Multi-motor balance control method and device for automatically and rapidly unfolding and folding tent

Abstract

The invention discloses a multi-motor balance control method and device for an automatic and rapid unfolding and folding tent. The method comprises the steps that a working index information set of motor sets of the automatic and rapid unfolding and folding tent is acquired; obtaining a motor target rotating speed and a total input power value; performing working state evaluation processing on the working index information subset of each motor to obtain a corresponding state evaluation value; performing equalization control processing on the target rotating speed of the motor, the total input power value, the state evaluation values of all the motors and the working index information subset to obtain an equalization input power value of each motor; and inputting the balanced input power value of each motor into the corresponding motor to complete the multi-motor balanced control of the automatic and rapid unfolding and folding tent.

Description

Technical Field

[0001] The present invention relates to the fields of industrial data processing, intelligent control, and strategy optimization technology, and particularly relates to a multi-motor balanced control method and device for automatically and quickly deploying and retracting a tent. Background Art

[0002] In the existing technology of automatically and quickly deploying and retracting a tent, a multi-motor drive system is a key component for realizing the quick deployment and retraction of the tent. However, during the deployment and retraction of the tent, the working environments and loads of each motor are quite different, resulting in an unbalanced working state among the motors. For example, some motors may have a reduced rotational speed or even an overload phenomenon due to excessive load, while other motors may waste power due to insufficient load. This imbalance not only affects the deployment and retraction efficiency of the tent but may also cause damage to the motors, reducing the reliability and service life of the system. In addition, most of the existing control methods adopt simple power distribution or rotational speed synchronization strategies, which cannot effectively solve the dynamic balance problem among the motors and are difficult to meet the high-precision control requirements under complex working conditions. Summary of the Invention

[0003] The present invention mainly solves the problem of multi-motor balanced control for automatically and quickly deploying and retracting a tent, and discloses a multi-motor balanced control method and device for automatically and quickly deploying and retracting a tent.

[0004] In the first aspect of the embodiment of the present invention, a multi-motor balanced control method for automatically and quickly deploying and retracting a tent is disclosed, including:

[0005] S1, collecting a set of working index information of a motor group of an automatically and quickly deploying and retracting tent; the set of working index information includes a subset of working index information of each motor; the subset of working index information includes a data sequence of each type of technical index of the motor; the data sequence is a sampling value sequence of the technical index collected at each discrete moment;

[0006] S2, obtaining the target rotational speed and the total input power value of the motor;

[0007] S3, performing a working state evaluation process on the subset of working index information of each motor to obtain a corresponding state evaluation value;

[0008] S4, performing a balanced control process on the motor target rotational speed, the total input power value, the state evaluation values of all motors, and the subset of working index information to obtain the balanced input power value of each motor;

[0009] S5, inputting the balanced input power value of each motor into the corresponding motor to complete the balanced control of the multi-motors of the automatically and quickly deploying and retracting tent.

[0010] Performing a working state evaluation process on each subset of the working index information of each motor to obtain a corresponding state evaluation value, including:

[0011] S31, obtaining the normal values of each type of technical index of the motor;

[0012] S32, subtracting the data sequence of each type of technical index of each subset of the working index information of each motor from the normal value of the corresponding technical index respectively to obtain a corresponding difference sequence;

[0013] S33, using all the difference sequences to construct a difference matrix;

[0014] S34, calculating the rank value and the first singular value set of the difference matrix; the first singular value set includes all the singular values of the difference matrix;

[0015] S35, performing a cross-correlation calculation process on the difference matrix to obtain a cross-correlation matrix;

[0016] S36, performing an eigenvalue calculation process on the cross-correlation matrix to obtain a first eigenvalue set; the first eigenvalue set includes all the eigenvalues of the cross-correlation matrix;

[0017] S37, performing a quantization evaluation calculation on the rank value, the first singular value set and the first eigenvalue set to obtain a corresponding state evaluation value.

[0018] The expression of the quantization evaluation calculation is:

[0019]

[0020] where P is the rank value, γ max and γ 0 respectively represent the maximum value and the mean value of all elements of the first singular value set, φ max and φ 0 respectively represent the maximum value and the mean value of all elements of the first eigenvalue set, and τ is the state evaluation value.

[0021] Performing an equalization control process on the motor target speed, the total input power value, the state evaluation values of all motors and the subsets of the working index information to obtain the equalized input power value of each motor, including:

[0022] S41, performing a difference calculation process on the data sequence of the speed of each motor and the motor target speed respectively to obtain the speed difference value of each motor;

[0023] S42, calculating the speed influence factor of each motor by performing a speed influence factor calculation on the subset of the working index information of each motor and the corresponding speed difference value;

[0024] S43. Calculate and process the scale factors for the data sequences of the rotational speed influence factor, rotational speed difference value, and rotational speed index of each motor to obtain the scale factor of each motor.

[0025] S44. Perform normalization calculation and processing on the scale factors of all motors to obtain the normalized scale factor of each motor.

[0026] S45. Multiply the normalized scale factor of each motor by the total input power value respectively to obtain the balanced input power value of each motor.

[0027] The expression for the difference calculation and processing is:

[0028]

[0029] Among them, represents the i-th element of the data sequence of the rotational speed of the motor, represents the target rotational speed of the motor, m represents the length of the data sequence, AQ represents the first difference factor, and XY represents the rotational speed difference value of the motor.

[0030] The calculation of the rotational speed influence factor for each motor by performing rotational speed influence factor calculation on the subset of the working index information of each motor and the corresponding rotational speed difference value includes:

[0031] S421. Obtain the normal value of each type of technical index of the motor.

[0032] S422. Use the data sequences of all technical indexes other than the rotational speed in the subset of the working index information of each motor to construct the first data sequence set of each motor.

[0033] S423. Subtract the normal value of the corresponding technical index from the first data sequence set of each motor respectively to obtain the corresponding first difference sequence.

[0034] S424. Use all the first difference sequences to construct the first difference matrix.

[0035] S425. Calculate the corresponding multiple correlation coefficient for each first difference sequence in the first difference matrix respectively.

[0036] S426. Perform fusion calculation and processing on the multiple correlation coefficients of all first difference sequences in the first difference matrix to obtain the rotational speed influence factor of the motor.

[0037] The calculation and processing of the scale factor for the data sequences of the rotational speed influence factor, rotational speed difference value, and rotational speed index of each motor to obtain the scale factor of each motor includes:

[0038] Perform the first factor calculation process on the data sequences of the rotational speed influence factor and the rotational speed index of each motor to obtain the first factor value;

[0039] Perform a ratio calculation on the first factor value and the rotational speed difference value to obtain the ratio factor of the motor.

[0040] In the second aspect of the present invention, a multi-motor balanced control device for an automatically quickly deploying and retracting tent is disclosed. The device includes:

[0041] A memory storing executable program code;

[0042] A processor coupled to the memory;

[0043] The processor calls the executable program code stored in the memory to execute the multi-motor balanced control method for the automatically quickly deploying and retracting tent.

[0044] In the third aspect of the present invention, a computer-readable storage medium is disclosed. The computer-readable storage medium stores computer instructions, which are used to execute the multi-motor balanced control method for the automatically quickly deploying and retracting tent when called by a computer.

[0045] In the fourth aspect of the present invention, an information data processing terminal is disclosed. The information data processing terminal is used to implement the multi-motor balanced control method for the automatically quickly deploying and retracting tent.

[0046] The beneficial effects of the present invention are:

[0047] The multi-motor balanced control method for the automatically quickly deploying and retracting tent of the present invention accurately evaluates and dynamically balances the working states of each motor by collecting the working index information set of the motor group and combining the target rotational speed and the total input power value of the motor.

[0048] Through the quantitative evaluation and calculation of the sub-set of the motor working index information, the present invention can monitor the running state of the motor in real time, accurately identify the motor with abnormal load, and provide a scientific basis for subsequent balanced control. Based on the calculation of the rotational speed difference value and the ratio factor, the dynamic adjustment of the input power of each motor is realized, ensuring that the motors can maintain a reasonable load distribution in different working stages. Through the product operation of the normalized ratio factor and the total input power value, the balanced input power value of each motor is obtained, thereby realizing the collaborative work of multiple motors, improving the efficiency and stability of tent deployment and retraction. In addition, the present invention can effectively extend the service life of the motor, reduce the maintenance cost of the system, and has significant economic and social benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a flowchart of the implementation of the method of the present invention. Detailed implementation manners

[0050] To better understand the content of the present invention, an embodiment is given here.

[0051] Figure 1 It is the implementation flowchart of the method of the present invention.

[0052] In the first aspect of the embodiment of the present invention, a multi-motor balanced control method for automatically and quickly deploying and retracting a tent is disclosed, including:

[0053] S1. Collect the working index information set of the motor group of the automatically and quickly deploying and retracting tent; the working index information set includes the working index information subset of each motor; the working index information subset includes the data sequence of each type of technical index of the motor; the data sequence is the sampling value sequence of the technical index collected at each discrete moment;

[0054] S2. Obtain the target rotational speed of the motor and the total input power value;

[0055] S3. Perform a working state evaluation process on the working index information subset of each motor to obtain the corresponding state evaluation value;

[0056] S4. Perform a balanced control process on the motor target rotational speed, the total input power value, the state evaluation values of all motors, and the working index information subset to obtain the balanced input power value of each motor;

[0057] S5. Input the balanced input power value of each motor into the corresponding motor to complete the balanced control of the multi-motors of the automatically and quickly deploying and retracting tent;

[0058] The performing a working state evaluation process on the working index information subset of each motor to obtain the corresponding state evaluation value includes:

[0059] S31. Obtain the normal value of each type of technical index of the motor;

[0060] S32. Subtract the data sequence of each type of technical index of the working index information subset of each motor from the corresponding normal value of the technical index to obtain the corresponding difference sequence;

[0061] S33. Use all the difference sequences to construct a difference matrix;

[0062] S34. Calculate the rank value and the first singular value set of the difference matrix; the first singular value set includes all the singular values of the difference matrix;

[0063] S35. Perform a cross-correlation calculation process on the difference matrix to obtain a cross-correlation matrix;

[0064] S36. Perform eigenvalue calculation on the cross - correlation matrix to obtain a first eigenvalue set; the first eigenvalue set includes all eigenvalues of the cross - correlation matrix;

[0065] The element in the i - th row and j - th column of the cross - correlation matrix is the cross - correlation calculation result of the i - th row vector and the j - th row vector of the difference matrix. The cross - correlation calculation is to perform cross - correlation calculation on the row vectors of the difference matrix.

[0066] S37. Perform quantization evaluation calculation on the rank value, the first singular value set and the first eigenvalue set to obtain corresponding state evaluation values;

[0067] The expression of the quantization evaluation calculation is:

[0068]

[0069] where P is the rank value, γ max and γ 0 respectively represent the maximum value and the mean value of all elements of the first singular value set, φ max and φ 0 respectively represent the maximum value and the mean value of all elements of the first eigenvalue set, and τ is the state evaluation value.

[0070] The balanced control process for the motor target speed, the total input power value, the state evaluation values of all motors and the subset of working index information to obtain the balanced input power value for each motor includes:

[0071] S41. Perform difference calculation on the data sequence of the speed of each motor respectively with the motor target speed to obtain the speed difference value of each motor;

[0072] S42. Calculate the speed influence factor for the subset of working index information of each motor and the corresponding speed difference value to obtain the speed influence factor of each motor;

[0073] S43. Perform scale factor calculation on the speed influence factor, the speed difference value and the data sequence of the speed index of each motor to obtain the scale factor of each motor;

[0074] S44. Perform normalization calculation on the scale factors of all motors to obtain the normalized scale factor of each motor;

[0075] S45. Multiply the total input power value by the normalized scale factor of each motor respectively to obtain the balanced input power value of each motor;

[0076] The expression of the difference calculation is:

[0077]

[0078] Among them, The i-th element of the data sequence representing the rotational speed of the motor, represents the target rotational speed of the motor, m represents the length of the data sequence, AQ represents the first difference factor, and XY represents the rotational speed difference value of the motor;

[0079] Calculating the rotational speed influence factor for each subset of the working index information of each motor and the corresponding rotational speed difference value to obtain the rotational speed influence factor of each motor, including:

[0080] S421, obtaining the normal value of each type of technical index of the motor;

[0081] S422, using the data sequences of all other technical indexes except the rotational speed in the subset of the working index information of each motor to construct the first data sequence set of each motor;

[0082] S423, subtracting the normal value of the corresponding technical index from each data sequence in the first data sequence set of each motor respectively to obtain the corresponding first difference sequence;

[0083] S424, using all the first difference sequences to construct a first difference matrix;

[0084] S425, calculating the corresponding multiple correlation coefficient for each first difference sequence in the first difference matrix respectively;

[0085] S426, performing a fusion calculation process on the multiple correlation coefficients of all the first difference sequences in the first difference matrix to obtain the rotational speed influence factor of the motor;

[0086] The operation of subtracting the normal value of the corresponding technical index from each data sequence in the first data sequence set of each motor respectively is to subtract the normal value of the corresponding technical index from each element in the data sequence respectively to obtain the corresponding first difference sequence;

[0087] The expression of the fusion calculation is:

[0088]

[0089] Among them, G is the rotational speed influence factor of the motor, t 0 is the mean value of the multiple correlation coefficients of all the first difference sequences, and N! represents the factorial of N;

[0090] The calculation expression of the multiple correlation coefficient is:

[0091]

[0092] Among them, N is the number of the first difference sequences, ti represents the multiple correlation coefficient of the i-th first difference sequence, t 1 = 1, r ij is the cross-correlation coefficient between the i-th first difference sequence and the j-th first difference sequence, r i2,1 is the first-order partial correlation coefficient of the i-th first difference sequence, and so on, r i3,12 is the second-order partial correlation coefficient of the i-th first difference sequence, r iN,1234…(N-1) is the (N - 1)-order partial correlation coefficient of the i-th first difference sequence;

[0093] The calculation expressions for the partial correlation coefficients at all levels are as follows:

[0094]

[0095] The calculations for other partial correlation coefficients are carried out analogously.

[0096] The data sequences of the rotational speed influence factor, rotational speed difference value, and rotational speed index for each motor are subjected to a scale factor calculation process to obtain the scale factor for each motor, including:

[0097] The data sequences of the rotational speed influence factor and rotational speed index for each motor are subjected to a first factor calculation process to obtain the first factor value;

[0098] A ratio calculation is performed on the first factor value and the rotational speed difference value to obtain the scale factor of the motor.

[0099] The expression for the first factor calculation is:

[0100]

[0101] where hq is the first factor value, q k is the k-th element of the data sequence of the rotational speed index, m is the length of the data sequence of the rotational speed index, and G is the rotational speed influence factor;

[0102] The expression for the ratio calculation is:

[0103]

[0104] where gv is the scale factor of the motor.

[0105] The technical indicators of the motor include rotational speed, output power, operating current, operating temperature, and output voltage of the inverter;

[0106] Each motor of the motor group is used to control the contraction and expansion of each bracket of the automatic rapid deployment and retraction tent;

[0107] The set of operating index information can be measured by sensors provided on the motor group;

[0108] The target rotational speed of the motor and the total input power value can be obtained through setting;

[0109] In a second aspect of the implementation of the present invention, a multi-motor balanced control device for automatically and quickly unfolding and folding a tent is disclosed. The device includes:

[0110] A memory storing executable program code;

[0111] A processor coupled to the memory;

[0112] The processor calls the executable program code stored in the memory to execute the multi-motor balanced control method for automatically and quickly unfolding and folding the tent.

[0113] In a third aspect of the implementation of the present invention, a computer-readable storage medium is disclosed. The computer-readable storage medium stores computer instructions, and when the computer instructions are called by a computer, they are used to execute the multi-motor balanced control method for automatically and quickly unfolding and folding the tent.

[0114] In a fourth aspect of the implementation of the present invention, an information data processing terminal is disclosed. The information data processing terminal is used to implement the multi-motor balanced control method for automatically and quickly unfolding and folding the tent.

[0115] The above are only embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, various changes and modifications can be made to the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. A multi-motor balanced control method for automatically and quickly deploying and retracting a tent, characterized in that: include: S1, collecting a set of working index information of a motor group for automatically and quickly deploying and retracting a tent; the working index information set includes a subset of working index information of each motor; the working index information subset includes a data sequence of each type of technical index of the motor; the data sequence is a sequence of sampled values ​​of the technical index collected at each discrete moment; S2, obtaining the motor target speed and total input power value; S3, performing working status evaluation processing on the working indicator information subset of each motor to obtain a corresponding status evaluation value; S4, performing a balanced control process on the motor target speed, the total input power value, the state evaluation values ​​of all motors and the work index information subset to obtain a balanced input power value of each motor; S5, inputting the balanced input power value of each motor into the corresponding motor, thereby completing the balanced control of the multiple motors for automatically and quickly deploying and retracting the tent.

2. The multi-motor balanced control method for automatically and quickly deploying and retracting a tent as claimed in claim 1, characterized in that: The working state evaluation process is performed on the working indicator information subset of each motor to obtain a corresponding state evaluation value, including: S31, obtaining normal values ​​of each type of technical indicators of the motor; S32, subtracting the data sequence of each type of technical indicator of the working indicator information subset of each motor from the normal value of the corresponding technical indicator to obtain a corresponding difference sequence; S33, using all the difference sequences, construct a difference matrix; S34, calculating and obtaining the rank value and the first singular value set of the difference matrix; the first singular value set includes all the singular values ​​of the difference matrix; S35, performing cross-correlation calculation processing on the difference matrix to obtain a cross-correlation matrix; S36, performing eigenvalue calculation processing on the mutual correlation matrix to obtain a first eigenvalue set; the first eigenvalue set includes all eigenvalues ​​of the mutual correlation matrix; S37, performing quantitative evaluation calculation on the rank value, the first singular value set and the first eigenvalue set to obtain corresponding state evaluation values.

3. The multi-motor balanced control method for automatically and quickly deploying and retracting a tent as claimed in claim 2, characterized in that: The expression for the quantitative evaluation calculation is: Among them, P is the rank value, γ max and γ0 represent the maximum and mean values ​​of all elements of the first singular value set, respectively, φ max and φ0 represent the maximum value and mean value of all elements of the first eigenvalue set respectively, and τ is the state evaluation value.

4. The multi-motor balanced control method for automatically and quickly deploying and retracting a tent as claimed in claim 1, characterized in that: The balanced control processing is performed on the motor target speed, the total input power value, the state evaluation values ​​of all motors and the work index information subset to obtain the balanced input power value of each motor, including: S41, performing difference calculation processing on the data sequence of the rotation speed of each motor and the target rotation speed of the motor respectively, to obtain the rotation speed difference value of each motor; S42, calculating the speed influence factor of each motor based on the subset of working index information and the corresponding speed difference value, to obtain the speed influence factor of each motor; S43, performing proportional factor calculation processing on the data sequence of the speed influence factor, the speed difference value and the speed index of each motor to obtain the proportional factor of each motor; S44, performing normalization calculation processing on the scale factors of all motors to obtain a normalized scale factor of each motor; S45, using the normalized proportional factor of each motor to multiply the total input power value respectively, to obtain the balanced input power value of each motor.

5. The multi-motor balanced control method for automatically and quickly deploying and retracting a tent as claimed in claim 4, characterized in that: The expression for the difference calculation process is: in, The i-th element of the data sequence representing the motor speed, represents the target speed of the motor, m represents the length of the data sequence, AQ represents the first difference factor, and XY represents the speed difference value of the motor.

6. The multi-motor balanced control method for automatically and quickly deploying and retracting a tent as claimed in claim 4, characterized in that: The speed influence factor calculation is performed on the work index information subset of each motor and the corresponding speed difference value to obtain the speed influence factor of each motor, including: S421, obtaining normal values ​​of each type of technical indicators of the motor; S422, constructing a first data sequence set for each motor by using the data sequences of all other technical indicators of the working indicator information subset of each motor excluding the rotation speed; S423, using the first data sequence set of each motor, respectively subtracting the normal value of the corresponding technical indicator to obtain a corresponding first difference sequence; S424, constructing a first difference matrix using all first difference sequences; S425, for each first difference sequence in the first difference matrix, respectively calculate a corresponding complex correlation coefficient; S426, performing fusion calculation processing on the complex correlation coefficients of all first difference sequences of the first difference matrix to obtain the speed influence factor of the motor.

7. The multi-motor balanced control method for automatically and quickly deploying and retracting a tent as claimed in claim 4, characterized in that: The proportional factor calculation process is performed on the data sequence of the speed influence factor, the speed difference value and the speed index of each motor to obtain the proportional factor of each motor, including: Performing a first factor calculation process on the data sequence of the speed influencing factor and the speed index of each motor to obtain a first factor value; A proportional calculation is performed on the first factor value and the speed difference value to obtain a proportional factor of the motor.

8. A multi-motor balanced control device for automatically and quickly unfolding and retracting a tent, characterized in that: The device comprises: A memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the multi-motor balanced control method for automatically and quickly deploying and retracting a tent according to any one of claims 1 to 7.

9. A computer storable medium, characterized in that: The computer storable medium stores computer instructions, and when the computer instructions are called by a computer, they are used to execute the multi-motor balanced control method for automatically and quickly deploying and retracting a tent according to any one of claims 1 to 7.

10. An information data processing terminal, characterized in that: The information data processing terminal is used to implement the multi-motor balanced control method for automatically and quickly deploying and retracting a tent as claimed in any one of claims 1 to 7.

Images