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

Abstract

This invention provides an open-loop control method, system, electronic device, and storage medium for cradle position, relating to the field of cradle swing mechanism technology. The method includes: determining the structural dimensional parameters of the cradle swing mechanism, including L1, L2, and L3; calculating the structural constants of the cradle swing mechanism based on L2 and L3, including L4 and θ; obtaining the initial position angle value α0; determining the target position angle value α1; calculating ΔL based on L1, L4, θ, α0, and α1, and determining the direction of movement; determining the rotation angle δ and the direction of rotation based on ΔL and the direction of movement, and controlling the screw motor to drive the screw to rotate. In this invention, at most only one angle information acquisition via an angle sensor is needed before the cradle begins to move to complete subsequent cradle control actions. This method places lower demands on the performance and accuracy of the angle sensor, avoids disturbances to the control process caused by angle data fluctuations, and is beneficial for improving control efficiency and the accuracy of control results.

Description

Technical Field

[0001] This invention relates to the field of cradle swing mechanism technology, and more specifically, to an open-loop control method, system, electronic device, and storage medium for cradle position. Background Technology

[0002] In related technologies, an angle sensor is installed on the cradle to obtain the current position angle of the cradle. During the process of moving the cradle to a specified position, the angle sensor monitors the current position angle of the cradle in real time to perform closed-loop control of the cradle's swing position.

[0003] This method requires real-time acquisition of angle sensor data and closed-loop control calculations, which significantly impacts control efficiency. Furthermore, the sensor data fluctuates in real-time during acquisition, affecting control stability and dynamic response. Additionally, this method is highly dependent on the accuracy of the angle sensor data; deviations in the angle sensor readings due to its own performance or improper calibration will also greatly affect the accuracy of the control results. Summary of the Invention

[0004] To address or improve the technical problem of excessive reliance on angle sensors and low control efficiency in closed-loop control, one objective of this invention is to provide an open-loop control method for cradle position.

[0005] Another object of the present invention is to provide an open-loop control system for cradle position.

[0006] Another object of the present invention is to provide an electronic device.

[0007] Another object of the present invention is to provide a readable storage medium.

[0008] To achieve the above objectives, the first aspect of the present invention provides an open-loop control method for cradle position, used in a cradle swing mechanism. The cradle swing mechanism includes a screw motor, a slider, a cradle, and an angle sensor. The screw motor is rotatably connected to a screw fulcrum and has a rotatable screw. The slider is rotatably mounted on the screw. The cradle is rotatably connected to the cradle fulcrum, with one end of the cradle rotatably connected to the slider. The angle sensor is mounted on the cradle and is used to acquire the position angle of the cradle. The screw motor drives the screw to rotate, thereby changing the relative position of the slider and the screw.

[0009] The open-loop control method includes: determining the structural dimensional parameters of the cradle swing mechanism, including the length L1 of the lower rocker arm, 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; calculating the structural constants of the cradle swing mechanism based on L2 and L3, including the distance L4 between the line connecting the cradle fulcrum and the screw fulcrum, and the angle θ between the line connecting the cradle fulcrum and the screw fulcrum and the horizontal plane; obtaining the initial position angle value α0 of the cradle through an angle sensor; determining the target position angle value α1 of the cradle; calculating the sliding distance ΔL along the screw based on L1, L4, θ, α0, and α1, and determining the sliding direction; determining the required rotation angle δ and rotation direction of the screw based on ΔL and the direction of movement, and controlling the screw motor to drive the screw to rotate.

[0010] This invention aims to provide an open-loop control method for cradle position. This method only requires acquiring angle information once via an angle sensor before the cradle begins movement to determine the initial position angle value, or directly using the angle corresponding to a specific position as the initial position angle value when the cradle starts moving from a certain position. Subsequent data processing steps do not require acquiring angle information again to complete subsequent cradle control actions. Since the angle sensor data is used at most once during the entire control process, this method has lower requirements for the performance and accuracy of the angle sensor. Furthermore, because real-time interaction with the angle sensor is omitted during control, disturbances caused by fluctuations in angle sensor data can be effectively avoided, greatly improving control efficiency and the accuracy of the control results.

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

[0012]

[0013] In this technical solution, the mapping relationship between the slider's displacement (movement distance) and the cradle angle (cradle position angle) is derived using trigonometric functions. When the cradle rotates from α0 to α1, the slider's displacement ΔL along the screw can be accurately calculated using geometric relationships. This method is not highly dependent on angle sensors, effectively avoiding disturbances to the control process caused by fluctuations in angle sensor data, and greatly improving control efficiency and the accuracy of control results.

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

[0015] In this technical solution, by introducing the screw lead P, a linear relationship between the "screw lead and the travel distance" is determined. This approach helps improve control efficiency and accuracy. The screw motor drives the screw to rotate, thereby changing the relative position of the slider and the screw, and thus changing the position angle or swing position of the rocker arm.

[0016] In some technical solutions, optionally, the second calculation formula is:

[0017] or

[0018] In this technical solution, this data processing method is beneficial for accurately controlling the rotation angle and direction of the screw motor, thereby enabling precise control of the position angle or swing position of the cradle.

[0019] In some technical solutions, optionally, the length L1 of the rocker arm under the cradle is the distance between the cradle fulcrum and the slider.

[0020] In this technical solution, by limiting the numerical range of L1, it is beneficial to optimize the spatial layout and ensure that when the position angle of the cradle changes, the corresponding slider moves an appropriate distance (neither too large nor too small), which facilitates quick adjustment.

[0021] In some technical solutions, optionally, the structural constants of the cradle swing mechanism are calculated based on L2 and L3. The structural constants include the distance L4 between the line connecting the cradle fulcrum and the screw fulcrum, and the angle θ between the line connecting the cradle fulcrum and the screw fulcrum and the horizontal plane. This includes: calculating the distance L4 between the cradle fulcrum and the screw fulcrum based on L2 and L3 using a third calculation formula; and calculating the angle θ between the line connecting the cradle fulcrum and the screw fulcrum and the horizontal plane based on L2 and L3 using a fourth calculation formula.

[0022] In this technical solution, the purpose of this step is to calculate the structural constants of the cradle swing mechanism based on the structural dimensional parameters. L4 can directly represent the positional relationship between the cradle fulcrum and the screw fulcrum. θ affects the control accuracy and response speed of the system.

[0023] In some technical solutions, optionally, the third calculation formula is:

[0024]

[0025] The fourth calculation formula is:

[0026] θ = arctan(L2 / L3).

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

[0028] Based on trigonometric relationships, θ is calculated using L2 and L3. θ affects the system's control accuracy and response speed.

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

[0030] This invention aims to provide an open-loop control system for cradle position. This system only needs to acquire angle information once via an angle sensor before the cradle begins movement to determine the initial position angle value, or directly use the angle corresponding to a specific position as the initial position angle value when the cradle starts moving from a certain position. Subsequent data processing steps do not require acquiring angle information again to complete subsequent cradle control actions. Since the angle sensor data is used at most once during the entire control process, the system has lower requirements for the performance and accuracy of the angle sensor. Furthermore, because real-time interaction with the angle sensor is omitted during control, disturbances to the control process caused by fluctuations in angle sensor data are effectively avoided, greatly improving control efficiency and the accuracy of the control results.

[0031] A third aspect of the present invention provides an electronic device, comprising: a memory and a processor, wherein the memory stores a program or instructions executable on the processor, and the processor, when executing the program or instructions, implements the steps of the open-loop control method for the cradle position in any of the above-described technical solutions. The electronic device possesses the beneficial effects of any of the above-described technical solutions, which will not be elaborated further here.

[0032] A fourth aspect of this invention provides a readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the open-loop control method for the cradle position in any of the above-described technical solutions. The readable storage medium possesses the beneficial effects of any of the above-described technical solutions, which will not be elaborated further here.

[0033] Additional aspects and advantages of the technical solutions of the present invention will become apparent in the following description or may be learned by practice of the invention. Attached Figure Description

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

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

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

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

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

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

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

[0041] 100: Cradle swing mechanism; 110: Screw motor; 111: Screw; 120: Slider; 130: Cradle; 140: Angle sensor; 151: Screw fulcrum; 152: Cradle fulcrum; 300: Open-loop control system for cradle position; 311: Structural dimension parameter determination unit; 312: Structural constant calculation unit; 313: Initial position angle value acquisition unit; 314: Target position angle value determination unit; 315: Moving distance and moving direction determination unit; 316: Control unit; 400: Electronic equipment; 410: Memory; 420: Processor. Detailed Implementation

[0042] To better understand the above-described objectives, features, and advantages of the embodiments of the present invention, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0043] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, embodiments of the invention may be implemented in other ways different from those described herein. Therefore, the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0044] The following reference Figures 1 to 6 This invention describes an open-loop control method, system, electronic device, and storage medium for cradle position according to some embodiments of the invention.

[0045] In one embodiment of the present invention, such as Figure 1 As shown, the rocker arm swing mechanism 100 includes a screw motor 110, a slider 120, a rocker arm 130, and an angle sensor 140. The screw motor 110 is rotatably connected to the screw fulcrum 151. Optionally, one end of the screw motor 110 is rotatably connected to the screw fulcrum 151 via a first pin, allowing the screw motor 110 to rotate relative to the screw fulcrum 151 around the first pin.

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

[0047] In one specific embodiment, the drive shaft of the screw motor 110 and the screw 111 are fixed relative to each other in the circumferential direction through a coupling, that is, while the drive shaft rotates in the circumferential direction, it can drive the screw 111 to rotate together through the coupling.

[0048] The slider 120 is rotatably mounted on the screw 111. The screw 111 can rotate relative to the slider 120, and the relative position between the slider 120 and the screw 111 changes continuously during the rotation of the screw 111 relative to the slider 120.

[0049] In one specific embodiment, the slider 120 is provided with a through hole, and the screw 111 passes through the through hole in the slider 120, and the outer wall of the screw 111 is threadedly connected to the wall of the through hole. By rotating the screw 111, the slider 120 moves forward or backward along the length direction of the screw 111.

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

[0051] Optionally, a buffer layer is provided on the limit end stop. By setting the buffer layer, a buffering effect can be achieved, effectively preventing rigid collision between the slider 120 and the limit end stop.

[0052] The cradle 130 is used for rotatable connection with the cradle fulcrum 152. Optionally, the cradle 130 and the cradle fulcrum 152 are rotatably connected by a second pin, and the cradle 130 can rotate relative to the cradle fulcrum 152 about the second pin.

[0053] One end of the rocker arm 130 is rotatably connected to the slider 120. The rocker arm 130 can rotate relative to the slider 120.

[0054] In one specific embodiment, the cradle 130 has a first end and a second end opposite to each other, and the cradle 130 is rotatably connected to the cradle fulcrum 152 between the first end and the second end. The first end of the cradle 130 is slidably connected to the slider 120.

[0055] An angle sensor 140 is disposed on the cradle 130, and the angle sensor 140 is used to obtain 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 111 to rotate, thereby changing the relative position of the slider 120 and the screw 111, and thus changing the position angle or swing position of the rocker arm 130.

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

[0058] In this mechanism, the cradle 130 of the cradle swing mechanism 100 has its end away from the slider 120 (specifically, the second end of the cradle 130) rotatably connected to the yarn bobbin. The yarn bobbin can rotate relative to the cradle 130 to wind the yarn or silk thread. The yarn or silk thread is wound onto the yarn bobbin.

[0059] The friction roller is used to rotate and connect with the fulcrum of the roller. The friction roller and the yarn bobbin are in contact and frictionally engaged.

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

[0061] S202, determine the structural dimensional parameters of the cradle swing mechanism. These parameters include the length L1 of the lower rocker arm, 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 (e.g., ...). Figure 1 (As shown).

[0062] Among them, L1, L2 and L3 are the inherent dimensions of the cradle swing mechanism.

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

[0064] L1 represents the positional relationship between the cradle fulcrum and the slider. L2 and L3 represent the positional relationship between the cradle fulcrum and the screw fulcrum.

[0065] S204, Calculate the structural constants of the cradle swing mechanism based on L2 and L3. The structural constants include the distance L4 between the line connecting the cradle fulcrum and the screw fulcrum, and the angle θ between the line connecting the cradle fulcrum and the screw fulcrum and the horizontal plane (e.g., ...). Figure 1 (As shown).

[0066] The structural constants of the cradle swing mechanism can be calculated based on the structural dimensional parameters.

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

[0068] 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. θ affects the control accuracy and response speed of the system.

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

[0070] By limiting the range of θ, it is beneficial to optimize the spatial layout and ensure that when the position and angle of the cradle change, the corresponding slider moves an appropriate distance (neither too large nor too small), which facilitates quick adjustment.

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

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

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

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

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

[0076] In the technical solution defined by this invention, it is only necessary to collect angle information once by an angle sensor before the cradle starts to move to determine the initial position angle value of the cradle. Subsequent data processing steps do not require collecting angle information again to complete the subsequent control actions of the cradle.

[0077] Alternatively, when the cradle uses certain specific positions as its starting position, the angle corresponding to those specific positions can be directly used as the initial position angle value. Subsequent data processing steps do not require collecting angle information again to complete the subsequent control actions of the cradle.

[0078] S208, determine 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 an angle sensor.

[0080] It should be noted that, Figure 1 In this context, "α" represents α0 or α1.

[0081] S210, calculate the distance ΔL that the slider moves along the screw based on L1, L4, θ, α0 and α1, and determine the direction of slider movement.

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

[0083] It should be noted that, Figure 1 The arrow below the slider indicates the direction of slider movement.

[0084] S212 determines the required rotation angle δ and rotation direction of the screw based on ΔL and the direction of movement, and controls the screw motor to drive the screw to rotate.

[0085] Based on the second calculation formula, the required rotation angle δ of the screw is determined according to ΔL and screw lead P; the rotation direction of the screw is determined according to the direction of movement; and the screw motor is controlled to drive the screw to rotate according to δ and rotation direction.

[0086] The screw motor drives the screw to rotate, thereby changing the relative position of the slider and the screw, and thus changing the position angle or swing position of the rocker arm.

[0087] The screw lead P represents the amount of translation of the slider on the screw during one revolution of the screw. The smaller the screw lead P, the smaller the slider displacement caused by a unit angle rotation of the screw motor, resulting in higher control accuracy, but it may lead to a slower adjustment speed.

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

[0089] By limiting the range of P values, firstly, we can avoid P values ​​being too large, thus ensuring the adjustment speed; secondly, we can avoid P values ​​being too small, which helps improve control accuracy.

[0090] This invention aims to provide an open-loop control method for cradle position. This method only requires acquiring angle information once via an angle sensor before the cradle begins movement to determine the initial position angle value, or directly using the angle corresponding to a specific position as the initial position angle value when the cradle starts moving from a certain position. Subsequent data processing steps do not require acquiring angle information again to complete subsequent cradle control actions. Since the angle sensor data is used at most once during the entire control process, this method has lower requirements for the performance and accuracy of the angle sensor. Furthermore, because real-time interaction with the angle sensor is omitted during control, disturbances caused by fluctuations in angle sensor data can be effectively avoided, greatly improving control efficiency and the accuracy of the control results.

[0091] It should be noted that this invention utilizes trigonometric functions to derive the mapping relationship between the slider's displacement (movement distance) and the cradle angle (cradle position angle). When the cradle rotates from α0 to α1, the slider's displacement ΔL along the screw can be accurately calculated using geometric relationships. The open-loop control method of this invention (open-loop control method for cradle position) achieves high-precision control of the cradle position through a precise mathematical model. Open-loop control eliminates the delay problem of closed-loop feedback, resulting in a fast system response. In applications where the cradle position needs frequent adjustments (such as the winding process in textile machinery), this method (open-loop control method for cradle position) can complete a single position adjustment within 0.5 seconds, with an adjustment frequency of up to 2 times / second, meeting the dynamic performance requirements of most industrial scenarios.

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

[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 based on L1, L4, θ, α0, and α1 according to a first calculation formula; the first calculation formula is:

[0098]

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

[0100] When the cradle is at its initial position angle α0, according to geometric relationships, the angle between the line connecting the screw fulcrum and the cradle fulcrum 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 law of cosines, the distance between the connection point between the slider and the rocker arm and the fulcrum of the screw can be calculated using L1, L4, θ, and α0.

[0102]

[0103] Similarly, when the cradle is at the target position angle value α1, the angle between the line connecting the screw fulcrum and the cradle fulcrum 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 law of cosines, the distance between the connection point between the slider and the rocker arm and the screw fulcrum is calculated using L1, L4, θ, and α1.

[0105]

[0106] Therefore, according to and Determine ΔL:

[0107]

[0108] In the technical solution defined in this invention, the mapping relationship between the slider's displacement (moving distance) and the cradle angle (cradle position angle) is derived using trigonometric functions. When the cradle rotates from α0 to α1, the slider's displacement ΔL along the screw can be accurately calculated using geometric relationships. This method is not highly dependent on angle sensors, effectively avoiding disturbances to the control process caused by fluctuations in angle sensor data, and greatly improving control efficiency and the accuracy of control results.

[0109] In some embodiments, optionally, such as Figure 3 As shown, S212 (determining the required rotation angle δ and rotation direction of the screw based on ΔL and the direction of movement, and controlling the screw motor to drive the screw to rotate) includes:

[0110] S2122, based on the second calculation formula, the required rotation angle δ of the screw is determined according to ΔL and screw lead P.

[0111] By introducing the screw lead P, the linear relationship between "screw lead and travel distance" is determined, which helps to improve control efficiency and control accuracy.

[0112] The smaller the screw lead P, the smaller the slider displacement caused by the unit angle rotation of the screw motor, and the higher the control accuracy, but it may lead to a slower adjustment speed.

[0113] By limiting the range of P values, firstly, we can avoid P values ​​being too large, thus ensuring the adjustment speed; secondly, we can avoid P values ​​being too small, which helps improve control accuracy.

[0114] S2124, determine the rotation direction of the screw based on the direction of movement.

[0115] S2126 controls the screw motor to drive the screw to rotate based on δ and the rotation direction.

[0116] The screw motor drives the screw to rotate, thereby changing the relative position of the slider and the screw, and thus changing the position angle or swing position of the rocker arm.

[0117] In some embodiments, the second calculation formula may optionally be:

[0118] or

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

[0120] This data processing method is beneficial for accurately controlling the rotation angle and direction of the screw motor, thereby enabling precise control of the position angle or swing position of the cradle.

[0121] In some embodiments, the length L1 of the lower rocker arm of the cradle is optionally the distance between the cradle 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 value range of L1, it is beneficial to optimize the spatial layout and ensure that when the position and angle of the cradle change, the corresponding slider moves an appropriate distance (neither too large nor too small), which facilitates quick adjustment.

[0124] In some embodiments, optionally, such as Figure 4 As shown, S204 (calculating the structural constants of the cradle swing mechanism based on L2 and L3, the structural constants including the distance L4 between the line connecting the cradle fulcrum and the screw fulcrum, and the angle θ between the line connecting the cradle fulcrum and the screw fulcrum and the horizontal plane) includes:

[0125] S2042, based on the third calculation formula, calculate the distance L4 between the cradle support point and the screw support point according to L2 and L3.

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

[0127] The purpose of this step is to calculate the structural constants of the cradle swing mechanism based on the structural dimensional parameters. L4 can directly represent the positional relationship between the cradle 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 range of θ, it is beneficial to optimize the spatial layout and ensure that when the position and angle of the cradle change, the corresponding slider moves an appropriate distance (neither too large nor too small), which facilitates quick adjustment.

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

[0131]

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

[0133] The fourth calculation formula is:

[0134] θ = arctan(L2 / L3).

[0135] Based on trigonometric relationships, θ is calculated using L2 and L3. θ affects the system's control accuracy and response speed.

[0136] In one embodiment of the invention, an open-loop control system 300 for the cradle position is used for the cradle swing mechanism 100. For example... Figure 5 As shown, the open-loop control system 300 for the cradle position includes a structural dimension 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 movement distance and movement direction determination unit 315, and a control unit 316.

[0137] The structural dimension parameter determination unit 311 is used to determine the structural dimension parameters of the cradle swing mechanism 100. The structural dimension parameters include the length L1 of the lower rocker arm of the cradle, 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] L1, L2 and L3 are inherent dimensions of the cradle swing mechanism 100.

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

[0140] L1 is used to indicate the positional relationship between the cradle fulcrum 152 and the slider 120. L2 and L3 are used to indicate 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 constants of the cradle swing mechanism 100 based on L2 and L3. The structural constants include the distance L4 between the line connecting 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 constants of the cradle swing mechanism 100 can be calculated based on the structural dimension parameters.

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

[0144] 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.

[0145] 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 range of θ, it is beneficial to optimize the spatial layout and ensure that when the position and angle of the cradle change, the corresponding slider moves an appropriate distance (neither too large nor too small), which facilitates quick adjustment.

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

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

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

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

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

[0153] In the technical solution defined by the present invention, it is only necessary to collect angle information once by angle sensor 140 before the cradle 130 starts to move to determine the initial position angle value of the cradle 130. Subsequent data processing steps do not require collecting angle information again to complete the subsequent control actions of the cradle 130.

[0154] Alternatively, when the cradle 130 uses certain specific positions as its starting motion positions, the angle corresponding to those specific positions can be directly used as the initial position angle value. Subsequent data processing steps do not require collecting angle information again to complete the subsequent control actions of the cradle 130.

[0155] The target position angle value determination unit 314 is used 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 obtained through the angle sensor 140.

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

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

[0159] The control unit 316 is used to determine the required rotation angle δ and rotation direction of the screw 111 based on ΔL and the direction of movement, and to control the screw motor 110 to drive the screw 111 to rotate.

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

[0161] The screw motor 110 drives the screw 111 to rotate, thereby changing the relative position of the slider 120 and the screw 111, and thus changing the position angle or swing position of the rocker arm 130.

[0162] The screw lead P represents the amount of translation of the slider 120 on the screw 111 for one revolution of the screw 111. The smaller the screw lead P, the smaller the displacement of the slider 120 caused by a unit angle rotation of the screw motor 110, and the higher the control accuracy, but it may lead to a slower adjustment speed.

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

[0164] By limiting the range of P values, firstly, we can avoid P values ​​being too large, thus ensuring the adjustment speed; secondly, we can avoid P values ​​being too small, which helps improve control accuracy.

[0165] This invention aims to provide an open-loop control system 300 for cradle position. This system only needs to collect angle information once via angle sensor 140 before the cradle 130 begins to move to determine the initial position angle value of the cradle 130, or directly use the angle corresponding to a specific position as the initial position angle value when the cradle 130 uses a certain specific position as its starting position. Subsequent data processing steps do not require collecting angle information again to complete the subsequent control actions of the cradle 130. Since the data from angle sensor 140 is used at most once during the entire control process, the system has lower requirements for the performance and accuracy of angle sensor 140. Furthermore, since real-time interaction with angle sensor 140 is omitted during the control process, disturbances to the control process caused by fluctuations in angle sensor 140 data can be effectively avoided, greatly improving control efficiency and the accuracy of the control results.

[0166] It should be noted that this invention utilizes trigonometric functions to derive the mapping relationship between the displacement (moving distance) of the slider 120 and the cradle angle (position angle of the cradle 130). When the cradle 130 rotates from α0 to α1, the displacement ΔL of the slider 120 along the screw 111 can be accurately calculated using geometric relationships. The open-loop control system (open-loop control system 300 for cradle position) of this invention achieves high-precision control of the cradle position through a precise mathematical model. Open-loop control does not have the delay problem of closed-loop feedback, and the system response speed is fast. In application scenarios where the cradle 130 needs to be frequently adjusted (such as the winding process in textile machinery), this system (open-loop control system 300 for cradle position) can complete a single position adjustment within 0.5 seconds, with an adjustment frequency of up to 2 times / 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 invention, such as Figure 6 As shown, the electronic device 400 includes a memory 410 and a processor 420. The memory 410 stores a program or instructions that can be executed on the processor 420. When the processor 420 executes the program or instructions, it implements the steps of the open-loop control method for the cradle position in any of the above embodiments. The electronic device 400 has the beneficial effects of any of the above embodiments, which will not be elaborated further here.

[0173] In one embodiment of the present invention, the readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the open-loop control method for the cradle position in any of the above embodiments. The readable storage medium possesses the beneficial effects of any of the above embodiments, which will not be elaborated further here.

[0174] In this invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0175] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0176] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0177] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method of open loop control of a cradle position, characterized by, This invention relates to a cradle swing mechanism, comprising a screw motor, a slider, a cradle, and an angle sensor. The screw motor is rotatably connected to a screw fulcrum and has a rotatable screw. The slider is rotatably mounted on the screw. The cradle is rotatably connected to a cradle fulcrum, with one end of the cradle rotatably connected to the slider. The angle sensor is mounted on the cradle and is used to acquire the position angle of the cradle. The screw motor drives the screw to rotate, thereby changing the relative position of the slider and the screw. The open-loop control method includes: The structural dimension parameters of the rocker arm swing mechanism are determined, including the length L1 of the lower rocker arm, the vertical distance L2 between the rocker arm fulcrum and the screw fulcrum, and the horizontal distance L3 between the rocker arm fulcrum and the screw fulcrum. The structural constants of the rocker arm swing mechanism are calculated based on L2 and L3. The structural constants include the distance L4 between the line connecting the rocker arm fulcrum and the screw fulcrum, and the angle θ between the line connecting the rocker arm fulcrum and the screw fulcrum and the horizontal plane. The initial position angle value α0 of the cradle is obtained by the angle sensor; Determine the target position angle value α1 of the cradle; Calculate the distance ΔL that the slider moves along the screw based on L1, L4, θ, α0, and α1, and determine the direction of movement of the slider; The required rotation angle δ and rotation direction of the screw are determined based on ΔL and the direction of movement, and the screw motor is controlled to drive the screw to rotate.

2. The open-loop control method for cradle position according to claim 1, characterized in that, Based on the 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 for the cradle position according to claim 1, characterized in that, The step of determining the required rotation angle δ and rotation direction of the screw based on ΔL and the direction of movement, and controlling the screw motor to drive the screw to rotate, includes: Based on the second calculation formula, the required rotation angle δ of the screw is determined according to ΔL and screw lead P; The rotation direction of the screw is determined based on the direction of movement; The screw motor is controlled to drive the screw to rotate according to δ and the rotation direction.

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

6. The open-loop control method for the cradle position according to any one of claims 1 to 4, characterized in that, The structural constants of the rocker arm swing mechanism calculated based on L2 and L3 include the distance L4 between the line connecting the rocker arm fulcrum and the screw fulcrum, and the angle θ between the line connecting the rocker arm fulcrum and the screw fulcrum and the horizontal plane, including: Based on the third calculation formula, the distance L4 between the cradle support point and the screw support point is calculated according to L2 and L3; Based on the fourth calculation formula, the angle θ between the line connecting the cradle fulcrum and the screw fulcrum and the horizontal plane is calculated according to L2 and L3.

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

8. An open-loop control system for cradle position, characterized in that, include: The structural dimension parameter determination unit (311) is used to determine the structural dimension parameters of the rocker arm swing mechanism (100). The structural dimension parameters include the length L1 of the rocker arm under the rocker arm, the vertical distance L2 between the rocker arm support point (152) and the screw support point (151), and the horizontal distance L3 between the rocker arm support point (152) and the screw support point (151). The structural constant calculation unit (312) is used to calculate the structural constant of the rocker arm swing mechanism (100) based on L2 and L3. The structural constant includes the distance L4 between the line connecting the rocker arm fulcrum (152) and the screw fulcrum (151), and the angle θ between the line connecting the rocker arm fulcrum (152) and the screw fulcrum (151) and the horizontal plane. The initial position angle value acquisition unit (313) is used to acquire the initial position angle value α0 of the cradle (130) through the angle sensor (140); The target position angle value determination unit (314) is used to determine the target position angle value α1 of the cradle (130); The moving distance and moving direction determination unit (315) is used to calculate the moving distance ΔL of the slider (120) along the screw (111) based on L1, L4, θ, α0 and α1, and to determine the moving direction of the slider (120); The control unit (316) is used to determine the required rotation angle δ and rotation direction of the screw (111) based on ΔL and the direction of movement, and to control the screw motor (110) to drive the screw (111) to rotate.

9. An electronic device, characterized in that, include: A memory (410) and a processor (420), wherein the memory (410) stores a program or instructions executable on the processor (420), and the processor (420) executes the program or instructions to implement the steps of the open-loop control method for the cradle position as described in any one of claims 1 to 7.

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

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