor describes whether other motors (i.e., the reference motor) can further alleviate the tilting condition on this basis after the target motor is regulated (i.e., after the motion state of the target motor is changed once using the PID control algorithm). The greater the auxiliary control capability of the target motor, it means that after the target motor is regulated, other motors can still be further adjusted to further alleviate the tilting condition; the smaller the auxiliary control capability of the target motor, it means that after the target motor is regulated, when other motors are adjusted on this basis, it cannot guarantee that the tilting condition will be further alleviated.

[0117] Step S203, obtaining the tilt reduction amplitude after several adjustments before the current moment, integrating the motor's control effectiveness and auxiliary control capability according to the tilt reduction amplitude to obtain the motor's control priority, and taking the motor with the highest control priority as the motor that needs to be adjusted at the current moment.

[0118] For any motor among the lifting motor 10 and all the track motors 11, the control priority of the motor is obtained according to the control effectiveness and auxiliary control capability of the motor.

[0119] In one embodiment, the control priority of the motor is obtained according to the control effectiveness and auxiliary control capability of the motor, including the following method:

[0120] The average of the control effectiveness and the auxiliary control capability of the target motor is recorded as the control priority of the target motor.

[0121] Similarly, the control priorities of all motors are obtained. Then, at the current moment, the motor with the highest control priority is controlled by the PID control algorithm (that is, the rotation of the motor is controlled by the PID control algorithm), and other motors are not controlled at the current moment.

[0122] The moment after the regulation is recorded as the current moment again, and the method of steps S201 to S203 is reused to obtain the regulation priority of the target motor at the current moment, and the PID control algorithm is used again to regulate the motor with the highest regulation priority, and so on, until the tilt situation no longer exists.

[0123] When the tilting situation does not exist, the lifting motor 10 works under the control of the PID control algorithm, and the track motor 11 no longer rotates actively, but rotates passively with the up and down movement of the tray support 6. When the tilting situation occurs again, the control priority of the motor is calculated again according to the method of steps S201 to S203, and the motor with the highest control priority is controlled.

[0124] This embodiment takes into account the control effectiveness and auxiliary control ability of the motor at the same time. On the one hand, it ensures that the motor can significantly reduce the tilt after adjustment, so that the tray 5 can remain horizontal under the heavy pressure of the paper 3; on the other hand, it ensures that other motors in the future can continue to further alleviate the tilt; thereby, the entire motor control process of the paper feeder when working can be adjusted in a reasonable order, thereby improving its working efficiency while avoiding the tilt that damages the service life of the paper feeder as much as possible.

[0125] However, the problems with this embodiment are:

[0126] The control effectiveness and auxiliary control capability of the above-mentioned target motor are calculated based on the pre-adjustment state and predicted tilt characteristics of the target motor, as well as the pre-adjustment state and predicted tilt characteristics of the reference motor. For the case where the motion error of the controller 14 when controlling the motor is not considered, and when the predicted tilt characteristics are relatively reliable, the control priority obtained by the above-mentioned calculation process is reliable and accurate. However, on the one hand, the motor often has a control error under the control of the controller 14, especially when there is a tilt situation, the possible jamming situation or jamming trend will amplify this control error, resulting in an error in the pre-adjustment state of the target motor and the reference motor. On the other hand, the predicted tilt characteristics obtained above may not accurately reflect the actual tilt situation after the motor is regulated; on the basis of the above two aspects, considering that the pre-adjustment state and predicted tilt characteristics of the reference motor are obtained on the basis of the pre-adjustment state and predicted tilt characteristics of the target motor, the pre-adjustment state and predicted tilt characteristics of the reference motor may have non-negligible errors. Ultimately, the above-mentioned control priority calculation result may be unreliable (for example, after the paper machine has been working for a long time, the more obvious the error caused by the motor movement, the more unreliable the control priority calculation result may be). Ultimately, the paper machine cannot be guaranteed to work efficiently for a long time.

[0127] As another embodiment, the control priority of the motor is obtained according to the control effectiveness and auxiliary control capability of the motor, including the following method:

[0128] Obtain the tilt reduction amplitude after Q times of regulation before the current moment. It should be noted that the regulation process before the current moment can be regulated according to the process described in the first embodiment of this step, or can be regulated according to the subsequent process of this embodiment.

[0129] It should be further explained that the Q times of regulation before the current moment refers to: for a period of time from the last time it was determined that there was a tilt to the current moment, the Q times of regulation before the current moment included in the period of time. In particular, if there are less than Q times of regulation before the current moment, only all the times of regulation processes within the period of time from the last time it was determined that there was a tilt to the current moment are considered.

[0130] This embodiment is described by taking Q=5 as an example. In other embodiments, Q may be set to other values, which are not specifically limited in this embodiment.

[0131] The tilt reduction amplitude describes whether there is a situation where the tilt amplitude is weakened in the Q-time control process before the current moment. The smaller the tilt reduction amplitude, the more feasible the previous control process is and the tilt situation can be eliminated to a great extent. The larger the tilt reduction amplitude, the more infeasible the previous control process is and the less likely it is to effectively reduce the tilt situation. The reason why the tilt reduction amplitude is large is that the previous control process has a control error. For example, when calculating the control effectiveness and auxiliary control ability of the motor, on the one hand, the control error of the motor under the control of the controller 14 is not considered (especially the error caused by the movement of the motor when the tray 5 or the tray bracket 6 is tilted). These errors lead to errors in the pre-adjustment state of the target motor and the pre-adjustment state of the reference motor. On the other hand, during the control process, there are errors in the predicted tilt characteristics of the target motor adjustment and the predicted tilt characteristics of the reference motor, especially the pre-adjustment state and predicted tilt characteristics of the reference motor are calculated based on the pre-adjustment state and predicted tilt characteristics of the target motor adjustment, resulting in the pre-adjustment state of the reference motor, the predicted tilt characteristics, and the auxiliary control ability calculated above having non-negligible error interference.

[0132] This embodiment, based on the combination of the control effectiveness and the auxiliary control capability of the motor, uses the tilt reduction amplitude to further calculate the control priority, so as to further reduce the interference of the non-negligible error.

[0133] As an example, the calculation method of the tilt reduction amplitude includes:

[0134] For the Q regulation processes before the current moment, the tilt features after Q regulation constitute a tilt feature sequence. For two adjacent tilt features in the tilt feature sequence, the average of the tilt angles in all directions included in the tilt feature is recorded as the average tilt amplitude of the tilt feature, and the difference between the average tilt amplitude of the latter tilt feature and the average tilt amplitude of the former tilt feature is recorded as the tilt amplitude change of the two adjacent tilt features. The tilt amplitude change between all adjacent tilt features in the tilt feature sequence is obtained, the average of all tilt amplitude changes is recorded as h, and 2h / π is recorded as the tilt reduction amplitude, where h=1 when h is less than 0.

[0135] As an example, based on the control effectiveness and auxiliary control capability of the motor, the tilt reduction amplitude is used to further calculate the control priority, including the following methods:

[0136] The tilt reduction amplitude is used to evaluate the interference of the motor motion error on the motor motion state when the PID control algorithm is used to control the motor. This interference is recorded as the motor motion error interference factor k.

[0137] In this example, k×a+(1-k)×b is recorded as the motor control priority. Among them, a represents the control effectiveness of the motor, and b represents the auxiliary control capability of the motor. The larger the motor motion error interference factor k is, the greater the error interference is when the motor is controlled using the control priority calculated above, especially the pre-adjustment state and predicted tilt characteristics of the reference motor are calculated based on the pre-adjustment state and predicted tilt characteristics of the target motor, resulting in the auxiliary control capability calculated above having non-negligible error interference, that is, other motors other than the target motor (that is, the reference motor) may introduce significant error interference during auxiliary control. At this time, more attention should be paid to the control effectiveness of the motor when calculating the control priority to avoid the problem of introducing too much error interference when over-considering the auxiliary control capability.

[0138] As an optional example, the motor motion error interference factor k is obtained by: let k = exp(-x), where x represents the tilt reduction amplitude; exp() represents an exponential function with a natural constant as the base. The smaller the tilt reduction amplitude, the less obvious the tilt is in the previous control process, which further indicates that the motor motion error interference factor k is larger in the previous control process.

[0139] As a preferred example, the method for obtaining the motor motion error interference factor k is:

[0140] According to steps S201 and S202, a current control feature and a historical similar control feature are obtained for the target motor at the current moment, and the similarity f1 between the historical similar control feature of the target motor and the current control feature of the target motor is obtained. Similarly, an auxiliary control feature and a historical similar control feature are obtained for the reference motor, and the similarity f2 between the auxiliary control feature of the reference motor and the historical similar control feature of the reference motor is obtained.

[0141] In this example, the factors affecting the magnitude of the tilt reduction mainly include two aspects. As mentioned above, on the one hand, the control error of the motor under the control of the controller 14 is not taken into account. These errors lead to errors in the pre-adjustment state of the target motor and the pre-adjustment state of the reference motor. On the other hand, during the control process, there are errors in the predicted tilt characteristics of the target motor and the predicted tilt characteristics of the reference motor, especially the predicted tilt characteristics of the reference motor are calculated based on the predicted tilt characteristics of the target motor, resulting in the auxiliary control capability calculated above having non-negligible error interference.

[0142] In summary, the factors that affect the magnitude of the tilt reduction are: the error in the pre-adjustment state of the target motor and the reference motor, and the error in the predicted tilt characteristics of the target motor and the reference motor. The larger the f1 and f2, the smaller the error in the predicted tilt characteristics of the target motor and the reference motor. The smaller the f1 and f2, the larger the error in the predicted tilt characteristics of the target motor and the reference motor.

[0143] This example obtains the motor motion error interference factor k based on the tilt reduction amplitude, as well as f1 and f2. Specifically:

[0144] Let F = exp(-(f1+f2) / 2) be recorded as the predicted tilt feature error, then the motor motion error interference factor k = exp(-x)-w×F. In this calculation process, the interference of the error existing in the predicted tilt feature is removed, so that the motor motion error interference factor k only focuses on the control error of the motor under the control of the controller 14, which can directly reflect the uncertainty of the motion state of the motor under the control of the controller 14, thereby ensuring that the above-mentioned control priority can relatively accurately and objectively reflect the control effectiveness of the target motor on the tilt situation, as well as the auxiliary control capability of the reference motor after the target motor is controlled.

[0145] When k is less than 0.35, set k equal to 0.35. The purpose is to avoid k being too small (or to avoid paying too much attention to the auxiliary control of other subsequent motors and ignoring the control ability of the current target motor). In other embodiments, 0.35 can also be replaced by other values, which are not specifically limited in this embodiment.

[0146] Where w represents the attention coefficient of the predicted tilt feature error, and the specific calculation method is:

[0147] For the t-th regulation process in the Q-th regulation process before the current moment, the t+1-th regulation process represents the next regulation process of the t-th regulation process. The motor regulated in the t-th regulation process (i.e., the motor with the highest regulation priority in the t-th regulation process) is recorded as motor A, and the other motors (i.e., the reference motor) other than motor A correspond to a regulation effectiveness (as known from step S202), and the reference motor with the highest regulation effectiveness is recorded as motor B, and motor B means that after motor A is regulated in the t-th regulation process, the tilt situation can be further reduced by regulating B next time. When the motor regulated in the t+1-th regulation process (i.e., the motor with the highest regulation priority in the t+1-th regulation process) is motor B, it means that the predicted tilt characteristics and pre-adjustment state of the reference motor in the t-th regulation process are valid and can guide the subsequent regulation process; when the motor regulated in the t+1-th regulation process (i.e., the motor with the highest regulation priority in the t+th regulation process) is not motor B, it means that the predicted tilt characteristics and pre-adjustment state of the reference motor in the t-th regulation process are not valid and cannot guide the subsequent regulation process.

[0148] When the motor regulated in the t+1th regulation process (that is, the motor with the highest regulation priority in the t+1th regulation process) is motor B, the tth reference motor attention is recorded as 1; when the motor regulated in the t+1th regulation process (that is, the motor with the highest regulation priority in the t+th regulation process) is not motor B, the reference motor attention is recorded as 0.

[0149] Get the mean m of the reference motor attention in the Q control processes before the current moment, and exp(-m) is recorded as w. The smaller w is (that is, the larger m is), it means that in the Q control processes before the current moment, the predicted tilt features corresponding to the target motor and the reference motor are able to guide the subsequent control process, which means that the error interference of the predicted tilt features is negligible (or even if the error interference of the predicted tilt features is large, there is no need to pay too much attention to the size of F when obtaining the motor motion error interference factor k). When w is larger (that is, the smaller m is), it means that in the Q control processes before the current moment, the predicted tilt features corresponding to the target motor and the reference motor are unable to guide the subsequent control process, which means that the error interference of the predicted tilt features is not negligible.

[0150] The motor motion error interference factor k in this preferred example is used to obtain the control priority. On the one hand, it avoids the problem of introducing too much error interference when over-considering the auxiliary control capability due to the error in the predicted tilt feature. On the other hand, it uses the predicted tilt features corresponding to the target motor and the reference motor included in the previous control process to guide the subsequent control process. This feature is used to correct the control process at the current moment (that is, to obtain the control priority at the current moment), so that the entire control process forms negative feedback. Finally, it further ensures that the paper machine can operate efficiently and stably for a long time when working.

[0151] Embodiment three:

[0152] This embodiment takes into account that when obtaining the control effectiveness of the target motor and the control effectiveness of the reference motor, it is necessary to rely on the motion state and tilt characteristics of each motor at each moment in the historical working process. When the number of motor motion states and tilt characteristics included in the historical working process is small (for example, less than 1000 respectively), it is necessary to make the paper dispenser work as follows:

[0153] When there is no tilt, the working process is the same as that in the second embodiment: the lifting motor 10 is controlled by the PID control algorithm to move the tray bracket 6 up and down. During this process, the track motor 11 is not started (that is, it does not actively rotate), but passively rotates following the up and down movement of the tray bracket 6. When there is a tilt, the track motor 11 is started, and the rotation of the track motor 11 is controlled by the PID algorithm (the two track motors 11 are synchronously controlled). This control is also a cyclic and continuous process, and the motion state of the track motor 11 can be changed once after each cycle. After changing the motion state of the track motor 11 for many times, the tray 5 is restored to a horizontal state (that is, the tilt angle in the tilt feature is equal to 0 degrees). When the tray 5 is restored to a horizontal state, the PID control algorithm is used again to control the lifting motor 10 to rotate once; when the lifting motor 10 rotates once, if there is still a tilt, the track motor 11 is started again, and the PID algorithm is used to control the rotation of the track motor 11, so that the tray 5 is restored to a horizontal state, and then the PID control algorithm is used again to control the lifting motor 10 to rotate once, and so on.

[0154] Although this process is inefficient, it is able to record a large number of motion states and tilt characteristics.

[0155] It should be noted that the paper dispenser process described in this embodiment can be run after the paper dispenser leaves the factory and before it is sold. On the one hand, it is used to test whether the produced paper dispenser is qualified. On the other hand, it can record some usage data (that is, the movement state and tilt characteristics of each motor at each moment during historical operation) before it is put into formal use.

[0156] Embodiment 4:

[0157] This embodiment provides a controller 14, which includes a main control unit. The active unit used in this embodiment is STM32F10; a program is stored in the program memory of the active unit, and the program can be run on the processor of the active unit. When the program is running, a volumetric intelligent paper feeder control method described in embodiments one and two is implemented.

[0158] A communication module is installed on the main control unit. The communication module used in this embodiment is ESP8266. The communication module communicates with the server via a 4G network. During communication, the movement state and tilt characteristics of each motor at each moment in the operation of the paper dispenser, as well as the paper outlet distance at each moment and the total weight of paper 3 are transmitted to the server.

[0159] The main control unit is also connected to several sensor devices, including a distance measuring sensor. The distance measuring sensor used in this embodiment is VL53L0X. It also includes a pressure sensor (installed on the tray to measure the total weight of the paper 3) and an inclination sensor.

[0160] The main control unit is connected through I 2 C bus to communicate with the sensor and UART (serial port) to communicate with the ESP8266.

[0161] Embodiment five:

[0162] This embodiment provides a method for taking paper from the paper outlet 4 .

[0163] An optional method is that the paper picker reaches his hand into the paper pick-up opening to manually pick up the paper.

[0164] A preferred method is: Figure 2 , Figure 3 As shown, a suction paper discharging mechanism 15 is provided: the paper is taken out by a vacuum suction paper discharging method, which uses a vacuum suction device (such as a small fan or suction pump) to suck a single sheet of paper from the paper 3 and delivers the paper through a conveyor belt or other structure. This method is a well-known technology and will not be described in detail in this embodiment.

[0165] In other embodiments, one-way rollers may be used to squeeze out the paper: the paper is transported outward through the friction of a pair of rollers (a driving wheel and a driven wheel).

[0166] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A volumetric intelligent paper dispenser, comprising: A cabinet (1), a cabinet door (2), a tray (5) placed in the cabinet (1) for holding paper (3), and a paper outlet (4); characterized in that a tray bracket (6) is installed in the cabinet (1) for placing the tray (5); a lifting screw (8) is installed on the rear side of the cabinet (1), and the lifting screw (8) is rollingly connected to the tray bracket (6) through a lifting screw sleeve (12); track screws (9) are respectively installed on both sides of the cabinet (1), and the track screw (9) is rollingly connected to the tray bracket (6) through a track screw sleeve (13); The lifting screw rod (8) and the track screw rod (9) are driven by the lifting motor (10) and the track motor (11) respectively; the rotation of the lifting motor (10) and the track motor (11) is driven and regulated by the controller (14) using a PID control algorithm, and when the lifting motor (10) rotates, the lifting screw rod (8) pushes the tray bracket (6) to move; The diameter of the track screw rod (9) is smaller than the diameter of the lifting screw rod (8); when the tray (5) is not in a tilted state, the lifting motor (10) is started and the track motor (11) is not started; when the tray (5) is in a tilted state, both the lifting motor (10) and the track motor (11) are started.

2. A volumetric intelligent paper dispenser control method, using the volumetric intelligent paper dispenser according to claim 1, characterized in that: The control method comprises: Any one of the lifting motor (10) and all the track motors (11) is recorded as a target motor, and a PID control algorithm is used to obtain a motion state of the target motor after a regulation, which is recorded as a pre-adjustment state of the target motor, and the motion state of all motors at the current moment, the pre-adjustment state of the target motor and the tilt characteristics at the current moment are recorded as current regulation characteristics of the target motor; the tilt characteristics are used to describe the tilt state of the tray (5); The predicted tilt feature of the target motor is obtained according to the similarity between the current control feature and the tilt feature and motor motion state of the historical record, and the control effectiveness of the target motor is obtained according to the difference between the tilt feature at the current moment and the predicted tilt feature of the target motor; Any motor other than the target motor is recorded as a reference motor; the motion state of the reference motor after one adjustment is obtained by using a PID control algorithm, which is recorded as a pre-adjustment state of the reference motor; The motion states of all motors except the target motor at the current moment, the pre-adjustment state of the target motor, the pre-adjustment state of the reference motor, and the predicted tilt characteristics of the target motor are recorded as auxiliary control characteristics of the reference motor; the predicted tilt characteristics of the reference motor are obtained according to the similarity between the auxiliary control characteristics of the reference motor and the tilt characteristics of the historical records and the motion state of the motor; Obtaining the control effectiveness of the reference motor according to the difference between the predicted tilt characteristics of the target motor and the predicted tilt characteristics of the reference motor; taking the maximum value of the control effectiveness of all reference motors as the auxiliary control capability of the target motor; By using the tilt reduction amplitude after several adjustments before the current moment, the motor's control effectiveness and auxiliary control capability are integrated to obtain the motor's control priority, and the motor with the highest control priority is controlled.

3. According to claim 2, a volumetric intelligent paper feeder control method is characterized in that: The specific steps of obtaining the tilt feature are as follows: The tilt direction and tilt angle of the tray (5) are acquired by using a tilt sensor, and the vector formed by the tilt angles of all tilt directions is recorded as a tilt feature.

4. According to claim 2, a volumetric intelligent paper feeder control method is characterized in that: The specific steps of obtaining the predicted tilt feature of the target motor and the predicted tilt feature of the reference motor are as follows: Record the motion state and tilt characteristics of each motor of the paper machine at each moment in the historical working process; at each moment in the historical working process, concatenate the motion state of all motors, the motion state of the target motor after the next regulation, and the tilt characteristics at each moment to form a one-dimensional vector, which is recorded as the historical regulation characteristics of the target motor; Calculate the similarity between the current control feature of the target motor and each historical control feature of the target motor, record the historical control feature with the greatest similarity to the current control feature as the historical similar control feature of the target motor; record the tilt feature contained in the historical similar control feature of the target motor as the predicted tilt feature of the target motor; Calculate the similarity between the auxiliary control feature of the reference motor and each historical control feature of the target motor, and record the historical control feature with the greatest similarity to the current control feature as the historical similar control feature of the reference motor; the tilt feature contained in the historical similar control feature of the reference motor is recorded as the predicted tilt feature of the reference motor.

5. According to claim 3, a volumetric intelligent paper feeder control method is characterized in that: The specific steps of obtaining the control effectiveness of the target motor according to the difference between the tilt feature at the current moment and the predicted tilt feature of the target motor are as follows: The average of the tilt angles in all directions of the tilt feature is recorded as the average tilt amplitude of the tilt feature; the difference between the average tilt amplitude of the tilt feature at the current moment and the average tilt amplitude of the predicted tilt feature of the target motor is recorded as the control effectiveness of the target motor.

6. A volumetric intelligent paper feeder control method according to claim 5, characterized in that: The specific steps for obtaining the tilt reduction amplitude are as follows: The tilt features obtained from several control processes before the current moment constitute a tilt feature sequence. For two adjacent tilt features in the tilt feature sequence, the difference between the average tilt amplitude of the latter tilt feature and the average tilt amplitude of the previous tilt feature is recorded as the tilt amplitude change of the two adjacent tilt features. The mean value h of the tilt amplitude change between all adjacent tilt features in the tilt feature sequence is obtained, and 2h / π is recorded as the tilt reduction amplitude.

7. A volumetric intelligent paper feeder control method according to claim 4, characterized in that: The control priority of the motor is obtained by combining the control effectiveness of the motor and the auxiliary control capability by using the tilt reduction amplitude after several controls before the current moment, and the specific formula included is as follows: k×a+(1-k)×b is recorded as the motor control priority, where a represents the motor control effectiveness, b represents the motor auxiliary control capability, and k represents the motor motion error interference factor; The motor motion error interference factor is obtained by the tilt reduction amplitude, the similarity between the historical similar control characteristics of the target motor and the current control characteristics of the target motor, and the similarity between the auxiliary control characteristics of the reference motor and the historical similar control characteristics of the reference motor.

8. A volumetric intelligent paper feeder control method according to claim 7, characterized in that: The specific steps for obtaining the motor motion error interference factor are as follows: The similarity between the historical similar regulation features of the target motor and the current regulation features of the target motor is recorded as f1, and the similarity between the auxiliary regulation features of the reference motor and the historical similar regulation features of the reference motor is recorded as f2; Let F = exp(-(f1+f2) / 2) be recorded as the predicted tilt characteristic error, and the motor motion error interference factor k = exp(-x)-w×F; x represents the tilt reduction amplitude, w represents the attention coefficient of the predicted tilt characteristic error, and exp() represents an exponential function with a natural constant as the base; the attention coefficient of the predicted tilt characteristic error is obtained based on the control order of the motor in several controls before the current moment.

9. A volumetric intelligent paper feeder control method according to claim 8, characterized in that: The specific steps for obtaining the attention coefficient of the predicted tilt feature error are as follows: For the t-th regulation process among several regulation processes before the current moment, the t+1-th regulation process represents the next regulation process of the t-th regulation process; The motor regulated in the t-th regulation process is recorded as motor A; For reference motors other than motor A, the reference motor with the greatest control effectiveness is recorded as motor B; when the motor regulated in the t+1th regulation process is motor B, the attention degree of the tth reference motor is recorded as 1; When the motor regulated in the t+1th regulation process is not motor B, the attention degree of the reference motor in the tth regulation process is recorded as 0; The attention coefficient of the predicted tilt feature error is negatively correlated with the reference motor attention in several regulation processes before the current moment.

10. A volumetric intelligent paper feeder control method according to claim 9, characterized in that: The specific steps for obtaining the attention coefficient of the predicted tilt feature error are as follows: The mean value m of the reference motor attention in several control processes before the current moment is obtained, and exp(-m) is used as the attention coefficient for predicting the tilt feature error.

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