Control method and device for synchronization of child vehicle and child-mother vehicle and child-mother vehicle system

Abstract

The embodiment of the invention discloses a child-mother vehicle sub-vehicle synchronization control method and device and a child-mother vehicle system.The method comprises the steps that a walking synchronization instruction is sent to a first child vehicle and a second child vehicle so as to control the first child vehicle and the second child vehicle to walk synchronously; acquiring a first position of the first sub-vehicle and a second position of the second sub-vehicle in the synchronous walking process of the first sub-vehicle and the second sub-vehicle; based on the first position, the second position and a standard distance, determining a position synchronization error between the first sub-vehicle and the second sub-vehicle; based on the position synchronization error, the position synchronization proportional gain and the position synchronization differential gain, the torque compensation amount of at least one sub-vehicle walking motor in the first sub-vehicle and the second sub-vehicle is determined; and performing torque compensation on the walking motor of the at least one sub-vehicle based on the torque compensation amount. According to the embodiment of the invention, the synchronous walking error between the double sub-vehicles can be greatly reduced.

Description

Technical Field

[0001] The present disclosure relates to the technical field of parent-child carts, and in particular to a method and device for controlling the synchronization of child carts in a parent-child cart and a parent-child cart system. Background Art

[0002] The mother-and-child vehicle in the transportation industry includes a mother vehicle and multiple child vehicles loaded on the mother vehicle. When transporting goods, both the mother vehicle and the child vehicles are sufficient to carry the goods. On the return trip, the child vehicles are loaded on the mother vehicle, saving fuel and highway fees.

[0003] Traditional trolleys use open-loop control or single-speed closed-loop control. Under heavy-load conditions, mechanical deformation, track flatness error, motor response differences, etc. may cause the synchronization error of the two trolleys to exceed the limit, resulting in the risk of workpiece tilting, structural deformation, and even overturning.

[0004] How to synchronously control multiple vehicles in a mother-and-child vehicle is a problem that needs to be solved urgently. Summary of the Invention

[0005] The embodiments of the present disclosure provide a method and device for controlling the synchronization of sub-carriages in a parent-child carriage, and a parent-child carriage system to solve the above-mentioned problems.

[0006] A first aspect of the present disclosure provides a method for controlling synchronization of a sub-carriage in a parent-child carriage, comprising: Sending a movement synchronization instruction to the first sub-carriage and the second sub-carriage to control the first sub-carriage and the second sub-carriage to move synchronously; Acquire a first position of the first sub-vehicle and a second position of the second sub-vehicle during the synchronous movement of the first sub-vehicle and the second sub-vehicle; determining a position synchronization error between the first sub-vehicle and the second sub-vehicle based on the first position, the second position, and a standard distance; Determining a torque compensation amount for a travel motor of at least one of the first sub-vehicle and the second sub-vehicle based on the position synchronization error, the position synchronization proportional gain, and the position synchronization differential gain; Torque compensation is performed on a travel motor of the at least one sub-vehicle based on the torque compensation amount.

[0007] In some embodiments of the present disclosure, performing torque compensation on the travel motor of the at least one sub-vehicle based on the torque compensation amount includes: determining a first output torque of a first travel motor of the first sub-vehicle based on the torque compensation amount and a reference output torque; performing torque compensation on the first travel motor based on the first output torque; determining a second output torque of the second sub-vehicle travel motor based on the torque compensation amount and the reference output torque, wherein a difference between the first output torque and the second output torque is the torque compensation amount; Torque compensation is performed on the second travel motor of the second sub-vehicle based on the second output torque.

[0008] In some embodiments of the present disclosure, further comprising: Sending a start-stop coordination instruction to the first vehicle and the second vehicle, and generating speed curves for the first vehicle and the second vehicle based on a preset maximum operating speed and a smoothing factor; determining an acceleration feedforward compensation amount for each of the first and second sub-vehicles based on the moment of inertia, acceleration, and motor torque constant of each sub-vehicle; Based on the speed curve and the acceleration feedforward compensation amount, the first sub-vehicle and the second sub-vehicle are controlled to start and stop synchronously.

[0009] In some embodiments of the present disclosure, further comprising: performing pressure balancing on a first oil cylinder of the first sub-carriage and a second oil cylinder of the second sub-carriage; Sending a synchronous lifting instruction to the first sub-carriage and the second sub-carriage to control the first sub-carriage and the second sub-carriage to perform synchronous lifting based on the first oil cylinder and the second oil cylinder; Obtaining a relative height difference between the first sub-trolley and the second sub-trolley during a synchronous lifting process; determining a proportional valve compensation amount of at least one of the first cylinder and the second cylinder based on the relative height difference; Proportional-integral-derivative control is performed on the proportional valve of the at least one cylinder based on the proportional valve compensation amount of the at least one cylinder.

[0010] In some embodiments of the present disclosure, the pressure balancing of the first oil cylinder of the first sub-vehicle and the second oil cylinder of the second sub-vehicle includes: obtaining a pressure difference between the first oil cylinder and the second oil cylinder; A pressure regulating valve of at least one cylinder between the first cylinder and the second cylinder is adjusted based on the pressure difference.

[0011] In some embodiments of the present disclosure, after determining the position synchronization error between the first sub-vehicle and the second sub-vehicle based on the first position, the second position, and the standard distance, the method further includes: If the position synchronization error is greater than a maximum error threshold, the first sub-vehicle and the second sub-vehicle are decelerated, stopped, and mechanically locked in sequence.

[0012] A second aspect of the present disclosure provides a control device for synchronizing a carriage in a parent-child carriage, comprising: An instruction sending module is used to send a walking synchronization instruction to the first sub-carriage and the second sub-carriage to control the first sub-carriage and the second sub-carriage to walk synchronously; a position acquisition module, configured to acquire a first position of the first sub-vehicle and a second position of the second sub-vehicle during the synchronous movement of the first sub-vehicle and the second sub-vehicle; a position synchronization error determining module, configured to determine a position synchronization error between the first sub-vehicle and the second sub-vehicle based on the first position, the second position, and a standard distance; a torque compensation amount determination module, configured to determine a torque compensation amount for a travel motor of at least one of the first sub-vehicle and the second sub-vehicle based on the position synchronization error, the position synchronization proportional gain, and the position synchronization differential gain; The torque compensation module is configured to perform torque compensation on the travel motor of the at least one sub-vehicle based on the torque compensation amount.

[0013] In some embodiments of the present disclosure, the torque compensation module includes: a first output torque determining unit, configured to determine a first output torque of the first travel motor of the first sub-vehicle based on the torque compensation amount and a reference output torque; a first torque compensation unit, configured to perform torque compensation on the first travel motor based on the first output torque; a second output torque determining unit, configured to determine a second output torque of the second sub-vehicle travel motor based on the torque compensation amount and the reference output torque, wherein a difference between the first output torque and the second output torque is the torque compensation amount; The second torque compensation unit is used to perform torque compensation on the second travel motor of the second sub-vehicle based on the second output torque.

[0014] In some embodiments of the present disclosure, the instruction sending module is further configured to send a start-stop coordination instruction to the first vehicle and the second vehicle, and generate a speed curve for the first vehicle and the second vehicle based on a preset maximum operating speed and a smoothing factor; Wherein, the device further includes: an acceleration feedforward compensation module, configured to determine an acceleration feedforward compensation for each of the first and second sub-vehicles based on the moment of inertia, acceleration, and motor torque constant of each sub-vehicle; A start-stop control module is used to control the synchronous start and stop of the first sub-vehicle and the second sub-vehicle based on the speed curve and the acceleration feedforward compensation amount.

[0015] In some embodiments of the present disclosure, the apparatus further comprises: A pressure equalization module, configured to equalize the pressure of a first oil cylinder of the first sub-vehicle and a second oil cylinder of the second sub-vehicle; a synchronous lifting module, configured to send a synchronous lifting instruction to the first sub-carriage and the second sub-carriage, so as to control the first sub-carriage and the second sub-carriage to perform synchronous lifting based on the first oil cylinder and the second oil cylinder; A relative height difference acquisition module is used to acquire the relative height difference between the first sub-carriage and the second sub-carriage during the synchronous jacking process; a proportional valve compensation amount determining module, configured to determine a proportional valve compensation amount of at least one of the first cylinder and the second cylinder based on the relative height difference; A proportional-integral-differential control module is configured to perform proportional-integral-differential control on a proportional valve of the at least one oil cylinder based on a proportional valve compensation amount of the at least one oil cylinder.

[0016] In some embodiments of the present disclosure, the pressure equalization module is used to obtain the pressure difference between the first cylinder and the second cylinder; the pressure equalization module is also used to adjust the pressure regulating valve of at least one cylinder between the first cylinder and the second cylinder based on the pressure difference.

[0017] In some embodiments of the present disclosure, the apparatus further comprises: A multi-stage control module is used to decelerate, stop and mechanically lock the first sub-vehicle and the second sub-vehicle in sequence if the position synchronization error is greater than a maximum error threshold.

[0018] According to a third aspect of the present disclosure, an electronic device is provided, including: a memory for storing a computer program product; The processor is configured to execute the computer program product stored in the memory, and when the computer program product is executed, the method described in the first aspect above is implemented.

[0019] According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the method described in the first aspect is implemented.

[0020] According to a fifth aspect of the embodiments of the present disclosure, a computer program product is provided, comprising computer program instructions, which, when executed by a processor, enable the processor to execute the method described in the first aspect.

[0021] The control method, device and parent-child car system for the synchronization of sub-carriages in the parent-child car of the disclosed embodiments are such that when the twin cars in the parent-child car receive a synchronous walking instruction and walk synchronously, the spacing between the twin cars is inconsistent with the standard spacing due to mechanical deformation, track flatness error and motor response difference. Therefore, the spacing between the twin cars is collected in real time, compared with the standard spacing, and torque compensation is performed on the walking motor of at least one sub-carriage in the twin cars according to the numerical comparison result, thereby significantly reducing the synchronous walking error between the twin cars.

[0022] The technical solution of the present disclosure is further described in detail below through the accompanying drawings and examples. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0024] The present disclosure can be more clearly understood from the following detailed description with reference to the accompanying drawings, in which: Figure 1 This is a flow chart of a method for controlling synchronization of a sub-carriage in a parent-child carriage according to an embodiment of the present disclosure; Figure 2 This is a structural block diagram of a control device for synchronizing a sub-carriage in a parent-child carriage according to an embodiment of the present disclosure; Figure 3 This is a structural block diagram of an electronic device in one embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure.

[0026] Those skilled in the art will understand that the terms "first" and "second" in the embodiments of the present disclosure are only used to distinguish different steps, devices or modules, and do not represent any specific technical meanings, nor do they indicate a necessary logical order between them.

[0027] It should also be understood that in the embodiments of the present disclosure, “a plurality of” may refer to two or more than two, and “at least one” may refer to one, two, or more than two.

[0028] It should also be understood that any component, data or structure mentioned in the embodiments of the present disclosure can generally be understood as one or more, unless explicitly limited or otherwise indicated in the context.

[0029] In addition, the term "and / or" in this disclosure is merely a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this disclosure generally indicates that the related objects are in an "or" relationship.

[0030] It should also be understood that the description of the various embodiments in this disclosure focuses on the differences between the various embodiments, and the same or similar aspects thereof can be referenced with each other. For the sake of brevity, they will not be described one by one.

[0031] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0032] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0033] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0034] The embodiments of the present disclosure can be applied to electronic devices such as terminal devices, computer systems, and servers, and can operate in conjunction with numerous other general-purpose or specialized computing system environments or configurations. Examples of well-known terminal devices, computing systems, environments, and / or configurations suitable for use with terminal devices, computer systems, servers, and other electronic devices include, but are not limited to, personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network personal computers, minicomputer systems, mainframe computer systems, and distributed cloud computing technology environments including any of the above systems, among others.

[0035] Electronic devices such as terminal devices, computer systems, and servers can be described in the general context of computer system-executable instructions (such as program modules) executed by the computer system. Generally, program modules can include routines, programs, object programs, components, logic, data structures, and the like that perform specific tasks or implement specific abstract data types. Computer systems / servers can be implemented in distributed cloud computing environments, where tasks are performed by remote processing devices linked via a communications network. In distributed cloud computing environments, program modules can be located on local or remote computer system storage media, including storage devices.

[0036] Figure 1FIG. 1 is a flow chart of a method for controlling synchronization of a sub-carriage in a parent-child carriage according to an embodiment of the present disclosure. Figure 1 As shown, the control method for synchronizing the sub-carriage in the parent-child carriage includes the following steps: S1: Sending a movement synchronization instruction to the first sub-carriage and the second sub-carriage to control the first sub-carriage and the second sub-carriage to move synchronously.

[0037] The central controller of the parent-child vehicle system sends a walking synchronization instruction to the first child vehicle and the second child vehicle, wherein the walking synchronization instruction at least includes a target walking speed and a target walking distance.

[0038] After receiving the walking synchronization instruction respectively, the first sub-vehicle and the second sub-vehicle both travel the target walking distance at the target walking speed, thereby achieving synchronous walking of the first sub-vehicle and the second sub-vehicle.

[0039] S2: Acquire a first position of the first sub-vehicle and a second position of the second sub-vehicle during the synchronous movement of the first sub-vehicle and the second sub-vehicle.

[0040] During the synchronous movement of the first sub-carriage and the second sub-carriage, the distances of the first sub-carriage and the second sub-carriage can be measured respectively by multiple laser rangefinders installed at multiple preset positions, and the coordinate values of the first sub-carriage and the second sub-carriage in the same coordinate system (e.g., the world coordinate system) are obtained based on the distance measurement results.

[0041] S3: Determine a position synchronization error between the first sub-vehicle and the second sub-vehicle based on the first position, the second position and the standard distance.

[0042] The position synchronization error between the first and second sub-cars can be calculated using the following formula: ΔS=|S A -S B |-S target Among them, ΔS represents the position synchronization error, S A Indicates the coordinate value of the first car, using S B Indicates the coordinate value of the second car, S target Indicates standard spacing.

[0043] If the position synchronization error ΔS is greater than the maximum error threshold (e.g., 7 mm), it indicates that the position synchronization error ΔS is too large, and a level 3 alarm is triggered, and the first and second sub-carriages are decelerated, stopped, and mechanically locked; if the position synchronization error ΔS is less than or equal to the maximum error threshold, step S4 is executed.

[0044] S4: Determine a torque compensation amount of a travel motor of at least one of the first sub-vehicle and the second sub-vehicle based on the position synchronization error, the position synchronization proportional gain, and the position synchronization differential gain.

[0045] The torque compensation of at least one of the travel motors between the first and second sub-carriages can be calculated using the following formula: ΔT=K p ΔS+K d d(ΔS) / dt Where ΔT represents the torque compensation, K p Indicates the position synchronization proportional gain, K d Indicates the position synchronization differential gain.

[0046] Position synchronization proportional gain K p and K d The principle of setting the position synchronization differential gain is: Rigid load (high workpiece rigidity): Increase the position synchronization proportional gain K p , errors can be quickly eliminated.

[0047] Flexible load (workpiece is easy to deform): reduce the position synchronization proportional gain K p , which can avoid overshoot.

[0048] Position synchronization differential gain K d Usually the value is the position synchronization proportional gain K p 0.3 to 0.5 times of the original value, which can suppress high-frequency oscillation.

[0049] S5: Performing torque compensation on a travel motor of at least one sub-vehicle based on the torque compensation amount.

[0050] In some optional embodiments of the present disclosure, step S5 may include the following steps: S5-1: Determine a first output torque of a first travel motor of a first sub-vehicle based on the torque compensation amount and a reference output torque.

[0051] The first output torque of the first sub-vehicle travel motor can be calculated by the following formula: T A =T base -ΔT / 2 Among them, T A Indicates the first output torque.

[0052] S5-2: Perform torque compensation on the first travel motor based on the first output torque.

[0053] S5-3: Determine the second output torque of the second vehicle travel motor based on the torque compensation amount and the reference output torque.

[0054] The second output torque of the second travel motor of the second sub-vehicle can be calculated by the following formula: T B =T base +ΔT / 2 Among them, T B The first output torque T A and the second output torque T B The difference between them is the torque compensation amount ΔT.

[0055] S5-4: Perform torque compensation on the second travel motor based on the second output torque.

[0056] In this embodiment, since the distance between the twin cars in the mother-and-child car is inconsistent with the standard distance when they receive the synchronous walking instruction and walk synchronously due to mechanical deformation, track flatness error, and motor response difference, the distance between the twin cars is collected in real time, and it is compared with the standard distance in numerical value. According to the numerical comparison result, torque compensation is performed on the walking motor of at least one car in the twin car, thereby greatly reducing the synchronous walking error between the twin cars (for example, within ±5mm).

[0057] In some embodiments of the present disclosure, the following steps are further included: S6: Sending a start-stop coordination instruction to the first sub-vehicle and the second sub-vehicle, and generating speed curves for the first sub-vehicle and the second sub-vehicle based on a preset maximum operating speed and a smoothing factor.

[0058] The central controller sends a start-stop coordination instruction to the first sub-vehicle and the second sub-vehicle, so that the first sub-vehicle and the second sub-vehicle start and stop synchronously.

[0059] After the first and second vehicles receive the start-stop coordination command, if the loads of the first and second vehicles are greater than a preset load threshold (e.g., 100 tons), the speed curves of the first and second vehicles can be generated according to the following formula: v(t)=V max / [1+e (-α·T) ] Among them, v(t) represents the speed curve running over time, V max represents the maximum running speed of the first and second sub-carriages, α represents the smoothing factor of the speed curve, and T=t-t0.

[0060] S7: Determine an acceleration feedforward compensation amount of each sub-vehicle based on the rotational inertia, acceleration, and motor torque constant of each sub-vehicle in the first sub-vehicle and the second sub-vehicle.

[0061] The acceleration feedforward compensation of the first and second sub-cars can be generated according to the following formula: U ff =J·a / K t Among them, U ffrepresents the acceleration feedforward compensation of the first and second sub-cars, J represents the moment of inertia of the first and second sub-cars, a represents the acceleration, K t Indicates the motor torque constant.

[0062] S8: Based on the speed curve and the acceleration feedforward compensation amount, the first sub-vehicle and the second sub-vehicle are controlled to start and stop synchronously.

[0063] The central controller calculates the speed curve v(t) and the acceleration feedforward compensation U ff , control the first sub-car and the second sub-car to start and stop synchronously.

[0064] In this embodiment, since the speed and acceleration between the twin cars in the mother-and-child car are inconsistent due to mechanical deformation, track flatness error, and motor response differences when the twin cars in the mother-and-child car receive the start-stop coordination command and start and stop synchronously, the speed curve is smoothed and the acceleration is compensated according to the moment of inertia and the motor torque constant, so the start-stop coordination error between the two cars can be greatly reduced (for example, within ±0.1m / s²).

[0065] In some embodiments of the present disclosure, the following steps are further included: S9: Pressure equalization is performed on the first oil cylinder of the first sub-carriage and the second oil cylinder of the second sub-carriage.

[0066] The central controller obtains the pressure P of the first cylinder through the pressure sensor A and the pressure P of the second oil cylinder B , and then according to the pressure P of the first cylinder A and the pressure P of the second oil cylinder B Send a pressure equalization command to equalize the pressure between the first and second cylinders (for example, the pressure difference △P=P A -P B ≤3bar), ensure that the twin vehicles are under balanced force to avoid uneven loading.

[0067] S10: Sending a synchronous lifting instruction to the first sub-vehicle and the second sub-vehicle to control the first sub-vehicle and the second sub-vehicle to perform synchronous lifting based on the first oil cylinder and the second oil cylinder.

[0068] The central controller sends a synchronous lifting instruction to the first sub-carriage and the second sub-carriage, so that the first sub-carriage and the second sub-carriage are lifted synchronously.

[0069] S11: Obtaining the relative height difference between the first sub-trolley and the second sub-trolley during the synchronous lifting process.

[0070] The central processor collects the lifting height H of the first sub-car through the displacement sensor A And the lifting height H of the second sub-car B, calculate the relative height difference ΔH=H between the first and second sub-carriages during the synchronous lifting process A -H B .

[0071] S12: Determine a proportional valve compensation amount of at least one of the first cylinder and the second cylinder based on the relative height difference.

[0072] The central controller calculates a proportional valve compensation amount for at least one of the first and second cylinders based on the relative height difference ΔH and parameters of the first and second cylinders (obtained from the cylinder manufacturer).

[0073] S13: Performing proportional-integral-differential control on the proportional valve of at least one cylinder based on the proportional valve compensation amount of the at least one cylinder.

[0074] When the proportional valve compensation amount of the at least one cylinder is the proportional valve compensation amount for the first cylinder, the central controller performs proportional integral derivative (PID) control on the first cylinder based on the proportional valve compensation amount.

[0075] When the proportional valve compensation amount of at least one oil cylinder is the proportional valve compensation amount for the second oil cylinder, the central controller performs PID control on the second oil cylinder based on the proportional valve compensation amount.

[0076] When the proportional valve compensation amount of at least one cylinder includes a first proportional valve compensation amount for the first cylinder and a second proportional valve compensation amount for the second cylinder, the central controller performs PID control on the first cylinder and the second cylinder respectively based on the first proportional valve compensation amount and the second proportional valve compensation amount.

[0077] In this embodiment, since the heights of the twin cars in the mother-and-child car are inconsistent when they receive the synchronous jacking instruction and perform synchronous jacking due to mechanical deformation, track flatness error, and motor response difference, the proportional valve of at least one of the first cylinder and the second cylinder is PID controlled, thereby greatly reducing the synchronous jacking error between the twin cars (for example, within ±2mm).

[0078] Figure 2 FIG. 1 is a structural block diagram of a control device for synchronizing a sub-carriage in a parent-child carriage in some embodiments. Figure 2 As shown, the control device for synchronizing the sub-carriage in the parent-child carriage includes: The instruction sending module 100 is used to send a walking synchronization instruction to the first sub-carriage and the second sub-carriage to control the first sub-carriage and the second sub-carriage to walk synchronously; A position acquisition module 200 is used to acquire a first position of the first sub-vehicle and a second position of the second sub-vehicle during the synchronous movement of the first sub-vehicle and the second sub-vehicle; a position synchronization error determining module 300 for determining a position synchronization error between the first sub-vehicle and the second sub-vehicle based on the first position, the second position, and the standard distance; A torque compensation determination module 400 is configured to determine a torque compensation amount for a travel motor of at least one of the first and second sub-vehicles based on a position synchronization error, a position synchronization proportional gain, and a position synchronization differential gain; The torque compensation module 500 is configured to perform torque compensation on a travel motor of at least one sub-vehicle based on a torque compensation amount.

[0079] In some embodiments of the present disclosure, the torque compensation module 500 includes: a first output torque determining unit, configured to determine a first output torque of a first travel motor of a first sub-vehicle based on a torque compensation amount and a reference output torque; a first torque compensation unit, configured to perform torque compensation on the first travel motor based on the first output torque; a second output torque determining unit, configured to determine a second output torque of the second sub-vehicle travel motor based on the torque compensation amount and the reference output torque, wherein the difference between the first output torque and the second output torque is the torque compensation amount; The second torque compensation unit is used to perform torque compensation on the second travel motor of the second sub-vehicle based on the second output torque.

[0080] In some embodiments of the present disclosure, the instruction sending module 100 is further configured to send a start-stop coordination instruction to the first sub-vehicle and the second sub-vehicle, and generate speed curves for the first sub-vehicle and the second sub-vehicle based on a preset maximum operating speed and a smoothing factor; The device further comprises: an acceleration feedforward compensation module, configured to determine an acceleration feedforward compensation of each sub-vehicle based on the moment of inertia, acceleration, and motor torque constant of each sub-vehicle in the first sub-vehicle and the second sub-vehicle; The start-stop control module is used to control the synchronous start and stop of the first sub-vehicle and the second sub-vehicle based on the speed curve and the acceleration feedforward compensation.

[0081] In some embodiments of the present disclosure, the apparatus further comprises: A pressure equalization module, used for performing pressure equalization on a first oil cylinder of a first sub-vehicle and a second oil cylinder of a second sub-vehicle; A synchronous lifting module is used to send a synchronous lifting instruction to the first sub-carriage and the second sub-carriage, so as to control the first sub-carriage and the second sub-carriage to perform synchronous lifting based on the first oil cylinder and the second oil cylinder; A relative height difference acquisition module is used to acquire the relative height difference between the first sub-carriage and the second sub-carriage during the synchronous jacking process; a proportional valve compensation amount determination module, configured to determine a proportional valve compensation amount for at least one of the first cylinder and the second cylinder based on the relative height difference; The proportional-integral-differential control module is used to perform proportional-integral-differential control on the proportional valve of at least one cylinder based on the proportional valve compensation amount of at least one cylinder.

[0082] In some embodiments of the present disclosure, the pressure balancing module is used to obtain the pressure difference between the first cylinder and the second cylinder; the pressure balancing module is also used to adjust the pressure regulating valve of at least one cylinder between the first cylinder and the second cylinder based on the pressure difference.

[0083] In some embodiments of the present disclosure, the apparatus further comprises: The multi-stage control module is used to decelerate, stop and mechanically lock the first sub-carriage and the second sub-carriage in sequence if the position synchronization error is greater than the maximum error threshold.

[0084] It should be noted that the specific implementation of the control device for synchronizing sub-carriages in the parent-child car in the embodiment of the present disclosure is similar to the specific implementation of the control method for synchronizing sub-carriages in the parent-child car in the embodiment of the present disclosure, and the technical effect of the control device for synchronizing sub-carriages in the parent-child car in the embodiment of the present disclosure is similar to the technical effect of the control method for synchronizing sub-carriages in the parent-child car in the embodiment of the present disclosure. Please refer to the description of the control method for synchronizing sub-carriages in the parent-child car in the embodiment of the present disclosure for details. In order to reduce redundancy, it will not be repeated.

[0085] In addition, the present disclosure also provides a parent-child vehicle system, including: A mother-and-child vehicle, wherein the mother-and-child vehicle comprises at least a mother vehicle, a first child vehicle and a second child vehicle; The central controller includes the control device for synchronizing the sub-carriages in the above-mentioned parent-child car, and is used to control the first sub-carriage and the second sub-carriage.

[0086] In addition, an embodiment of the present disclosure further provides an electronic device, including: memory for storing computer programs; The processor is used to execute the computer program stored in the memory, and when the computer program is executed, the control method for synchronizing the sub-carriage in the parent-child car described in any of the above embodiments of the present disclosure is implemented.

[0087] Below, reference Figure 3 To describe the electronic device according to the embodiment of the present disclosure. Figure 3 As shown, the electronic device includes one or more processors and memory.

[0088] The processor may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.

[0089] The memory may store one or more computer program products. The memory may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), a hard disk, flash memory, etc. One or more computer program products may be stored on the computer-readable storage medium, and the processor may execute the computer program products to implement the control method for child-car synchronization in the parent-child car of the various embodiments of the present disclosure described above and / or other desired functions.

[0090] In one example, the electronic device may further include an input device and an output device, and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0091] In addition, the input device may also include, for example, a keyboard, a mouse, and the like.

[0092] The output device can output various information to the outside, including determined distance information, direction information, etc. The output device can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0093] Of course, to simplify, Figure 3 Only some of the components related to the present disclosure in the electronic device are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, the electronic device may further include any other appropriate components according to specific application scenarios.

[0094] In addition to the above-mentioned methods and devices, an embodiment of the present disclosure may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the control method for synchronization of sub-carriages in a parent-child vehicle according to various embodiments of the present disclosure described in the above part of this specification.

[0095] The computer program product may be written in any combination of one or more programming languages to implement the operations of the disclosed embodiments, including object-oriented programming languages such as Java, C++, and conventional procedural programming languages such as C or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0096] In addition, an embodiment of the present disclosure may also be a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, enables the processor to execute the steps of the control method for synchronization of sub-cars in a parent-child car according to various embodiments of the present disclosure described in the above part of this specification.

[0097] The computer-readable storage medium may be any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0098] The basic principles of the present disclosure have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this disclosure are merely illustrative and not restrictive, and should not be construed as necessarily possessed by each embodiment of the present disclosure. Furthermore, the specific details disclosed above are provided for illustrative purposes and to facilitate understanding, rather than as limitations. These details do not limit the present disclosure to necessarily being implemented using these specific details.

[0099] Each embodiment in this specification is described in a progressive manner, with each embodiment focusing on its differences from the other embodiments. References to the same or similar parts between the various embodiments are sufficient. For system embodiments, since they largely correspond to method embodiments, their description is relatively simple. For relevant parts, references to the description of the method embodiments are sufficient.

[0100] The block diagrams of the devices, devices, equipment, and systems involved in this disclosure are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0101] The methods and apparatus of the present disclosure may be implemented in many ways. For example, the methods and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless otherwise specified. In addition, in some embodiments, the present disclosure may also be implemented as programs recorded in a recording medium, which include machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers recording media that store programs for executing the methods according to the present disclosure.

[0102] It should also be noted that in the apparatus, device, and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0103] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0104] The above description has been provided for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A method for controlling the synchronization of a sub-carriage in a parent-child carriage, characterized in that: include: Sending a movement synchronization instruction to the first sub-vehicle and the second sub-vehicle to control the first sub-vehicle and the second sub-vehicle to move synchronously; Acquire a first position of the first sub-vehicle and a second position of the second sub-vehicle during synchronous movement of the first sub-vehicle and the second sub-vehicle; determining a position synchronization error between the first sub-vehicle and the second sub-vehicle based on the first position, the second position, and a standard distance; Determining a torque compensation amount for a travel motor of at least one of the first sub-vehicle and the second sub-vehicle based on the position synchronization error, the position synchronization proportional gain, and the position synchronization differential gain; Torque compensation is performed on a travel motor of the at least one sub-vehicle based on the torque compensation amount.

2. The method according to claim 1, characterized in that The performing torque compensation on the travel motor of the at least one sub-vehicle based on the torque compensation amount includes: determining a first output torque of a first travel motor of the first sub-vehicle based on the torque compensation amount and a reference output torque; performing torque compensation on the first travel motor based on the first output torque; determining a second output torque of the second sub-vehicle travel motor based on the torque compensation amount and the reference output torque, wherein a difference between the first output torque and the second output torque is the torque compensation amount; Torque compensation is performed on the second travel motor of the second sub-vehicle based on the second output torque.

3. The method according to claim 1, characterized in that Also includes: Sending a start-stop coordination instruction to the first vehicle and the second vehicle, and generating speed curves for the first vehicle and the second vehicle based on a preset maximum operating speed and a smoothing factor; determining an acceleration feedforward compensation amount for each of the first and second sub-vehicles based on the moment of inertia, acceleration, and motor torque constant of each sub-vehicle; Based on the speed curve and the acceleration feedforward compensation amount, the first sub-vehicle and the second sub-vehicle are controlled to start and stop synchronously.

4. The method according to claim 1, wherein Also includes: performing pressure balancing on a first oil cylinder of the first sub-carriage and a second oil cylinder of the second sub-carriage; Sending a synchronous lifting instruction to the first sub-carriage and the second sub-carriage to control the first sub-carriage and the second sub-carriage to perform synchronous lifting based on the first oil cylinder and the second oil cylinder; Obtaining a relative height difference between the first sub-trolley and the second sub-trolley during a synchronous lifting process; determining a proportional valve compensation amount of at least one of the first cylinder and the second cylinder based on the relative height difference; Proportional-integral-derivative control is performed on the proportional valve of the at least one cylinder based on the proportional valve compensation amount of the at least one cylinder.

5. The method according to claim 4, characterized in that The pressure balancing of the first oil cylinder of the first sub-vehicle and the second oil cylinder of the second sub-vehicle includes: obtaining a pressure difference between the first oil cylinder and the second oil cylinder; A pressure regulating valve of at least one cylinder between the first cylinder and the second cylinder is adjusted based on the pressure difference.

6. The method according to any one of claims 1 to 5, characterized in that After determining the position synchronization error between the first sub-vehicle and the second sub-vehicle based on the first position, the second position, and the standard distance, the method further includes: If the position synchronization error is greater than a maximum error threshold, the first sub-vehicle and the second sub-vehicle are decelerated, stopped, and mechanically locked in sequence.

7. A control device for synchronizing a carriage with a child, characterized in that: include: An instruction sending module is used to send a walking synchronization instruction to the first sub-carriage and the second sub-carriage to control the first sub-carriage and the second sub-carriage to walk synchronously; a position acquisition module, configured to acquire a first position of the first sub-vehicle and a second position of the second sub-vehicle during the synchronous movement of the first sub-vehicle and the second sub-vehicle; a position synchronization error determining module, configured to determine a position synchronization error between the first sub-vehicle and the second sub-vehicle based on the first position, the second position, and a standard distance; a torque compensation amount determination module, configured to determine a torque compensation amount for a travel motor of at least one of the first sub-vehicle and the second sub-vehicle based on the position synchronization error, the position synchronization proportional gain, and the position synchronization differential gain; The torque compensation module is configured to perform torque compensation on the travel motor of the at least one sub-vehicle based on the torque compensation amount.

8. A parent-child vehicle system, characterized in that: include: A mother-and-child vehicle, wherein the mother-and-child vehicle comprises at least a mother vehicle, a first child vehicle and a second child vehicle; A central controller, comprising the device according to claim 7, is used to control the first sub-vehicle and the second sub-vehicle.

9. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method described in any one of claims 1 to 6 is implemented.

10. A computer program product, characterized in that The method comprises computer program instructions, which, when executed by a processor, enable the processor to perform the method according to any one of claims 1 to 6.

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