Open-loop control method and system for cradle position, electronic equipment and storage medium

Abstract

The invention provides an open-loop control method and system for a cradle position, electronic equipment and a storage medium, and relates to the technical field of cradle swing mechanisms, the method comprises the following steps: determining structural size parameters of the cradle swing mechanism, the structural size parameters comprising L1, L2 and L3; calculating structural constants of the cradle swing mechanism according to L2 and L3, wherein the structural constants comprise L4 and theta; acquiring an initial position angle value alpha 0; determining a target position angle value alpha 1; calculating delta L according to L1, L4, theta, alpha0 and alpha1, and determining a moving direction; and determining a rotation angle delta and a rotation direction according to the delta L and the movement direction, and controlling a screw motor to drive a screw to rotate. According to the technical scheme, the follow-up control action of the cradle can be completed only by collecting the angle information once through the angle sensor at most before the cradle starts to move, the requirement for the performance and precision of the angle sensor is lower in the mode, disturbance of angle data fluctuation to the control process is avoided, and the control accuracy is improved. And the control efficiency and the precision of a control result can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cradle swing mechanism, in particular to a cradle position open-loop control method and system, electronic equipment and storage medium. BACKGROUND

[0002] In the related art, an angle sensor is arranged on the cradle, and the angle sensor is used to acquire the current position angle of the cradle. In the process of running the cradle to a specified position, the current position angle of the cradle is monitored in real time by the angle sensor to perform closed-loop control on the swing position of the cradle.

[0003] This method needs to collect data of the angle sensor in real time and perform closed-loop control calculation, which greatly affects the control efficiency, and the sensor data will fluctuate in the collection process, which will also affect the stability and dynamic response process of the control. In addition, this method is highly dependent on the accuracy of the angle sensor data, and if the angle sensor reading deviates due to its own performance or improper calibration, it will greatly affect the accuracy of the control result. SUMMARY

[0004] In order to solve or improve the technical problem that the closed-loop control is too high in dependence on the angle sensor and has low control efficiency, one purpose of the present application is to provide a cradle position open-loop control method.

[0005] Another purpose of the present application is to provide a cradle position open-loop control system.

[0006] Another purpose of the present application is to provide an electronic device.

[0007] Another purpose of the present application is to provide a readable storage medium.

[0008] To achieve the above purpose, the first aspect of the present application provides a cradle position open-loop control method for a cradle swing mechanism, the cradle swing mechanism comprising a screw motor, a sliding block, a cradle and an angle sensor, the screw motor being used to be rotationally connected with a screw fulcrum, the screw motor having a rotatable screw, the sliding block being rotationally arranged on the screw, the cradle being used to be rotationally connected with a cradle fulcrum, one end of the cradle being rotationally connected with the sliding block, the angle sensor being arranged on the cradle, the angle sensor being used to acquire a position angle of the cradle, the screw motor driving the screw to rotate to change the relative position of the sliding block and the screw.

[0009] The open-loop control method comprises: determining structural size parameters of the cradle swing mechanism, the structural size parameters comprising a cradle lower rocker arm length L1, a vertical distance L2 between a cradle fulcrum and a screw fulcrum, and a horizontal distance L3 between the cradle fulcrum and the screw fulcrum; calculating structural constants of the cradle swing mechanism according to L2 and L3, the structural constants comprising a connecting line distance L4 between the cradle fulcrum and the screw fulcrum, and an included angle θ between the connecting line and a horizontal plane; obtaining an initial position angle value α0 of the cradle through an angle sensor; determining a target position angle value α1 of the cradle; calculating a moving distance ΔL of the sliding block along the screw according to L1, L4, θ, α0 and α1, and determining a moving direction of the sliding block; determining a rotating angle δ and a rotating direction of the screw required according to ΔL and the moving direction, and controlling the screw motor to drive the screw to rotate.

[0010] The present application aims to provide an open-loop control method for the position of a cradle, which only needs to collect angle information once through an angle sensor before the cradle starts moving to determine an initial position angle value of the cradle, or directly uses the angle corresponding to a certain specific position as the initial position angle value when the cradle uses the specific position as the starting moving position, and subsequent data processing steps do not need to collect angle information again, so that subsequent control actions of the cradle can be completed. Since the data of the angle sensor is used at most once in the entire control process, the performance and precision requirements of the angle sensor are lower, and since the real-time interaction with the angle sensor is omitted in the control process, the disturbance of the control process caused by the fluctuation of the angle sensor data can also be effectively avoided, and the control efficiency and the precision of the control result are greatly improved.

[0011] In some technical solutions, optionally, ΔL is calculated according to L1, L4, θ, α0 and α1 based on a first calculation formula, and the first calculation formula is:

[0012]

[0013] In this technical solution, the mapping relationship between the displacement (moving distance) of the sliding block and the cradle angle (position angle of the cradle) is derived by using the trigonometric function relationship. When the cradle rotates from α0 to α1, the displacement ΔL of the sliding block along the screw can be accurately calculated through geometric relationship. This method has low dependence on the angle sensor, can effectively avoid the disturbance of the control process caused by the fluctuation of the angle sensor data, and greatly improves the control efficiency and the precision of the control result.

[0014] In some embodiments, the rotation angle and the rotation direction of the screw motor are determined according to the ΔL and the moving direction, and the screw motor is controlled to drive the screw to rotate, including: determining the rotation angle of the screw according to the ΔL and the screw lead P based on a second calculation formula; determining the rotation direction of the screw according to the moving direction; and controlling the screw motor to drive the screw to rotate according to the rotation angle and the rotation direction.

[0015] In this embodiment, the linear relationship between the screw lead and the moving distance is determined by introducing the screw lead P, which is beneficial to improve the control efficiency and the control accuracy. The screw motor drives the screw to rotate to change the relative position of the slider and the screw, and further change the position angle or the swing position of the cradle.

[0016] In some embodiments, the second calculation formula is:

[0017] or

[0018] In this embodiment, this data processing method is beneficial to accurately control the rotation angle and the rotation direction of the screw motor, and further accurately control the position angle or the swing position of the cradle.

[0019] In some embodiments, the length L1 of the lower cradle arm is the distance between the cradle support point and the slider.

[0020] In this embodiment, by limiting the numerical range of L1, the space layout is optimized, and when the position angle of the cradle changes, the moving distance of the corresponding slider is appropriate (not too large or too small), which is convenient for rapid adjustment.

[0021] In some embodiments, the structural constant of the cradle swing mechanism is calculated according to L2 and L3, including the distance L4 between the cradle support point and the screw support point, and the included angle θ between the line connecting the cradle support point and the screw support point and the horizontal plane, including: calculating the distance L4 between the cradle support point and the screw support point according to L2 and L3 based on a third calculation formula; and calculating the included angle θ between the line connecting the cradle support point and the screw support point and the horizontal plane according to L2 and L3 based on a fourth calculation formula.

[0022] In this embodiment, the purpose of this step is to calculate the structural constant of the cradle swing mechanism according to the structural size parameters. L4 can directly represent the positional relationship between the cradle support point and the screw support point. θ affects the control accuracy and response speed of the system.

[0023] In some embodiments, the third calculation formula is:

[0024]

[0025] The fourth calculation formula is:

[0026] θ = arctan (L2 / L3).

[0027] In the technical solution, L4 is calculated according to L2 and L3 based on the Pythagorean theorem, and L4 can directly represent the positional relationship between the rocker fulcrum and the screw fulcrum.

[0028] θ is calculated according to L2 and L3 based on the trigonometric function relationship. θ affects the control accuracy and response speed of the system.

[0029] The second aspect of the present application provides an open-loop control system for the position of a rocker, comprising: a structure size parameter determination unit for determining the structure size parameters of a rocker swing mechanism, the structure size parameters including a rocker lower rocker arm length L1, a vertical distance L2 between a rocker fulcrum and a screw fulcrum, and a horizontal distance L3 between the rocker fulcrum and the screw fulcrum; a structure constant calculation unit for calculating the structure constant of the rocker swing mechanism according to L2 and L3, the structure constant including a connecting line distance L4 between the rocker fulcrum and the screw fulcrum, and an included angle θ between the connecting line and the horizontal plane; an initial position angle value acquisition unit for acquiring an initial position angle value α0 of the rocker through an angle sensor; a target position angle value determination unit for determining a target position angle value α1 of the rocker; a movement distance and movement direction determination unit for calculating a movement distance ΔL of a slider along a screw according to L1, L4, θ, α0 and α1, and determining the movement direction of the slider; and a control unit for determining a rotation angle δ and a rotation direction of the screw required according to ΔL and the movement direction, and controlling a screw motor to drive the screw to rotate.

[0030] The present application aims to provide an open-loop control system for the position of a rocker, which only needs to collect angle information once through an angle sensor before the rocker starts moving to determine the initial position angle value of the rocker, or directly uses the angle corresponding to a certain specific position as the initial position angle value when the rocker starts moving from the certain specific position. Subsequent data processing steps do not need to collect angle information again, and subsequent control actions of the rocker can be completed. Since the data of the angle sensor is used at most once in the entire control process, the system has lower requirements for the performance and accuracy of the angle sensor, and since real-time interaction with the angle sensor is omitted in the control process, the disturbance of the control process caused by the fluctuation of the angle sensor data can also be effectively avoided, and the control efficiency and the accuracy of the control result are greatly improved.

[0031] The third aspect of the present application provides an electronic device, comprising a memory and a processor, wherein the memory stores programs or instructions executable on the processor, and the processor implements the steps of the open-loop control method of the cradle position in any of the above technical solutions when executing the programs or instructions. The electronic device has the beneficial effects of any of the above technical solutions, which will not be repeated here.

[0032] The fourth aspect of the present application provides a readable storage medium, which stores programs or instructions, and the programs or instructions implement the steps of the open-loop control method of the cradle position in any of the above technical solutions when executed by a processor. The readable storage medium has the beneficial effects of any of the above technical solutions, which will not be repeated here.

[0033] Additional aspects and advantages of the technical solutions of the present application will become apparent from the following description part or be understood through the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 A schematic diagram of a cradle swing mechanism according to one embodiment of the present application is shown;

[0035] Figure 2 A flowchart of an open-loop control method of a cradle position according to one embodiment of the present application is shown;

[0036] Figure 3 A flowchart of an open-loop control method of a cradle position according to another embodiment of the present application is shown;

[0037] Figure 4 A flowchart of an open-loop control method of a cradle position according to another embodiment of the present application is shown;

[0038] Figure 5 A structural block diagram of an open-loop control system of a cradle position according to one embodiment of the present application is shown;

[0039] Figure 6 A structural block diagram of an electronic device according to one embodiment of the present application is shown.

[0040] wherein, Figures 1 to 6 The correspondence between the reference signs and the component names in the accompanying drawings is as follows:

[0041] 100: rocker oscillation mechanism; 110: screw motor; 111: screw rod; 120: sliding block; 130: rocker; 140: angle sensor; 151: screw rod fulcrum; 152: rocker fulcrum; 300: open-loop control system of rocker position; 311: structure size parameter determination unit; 312: structure constant calculation unit; 313: initial position angle value acquisition unit; 314: target position angle value determination unit; 315: movement distance and movement direction determination unit; 316: control unit; 400: electronic device; 410: memory; 420: processor. DETAILED DESCRIPTION

[0042] In order to enable a more clear understanding of the above-mentioned purposes, features and advantages of the embodiments of the present application, the embodiments of the present application are further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0043] In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present application, however, the embodiments of the present application can also be implemented in other manners different from those described herein, and therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0044] The following description is made with reference to the accompanying drawings, which illustrate embodiments of the present application. Figures 1 to 6 The present application provides a rocker position open-loop control method, system, electronic device and storage medium.

[0045] In one embodiment of the present application, as shown in Figure 1 The rocker oscillation mechanism 100 includes a screw motor 110, a sliding block 120, a rocker 130 and an angle sensor 140. The screw motor 110 is rotationally connected to a screw rod fulcrum 151. Optionally, one end of the screw motor 110 is rotationally connected to the screw rod fulcrum 151 through a first pin shaft, and the screw motor 110 can rotate relative to the screw rod fulcrum 151 about the first pin shaft.

[0046] The screw motor 110 has a rotatable screw rod 111. Optionally, a driving shaft of the screw motor 110 is connected to the screw rod 111 and coaxially arranged. The screw motor 110 can drive the screw rod 111 to rotate circumferentially.

[0047] In a specific embodiment, the driving shaft of the screw motor 110 is fixed in the circumferential direction relative to the screw rod 111 through a coupling, that is, the driving shaft rotates in the circumferential direction while being able to drive the screw rod 111 to rotate together through the coupling.

[0048] The slider 120 is rotatably arranged on the screw rod 111, the screw rod 111 is capable of rotating relative to the slider 120, and the relative position between the slider 120 and the screw rod 111 is constantly changed during the rotation of the screw rod 111 relative to the slider 120.

[0049] In a specific embodiment, the slider 120 is provided with a through hole, the screw rod 111 is arranged in the through hole of the slider 120, and the outer wall of the screw rod 111 is threadedly connected with the hole wall of the through hole. The slider 120 is advanced or retreated along the length direction of the screw rod 111 by rotating the screw rod 111.

[0050] Optionally, the end of the screw rod 111 away from the screw rod fulcrum 151 is provided with a limiting end stop. The limiting end stop is used to limit the movement range of the slider 120 along the length direction of the screw rod 111.

[0051] Optionally, the limiting end stop is provided with a buffer layer. By arranging the buffer layer, the buffer effect can be achieved, and the rigid collision between the slider 120 and the limiting end stop can be effectively avoided.

[0052] The cradle 130 is used to be rotatably connected with the cradle fulcrum 152. Optionally, the cradle 130 is rotatably connected with the cradle fulcrum 152 through a second pin shaft, and the cradle 130 is capable of rotating relative to the cradle fulcrum 152 around the second pin shaft.

[0053] One end of the cradle 130 is rotatably connected with the slider 120. The cradle 130 is capable of rotating relative to the slider 120.

[0054] In a specific embodiment, the cradle 130 has opposite first and second ends, and the position where the cradle 130 is rotatably connected with the cradle fulcrum 152 is between the first and second ends. The first end of the cradle 130 is slidingly connected with the slider 120.

[0055] The angle sensor 140 is arranged on the cradle 130, and the angle sensor 140 is used to acquire the position angle of the cradle 130. In other words, the angle sensor 140 is used to collect angle information or angle data to determine the position angle of the cradle 130.

[0056] The screw motor 110 drives the screw rod 111 to rotate, so as to change the relative position between the slider 120 and the screw rod 111, and further change the position angle or swing position of the cradle 130.

[0057] In some embodiments, the cradle swing mechanism 100 is optionally applied to a bobbin winding system, that is, the cradle swing mechanism 100 belongs to a part of the bobbin winding system. The bobbin winding system includes the cradle swing mechanism 100, a yarn bobbin and a friction roller in the above-mentioned embodiments.

[0058] The end of the cradle 130 (specifically, the second end of the cradle 130) of the cradle swing mechanism 100 away from the slider 120 is rotationally connected with the spool. The spool can rotate relative to the cradle 130 to wind the yarn or silk thread. The yarn or silk thread is wound on the spool.

[0059] The friction roller is rotationally connected with the roller fulcrum, and abuts and frictionally engages with the spool.

[0060] In an embodiment of the present application, an open-loop control method of cradle position is used for the cradle swing mechanism 100. As shown in Figure 2 The steps of the open-loop control method of cradle position include:

[0061] S202, determining the structure size parameters of the cradle swing mechanism, including the cradle lower rocker arm length L1, the vertical distance L2 between the cradle fulcrum and the screw fulcrum, and the horizontal distance L3 between the cradle fulcrum and the screw fulcrum (as shown in Figure 1 ).

[0062] L1, L2 and L3 belong to the inherent dimensions of the cradle swing mechanism.

[0063] It should be noted that the cradle lower rocker arm length refers to the distance between the position where the cradle and the cradle fulcrum are rotationally connected and the position where the cradle and the slider are rotationally connected. The cradle lower rocker arm length can also be understood as the distance between the cradle fulcrum and the slider.

[0064] L1 is used to represent the positional relationship between the cradle fulcrum and the slider. L2 and L3 are used to represent the positional relationship between the cradle fulcrum and the screw fulcrum.

[0065] S204, calculating the structure constants of the cradle swing mechanism according to L2 and L3, including the connecting line distance L4 between the cradle fulcrum and the screw fulcrum, and the angle θ between the connecting line between the cradle fulcrum and the screw fulcrum and the horizontal plane (as shown in Figure 1 ).

[0066] The structure constants of the cradle swing mechanism can be calculated according to the structure size parameters.

[0067] L4 can directly represent the positional relationship between the cradle fulcrum and the screw fulcrum.

[0068] Alternatively, L1 is one quarter to three quarters of L4. In other words, L1 is greater than or equal to one quarter of L4 and less than or equal to three quarters of L4. θ affects the control accuracy and response speed of the system.

[0069] Alternatively, the value of θ is between 20 degrees and 45 degrees.

[0070] By limiting the value range of θ, the space layout is optimized, and when the position angle of the cradle changes, the moving distance of the corresponding slider is appropriate (not too large or too small), facilitating fast adjustment.

[0071] In a specific embodiment, the value of θ is 20 degrees.

[0072] In a specific embodiment, the value of θ is 30 degrees.

[0073] In a specific embodiment, the value of θ is 40 degrees.

[0074] In a specific embodiment, the value of θ is 45 degrees.

[0075] S206, obtaining the initial position angle value α0 of the cradle through the angle sensor.

[0076] In the technical solution defined in the application, only one angle information acquisition through the angle sensor is needed before the cradle starts moving to determine the initial position angle value of the cradle, and subsequent data processing steps do not need to acquire angle information again, so that subsequent control actions of the cradle can be completed.

[0077] Alternatively, when the cradle uses certain specific positions as starting movement positions, the angle corresponding to the specific position is directly used as the initial position angle value, and subsequent data processing steps do not need to acquire angle information again, so that subsequent control actions of the cradle can be completed.

[0078] S208, determining the target position angle value α1 of the cradle.

[0079] It should be noted that α1 is a preset system variable and is not obtained through the angle sensor.

[0080] It should be noted that, Figure 1 In the formula, “α” represents α0 or α1.

[0081] S210, calculating the moving distance ΔL of the slider along the screw rod according to L1, L4, θ, α0 and α1, and determining the moving direction of the slider.

[0082] Based on the first calculation formula, the moving distance ΔL of the slider along the screw rod is calculated according to L1, L4, θ, α0 and α1, and the sliding direction of the slider is determined.

[0083] It should be noted that, Figure 1 In the formula, the arrow below the slider represents the moving direction of the slider.

[0084] S212, determining the rotation angle δ and rotation direction of the screw rod required according to ΔL and the moving direction, and controlling the screw rod motor to drive the screw rod to rotate.

[0085] According to the second calculation formula, the rotation angle δ required by the screw rod is determined according to ΔL and the screw rod pitch P; the rotation direction of the screw rod is determined according to the moving direction; and the screw rod motor is controlled to drive the screw rod to rotate according to the rotation angle δ and the rotation direction.

[0086] The screw rod motor drives the screw rod to rotate, so as to change the relative position of the sliding block and the screw rod, and further change the position angle or swing position of the cradle.

[0087] The screw rod pitch P represents the translation amount of the sliding block on the screw rod in one rotation of the screw rod. The smaller the screw rod pitch P is, the smaller the displacement of the sliding block caused by the unit angle rotation of the screw rod motor is, and the higher the control precision is, but the adjustment speed may be slowed down.

[0088] Optionally, P is 5mm to 25mm.

[0089] By limiting the numerical range of P, in the first aspect, the numerical value of P is avoided to be too large, so as to ensure the adjustment speed; and in the second aspect, the numerical value of P is avoided to be too small, so as to improve the control precision.

[0090] The present application aims to provide an open-loop control method for the position of a cradle, which only needs to collect angle information once through an angle sensor before the cradle starts to move to determine the initial position angle value of the cradle, or directly uses the angle corresponding to a certain specific position as the initial position angle value when the cradle takes the certain specific position as the starting movement position, and the subsequent data processing steps do not need to collect angle information again, so as to complete the subsequent control action of the cradle. Since the data of the angle sensor is used at most once in the entire control process, the performance and precision requirements of the angle sensor are lower, and since the real-time interaction with the angle sensor is omitted in the control process, the disturbance of the control process caused by the fluctuation of the angle sensor data can also be effectively avoided, and the control efficiency and the precision of the control result are also greatly improved.

[0091] It should be noted that the present application uses the trigonometric function relationship to deduce the mapping relationship between the displacement (moving distance) of the sliding block and the cradle angle (position angle of the cradle). When the cradle rotates from α0 to α1, the displacement ΔL of the sliding block along the screw rod can be accurately calculated through geometric relationship. The open-loop control method (open-loop control method for the position of a cradle) of the present application realizes high-precision control of the position of the cradle through an accurate mathematical model. The open-loop control does not have the delay problem of closed-loop feedback, and the system response speed is fast. In the application scenarios where the position of the cradle needs to be frequently adjusted (such as the winding process of textile machinery), the present method (open-loop control method for the position of a cradle) can complete single position adjustment within 0.5 seconds, and the adjustment frequency can reach 2 times per second, which meets the dynamic performance requirements of most industrial scenes.

[0092] In one specific embodiment, P is 5mm.

[0093] In one specific embodiment, P is 10 mm.

[0094] In one specific embodiment, P is 15 mm.

[0095] In one specific embodiment, P is 20 mm.

[0096] In one specific embodiment, P is 25 mm.

[0097] In some embodiments, optionally, ΔL is calculated according to L1, L4, θ, α0 and α1 based on a first calculation formula, which is:

[0098]

[0099] The following is the derivation process of the first calculation formula:

[0100] When the cradle is at the starting position angle value α0, according to the geometric relationship, the angle between the connecting line between the screw support point and the cradle support point and the lower rocker arm of the cradle is 180°-α0-θ. In other words, the angle between L4 and L1 is 180°-α0-θ.

[0101] Based on the cosine theorem, the distance between the connecting point position between the slider and the cradle and the screw support point is calculated according to L1, L4, θ and α0

[0102]

[0103] Similarly, when the cradle is at the target position angle value α1, the angle between the connecting line between the screw support point and the cradle support point and the lower rocker arm of the cradle is 180°-α1-θ. In other words, the angle between L4 and L1 is 180°-α1-θ.

[0104] Based on the cosine theorem, the distance between the connecting point position between the slider and the cradle and the screw support point is calculated according to L1, L4, θ and α1

[0105]

[0106] Therefore, ΔL is determined according to and

[0107]

[0108] ​In the technical solution defined in the present application, the mapping relationship between the displacement (moving distance) of the sliding block and the angle of the cradle (the position angle of the cradle) is derived by using the trigonometric function relationship. When the cradle is rotated from a0 to a1, the displacement AL of the sliding block along the screw rod can be accurately calculated through geometric relationship. This method has low dependence on the angle sensor, can effectively avoid the disturbance of the data fluctuation of the angle sensor on the control process, and greatly improves the control efficiency and the accuracy of the control result.

[0109] In some embodiments, as shown in Figure 3 S212 (determining the rotation angle δ and the rotation direction of the screw rod required according to AL and the moving direction, and controlling the screw rod motor to drive the screw rod to rotate) includes:

[0110] S2122, determining the rotation angle δ of the screw rod required according to AL and the screw rod pitch P based on the second calculation formula.

[0111] By introducing the screw rod pitch P, the linear relationship between the screw rod pitch and the moving distance is determined. This method is beneficial to improve the control efficiency and the control accuracy.

[0112] The smaller the screw rod pitch P is, the smaller the displacement of the sliding block caused by the unit angle rotation of the screw rod motor is, and the higher the control accuracy is, but it may cause the adjustment speed to be slow.

[0113] By limiting the numerical range of P, on the one hand, it avoids that the numerical value of P is too large to ensure the adjustment speed, and on the other hand, it avoids that the numerical value of P is too small to improve the control accuracy.

[0114] S2124, determining the rotation direction of the screw rod according to the moving direction.

[0115] S2126, controlling the screw rod motor to drive the screw rod to rotate according to δ and the rotation direction.

[0116] The screw rod motor drives the screw rod to rotate to change the relative position of the sliding block and the screw rod, and then change the position angle or swing position of the cradle.

[0117] In some embodiments, the second calculation formula is:

[0118] Or

[0119] It should be noted that the above two calculation methods are angle system calculation method and radian system calculation method respectively.

[0120] This data processing method is beneficial to accurately control the rotation angle and the rotation direction of the screw rod motor, and then accurately control the position angle or swing position of the cradle.

[0121] In some embodiments, optionally, the length L1 of the lower rocker arm is the distance between the rocker fulcrum and the slider.

[0122] Optionally, L1 is one quarter to three quarters of L4. In other words, L1 is greater than or equal to one quarter of L4 and less than or equal to three quarters of L4.

[0123] By limiting the numerical range of L1, the spatial layout is optimized, and when the position angle of the rocker changes, the corresponding movement distance of the slider is appropriate (not too large or too small), facilitating rapid adjustment.

[0124] In some embodiments, optionally, as shown in Figure 4 S204 (calculating the structural constant of the rocker swing mechanism according to L2 and L3, the structural constant including the distance L4 between the rocker fulcrum and the screw fulcrum, and the angle θ between the line connecting the rocker fulcrum and the screw fulcrum and the horizontal plane) includes:

[0125] S2042, calculating the distance L4 between the rocker fulcrum and the screw fulcrum according to L2 and L3 based on a third calculation formula.

[0126] S2044, calculating the angle θ between the line connecting the rocker fulcrum and the screw fulcrum and the horizontal plane according to L2 and L3 based on a fourth calculation formula.

[0127] The purpose of this step is to calculate the structural constant of the rocker swing mechanism according to the structural size parameters. L4 can directly represent the positional relationship between the rocker fulcrum and the screw fulcrum. θ affects the control accuracy and response speed of the system.

[0128] Optionally, the value of θ is between 25 degrees and 45 degrees.

[0129] By limiting the numerical range of θ, the spatial layout is optimized, and when the position angle of the rocker changes, the corresponding movement distance of the slider is appropriate (not too large or too small), facilitating rapid adjustment.

[0130] In some embodiments, optionally, the third calculation formula is:

[0131]

[0132] Based on the Pythagorean theorem, L4 is calculated according to L2 and L3, and L4 can directly represent the positional relationship between the rocker fulcrum and the screw fulcrum.

[0133] The fourth calculation formula is:

[0134] θ = arctan (L2 / L3).

[0135] Based on the trigonometric relationship, the angle θ is calculated according to L2 and L3. The angle θ affects the control accuracy and response speed of the system.

[0136] In an embodiment of the present application, the open-loop control system 300 of the cradle position is used for the cradle swing mechanism 100. As shown in the figure, the open-loop control system 300 of the cradle position includes a structural size parameter determination unit 311, a structural constant calculation unit 312, an initial position angle value acquisition unit 313, a target position angle value determination unit 314, a moving distance and moving direction determination unit 315, and a control unit 316. Figure 5

[0137] The structural size parameter determination unit 311 is used to determine the structural size parameters of the cradle swing mechanism 100. The structural size parameters include the length L1 of the lower cradle arm, the vertical distance L2 between the cradle fulcrum 152 and the screw fulcrum 151, and the horizontal distance L3 between the cradle fulcrum 152 and the screw fulcrum 151.

[0138] The L1, L2 and L3 belong to the inherent dimensions of the cradle swing mechanism 100.

[0139] It should be noted that the length of the lower cradle arm refers to the distance between the position where the cradle 130 and the cradle fulcrum 152 are rotationally connected and the position where the cradle 130 and the slider 120 are rotationally connected. The length of the lower cradle arm can also be understood as the distance between the cradle fulcrum 152 and the slider 120.

[0140] The L1 is used to represent the positional relationship between the cradle fulcrum 152 and the slider 120. The L2 and L3 are used to represent the positional relationship between the cradle fulcrum 152 and the screw fulcrum 151.

[0141] The structural constant calculation unit 312 is used to calculate the structural constant of the cradle swing mechanism 100 according to the L2 and L3. The structural constant includes the distance L4 between the cradle fulcrum 152 and the screw fulcrum 151, and the angle θ between the line connecting the cradle fulcrum 152 and the screw fulcrum 151 and the horizontal plane.

[0142] The structural constant of the cradle swing mechanism 100 can be calculated according to the structural size parameters.

[0143] The L4 can directly represent the positional relationship between the cradle fulcrum 152 and the screw fulcrum 151.

[0144] Alternatively, the L1 is one quarter to three quarters of the L4. In other words, the L1 is greater than or equal to one quarter of the L4 and less than or equal to three quarters of the L4.

[0145] The angle θ affects the control accuracy and response speed of the system.

[0146] ​Optionally, the value of θ is between 20 degrees and 45 degrees.

[0147] By limiting the value range of θ, the spatial layout is optimized, and when the position angle of the cradle changes, the moving distance of the corresponding slider is appropriate (not too large or too small), facilitating fast adjustment.

[0148] In a specific embodiment, the value of θ is 20 degrees.

[0149] In a specific embodiment, the value of θ is 30 degrees.

[0150] In a specific embodiment, the value of θ is 40 degrees.

[0151] In a specific embodiment, the value of θ is 45 degrees.

[0152] The initial position angle value acquisition unit 313 is configured to acquire the initial position angle value α0 of the cradle 130 through the angle sensor 140.

[0153] In the technical solution defined in the present application, only one angle information acquisition through the angle sensor 140 is required before the cradle 130 starts to move to determine the initial position angle value of the cradle 130, and subsequent data processing steps do not need to acquire angle information again, so that subsequent control actions of the cradle 130 can be completed.

[0154] Alternatively, when the cradle 130 uses a certain specific position as the starting movement position, the angle corresponding to the specific position is directly used as the initial position angle value, and subsequent data processing steps do not need to acquire angle information again, so that subsequent control actions of the cradle 130 can be completed.

[0155] The target position angle value determination unit 314 is configured to determine the target position angle value α1 of the cradle 130.

[0156] It should be noted that α1 is a preset system variable and is not acquired through the angle sensor 140.

[0157] The moving distance and moving direction determination unit 315 is configured to calculate the moving distance ΔL of the slider 120 along the screw rod 111 according to L1, L4, θ, α0 and α1, and determine the moving direction of the slider 120.

[0158] Based on the first calculation formula, the moving distance ΔL of the slider 120 along the screw rod 111 is calculated according to L1, L4, θ, α0 and α1, and the sliding direction of the slider 120 is determined.

[0159] The control unit 316 is configured to determine the rotation angle δ and the rotation direction of the screw rod 111 required according to ΔL and the moving direction, and control the screw motor 110 to drive the screw rod 111 to rotate.

[0160] Based on the second calculation formula, the rotation angle δ required by the screw rod 111 is determined according to ΔL and the screw rod lead P; the rotation direction of the screw rod 111 is determined according to the moving direction; and the screw motor 110 is controlled to drive the screw rod 111 to rotate according to the rotation angle δ and the rotation direction.

[0161] The screw motor 110 drives the screw rod 111 to rotate, so as to change the relative position between the slider 120 and the screw rod 111, and further change the position angle or swing position of the cradle 130.

[0162] The screw rod lead P represents the translation amount of the slider 120 on the screw rod 111 when the screw rod 111 rotates one round. The smaller the screw rod lead P is, the smaller the displacement of the slider 120 caused by the unit angle rotation of the screw motor 110 is, and the higher the control precision is, but the adjustment speed may be slowed down.

[0163] Optionally, P is 5mm to 25mm.

[0164] By limiting the numerical range of P, in the first aspect, the numerical value of P is avoided to be too large, so as to ensure the adjustment speed; and in the second aspect, the numerical value of P is avoided to be too small, so as to improve the control precision.

[0165] The present application aims to provide an open-loop control system 300 of the cradle position, which only needs to collect angle information once through the angle sensor 140 before the cradle 130 starts to move to determine the initial position angle value of the cradle 130, or directly uses the angle corresponding to a certain specific position as the initial position angle value when the cradle 130 takes the specific position as the starting movement position. The subsequent data processing steps do not need to collect angle information again, and the subsequent control actions of the cradle 130 can be completed. Since the data of the angle sensor 140 is used at most only once in the whole control process, the performance and precision requirements of the angle sensor 140 are lower, and since the real-time interaction with the angle sensor 140 is omitted in the control process, the disturbance of the data fluctuation of the angle sensor 140 on the control process can also be effectively avoided, and the control efficiency and the precision of the control result are greatly improved.

[0166] It should be noted that the present application uses the trigonometric function relationship to deduce the mapping relationship between the displacement (moving distance) of the slider 120 and the cradle angle (the position angle of the cradle 130). When the cradle 130 rotates from a0 to a1, the displacement AL of the slider 120 along the screw rod 111 can be accurately calculated through geometric relationship. The open-loop control system (the open-loop control system 300 of the cradle position) of the present application realizes high-precision control of the cradle position through an accurate mathematical model. The open-loop control does not have the delay problem of closed-loop feedback, and the system response speed is fast. In the application scenario where the cradle 130 needs to be frequently adjusted in position (such as the winding process of a textile machine), the present system (the open-loop control system 300 of the cradle position) can complete a single position adjustment within 0.5 seconds, and the adjustment frequency can reach 2 times per second, meeting the dynamic performance requirements of most industrial scenarios.

[0167] In one specific embodiment, P is 5 mm.

[0168] In one specific embodiment, P is 10 mm.

[0169] In one specific embodiment, P is 15 mm.

[0170] In one specific embodiment, P is 20 mm.

[0171] In one specific embodiment, P is 25 mm.

[0172] In one embodiment of the present application, as shown in Figure 6 The electronic device 400 includes a memory 410 and a processor 420. The memory 410 stores programs or instructions executable on the processor 420, and the processor 420 implements the steps of the open-loop control method of the cradle position in any of the above embodiments when executing the programs or instructions. The electronic device 400 has the beneficial effects of any of the above embodiments, which will not be repeated here.

[0173] In one embodiment of the present application, the readable storage medium stores programs or instructions, which implement the steps of the open-loop control method of the cradle position in any of the above embodiments when executed by the processor. The readable storage medium has the beneficial effects of any of the above embodiments, which will not be repeated here.

[0174] In the present application, the terms "first", "second", "third" are only used for descriptive purpose, and should not be understood as indicating or implying relative importance. The term "multiple" refers to two or more, unless otherwise explicitly limited. The terms "mount", "connect", "connection", "fix", and the like should be interpreted broadly, for example, "connection" can be fixed connection, or detachable connection, or integral connection; "connection" can be direct connection, or indirect connection through intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0175] In the description of the present application, it should be understood that the terms "upper", "lower", "left", "right", "front", "back", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the device or unit referred to must have a particular direction, be constructed and operated in a particular orientation, therefore, should not be understood as a limitation on the present application.

[0176] In the description of the present application, the terms "one embodiment", "some embodiments", "a specific embodiment", and the like, mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0177] The above is only the preferred embodiment of the present application, and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method of open loop control of a cradle position, characterized by, A cradle swing mechanism, comprising a screw motor, a slider, a cradle and an angle sensor, the screw motor is used to be rotationally connected with a screw fulcrum, the screw motor has a rotatable screw, the slider is rotationally arranged on the screw, the cradle is used to be rotationally connected with a cradle fulcrum, one end of the cradle is rotationally connected with the slider, and the angle sensor is arranged on the cradle and used to acquire a position angle of the cradle; the screw motor drives the screw to rotate to change the relative position of the slider and the screw. The open-loop control method comprises: determining structural size parameters of the cradle swing mechanism, the structural size parameters comprising a cradle lower rocker arm length L1, a vertical distance L2 between the cradle fulcrum and the screw fulcrum, and a horizontal distance L3 between the cradle fulcrum and the screw fulcrum; calculating structural constants of the cradle swing mechanism according to L2 and L3, the structural constants comprising a connecting line distance L4 between the cradle fulcrum and the screw fulcrum, and an included angle θ between the connecting line between the cradle fulcrum and the screw fulcrum and a horizontal plane; acquiring an initial position angle value α0 of the cradle through the angle sensor; determining a target position angle value α1 of the cradle; calculating a moving distance ΔL of the slider along the screw according to L1, L4, θ, α0 and α1, and determining a moving direction of the slider; determining a rotation angle δ and a rotation direction of the screw required according to ΔL and the moving direction, and controlling the screw motor to drive the screw to rotate.

2. The open loop control method of cradle position according to claim 1, wherein, According to a first calculation formula, ΔL is calculated according to L1, L4, θ, α0 and α1; The first calculation formula is:

3. The open loop control method of cradle position according to claim 1, wherein, The determination of the rotation angle δ and the rotation direction of the screw required according to ΔL and the moving direction, and the control of the screw motor to drive the screw to rotate, comprises: According to a second calculation formula, the rotation angle δ of the screw required is determined according to ΔL and a screw lead P; The rotation direction of the screw is determined according to the moving direction; The screw motor is controlled to drive the screw to rotate according to δ and the rotation direction.

4. The open loop control method of cradle position according to claim 3, wherein, The second calculation formula is: or 5. The open loop control method of cradle position according to any one of claims 1 to 4, characterized in that, The cradle lower rocker arm length L1 is the distance between the cradle fulcrum and the slider.

6. The open loop control method of cradle position according to any one of claims 1 to 4, characterized in that, The calculation of the structural constants of the cradle swing mechanism according to L2 and L3, the structural constants comprising the connecting line distance L4 between the cradle fulcrum and the screw fulcrum, and the included angle θ between the connecting line between the cradle fulcrum and the screw fulcrum and the horizontal plane, comprises: According to a third calculation formula, the connecting line distance L4 between the cradle fulcrum and the screw fulcrum is calculated according to L2 and L3; According to a fourth calculation formula, the included angle θ between the connecting line between the cradle fulcrum and the screw fulcrum and the horizontal plane is calculated according to L2 and L3.

7. The open loop control method of cradle position according to claim 6, wherein, The third calculation formula is: The fourth calculation formula is: θ = arctan (L2 / L3).

8. A cradle position open loop control system characterized by, Comprise: The structure size parameter determination unit (311) is configured to determine structure size parameters of the cradle swing mechanism (100), wherein the structure size parameters include a cradle lower rocker arm length L1, a vertical distance L2 between a cradle fulcrum (152) and a screw fulcrum (151), and a horizontal distance L3 between the cradle fulcrum (152) and the screw fulcrum (151); The structure constant calculation unit (312) is configured to calculate structure constants of the cradle swing mechanism (100) according to L2 and L3, wherein the structure constants include a line distance L4 between the cradle fulcrum (152) and the screw fulcrum (151), and an included angle θ between a line connecting the cradle fulcrum (152) and the screw fulcrum (151) and a horizontal plane; The initial position angle value acquisition unit (313) is configured to acquire an initial position angle value α0 of the cradle (130) through an angle sensor (140); The target position angle value determination unit (314) is configured to determine a target position angle value α1 of the cradle (130); The movement distance and movement direction determination unit (315) is configured to calculate a movement distance ΔL of a slider (120) along a screw (111) according to L1, L4, θ, α0 and α1, and determine a movement direction of the slider (120); The control unit (316) is configured to determine a rotation angle δ and a rotation direction of the screw (111) required according to ΔL and the movement direction, and control a screw motor (110) to drive the screw (111) to rotate.

9. An electronic device, comprising: Comprise: A memory (410) and a processor (420), wherein the memory (410) has a program or instructions stored thereon, which can be run on the processor (420), and the processor (420) implements the steps of the open-loop control method of the cradle position according to any one of claims 1 to 7 when executing the program or the instructions.

10. A readable storage medium, characterized by, The readable storage medium stores a program or instructions, and the program or instructions implement the steps of the open-loop control method of the cradle position according to any one of claims 1 to 7 when executed by a processor.

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