Regulator for transformer substation operation robot

Abstract

The invention discloses an adjuster for a transformer substation operation robot, which comprises a connecting part and an adjusting part, a plurality of adjusters are distributed in a parallelogram shape, and synchronous adjustment of vertical and horizontal displacement of a fork arm is realized through linkage control. The connecting part is provided with a clamping shell and a clamping head, the side inclined face of the clamping shell is attached to the mounting head, a clamping opening is matched with the sunken groove, the clamping face is coated with a high-friction-coefficient rubber layer, and the self-adaptive clamping stability is improved in combination with a reset spring. The adjusting part comprises a height adjusting module and an angle adjusting module; the height adjusting module realizes multi-angle self-adaptive lifting through a spherical joint; the angle adjusting module drives a horizontal rotating shaft and an auxiliary block through a motor to drive a connecting rod to adjust the horizontal position of a transition plate. The synchronous control method can enable the insertion precision of the fork arm to reach + / -1mm. The problems that traditional equipment is low in adjusting precision and prone to vibration and deviation are solved, and the device has the high stability, the self-adaptive clamping capacity and the precise synchronous adjusting capacity and is suitable for the compact operation environment of a handcart in a transformer substation cabinet.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of substation operation robots, in particular to the technical field of a substation operation robot adjuster. BACKGROUND

[0002] As a key hub of the power system, the substation undertakes important functions such as voltage transformation, power distribution and safety control. In order to ensure its stable operation, the equipment in the station (such as 35kV handcart type high-voltage vacuum circuit breaker) needs to be maintained and repaired regularly. However, the traditional manual or semi-automatic operation mode has many problems: the handcart type circuit breaker is large in size (usually more than 500kg in weight) and is installed in a compact position (the operating space in the cabinet is narrow), so when the fork arm is adjusted manually, it is easy to cause equipment collision or contact arm damage due to positioning deviation; in addition, the center of gravity of the handcart is biased to one side of the contact arm, and during the operation process, if affected by the uneven ground or mechanical vibration, it is easy to cause tilting accidents, which seriously threatens the safety of operation.

[0003] Although the existing operation equipment has partially realized mechanical operation, it still has significant defects: 1. Insufficient adjustment accuracy: most devices rely on a single direction adjustment mechanism, which makes it difficult to simultaneously fine-tune the fork arm position in the horizontal and vertical directions, leading to difficulties in aligning when inserting the handcart guide rail, and frequent occurrence of jamming or deviation; 2. Poor environmental adaptability: environmental vibrations are easily transmitted to the mechanical arm due to uneven ground at the operation site or equipment vibration, and there is a lack of effective isolation devices, which exacerbates the shaking of the fork arm and further increases the risk of tilting; 3. Low clamping stability: traditional clamping mechanisms mostly use rigid locking methods, which cannot adapt to changes in the angle of the mounting head during adjustment, and are prone to stress concentration at the connection, which may loosen or even fail after long-term use.

[0004] In summary, there is an urgent need for an adjustment device that can simultaneously adjust the height and angle of the fork arm, effectively isolate environmental vibrations, and have self-adaptive clamping capability, in order to improve the operation accuracy and safety of the substation operation robot. SUMMARY

[0005] The purpose of the present application is to solve the problems in the prior art and to provide a substation operation robot adjuster that can simultaneously and accurately adjust the height and horizontal position of the fork arm in the narrow substation cabinet, effectively adapt to the compact layout of the handcart and cabinet, and at the same time, through a multi-stage stable structure, suppress the vibration and tilting risk during operation, and use a self-adaptive clamping mechanism to ensure the stability of the connection.

[0006] To achieve the above purpose, the present application provides a substation operation robot adjuster, which comprises a connecting part and an adjusting part, and multiple of the present adjusters are synchronously arranged in a parallelogram; the connecting part can be connected with the operation robot; The adjustment unit includes a height adjustment module and an angle adjustment module. The angle adjustment mechanism can adjust the horizontal position of the robot fork arm according to the actual position of the cabinet and the handcart. The height adjustment module can correspondingly adjust the vertical position of the robot fork arm.

[0007] Preferably, the connecting part includes a support plate, the lower side of which is connected to the adjusting part. A clamping shell is fixedly connected to the center of the upper end of the support plate. The clamping shell has an opening at its upper end and through-holes on both sides. A lateral tilting surface is provided at the opening at the upper end of the clamping shell. The tilting angle of the lateral tilting surface is the same as the side angle of the mounting head that it cooperates with. A chuck is slidably disposed in the through-holes on both sides of the clamping shell. A clamping rod is provided in the middle of the chuck and threadedly connected to it. A clamping port that can cooperate with the lower end of the mounting head is also provided on the inner side of the chuck. A recessed groove is provided around the lower end of the mounting head. A guide groove is provided on the outer side of the chuck. A guide pin is slidably disposed in the guide groove. The other half of the guide pin is located in the clamping shell and threadedly connected to the clamping shell. A return spring is also fixedly disposed inside the chuck on both sides. The side surface of the clamping housing and the contact surface of the mounting head are coated with a high-friction coefficient rubber layer. The material is a composite material of nitrile rubber and carbon fiber, with a friction coefficient ≥0.8, which can effectively prevent relative slippage caused by vibration after clamping.

[0008] Preferably, the adjustment unit includes a height adjustment module, which includes a mounting plate. The upper surface of the mounting plate is connected to a lifting cylinder via a ball joint at its center. The upper end of the lifting cylinder is also connected to a support plate via the ball joint. A guide rod is fixedly mounted on the lower outer surface of the support plate, passing through a guide sleeve. The guide sleeve is fixedly mounted on a transition plate, which is annular in shape. The angle adjustment module is located at the outer edge of the lower surface of the transition plate. The gap between the ball head and the socket of the ball joint is 0.1–0.3 mm, and the inner wall of the socket is coated with a polytetrafluoroethylene wear-resistant layer to achieve low-friction adaptive compensation during multi-angle adjustment.

[0009] Furthermore, the inner wall of the ball socket of the ball joint 23 is formed with a polytetrafluoroethylene wear-resistant layer through a plasma spraying process, with a thickness of 0.08 mm and a surface roughness Ra=0.3 μm. While ensuring low-friction rotation, the wear resistance life of the joint is significantly improved to more than 100,000 cycles.

[0010] Preferably, the adjustment unit includes a height adjustment module, and the angle adjustment module includes a base fixedly connected to the mounting plate. An auxiliary block is rotatably connected to the base via a horizontal rotating shaft. A motor is externally connected to the horizontal rotating shaft. A vertical frame is rotatably connected to the auxiliary block in a direction perpendicular to the base. A connecting rod is provided at the upper end of the vertical frame. The other end of the connecting rod is symmetrically provided with the same components and is fixedly connected to the lower end face of the transition plate. There are three sets of the above components, which are distributed in a ring at the outer edge of the upper end face of the mounting plate. The other two are on the same straight line and perpendicular to the set angle.

[0011] Preferably, the synchronization control method of the regulator includes the following steps: Step 1: Use a position detection device to obtain the lateral offset between the center line of the handcart guide rail and the end of the fork arm in real time, and calculate the vertical height difference; Step 2: Based on the offset and height difference, generate the extension and retraction amount of each lifting cylinder and the motor rotation angle command of the angle adjustment module through the PID algorithm; Step 3: Control the lifting cylinder and motor to move synchronously through the servo driver, and monitor the displacement sensor data of the guide rod in real time to dynamically correct the adjustment error until the fork arm insertion accuracy reaches ±1mm.

[0012] Preferably, the control system of the regulator can be configured with a position detection device (such as a photoelectric sensor, ultrasonic sensor or laser sensor) to collect position deviation data between the handcart and the cabinet in real time and transmit the signal to the controller to generate adjustment commands.

[0013] Preferably, the PID algorithm has a proportional gain Kp of 1.2–1.8, an integral time Ti of 0.5–1.2 s, a derivative time Td of 0.05–0.15 s, and a control cycle of 10 ms to match the dynamic response requirements of the forklift adjustment. Further, the parameters were experimentally optimized to: Kp = 1.5, Ti = 0.8 s, Td = 0.1 s, and a control cycle of 10 ms, achieving a forklift position overshoot of <5% and a steady-state time of ≤2 s.

[0014] The beneficial effects of this invention are: 1. Improved operational stability The adjustable mechanism lifts the fork arm off the ground, effectively isolating it from environmental vibrations and uneven ground, significantly improving stability during operation and reducing the risk of tipping.

[0015] 2. Adaptive clamping and flexible adjustment The connecting part adopts a high-friction coefficient rubber layer and a return spring design. After clamping, the mounting head can adaptively deflect within a range of ±10° to avoid stress concentration and ensure clamping stability. At the same time, it supports multi-angle synchronous adjustment to adapt to the compact layout of the handcart and cabinet in narrow cabinets.

[0016] 3. Precise synchronous adjustment capability: Multiple adjusters are arranged in a parallelogram linkage layout. Through the coordinated control of height and angle modules, the vertical and horizontal directions of the fork arm can be adjusted synchronously and precisely, solving the problems of inaccurate alignment, jamming, or damage to the equipment in traditional equipment.

[0017] The features and advantages of the present invention will be described in detail through embodiments and in conjunction with the accompanying drawings. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of a regulator for a substation operation robot according to the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the overall structure of a regulator for a substation operation robot according to the present invention. Figure 2 ; Figure 3 This is a front view of a regulator for a substation operation robot according to the present invention; Figure 4 This is the present invention. Figure 3 A schematic diagram of the structure at point "AA"; Figure 5 This is a schematic diagram of the structure of the "clamp" of a regulator for a substation operation robot according to the present invention.

[0019] In the diagram: 10-Support plate, 11-Transition plate, 12-Mounting plate, 13-Clamping housing, 14-Mounting head, 16-Clamping head, 17-Clamping rod, 18-Guide pin, 19-Horizontal pivot, 20-Vertical frame, 21-Auxiliary block, 22-Base, 23-Spherical joint, 24-Guide sleeve, 25-Guide rod, 26-Lifting cylinder, 27-Reset spring, 28-Side tilting surface, 29-Clamping port, 30-Connecting rod. Detailed Implementation

[0020] See Figures 1-5 According to the present invention, the regulator includes a connecting part and an adjusting part. Multiple regulators are arranged synchronously in a parallelogram layout. Through the linkage of multiple adjusting parts, the vertical and horizontal displacements of the robot fork arm change synchronously according to a preset ratio. The connecting part is used to connect with the working robot and includes a support plate 10. A clamping shell 13 is fixedly connected to the upper center of the support plate 10. A clamping head 16 is slidably arranged in the through holes on both sides of the clamping shell 13. The clamping head 16 is driven to move in opposite directions by the clamping rod 17 to clamp the mounting head 14 of the working robot. The lower end of the mounting head 14 is provided with a recessed groove that cooperates with the clamping port 29 of the clamping head 16. The adjustment unit includes a height adjustment module and an angle adjustment module, and the angle adjustment module and the height adjustment module work together. The height adjustment module includes a mounting plate 12, a lifting cylinder 26, and a guide mechanism. The lifting cylinder 26 connects the support plate 10 and the mounting plate 12 through a ball joint 23. The guide mechanism consists of a guide rod 25 fixed to the support plate 10 and a guide sleeve 24 fixed to the transition plate 11, which is used to limit the lifting path. The guide rod 25 is equipped with a displacement sensor. The angle adjustment module includes a base 22, a horizontal rotating shaft 19, an auxiliary block 21, and a vertical frame 20. The horizontal rotating shaft 19 is connected to a motor to drive the auxiliary block 21 to rotate horizontally. The vertical frame 20 is connected to the transition plate 11 through a connecting rod 30 to realize multi-angle adjustment of the transition plate 11.

[0021] A synchronous control method for a regulator used in a substation operation robot includes the following steps: Step 1: Use a position detection device to obtain the lateral offset between the center line of the handcart guide rail and the end of the fork arm in real time, and calculate the vertical height difference; Step 2: Based on the offset and height difference, the extension and retraction of each lifting cylinder 26 and the motor rotation command of the angle adjustment module are generated using a PID algorithm. The proportional coefficient of the PID algorithm is Kp = 1.2~1.8, the integral time Ti = 0.5~1.2s, the derivative time Td = 0.05~0.15s, and the control cycle is 10ms to match the dynamic response requirements of the fork arm adjustment. The parameters were optimized experimentally to Kp = 1.5, Ti = 0.8s, Td = 0.1s, and the control cycle is 10ms, which can achieve a fork arm position overshoot of <5% and a steady-state time of ≤2s. Step 3: Control the lifting cylinder 26 to move synchronously with the motor through the servo driver, and monitor the displacement sensor data of the guide rod 25 in real time to dynamically correct the adjustment error until the fork arm insertion accuracy reaches ±1mm.

[0022] A control system for a regulator used in a substation operation robot can be configured with a position detection device (such as a photoelectric sensor, ultrasonic sensor, or laser sensor) to collect real-time position deviation data between the trolley and the cabinet, and transmit the signal to the controller to generate adjustment commands.

[0023] The working process of this invention: The present invention relates to a regulator for a substation operation robot, which is described in conjunction with the accompanying drawings during operation.

[0024] Example 1: The connecting part includes a support plate 10, the lower side of which is connected to the adjusting part. A clamping shell 13 is fixedly connected to the center of the upper end of the support plate 10. The clamping shell 13 has an opening at its upper end and through-holes on both sides. A lateral tilting surface 28 is provided at the opening at the upper end of the clamping shell 13. The tilting angle of the lateral tilting surface 28 is the same as the side angle of the mounting head 14 that it mates with. Clamping heads 16 are slidably disposed in the through-holes on both sides of the clamping shell 13. A clamping rod 17 is provided in the middle of the clamping head 16 and is threadedly connected to it. A clamping opening 29 that mates with the lower end of the mounting head 14 is also provided on the inner side of the clamping head 16. A recessed groove is provided around the lower end of the mounting head 14. A guide groove is provided on the outer side of the chuck 16, and a guide pin 18 is slidably disposed in the guide groove. The other half of the guide pin 18 is located in the clamping housing 13 and is threadedly connected to the clamping housing 13. A return spring 27 is also fixedly disposed inside the chuck 16 on both sides. When the working robot reaches the corresponding position, the connecting part is moved upward by the adjustment part, so that the mounting head 14 is placed into the pre-drilled hole at the upper end of the clamping housing 13. Then, by screwing the clamping rod 17, the chuck 16 moves towards each other, so that the clamping opening 29 cooperates with the recessed groove on the lower side of the mounting head 14, thereby locking the mounting head 14. The mounting head 14 is circular and can still rotate relative to each other after clamping. The side inclined surface 28 of the clamping housing 13 and the contact surface with the mounting head 14 are coated with a high friction coefficient rubber layer. The material is a composite material of nitrile rubber and carbon fiber, with a friction coefficient ≥0.8, which can effectively prevent relative slippage caused by vibration after clamping. The side-tilted surface 28 rubber layer of the clamping shell 13 is made of a mixture of nitrile rubber and carbon fiber composite material, and is prepared by compression molding process. It has been tested and its friction coefficient is ≥0.8 and has excellent anti-aging properties (performance decay ≤5% after aging at 70℃ for 1000 hours).

[0025] The adjustment unit includes a height adjustment module, which includes a mounting plate 12. The center of the upper surface of the mounting plate 12 is connected to a lifting cylinder 26 via a ball joint 23. The upper end of the lifting cylinder 26 is also connected to a support plate 10 via the ball joint 23. A guide rod 25 is fixedly installed on the lower outer surface of the support plate 10. The guide rod 25 passes through a guide sleeve 24, which is fixedly installed on a transition plate 11. The transition plate 11 is annular, and the angle adjustment module is installed at the outer edge of the lower surface of the transition plate 11. When it is necessary to adjust the height of the working robot, the lifting cylinder 26 is controlled to extend outward, so that it pushes the support plate 10 to lift the working platform. During the lifting process, the guide rod 25 will move vertically under the guidance of the guide sleeve 24. After the angle adjustment module adjusts the position, due to the presence of the ball joint 23, the lifting cylinder 26 can still automatically adapt to the current angle during the lifting process, thereby completing the lifting. The ball joint 23 has a fitting clearance of 0.1 to 0.3 mm between the ball head and the ball socket, and the inner wall of the ball socket is coated with a polytetrafluoroethylene wear-resistant layer to achieve low friction adaptive compensation during multi-angle adjustment.

[0026] The inner wall of the ball socket of the ball joint 23 is formed with a polytetrafluoroethylene wear-resistant layer through a plasma spraying process. The layer is 0.08 mm thick and has a surface roughness Ra=0.3 μm. While ensuring low-friction rotation, the wear resistance life of the joint is significantly improved to more than 100,000 cycles.

[0027] The adjustment unit includes a height adjustment module, and the angle adjustment module includes a base 22 fixedly connected to the mounting plate 12. An auxiliary block 21 is rotatably connected to the base 22 via a horizontal rotating shaft 19. A motor is externally connected to the horizontal rotating shaft 19. A vertical frame 20 is rotatably connected to the auxiliary block 21 in a direction perpendicular to the base 22. A connecting rod 30 is provided at the upper end of the vertical frame 20. The other end of the connecting rod 30 is symmetrically provided with the same components and is fixedly connected to the lower end face of the transition plate 11. There are three sets of the above components, which are distributed in a ring around the outer edge of the upper end face of the mounting plate 12, and the other two are on the same straight line and perpendicular to the set angle. When it is necessary to adjust the angle... When adjusting the angle, the motor is started, causing it to drive the auxiliary block 21 to rotate via the horizontal rotating shaft 19. The rotation of the auxiliary block 21 will cause the connecting rod 30 to move at one end via the vertical frame 20. The upper auxiliary block 21 will form a certain angle with the upper base 22, thereby ensuring that the transition plate 11 is horizontal. When the motor perpendicular to this point is started, it will drive the transition plate 11 to move in another direction. When the transition plate 11 moves in this direction, the auxiliary block 21 will rotate relative to the vertical frame 20, thereby adapting to the vertical movement. With the cooperation of the two, the angle can be adjusted when the transition plate 11 is horizontal.

[0028] In actual testing, the lifting cylinder 26 of the regulator has a stroke of 200mm and a maximum thrust of 500N. With the clearance design of the guide rod 25 (diameter of 20mm) and the guide sleeve 24 (inner diameter of 20.05mm), the verticality error during the lifting process can be ensured to be less than 0.5°. The rated torque of the motor of the angle adjustment module is 10N·m, and the rotation accuracy of the horizontal shaft 19 is ±0.1°, so that the horizontal position adjustment error of the fork arm is controlled within ±2mm.

[0029] Example 2: In the practical application of the 35kV handcart cabinet in the substation, the laser sensor of the regulator detected an offset of 3.2mm in the center line of the handcart guide rail and a height difference of 5mm. The controller calculated through a PID algorithm that the lifting cylinder needed to extend by 15mm, and the two sets of motors in the angle adjustment module rotated by 2.5° and 1.8° respectively. After synchronous adjustment, the actual offset at the end of the fork arm was reduced to 0.8mm, and the height difference was 0.3mm, fully meeting the accuracy requirement of ±1mm.

[0030] Example 3: In a simulated substation cabinet vibration environment (amplitude ±2mm, frequency 5Hz), the clamping mechanism of the regulator did not loosen after 1000 vibration tests, and the clamping force attenuation was ≤3% (tested according to GB / T 16825.1-2018 standard); the wear of the polytetrafluoroethylene wear-resistant layer of the ball joint was only 0.02mm after 100,000 rotation tests, which is far below the industry standard.

[0031] The above embodiments are illustrative of the present invention and are not intended to limit the present invention. Any simple modifications to the present invention are within the scope of protection of the present invention.

Claims

1. A regulator for a substation operation robot, characterized in that: The regulator includes a connecting part and an adjusting part. Multiple regulators are arranged synchronously in a parallelogram layout. Through the linkage of multiple adjusting parts, the vertical and horizontal displacements of the robot's fork arm change synchronously according to a preset ratio. The connecting part is used to connect with the working robot and includes a support plate (10). A clamping shell (13) is fixedly connected to the upper center of the support plate (10). A clamp (16) is slidably arranged in the through holes on both sides of the clamping shell (13). The clamp (16) is driven to move in opposite directions by the clamping rod (17) to clamp the mounting head (14) of the working robot. The lower end of the mounting head (14) is provided with a recessed groove that cooperates with the clamping port (29) of the clamp (16). The adjustment unit includes a height adjustment module and an angle adjustment module, and the angle adjustment module and the height adjustment module work together. The height adjustment module includes a mounting plate (12), a lifting cylinder (26), and a guide mechanism. The lifting cylinder (26) connects the support plate (10) and the mounting plate (12) through a ball joint (23). The guide mechanism consists of a guide rod (25) fixed to the support plate (10) and a guide sleeve (24) fixed to the transition plate (11), which is used to limit the lifting path. The guide rod (25) is equipped with a displacement sensor. The angle adjustment module includes a base (22), a horizontal rotating shaft (19), an auxiliary block (21), and a vertical frame (20). The horizontal rotating shaft (19) is connected to a motor to drive the auxiliary block (21) to rotate horizontally. The vertical frame (20) is connected to the transition plate (11) through a connecting rod (30) to realize multi-angle adjustment of the transition plate (11).

2. The regulator for a substation operation robot according to claim 1, characterized in that: The upper opening of the clamping shell (13) is provided with a side tilting surface (28), the tilt angle of the side tilting surface (28) matches the side angle of the mounting head (14), the outer side of the chuck (16) is provided with a guide groove, a guide pin (18) is slidably arranged in the guide groove, the guide pin (18) is threadedly connected to the clamping shell (13), and a return spring (27) is also provided inside the chuck (16); the contact surface between the side tilting surface (28) of the clamping shell (13) and the mounting head (14) is coated with a high friction coefficient rubber layer with a friction coefficient ≥0.8 to enhance the clamping anti-slip performance.

3. A regulator for a substation operation robot according to claim 1, characterized in that: The lifting cylinder (26) of the height adjustment module is hinged to the support plate (10) and the mounting plate (12) respectively through the ball joint (23), and the guide rod (25) passes through the guide sleeve (24) and is vertically fixed to the lower end face of the support plate (10).

4. A regulator for a substation operation robot according to claim 1, characterized in that: The auxiliary block (21) of the angle adjustment module is rotatably connected to the base (22) via a horizontal rotating shaft (19). One end of the vertical frame (20) is hinged to the auxiliary block (21), and the other end is fixedly connected to the transition plate (11) via a connecting rod (30).

5. A regulator for a substation operation robot according to claim 4, characterized in that: The angle adjustment module has three groups, which are distributed in a ring around the outer edge of the mounting plate (12). Two groups are located on the same straight line, and the other group is set perpendicular to the straight line. The horizontal multi-directional adjustment of the transition plate (11) is realized by motor drive.

6. A regulator for a substation operation robot according to any one of claims 1-5, characterized in that: The regulator synchronously controls the lifting cylinders (26) of multiple adjustment units and the motor of the angle adjustment module, so that the fork arm of the working robot can be synchronously adjusted in the vertical and horizontal directions to adapt to the compact position of the handcart and the cabinet in the substation cabinet.

7. A regulator for a substation operation robot according to claim 1 or 6, characterized in that: The ball joint (23) has a fitting clearance of 0.1 to 0.3 mm between the ball head and the ball socket, and the inner wall of the ball socket is coated with a polytetrafluoroethylene wear-resistant layer to achieve low friction adaptive compensation during multi-angle adjustment; the thickness of the polytetrafluoroethylene wear-resistant layer is 0.05 to 0.1 mm, and it is attached to the inner wall of the ball socket by plasma spraying process, with a surface roughness Ra≤0.4 μm.

8. A regulator for a substation operation robot according to claim 6, characterized in that: The synchronous control method includes the following steps: Step 1: The lateral offset between the center line of the handcart guide rail and the end of the fork arm is obtained in real time through the position detection device, and the vertical height difference is calculated; Step 2: Based on the offset and height difference, the extension and retraction of each lifting cylinder (26) and the motor rotation command of the angle adjustment module are generated by the PID algorithm; Step 3: The lifting cylinder (26) and the motor are controlled to move synchronously through the servo driver, and the displacement sensor data of the guide rod (25) is monitored in real time to dynamically correct the adjustment error until the fork arm insertion accuracy reaches ±1mm.

9. A regulator for a substation operation robot according to claim 8, characterized in that: The position detection device is a laser sensor, which is installed at the end of the fork arm. It has a detection accuracy of ±0.5mm and provides real-time feedback on the lateral offset between the handcart guide rail and the fork arm.

10. A regulator for a substation operation robot according to claim 8, characterized in that: The PID algorithm has a proportional gain Kp = 1.2 to 1.8, an integral time Ti = 0.5 to 1.2 s, a derivative time Td = 0.05 to 0.15 s, and a control cycle of 10 ms to match the dynamic response requirements of the fork arm adjustment.

Images