Stage hydraulic cylinder telescopic distance control method adaptive to angle change

Abstract

The invention discloses a self-adaptive angle change stage hydraulic cylinder telescopic distance control method, which comprises the following steps of: setting a point R by taking a stage surface of a stage as a starting point, setting a position point P required by a director in a direction vertical to the point R, and representing RP as a height requirement of the director for performance; setting a point O as a mounting point of the equipment swing arm, marking the point O as a point B when the equipment swing arm is at the lowest point, marking the point O as a point N when the equipment swing arm is at the highest point, and representing OB as the length of the swing arm; obtaining a boundary angle thetaerr when the angle of the hydraulic oil cylinder changes; the actual height delta Con of the initialized position of the performer is obtained; obtaining a relational expression that the height of the oil cylinder changes along with the angle theta according to a set condition, and calculating a corresponding telescopic position of a telescopic rod of the oil cylinder when the angle theta changes according to the obtained relational expression; therefore, the oil cylinder is controlled. According to the invention, performance equipment can be automatically adjusted to a required moving range, the performance equipment is stable and impact-free, the risk of shaking of the equipment in a performance process can be reduced, and the overall technical level of stage control is improved.

Description

Technical Field

[0001] The invention relates to the field of software control of stage performance mechanical equipment, and in particular to a method for controlling the telescopic distance of a stage hydraulic cylinder with adaptive angle changes. Background Art

[0002] At present, the stage hydraulic control system has become an indispensable part of the landscape live performance. It has strong load capacity and good adaptability. It can coordinate and flexibly control large-scale performance equipment in places where the electrical system cannot operate. At the same time, the system integrates many technologies such as machinery, hydraulic control, and computers, effectively integrating the advantages of each part and abandoning the existing disadvantages, thereby improving the overall performance of the performance equipment control and enhancing the stability of the performance modeling. As we all know, the working principle of the hydraulic cylinder is to convert hydraulic energy into mechanical energy to perform reciprocating or swinging hydraulic actuators, and the change of hydraulic angle is completed by the extension and contraction of the hydraulic push rod. Generally, in formal stage performances, the performance equipment will switch to random positions according to the director's needs, and the required position of the equipment is the corresponding place where the push rod supports the equipment when the hydraulic angle changes. In the existing hydraulic control system, most practitioners will control and use the application situation where the hydraulic push rod extension change is proportional to the required angle, which will cause the push rod movement distance to become longer, and its stability performance will be worse, thereby shortening the service life of the hydraulic control system. Summary of the invention

[0003] The object of the present invention is to provide a stage hydraulic cylinder telescopic distance control method with adaptive angle change, so as to solve the above-mentioned problems existing in the prior art.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] A stage hydraulic cylinder telescopic distance control method with adaptive angle change, comprising the following steps:

[0006] S1. Set a point R with the stage surface as the starting point, set the director's required position point P in the vertical direction of point R, and RP represents the height required by the director for the performance; on the same horizontal plane of the stage, set a point O as the installation point of the equipment swing arm, the equipment swing arm is at the lowest point as point B, and at the highest point as point N, and OB represents the length of the swing arm;

[0007] S2. According to the installation status of the stage equipment, obtain the demarcation angle θ when the hydraulic cylinder angle changes err ;

[0008] S3, according to the length OB of the swing arm and the dividing angle θ err The actual height of the performer's initial position is obtained as ΔCon;

[0009] S4, obtaining a relationship between the director's required position and angle according to the known conditions of steps S1, S2 and S3; and then calculating the range of the angle θ;

[0010] S5. Set the three hinge points of the hydraulic cylinder push rod to A, D, and C respectively; set the height H of the oil cylinder, AB hydraulic cylinder rocker arm is lowered to the lowest point position, and AD represents the position where the hydraulic cylinder rocker arm is raised to the highest point;

[0011] S6. Obtain a relationship between the height of the oil cylinder and the change in angle θ according to the conditions set in steps S4 and S5, and calculate the corresponding position of the extension and retraction of the oil cylinder telescopic rod when the angle θ changes according to the obtained relationship; thereby controlling the oil cylinder.

[0012] Furthermore, the relationship in step S3 is:

[0013] The actual height of the performer's initial position ΔCon = OB*sinθ err .

[0014] Furthermore, the relationship between the director's required position and angle in step S4 is:

[0015]

[0016] Further, the relationship in step S6 is:

[0017] The relationship between the height of the oil cylinder and the angle θ is obtained as follows:

[0018]

[0019] Furthermore, the method further comprises the following steps:

[0020] Collect data sets corresponding to angle changes under different angle conditions; process the obtained cylinder telescopic displacement data sets, first perform preliminary screening, and then perform fine processing on them.

[0021] Furthermore, the method further comprises the following steps:

[0022] After obtaining the displacement position of the cylinder, the control system is usually subject to speed limit constraints. If the system is designed to run at a speed of v des ,According to the position data of the data set, the theoretical running speed of the cylinder is:

[0023] V DATA , the actual running speed after limiting the theoretical speed of the cylinder is:

[0024]

[0025] The beneficial effects of the present invention are as follows: the present invention discloses a method for controlling the telescopic distance of a stage hydraulic cylinder with adaptive angle changes. The technology mathematically models the hydraulic push rod and the angle change part, and imposes safety restrictions on the adjustable push rod position change range, so as to obtain the telescopic position required for the adaptive adjustment of the hydraulic push rod under the angle change scene. The realization of this technology can enable the performance equipment to autonomously adjust to the required movement range, and it is stable and impact-free, which can reduce the risk of equipment shaking during the performance and improve the overall technical level of stage control. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 The point P of the present invention is a schematic diagram of the director's required position;

[0027] Figure 2 It is a schematic diagram of the telescopic change and angle change of the oil cylinder push rod of the present invention;

[0028] Figure 3 It is a flow chart of the hydraulic cylinder extension distance control method with adaptive angle change of the present invention;

[0029] Figure 4 It is the changing relationship between the angle and the height of the present invention. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation methods described herein are only used to explain the present invention and are not used to limit the present invention.

[0031] Ginseng Figures 1 to 4 The method for controlling the telescopic distance of a stage hydraulic cylinder with adaptive angle change shown in the figure comprises the following steps:

[0032] S1. Set a point R with the stage surface as the starting point, set the director's required position point P in the vertical direction of point R, and RP represents the height required by the director for the performance; on the same horizontal plane of the stage, set a point O as the installation point of the equipment swing arm, the equipment swing arm is at the lowest point as point B, and at the highest point as point N, and OB represents the length of the swing arm;

[0033] S2. According to the installation status of the stage equipment, obtain the demarcation angle θ when the hydraulic cylinder angle changes err ;

[0034] S3, according to the length OB of the swing arm and the dividing angle θ err The actual height of the performer's initial position is obtained as ΔCon;

[0035] S4, obtaining a relationship between the director's required position and angle according to the known conditions of steps S1, S2 and S3; and then calculating the range of the angle θ;

[0036] S5. Set the three hinge points of the hydraulic cylinder push rod to A, D, and C respectively; set the height H of the oil cylinder, AB hydraulic cylinder rocker arm is lowered to the lowest point position, and AD represents the position where the hydraulic cylinder rocker arm is raised to the highest point;

[0037] S6. Obtain a relationship between the height of the oil cylinder and the change in angle θ according to the conditions set in steps S4 and S5, and calculate the corresponding position of the extension and retraction of the oil cylinder telescopic rod when the angle θ changes according to the obtained relationship; thereby controlling the oil cylinder.

[0038] Furthermore, the relationship in step S3 is:

[0039] The actual height of the performer's initial position ΔCon = OB*sinθ err .

[0040] Furthermore, the relationship between the director's required position and angle in step S4 is:

[0041]

[0042] Further, the relationship in step S6 is:

[0043] The relationship between the height of the oil cylinder and the angle θ is obtained as follows:

[0044]

[0045] Furthermore, the method further comprises the following steps:

[0046] Collect data sets corresponding to angle changes under different angle conditions; process the obtained cylinder telescopic displacement data sets, first perform preliminary screening, and then perform fine processing on them.

[0047] Furthermore, the method further comprises the following steps:

[0048] After obtaining the displacement position of the cylinder, the control system is usually subject to speed limit constraints. If the system is designed to run at a speed of V des ,According to the position data of the data set, the theoretical running speed of the cylinder is:

[0049] V DATA , the actual running speed after limiting the theoretical speed of the cylinder is:

[0050]

[0051] like Figure 1The simplified mathematical model of the angle change corresponding to the director's desired position P is shown. The angle change of the cylinder push device's motion range is θ min ~θ max It is also the range of the lowest point OB and the highest point ON that the BN arc length can correspond to. Point M is the director's requirement when the arc length reaches the highest point. Assuming that the director's performance height requirement is RP, and OB is the swing arm length of the equipment, then according to the actual environment and facility installation conditions on site, the dividing angle θ when the cylinder angle changes is obtained. err , according to the swing arm length, obtain ΔCon = OB * sinθ err , through the above conditions, the relationship between the director's required position and angle can be obtained as follows:

[0052]

[0053] According to the real-time change of the position required by the director, the mapping value of the real-time change of the angle is obtained. When the angle changes, the corresponding telescopic position of the push rod is obtained, and the motion control of the performance equipment can be completed. The mathematical model of the scene of the application implementation place can be obtained Figure 2 As shown, AB = AD is known, AC and DC can be measured on site, ∠DAC = θ con , then let the required angle ∠BAD = θ, then ∠BAC = ∠DAC + ∠BAD = θ con +θ; the height change of the cylinder is set to H, then H = BC-DC.

[0054] according to Figure 2 As shown, BC 2 =AB 2 +AC 2 -2*AB*AC*cos(θ con +θ), then

[0055] According to the previous step, the relationship between the height of the oil cylinder and the angle θ is obtained as follows:

[0056] According to the mathematical relationship between the director's required position, angle θ and cylinder height, when the height of the cylinder push rod is extended to a certain position, its angle can be changed to the position required by the director. When the angle changes, the telescopic rod that drives the cylinder height change will also adaptively switch to the corresponding position, thereby realizing the control of the cylinder.

[0057] Write the above relationship into the program and run it. When the angle θ = 1°, record H 1° =data1; when angle θ = 2°, record H 2°=data2; and so on, the data packet corresponding to the angle change is obtained DATA={data1, data2…data k , 1≤k≤60}.

[0058] The data of the cylinder telescopic displacement obtained by the data packet is processed in detail. For example, when the angle changes to When the data packet DATA is changed into a new expansion data packet, namely:

[0059]

[0060] Or when the angle changes The new value of the packet at this time is:

[0061] The detailed conditions required for processing specific data sets are coordinated and processed according to the detailed control system designed by the on-site system. After obtaining the motion displacement position of the cylinder, the control system is usually subject to speed limit constraints. If the system design speed is v des , then let the DATA set be differentiated with respect to time to obtain the theoretical running speed of the cylinder: A certain speed is greater than the designed speed v des When the current speed is set as the design speed, the current running position change is: DATA des =v des *t, using DATA des Replace the original position height change DATA k ; When the current speed is less than or equal to the design speed, the current speed is set to the height position value corresponding to the theoretical speed for forward operation.

[0062] In summary, this technology mathematically models the hydraulic push rod and the angle change part, and imposes safety restrictions on the adjustable push rod position change range, so as to obtain the telescopic position required for the hydraulic push rod to be adaptively adjusted in the angle change scenario. The implementation of this technology can enable the performance equipment to autonomously adjust to the required movement range, and it is stable and impact-free, which can reduce the risk of equipment shaking during the performance and improve the overall technical level of stage control.

[0063] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be considered as the scope of protection of the present invention.

Claims

1. A method for controlling the telescopic distance of a stage hydraulic cylinder with adaptive angle change, characterized in that: The following steps are involved: S1. Set a point R with the stage surface as the starting point, set the director's required position point P in the vertical direction of point R, and RP represents the height required by the director for the performance; on the same horizontal plane of the stage, set a point O as the installation point of the equipment swing arm, the equipment swing arm is at the lowest point as point B, and at the highest point as point N, and OB represents the length of the swing arm; S2. According to the installation status of the stage equipment, obtain the demarcation angle θ when the hydraulic cylinder angle changes err ; S3, according to the length OB of the swing arm and the dividing angle θ err The actual height of the performer's initial position is obtained as ΔCon; S4, obtaining a relationship between the director's required position and angle according to the known conditions of steps S1, S2 and S3; and then calculating the range of the angle θ; S5. Set the three hinge points of the hydraulic cylinder push rod to A, D, and C respectively; set the height H of the oil cylinder, AB hydraulic cylinder rocker arm is lowered to the lowest point position, and AD represents the position where the hydraulic cylinder rocker arm is raised to the highest point; S6. Obtain a relationship between the height of the oil cylinder and the change in angle θ according to the conditions set in steps S4 and S5, and calculate the corresponding position of the extension and retraction of the oil cylinder telescopic rod when the angle θ changes according to the obtained relationship; thereby controlling the oil cylinder.

2. The stage hydraulic cylinder telescopic distance control method with adaptive angle change according to claim 1 is characterized in that: The relationship in step S3 is: The actual height of the performer's initial position ΔCon = OB*sinθ err .

3. The stage hydraulic cylinder telescopic distance control method with adaptive angle change according to claim 2 is characterized in that: The relationship between the director's required position and angle in step S4 is:

4. The stage hydraulic cylinder telescopic distance control method with adaptive angle change according to claim 3 is characterized in that: The relationship in step S6 is: The relationship between the height of the cylinder and the angle θ is:

5. The stage hydraulic cylinder telescopic distance control method with adaptive angle change according to claim 1 is characterized in that: The following steps are also included: Collect data sets corresponding to angle changes under different angle conditions; process the obtained cylinder telescopic displacement data sets, first perform preliminary screening, and then perform fine processing on them.

6. The stage hydraulic cylinder telescopic distance control method with adaptive angle change according to claim 1 is characterized in that: The following steps are also included: After obtaining the displacement position of the cylinder, the control system is usually subject to speed limit constraints. If the system is designed to run at a speed of v des , according to the position data of the data set, the theoretical running speed of the cylinder is V DATA , the actual running speed after limiting the theoretical speed of the cylinder is:

Images