Barrier gate control method and device

Abstract

The invention belongs to the technical field of automation control, and discloses a barrier gate control method and device, and the device comprises a sensor module which is used for obtaining a feedback signal of a barrier gate; the signal processing module is configured to process the feedback signal; the data acquisition and control processing unit is configured to receive the processed feedback signal and calculate an error signal; a closed-loop control algorithm module configured to generate a control signal based on the error signal; the signal fusion module is configured to be used for fusing the control signals and generating a final control instruction; and the output driving module interface is configured to be used for outputting the final control instruction to an execution mechanism of the barrier gate. On the basis of original current, position and speed three-closed-loop control, the fourth closed loop based on the acceleration sensor is additionally arranged, the fourth closed loop is specially used for conducting real-time detection and closed-loop adjustment on vibration of the machine box body of the barrier gate system, and therefore the dynamic stability and vibration resistance of the whole system are greatly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic control, and particularly relates to a method and device for controlling a barrier gate, which is especially suitable for controlling the movement of a heavy-duty barrier gate. Background Art

[0002] Driven by intelligent transportation, automatic control, and Internet of Things technologies, existing barrier gate systems are gradually evolving from simple timed switching to high-precision, high-dynamic-response closed-loop control systems. Modern barrier gate control not only requires real-time feedback on the current, position, and speed of the motor drive but also needs to adapt to various external disturbances (such as wind force, impact loads, etc.) to ensure stable operation of the equipment.

[0003] For equipment with a heavier rod body (such as billboard-type or fence-type barrier gates), due to the large inertia of the heavy rod body, during the rapid opening and closing of the barrier gate, the traditional three-closed-loop control scheme of current, position, and speed is difficult to effectively suppress the resulting system vibration and jitter within an extremely short time. This kind of vibration not only affects the smoothness of the equipment but also, over time, can lead to body oscillation, fatigue damage, and even structural damage.

[0004] Currently, most barrier gate control systems use a current closed-loop to ensure that the output of the drive motor matches the load, a position closed-loop to ensure accurate movement endpoints, and a speed closed-loop to balance the acceleration and deceleration requirements during the overall movement process. Although the three-closed-loop scheme can better meet general motion control requirements, for heavy-duty barrier gates during high-speed switching, due to the presence of uncompensated high-frequency vibration components in the system, obvious jitter phenomena occur during the movement process, further leading to structural fatigue and long-term stability problems.

[0005] Traditional ways to solve the vibration problem of barrier gates often involve adding mechanical shock-absorbing structures, such as buffer springs, hydraulic dampers, etc. However, this method not only increases the system complexity and cost but also the performance of mechanical buffer devices is limited and cannot completely eliminate vibration, especially difficult to meet the fast and dynamic adjustment requirements of electronic control, and is not a fundamental solution to the problem.

[0006] Therefore, the existing technology has deficiencies in solving the vibration suppression problem of heavy-duty barrier gates during high-speed operation, and there is an urgent need for a more effective control method and device to improve the dynamic stability, control accuracy, and service life of the system.

[0007] The above statement of the background art is only for facilitating the in-depth understanding of the technical solution of the present invention (in terms of technical means used, technical problems solved, and technical effects produced, etc.), and should not be regarded as an admission or an indication in any form that this information constitutes the prior art already known to those skilled in the art. Summary of the Invention

[0008] The present invention aims to solve the above technical problems at least to a certain extent. To this end, the object of the present invention is to provide a barrier gate control method and device, which, on the basis of the original three closed-loop control of current, position, and speed, adds a fourth closed-loop based on an acceleration sensor, specifically for real-time detection and closed-loop adjustment of the vibration of the machine box body of the barrier gate system, thereby greatly improving the dynamic stability and anti-vibration ability of the entire system.

[0009] The technical solution adopted by the present invention is as follows: A barrier gate control method for controlling a barrier gate having a movable rod body and a fixed machine box body, the method comprising: Obtaining a current feedback signal, a position feedback signal, and a speed feedback signal of the movable rod body of the barrier gate; Obtaining an acceleration feedback signal of the fixed machine box body of the barrier gate, the acceleration feedback signal reflecting the vibration of the machine box body; Calculating a current error signal according to the current feedback signal and a preset reference current signal, and generating a current control signal based on the current error signal; Calculating a position error signal according to the position feedback signal and a preset reference position signal, and generating a position control signal based on the position error signal; Calculating a speed error signal according to the speed feedback signal and a preset reference speed signal, and generating a speed control signal based on the speed error signal; Calculating an acceleration error signal according to the acceleration feedback signal and a preset reference acceleration signal, and generating an acceleration control signal based on the acceleration error signal, the acceleration control signal being used to suppress the vibration of the machine box body; Fusing the current control signal, the position control signal, the speed control signal, and the acceleration control signal to generate a final control instruction; Driving the actuator of the barrier gate to move according to the final control instruction.

[0010] Optionally, the acceleration feedback signal is collected by an acceleration sensor installed on the machine box body.

[0011] Optionally, the preset reference acceleration signal is used to indicate the desired acceleration of the machine box body, and its set value can be zero or a trajectory for canceling an expected disturbance.

[0012] Optionally, the PID control algorithm is used to generate the current control signal, the position control signal, the speed control signal, and the acceleration control signal.

[0013] Optionally, fusing the control signal includes performing a weighted sum of the current control signal, the position control signal, the speed control signal, the acceleration control signal, and at least one feedforward compensation signal to generate the final control command.

[0014] Optionally, the position feedback signal of the rod body is acquired by an encoder.

[0015] Optionally, the barrier gate is a heavy-duty barrier gate, including a billboard-type barrier gate or a fence-type barrier gate.

[0016] The present invention also provides a barrier gate control device for controlling a barrier gate having a movable rod body and a fixed machine box body, and the device includes: A sensor module configured to acquire a current feedback signal, a position feedback signal, and a speed feedback signal of the movable rod body of the barrier gate, and to acquire an acceleration feedback signal of the fixed machine box body of the barrier gate, where the acceleration feedback signal reflects the vibration of the machine box body; A signal processing module configured to perform filtering, amplification, and digitization processing on the feedback signal; A data acquisition and control processing unit configured to receive the processed feedback signal and calculate a current error signal, a position error signal, a speed error signal, and an acceleration error signal; A closed-loop control algorithm module configured to generate a current control signal, a position control signal, a speed control signal, and an acceleration control signal respectively based on the error signal, where the acceleration control signal is used to suppress the vibration of the machine box body; A signal fusion module configured to fuse the current control signal, the position control signal, the speed control signal, and the acceleration control signal to generate a final control command; An output drive module interface configured to output the final control command to an actuator of the barrier gate.

[0017] Optionally, the sensor module includes an acceleration sensor installed on the machine box body.

[0018] Optionally, the acceleration error signal is calculated based on the difference between the acceleration feedback signal and a preset reference acceleration signal.

[0019] Optionally, the closed-loop control algorithm module uses a PID control algorithm to generate the control signal.

[0020] Optionally, the signal fusion module is configured to perform a weighted sum of the current control signal, the position control signal, the speed control signal, the acceleration control signal, and at least one feedforward compensation signal.

[0021] Optionally, the sensor module includes an encoder for collecting the position information of the rod body.

[0022] Optionally, the barrier gate is a heavy-duty barrier gate, including a billboard-type barrier gate or a fence-type barrier gate.

[0023] In the present invention, by adding an acceleration sensor to the barrier gate machine box, the vibration information of the machine box is fed back to the control system in real time, forming an independent closed loop for the vibration of the machine box. This acceleration closed loop works in parallel or cooperatively with the traditional current, position, and speed closed loops, and generates additional compensation signals to cancel or suppress the vibration generated by the machine box during the movement of the rod body. The current, position, and speed closed loops of the rod body ensure that the rod body moves precisely along the preset trajectory, while the acceleration closed loop realizes the real-time suppression of the vibration of the machine box. The synergistic effect of the two significantly improves the dynamic response and stability of the entire system.

[0024] To better understand the technical problems to be solved by the present invention and its solution principle, the inventor of the present invention established a simplified dynamic model after analyzing the dynamic characteristics of the barrier gate system, especially the heavy-duty barrier gate system.

[0025] The barrier gate system includes a movable rod body and a fixed machine box. The movement of the rod body and the resulting impact and vibration transmission to the machine box are the main dynamic phenomena of concern.

[0026] Rod movement model: The barrier gate rod is approximately modeled as a mass-spring-damper system, and its motion equation can be expressed as:

[0027] Where: m r is the equivalent mass of the rod; c r is the damping coefficient during the movement of the rod; k r is the stiffness coefficient of the rod and related transmission mechanisms; x r (t) is the displacement of the rod; F r (t) is the driving force received by the rod during movement (mainly generated by the motor).

[0028] Machine box vibration model: The vibration of the machine box is affected by the impact and transmission force of the rod movement. The vibration of the machine box can be approximately modeled as a single-degree-of-freedom vibration system:

[0029] Where: m b is the equivalent mass of the machine box; c b is the damping coefficient during the vibration of the machine box; k b is the stiffness of the machine box and its support structure; x b(t) is the displacement of the machine housing (reflecting the vibration amplitude); F b (t) is the impact force caused by the movement transmission of the rod.

[0030] The existing three closed-loop controls mainly act on the motion model of the rod (by controlling F r (t) to affect x r (t), , ), but for the in the vibration model of the machine housing induced by the movement of the rod, direct and rapid compensation cannot be carried out. Therefore, the present invention generates an additional control quantity by introducing an acceleration closed-loop based on feedback and incorporates it into F r (t), so as to actively generate a torque to suppress the vibration of the machine housing while driving the rod to move.

[0031] The beneficial effects of the present invention are as follows: 1. Realize real-time vibration detection and closed-loop compensation: By adding an acceleration sensor to the barrier gate machine housing to specifically capture the vibration signals of the machine housing caused by the lifting and lowering of the rod, and feeding the vibration information back to the control system, it makes up for the defect of the traditional control system's insufficient monitoring of the machine housing jitter, and realizes the closed-loop control of the instantaneous acceleration (vibration).

[0032] 2. Improve the system dynamic response and stability: Use the acceleration closed-loop to introduce an additional compensation term in the mathematical model, optimize the closed-loop transfer function, increase the system damping ratio, effectively reduce the system overshoot, oscillation and resonance phenomena, and improve the overall dynamic response speed and stability. The rod closed-loop ensures accurate movement trajectory, while the acceleration closed-loop compensates for the vibration of the machine housing in a timely manner, and the combined effect of the two is better.

[0033] 3. Reduce mechanical dependence, optimize the cost structure, and increase the service life: Actively suppress vibration through electronic control means, reduce mechanical fatigue caused by impact and resonance, thereby reducing the dependence on expensive and limited-effect mechanical buffer devices, realizing structural simplification and cost reduction, and extending the service life of the equipment and reducing the maintenance cost. Brief Description of the Drawings

[0034] Figure 1 is a schematic structural diagram of the barrier gate control device of the present invention.

[0035] In the figure: 100 - barrier gate control device; 110 - sensor module; 120 - signal processing module; 130 - data acquisition and control processing unit; 140 - closed-loop control algorithm module; 150 - signal fusion module; 160 - output drive module interface. Detailed Embodiment

[0036] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where like or similar reference numerals denote like or similar elements or elements having like or similar functions throughout. The embodiments described by referring to the accompanying drawings below are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0037] The barrier gate control device of this embodiment is used to control a barrier gate having a movable rod body and a fixed machine housing.

[0038] As Figure 1 shown, the barrier gate control device 100 mainly includes: a sensor module 110, a signal processing module 120, a data acquisition and control processing unit 130, a closed-loop control algorithm module 140, a signal fusion module 150, and an output drive module interface 160. In addition, the device may further include a communication module.

[0039] The sensor module 110 is configured to collect various operation state data of the barrier gate system in real time. This module at least includes: Current sensor: Usually used to detect the current output of the motor that drives the movement of the barrier gate rod body, and provides a current feedback signal I(t).

[0040] Position sensor (such as an encoder): High-precision acquisition of the position information of the barrier gate rod body relative to the reference position, and provides a position feedback signal x r (t).

[0041] Speed sensor: Used to detect the instantaneous speed of the movement of the barrier gate rod body, and provides a speed feedback signal ẋ r (t). This speed signal can be provided by an independent speed sensor, or obtained by differentiating the position feedback signal or calculating in the data acquisition and control processing unit.

[0042] Acceleration sensor: The acceleration sensor is installed on the fixed machine housing of the barrier gate (such as key support structures, bottom plates, or side plates inside the machine housing, etc., which are vulnerable to vibration), and is used to collect the vibration acceleration signal of the machine housing . This signal directly reflects the vibration state of the machine housing.

[0043] The signal processing module 120 is connected to the sensor module 110 and is configured to preprocess the original signals output by the sensors. Specifically, it includes: Filter circuit: Removes high-frequency noise and interference in the signals.

[0044] Amplification circuit: Amplifies weak sensor signals as needed.

[0045] Analog-to-Digital Converter (ADC): Converts analog sensor signals into digital signals for easy processing by the data acquisition and control processing unit.

[0046] Preprocessing circuit: May also include circuits such as signal conditioning and level conversion.

[0047] The data acquisition and control processing unit 130 can be a high-performance microcontroller (MCU), digital signal processor (DSP), or embedded system. It receives the digitized feedback data from the signal processing module 120 and executes subsequent control algorithms. This unit has a built-in storage module for storing preset reference values (such as reference current I ref , reference position x r,ref , reference speed v r,ref , reference acceleration a b,ref , motion trajectory data, system parameters, and historical operation data.

[0048] The data acquisition and control processing unit 130 performs the following main functions: Data acquisition: Periodically or interrupt-driven, acquire the feedback data of each sensor.

[0049] Error calculation: According to the acquired feedback data and the stored preset reference values, calculate the error signals of each closed loop.

[0050] Control algorithm operation: Call the closed-loop control algorithm module 140 to execute PID or other control algorithms to generate the control signals of each closed loop.

[0051] Data fusion: Call the signal fusion module 150 to fuse the control signals of each closed loop and the feedforward compensation signals.

[0052] Control instruction output: Generate the final control instructions and send them to the motor driver or other actuators through the output drive module interface 160.

[0053] Parameter management: Adjust or adaptively learn the control parameters according to the system state or external instructions.

[0054] The closed-loop control algorithm module 140 is integrated in the firmware or software of the data acquisition and control processing unit 130. The present invention adopts at least four independent closed-loop control algorithms, namely: Current closed-loop controller: According to the current error signal Generate the current control signal u i (t).

[0055] Position closed-loop controller: According to the position error signal Generate the position control signal u p (t).

[0056] Speed closed-loop controller: According to the speed error signal Generate the speed control signal u ν (t).

[0057] Acceleration closed-loop controller: According to the acceleration error signal Generate the acceleration control signal u a (t).

[0058] Among them, is the actually measured vibration acceleration of the machine box body, and a b,ref (t) is the preset reference acceleration of the machine box body. In order to suppress vibration, a b,ref (t) can be set to zero or close to zero, expecting the machine box body to remain stationary or have minimum vibration. a b,ref (t) can also be a specific acceleration curve designed according to the movement trajectory of the rod body, used to actively cancel the expected shock response. The acceleration control signal u a (t) is specifically used to generate a torque or current command to cancel the vibration of the machine box body.

[0059] Each closed-loop controller preferably adopts the PID (Proportional-Integral-Derivative) control algorithm, and its general form is:

[0060] Specific to each closed-loop: Current closed-loop control signal:

[0061] Position closed-loop control signal:

[0062] Speed closed-loop control signal:

[0063] Acceleration closed-loop control signal:

[0064] Among them, K P , K I , K D are the proportional, integral, and derivative gains of each closed-loop respectively, obtained through system identification, empirical adjustment, or adaptive algorithms. The proportional term K Pa in the acceleration closed-loop responds quickly to the acceleration error and generates an immediate vibration suppression compensation; the integral term K Ia accumulates and eliminates long-term or residual vibration errors; the derivative term K Da predicts the acceleration change trend and generates a compensation signal in advance to suppress sudden vibrations.

[0065] The signal fusion module 150 is integrated into the firmware or software of the data acquisition and control processing unit 130, and is configured to fuse the control signals generated by each closed-loop controller and the possible feedforward compensation signals to generate the final control command F(t). The fusion method is weighted summation: F(t)=w i u i (t)+w p u p (t)+w ν u ν (t)+w a u a (t)+u ff (t) wherein, w i 、w p 、w ν 、w a are the weight coefficients of each closed-loop signal, which are used to balance the contributions of different closed-loops to the final control command; u ff (t) is the feedforward compensation term, which is used to compensate for known system nonlinearities, gravity effects, friction or expected external disturbances. In other embodiments, the fusion can also adopt techniques such as state space methods, fuzzy logic or neural networks. The current closed-loop is located in the inner layer, the position and speed closed-loops are located in the outer layer, and the acceleration closed-loop can be parallel to the speed closed-loop or used as an independent inner layer loop. Signal fusion is to combine the control outputs of these different levels into the total control signal required by the motor (such as torque command or voltage command).

[0066] The output drive module interface 160 transmits the final control command F(t) generated by the data acquisition and control processing unit 130 to an external motor driver. The motor driver generates corresponding current or voltage according to the control command to drive the motor and the actuator of the barrier gate to move.

[0067] The communication module provides the ability to interact with external systems, such as performing data communication, parameter configuration, status monitoring and remote control with a host computer, a monitoring system platform, a mobile phone APP or other intelligent devices through interfaces such as RS485, Ethernet, Wi-Fi, etc.

[0068] The specific process of the barrier gate control method of the present invention is as follows: 1. Initialization: After the barrier gate system is powered on, self-check and calibration are performed on each sensor, and the stored preset parameters, motion trajectory data and control gains are loaded. Connections with the motor driver and the communication module are established.

[0069] 2. Data acquisition and preprocessing: During the operation of the barrier gate, the sensor module 110 continuously acquires feedback signals such as current, position, speed, and the acceleration of the cabinet body. These signals are filtered, amplified, and converted from analog to digital by the signal processing module 120 to ensure accurate and reliable data. The acceleration data of the cabinet body is specifically for closed-loop acceleration acquisition.

[0070] 3. Error calculation and PID operation: The data acquisition and control processing unit 130 calculates the real-time error signals of each closed-loop: e i (t), e p (t), e v (t), and e a (t) based on the acquired feedback data and the preset reference values. Then, each PID controller in the closed-loop control algorithm module 140 uses these error signals to calculate and generate the corresponding control signals u i (t), u p (t), u v (t), and u a (t).

[0071] 4. Multi-closed-loop signal fusion: The signal fusion module 150 fuses the calculated u i (t), u p (t), u v (t), u a (t) and the preset feedforward compensation term u ff (t) (such as weighted summation) to generate the final control command F(t). In this process, the position and speed closed-loops are mainly responsible for the trajectory tracking of the rod, the current closed-loop is responsible for the driving torque control, and the acceleration closed-loop generates a compensation component u a (t) according to the real-time vibration acceleration of the cabinet body, which is superimposed on the total control command to generate an additional torque to suppress the vibration of the cabinet body. (t), which is superimposed on the total control command to generate an additional torque to suppress the vibration of the cabinet body.

[0072] 5. Output and feedback regulation: The final control command F(t) is sent to the motor driver through the output drive module interface 160 to drive the barrier gate motor to perform the corresponding actions. At the same time, the system continuously acquires new feedback data in real time to form a closed-loop feedback chain. The data acquisition and control processing unit 130 continuously repeats steps 3 - 5 above, dynamically adjusts the output according to the latest system state, so as to achieve precise control of the rod movement and effective suppression of the cabinet body vibration.

[0073] The present invention is particularly applicable to heavy-duty barrier gates, such as billboard-style barrier gates or fence-style barrier gates. The rod bodies of these barrier gates are heavy and have large inertia, and are prone to exciting resonance and vibration of the cabinet structure during rapid movement. By installing an acceleration sensor on the cabinet and introducing an acceleration closed-loop, the key dynamic quantity causing these problems - the acceleration of the cabinet - can be directly monitored and controlled. The current, position, and speed closed-loops of the rod ensure the accuracy of the rod movement, while the acceleration closed-loop provides a fast, direct, and effective means of suppressing the vibration of the cabinet excited by the rod movement. The two work together, enabling the heavy-duty barrier gate to remain stable and without significant jitter even when switching at high speed.

[0074] Compared with relying only on mechanical buffering, the control method of the present invention has the advantages of fast response speed, high adjustment accuracy, and strong adaptability (it can adapt to different vibration modes by adjusting control parameters). By actively suppressing vibration electronically, the dependence on mechanical buffering devices can be reduced, the system cost and maintenance requirements can be lowered, while structural fatigue is reduced and the overall service life of the equipment is extended.

[0075] In addition to the heavy-duty barrier gate system, this control method and device can also be extended and applied to other similar scenarios, that is, there is a main moving component in the system, and the movement of this component will excite unwanted vibrations in other fixed or relatively fixed structures, and it is necessary to suppress these vibrations by controlling the driving force of the main moving component. For example, the rapid movement of an industrial robot arm may cause vibration of the base or fuselage, and the rapid feed of a precision machine tool table may cause vibration of the machine bed, etc.

[0076] It should be noted that the control algorithm is not limited to PID control, and state feedback control, adaptive control, robust control, or other modern control theory methods can also be used; the type of sensor can also be selected according to actual needs to be a more suitable model or principle.

[0077] The present invention is not limited to the above optional implementation manners. Anyone can obtain other various forms of products under the inspiration of the present invention. However, no matter what changes are made in its shape or structure, as long as the technical solutions fall within the scope defined by the claims of the present invention, they are all within the protection scope of the present invention.

Claims

1. A barrier gate control method for controlling a barrier gate having a movable rod body and a fixed machine box body, characterized in that, Comprising: Obtaining a current feedback signal, a position feedback signal, and a speed feedback signal of the movable rod body of the barrier gate; Obtaining an acceleration feedback signal of the fixed machine housing of the barrier gate, the acceleration feedback signal reflecting the vibration of the machine housing; Calculating a current error signal according to the current feedback signal and a preset reference current signal, and generating a current control signal based on the current error signal; Calculating a position error signal according to the position feedback signal and a preset reference position signal, and generating a position control signal based on the position error signal; Calculating a speed error signal according to the speed feedback signal and a preset reference speed signal, and generating a speed control signal based on the speed error signal; Calculating an acceleration error signal according to the acceleration feedback signal and a preset reference acceleration signal, and generating an acceleration control signal based on the acceleration error signal, the acceleration control signal being used to suppress the vibration of the machine housing; Fusing the current control signal, the position control signal, the speed control signal, and the acceleration control signal to generate a final control instruction; Driving the actuator of the barrier gate to move according to the final control instruction.

2. The gate control method according to claim 1, wherein The acceleration feedback signal is collected by an acceleration sensor installed on the machine housing, and the position feedback signal of the rod body is obtained by collecting with an encoder.

3. The gate control method according to claim 1, characterized in that The preset reference acceleration signal is used to indicate the desired acceleration of the machine housing.

4. The gate control method according to claim 3, wherein The set value of the preset reference acceleration signal is zero or a trajectory for canceling an expected disturbance.

5. The gate control method according to claim 1, wherein Fusing the control signals includes performing a weighted sum on the current control signal, the position control signal, the speed control signal, the acceleration control signal, and at least one feedforward compensation signal to generate the final control instruction.

6. A barrier gate control device for controlling a barrier gate having a movable rod body and a fixed machine box body, characterized in that, The device includes: A sensor module configured to obtain a current feedback signal, a position feedback signal, and a speed feedback signal of the movable rod body of the barrier gate, and to obtain an acceleration feedback signal of the fixed machine housing of the barrier gate, the acceleration feedback signal reflecting the vibration of the machine housing; A signal processing module configured to filter, amplify, and digitize the feedback signal; A data acquisition and control processing unit configured to receive the processed feedback signal and calculate a current error signal, a position error signal, a speed error signal, and an acceleration error signal; A closed-loop control algorithm module configured to generate a current control signal, a position control signal, a speed control signal, and an acceleration control signal respectively based on the error signals, the acceleration control signal being used to suppress the vibration of the machine housing; A signal fusion module configured to fuse the current control signal, the position control signal, the speed control signal, and the acceleration control signal to generate a final control instruction; and An output drive module interface configured to output the final control instruction to the actuator of the barrier gate.

7. The gate control device according to claim 6, characterized in that The sensor module includes an acceleration sensor installed on the machine housing and an encoder for collecting the position information of the rod body.

8. The gate control device according to claim 6, characterized in that, The acceleration error signal is calculated based on the difference between the acceleration feedback signal and a preset reference acceleration signal.

9. The gate control device according to claim 8, characterized in that, The preset reference acceleration signal is used to indicate the desired acceleration of the machine housing.

10. The gate control device according to claim 6, characterized in that, The signal fusion module is configured to perform a weighted summation of the current control signal, the position control signal, the speed control signal, the acceleration control signal, and at least one feedforward compensation signal.

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