A cross slide dynamic stability method and system

Abstract

The present application relates to the technical field of industrial equipment automation control, in particular to a kind of horizontal transfer machine dynamic stabilization method and system, comprising: obtaining the output torque of left and right side motor of horizontal transfer machine in historical multiple sampling time nodes in uniform speed running stage and acceleration and deceleration running stage, and calculating the absolute value of output torque difference value of left and right side motor of horizontal transfer machine in historical each sampling time node in acceleration and deceleration running stage, to obtain the standard deviation of the absolute value;Obtain the deviation degree of left and right side motor of horizontal transfer machine in uniform speed running stage;The target output torque of left and right side motor of horizontal transfer machine is output using improved PID control algorithm, and the operation of left and right side motor of horizontal transfer machine is controlled based on the target output torque.The present application solves the problem that torque adjusting operation precision is not high in the process of horizontal transfer machine running.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial equipment automation control. More particularly, the present application relates to a dynamic stabilizing method and system for a traversing machine. BACKGROUND

[0002] In modern production and automated logistics systems, traversing machines, as a common handling and conveying equipment, are widely used in scenarios such as warehousing, workshops, rail transportation, and heavy load handling. The traversing machine is usually driven synchronously by drive motors arranged on both sides to ensure smooth movement along the intended trajectory during operation. Due to the complex working environment of the traversing machine, its running state is not only affected by the structural characteristics of the equipment itself, but also disturbed by various factors such as load changes, friction differences, external impacts, and track flatness. In this case, if the left and right motor output torques are not synchronized, it is easy to cause the traversing machine to deviate, vibrate, and even impact the structure during operation, which not only reduces the running stability and work precision of the equipment, but also exacerbates the wear of mechanical parts and shortens the service life of the equipment.

[0003] In order to improve the dynamic stability performance of the traversing machine, the existing control system generally uses a PID control algorithm to realize the adjustment of the motor output. PID control has been widely used in industrial automation due to its simple structure, easy implementation, and intuitive parameters.

[0004] However, in scenarios such as traversing machines that require high dynamic stability, the shortcomings of traditional PID algorithms gradually appear. First, the traditional PID parameters are usually set to fixed values during the system design or initial debugging stage through experience, trial-and-error, or Ziegler-Nichols methods. However, the dynamic characteristics of the traversing machine differ significantly between the uniform speed running stage and the acceleration / deceleration running stage: during the uniform speed stage, the motor torque changes relatively smoothly, and the system is less sensitive to disturbances; but during the acceleration / deceleration stage, the motor needs to quickly respond to load changes, and the torque fluctuation is significantly enhanced. At this time, fixed PID parameters often cannot balance speed and stability, and are prone to over-adjustment or response delay, resulting in low torque adjustment work precision during the traversing machine operation. SUMMARY

[0005] To solve the problem of low torque adjustment work precision during the traversing machine operation raised in the background art, the present application provides solutions in the following aspects.

[0006] In a first aspect, the present invention provides a dynamic stabilization method for a traverse machine, comprising: acquiring the output torque of the left and right motors at multiple historical sampling time points during the uniform speed operation phase and the acceleration / deceleration operation phase of the traverse machine, and calculating the absolute value of the difference in output torque between the left and right motors at each historical sampling time point during the acceleration / deceleration operation phase, thereby obtaining the standard deviation of the absolute value; acquiring the degree of deviation between the left and right motors during the uniform speed operation phase; outputting the target output torque of the left and right motors using an improved PID control algorithm, and controlling the operation of the left and right motors based on the target output torque; wherein the improved PID control algorithm includes proportional gain... Integral gain and differential gain parameter The proportional gain Integral gain The differential gain is inversely correlated with the degree of oscillation of the left and right motors during the operation of the transverse machine. The degree of oscillation is positively correlated with the degree of deviation, standard deviation, and the maximum value of the output torque difference between the left and right motors during the acceleration and deceleration phases of the transverse machine.

[0007] The above technical solution introduces dynamic sensing of motor torque differences and oscillation characteristics during the operation of the transverse traverse machine, and feeds the results back to the adaptive adjustment of proportional, integral and derivative gains. This allows the controller to flexibly change parameter settings according to the real-time operating status, thereby avoiding over-adjustment when the motor output is stable and enhancing the suppression capability in a timely manner when oscillation or deviation intensifies. This solves the problem of low torque adjustment accuracy during the operation of the transverse traverse machine.

[0008] Furthermore, the degree of deviation for: , For the left motor of the transverse machine during the uniform speed operation phase, the first The output torque at each sampling time node For the right motor of the transverse machine during the constant speed operation phase, the first The output torque at each sampling time node This represents the total number of sampling time points during the uniform speed operation phase of the transverse machine.

[0009] The above technical solution performs mean difference processing on the torque sequences of the left and right motors during the uniform speed operation phase, quantifies the difference in the overall output level of the two into the degree of deviation, thereby intuitively reflecting whether there is a systematic output imbalance problem in the long-term stable operation of the motor.

[0010] Furthermore, the degree of fluctuation for: , the total number of sampling time nodes in the acceleration and deceleration running phase of the cross-moving machine, the standard deviation of the absolute value, the deviation degree, the maximum value function, , the output torque of the left motor at the i-th sampling time node in the acceleration and deceleration running phase of the cross-moving machine, , the output torque of the right motor at the i-th sampling time node in the acceleration and deceleration running phase of the cross-moving machine. the output torque of the right motor at the i-th sampling time node in the acceleration and deceleration running phase of the cross-moving machine.

[0011] The above technical solution combines the fluctuation standard deviation of the motor torque difference with the overall deviation degree in the uniform speed phase, and further introduces the maximum amplitude of the torque difference change between adjacent time nodes, thereby constructing an index that can comprehensively reflect the oscillation characteristics of the cross-moving machine in the acceleration and deceleration phase. The oscillation degree not only captures the average fluctuation level in the motor output, but also sensitively reflects the transient impact caused by sudden imbalance, making the characterization of dynamic instability more accurate.

[0012] Further, the proportional gain Kp is: , the preset proportional gain, the normalization function, the oscillation degree.

[0013] The above technical solution establishes an inverse correlation between the proportional gain and the oscillation degree, so that when the oscillation degree is small during the running of the cross-moving machine, the proportional gain can be kept at a high level, thereby quickly correcting the deviation between the motors; when the oscillation degree increases, the proportional gain is dynamically weakened to avoid further instability caused by excessive amplification of errors.

[0014] Further, the integral gain Ki is: , the preset integral gain, the normalization function, the oscillation degree.

[0015] Further, the differential gain Kd is: , the preset differential gain, the normalization function, the oscillation degree.

[0016] ​​​​The technical solution has the beneficial effects that: the differential gain and the oscillation degree are constructed in a positive correlation relationship, so that once strong oscillation occurs during the operation of the traversing machine, the adjustment strength of the differential link is increased, thereby more quickly inhibiting the sudden fluctuation and rapid change of the torque output, and avoiding further amplification of the vibration; and when the system runs smoothly, the differential gain is kept at a low level to reduce the excessive sensitivity to small disturbances and noise.

[0017] Further, the torque sensor is used to obtain the output torque of the left and right motors of the traversing machine at a plurality of historical sampling time nodes during the uniform speed running stage and the acceleration and deceleration running stage of the traversing machine.

[0018] Further, the output torque is subjected to data cleaning and missing value interpolation processing.

[0019] Further, the operation of the left and right motors of the traversing machine is controlled based on the target output torque, including: converting the target output torque into a target current instruction, and sending the target current instruction to a motor driver to adjust the output current of the driver, so that the actual output torque of the left and right motors follows the target output torque.

[0020] In a second aspect, the present application provides a traversing machine dynamic stabilization system, comprising a memory and a processor, wherein the memory stores computer program instructions, and the computer program instructions are executed by the processor to implement the traversing machine dynamic stabilization method of any one of the above.

[0021] The present application has the beneficial effects that:

[0022] The present application simultaneously obtains and analyzes the historical torque data of the left and right motors during the uniform speed and acceleration and deceleration stages of the traversing machine, combines the deviation degree, the standard deviation and the torque difference fluctuation amplitude to characterize the oscillation level of the system, and dynamically adjusts the proportional, integral and differential parameters based on the improved adaptive PID control strategy, so that the control process can be flexibly matched according to the actual running state. In this way, not only the real-time balance of the output torque between the motors is realized, but also the deviation and mechanical wear caused by the deviation accumulation are avoided, and the overshoot and oscillation during operation are effectively inhibited, so that the traversing machine can run stably under different working conditions, the dynamic stability, the running reliability and the control precision of the traversing machine are significantly improved, the complex working condition requirements can be met, and the service life of the equipment is prolonged. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a flow chart schematically showing a traversing machine dynamic stabilization method according to an embodiment of the present application;

[0024] Figure 2 is a structural block diagram schematically showing a traversing machine dynamic stabilization system according to an embodiment of the present application. Detailed Implementation

[0025] An embodiment of a dynamic stabilization method for a transverse traverse machine.

[0026] like Figure 1 As shown in the flowchart, an embodiment of the present invention provides a method for dynamic stabilization of a transverse traverse machine, comprising the following steps:

[0027] S1: Obtain the output torque of the left and right motors at multiple historical sampling time points during the uniform speed operation and acceleration / deceleration operation phases of the transverse traverse machine.

[0028] In a preferred embodiment, firstly, torque sensors installed on the output shafts of the motors on both sides of the traverse machine are used to acquire the actual output torque data of the traverse machine during the constant speed operation phase and the acceleration / deceleration operation phase. The data acquired in this way can more accurately reflect the actual stress on the motor under different operating conditions. Compared with the method of estimating torque solely based on current, it can significantly improve the authenticity and accuracy of the data, thereby providing a reliable basis for subsequent stability analysis and control.

[0029] Furthermore, considering that torque sensors may generate abnormal values ​​during the operation of the traverse machine due to electromagnetic interference, mechanical vibration, or noise in the signal acquisition system, or that some sampling points may be missing due to momentary communication interruptions or sensor zero drift, the acquired raw torque data undergoes data cleaning and missing value interpolation. Specifically, the data cleaning process includes anomaly detection of historical sampling time point data, removing anomalies that clearly do not conform to physical laws by setting threshold ranges or using statistical methods. For example, when the torque value of a sampling point deviates from the mean of its adjacent times by more than a preset standard deviation, it can be identified as a noise point and removed or replaced, thereby ensuring the stability and rationality of the data sequence.

[0030] After data cleaning, interpolation is used to compensate for missing torque sampling points. Interpolation methods can be based on time series interpolation algorithms, such as linear interpolation, cubic spline interpolation, or estimation using the weighted average of neighboring sampling points. Interpolation effectively avoids distortions in subsequent standard deviation calculations, deviation assessments, and oscillation determinations caused by missing data. Compared to uninterpolated data, the processed torque sequence is more complete and continuous, allowing for a more accurate reflection of the dynamic characteristics of the traverse machine during operation.

[0031] The above data cleaning and interpolation processes not only significantly improve the quality of torque data and reduce the impact of noise interference on control accuracy, but also ensure the reliability of the oscillation degree calculation results, providing more reliable input data for the subsequent generation of target output torque of the left and right motors based on the improved PID control algorithm.

[0032] S2: Obtain the degree of deviation between the left and right motors of the transverse machine during the uniform speed operation phase, and the degree of vibration of the left and right motors during the operation of the transverse machine.

[0033] In a preferred embodiment, the degree of deviation for: , For the left motor of the transverse machine during the uniform speed operation phase, the first The output torque at each sampling time node For the right motor of the transverse machine during the constant speed operation phase, the first The output torque at each sampling time node This represents the total number of sampling time points during the uniform speed operation phase of the transverse machine.

[0034] By averaging the output torque of the left and right motors at multiple sampling times during the uniform speed operation phase of the transverse traverse machine, and further calculating the degree of difference between the two, an index reflecting the overall force deviation of the left and right motors is obtained. This effectively avoids the influence of single-point fluctuations or instantaneous noise on the deviation judgment, making the obtained results more global and stable, thereby improving the accuracy of the transverse traverse machine's operating status assessment and avoiding transverse instability or operating deviation caused by excessive load on one side of the motor.

[0035] In another preferred embodiment, the degree of deviation for: , For the left motor of the transverse machine during the uniform speed operation phase, the first The output torque at each sampling time node For the right motor of the transverse machine during the constant speed operation phase, the first The output torque at each sampling time node This represents the total number of sampling time points during the uniform speed operation phase of the transverse machine.

[0036] By comparing the output torque of the left and right motors at each sampling moment during the uniform speed operation of the traverse machine, and averaging the absolute values ​​of their differences, a quantitative index reflecting the overall deviation level throughout the entire operation is obtained. This avoids the problem of positive and negative differences canceling each other out in the cumulative calculation, and more realistically depicts the degree of load imbalance between the two motors during operation. By introducing this index, potential force differences during operation can be detected more sensitively, thus providing a precise basis for subsequent oscillation analysis and control parameter optimization.

[0037] Then, the absolute value of the torque difference of the left and right motors at each sampling time node in the acceleration and deceleration running stage of the transverse machine is calculated, and then the standard deviation of the absolute value is obtained;

[0038] The degree of oscillation is: , is the total number of sampling time nodes in the acceleration and deceleration running stage of the transverse machine, is the standard deviation of the absolute value, is the degree of deviation, is the maximum value function, , is the output torque of the left and right motors of the transverse machine at the i-th sampling time node in the acceleration and deceleration running stage, , is the output torque of the left and right motors of the transverse machine at the i-th sampling time node in the acceleration and deceleration running stage. In the acceleration and deceleration running stage, the standard deviation of the torque difference of the two motors is first calculated to describe the overall fluctuation amplitude, and further combined with the deviation index of the uniform speed stage and the maximum torque difference between adjacent sampling points, an oscillation degree evaluation model is constructed, which can reflect the global stability and local mutation. Not only can the overall dispersion of the torque difference in the running process be measured, but also the influence of instantaneous severe fluctuations on the running stability can be highlighted, so as to realize a more comprehensive description of the dynamic instability factors of the transverse machine.

[0039] S3: Dynamically adjusting the improved PID control parameters based on the degree of oscillation.

[0040] In a preferred embodiment, the improved proportional gain

[0041] is: , is the preset proportional gain, is the normalization function, is the degree of oscillation.

[0042] By introducing a normalization suppression mechanism based on the degree of oscillation in the proportional link, the proportional gain can be dynamically weakened when the oscillation is intensified, thereby effectively avoiding the risk of further amplifying fluctuations due to excessive proportional action. At the same time, when it is relatively stable, the proportional link can maintain high sensitivity to ensure the rapid response of the transverse machine to external disturbances and running errors. Thus, an adaptive balance adjustment mode is realized, which not only improves the stability and anti-oscillation ability in the running process, but also takes into account the response speed and control accuracy, so that better control effect can be achieved under different working conditions. ​​​

[0043] Improved integral gain is: , is a preset integral gain, is a normalization function, is the oscillation degree.

[0044] By introducing an oscillation degree-based normalization adjustment mechanism, the integral gain is adaptively weakened when the oscillation is large, thereby avoiding the phenomenon of integral saturation or further exacerbating the fluctuation caused by excessive accumulation of errors in the integral term. When the operation is stable, the integral action can maintain the necessary strength to ensure that the system has effective correction ability for long-term deviation. The dynamic balance between stability and correction of the integral link is achieved, so that the horizontal moving machine can balance the anti-vibration performance and steady-state accuracy under different working conditions, thereby significantly improving the overall control effect.

[0045] Improved differential gain is: , is a preset differential gain, is a normalization function, is the oscillation degree.

[0046] By mapping the oscillation degree to the normalization function and dynamically amplifying the differential gain, the error change can be more sensitively inhibited when the oscillation is intensified, thereby effectively reducing the oscillation amplitude and response overshoot. When the operation is stable, the differential action is maintained at a low level to avoid the problem of excessive amplification of small disturbances leading to noise sensitivity. The adaptive enhancement of the differential link to dynamic changes is achieved, so that the horizontal moving machine can balance the vibration suppression and noise robustness under different operating conditions, thereby improving the stability and reliability of the overall operation.

[0047] S4: output the target output torque of the left and right motors of the horizontal moving machine using the improved PID control algorithm, and control the operation of the left and right motors of the horizontal moving machine based on the target output torque.

[0048] In a preferred embodiment, the target output torque of the left and right motors of the horizontal moving machine is output using the improved PID control algorithm, which is a known technology and will not be described in detail.

[0049] Controlling the operation of the left and right motors of the horizontal moving machine based on the target output torque includes: converting the target output torque into a target current command, and sending the target current command to the motor driver to adjust the output current of the driver, so that the actual output torque of the left and right motors follows the target output torque.

[0050] By directly converting the target output torque into current instructions and issuing them to the driver, the actual torque of the motor is accurately tracked, the response delay in the control link is effectively shortened, the consistency of the torque output of the left and right motors is ensured, the synchronization and stability of the horizontal moving machine operation are improved, the vibration, impact or trajectory deviation caused by torque deviation is avoided, and the operation stability and control precision of the equipment are improved.

[0051] The scheme of the present application realizes comprehensive quantification of the dynamic characteristics of the system by introducing fine collection and processing of the motor output torque in the uniform speed and acceleration / deceleration stages during the operation of the horizontal moving machine, combining the shock index constructed by the deviation degree, standard deviation and difference between adjacent sampling points, and on this basis, using the improved adaptive PID control strategy to dynamically adjust the proportional, integral and differential gains, so that the controller can adaptively weaken or strengthen the effect of the corresponding link according to the real-time working condition, so as to ensure fast convergence of the error and effectively suppress overshoot and shock, realize high stability, high precision and high reliability operation of the horizontal moving machine under complex working conditions, and significantly improve the dynamic stability and service life of the overall system.

[0052] An embodiment of a horizontal moving machine dynamic stabilization system:

[0053] As shown in Figure 2 , the structural block diagram of an embodiment of a horizontal moving machine dynamic stabilization system of the present application includes a processor and a memory.

[0054] The present application also provides a horizontal moving machine dynamic stabilization system. As shown in Figure 2 , the system includes a processor and a memory, and the memory stores computer program instructions that, when executed by the processor, implement the horizontal moving machine dynamic stabilization method according to the present application.

[0055] The horizontal moving machine dynamic stabilization system also includes a communication interface and other components familiar to those skilled in the art, the settings and functions of which are known in the art, so they will not be described here.

[0056] In this description, the terms "communication" and "communicate" are used broadly. For example, a device can communicate information to another device, even though the information need not be received explicitly by the other device. In other words, one device can communicate information to another device by placing the information in a location where the other device is able to retrieve the information, even though one device does not know exactly where or when another device will retrieve the information. The term "communication" can include one or both of these actions, and also can include other actions associated with these actions. For example, the process of placing information in a location where another device is able to retrieve the information can include the actions of encoding the information on a physical medium, transmitting encoded information on a physical medium, or other actions associated with these actions. Similarly, the process of retrieving information can include the actions of receiving the information on a physical medium, decoding encoded information on a physical medium, or other actions associated with these actions. Further, one device can communicate information to another device by causing another device to communicate the information. These provisions are merely examples of what is meant to be a "communication" or "communicate," and these provisions are not intended to limit the scope of the present application to these examples. Additionally, the present application contemplates that devices can communicate information in the form of signals, messages, data, or other information.

[0057] In the description of the specification, the meaning of "a plurality of" or "several" is at least two, for example, two, three, or more, unless specifically defined otherwise.

[0058] While the present application has been illustrated and described in detail in the drawings and foregoing description, such illustration and description is to be considered illustrative or exemplary and not restrictive; the present application is not limited to the disclosed embodiments. Various modifications and changes can be made thereto without departing from the spirit and scope of the present application as set forth in the claims below. It is to be understood that the replications of any of the elements of the disclosed embodiments can be made in the practice of the present application.

Claims

1. A method for dynamic stabilization of a transverse traverse machine, characterized in that, include: The output torque of the left and right motors during the uniform speed operation and acceleration / deceleration operation phases of the traverse machine is obtained at multiple historical sampling time points. The absolute value of the difference in output torque between the left and right motors during the acceleration / deceleration operation phases of the traverse machine at each historical sampling time point is calculated, and then the standard deviation of the absolute value is obtained. The degree of deviation between the left and right motors during the uniform speed operation phase of the traverse machine is obtained. An improved PID control algorithm is used to output the target output torque of the left and right motors of the traverse machine, and the operation of the left and right motors of the traverse machine is controlled based on the target output torque. The improved PID control algorithm includes proportional gain. Integral gain and differential gain parameter The proportional gain Integral gain The differential gain is inversely correlated with the degree of oscillation of the left and right motors during the operation of the transverse machine. It is positively correlated with the degree of vibration of the motors on the left and right sides during the operation of the transverse transfer machine; degree of fluctuation for: , This represents the total number of sampling time points during the acceleration and deceleration phases of the traverse machine. The standard deviation of the absolute value. To indicate the degree of deviation, To find the maximum value function, , The left and right motors of the transverse traverse machine are respectively in the acceleration and deceleration phases at the following times. The output torque at each sampling time node , The left and right motors of the transverse traverse machine are respectively in the acceleration and deceleration phases at the following times. Output torque at each sampling time node; The degree of oscillation is positively correlated with the degree of deviation, standard deviation, and the maximum value of the output torque difference between the left and right motors during the acceleration and deceleration phases of the transverse machine at adjacent sampling time points.

2. The dynamic stabilization method for a transverse traverse machine according to claim 1, characterized in that, degree of deviation for: , For the left motor of the transverse machine during the uniform speed operation phase, the first The output torque at each sampling time node For the right motor of the transverse machine during the constant speed operation phase, the first The output torque at each sampling time node This represents the total number of sampling time points during the uniform speed operation phase of the transverse machine.

3. The dynamic stabilization method for a transverse traverse machine according to claim 1, characterized in that, The proportional gain for: , For preset proportional gain, For normalization function, The degree of fluctuation.

4. The dynamic stabilization method for a transverse traverse machine according to claim 1, characterized in that, The integral gain for: , To preset the integral gain, For normalization function, The degree of fluctuation.

5. The dynamic stabilization method for a transverse traverse machine according to claim 1, characterized in that, The differential gain for: , To preset the differential gain, For normalization function, The degree of fluctuation.

6. The dynamic stabilization method for a transverse traverse machine according to claim 1, characterized in that, The torque sensor was used to obtain the output torque of the left and right motors at multiple historical sampling time points during the uniform speed operation and acceleration / deceleration operation phases of the transverse traverse machine.

7. The dynamic stabilization method for a transverse traverse machine according to claim 1, characterized in that, The output torque is subjected to data cleaning and missing value interpolation.

8. The dynamic stabilization method for a transverse traverse machine according to claim 1, characterized in that, Controlling the operation of the left and right motors of the traverse machine based on the target output torque includes: converting the target output torque into a target current command and sending the target current command to the motor driver to adjust the output current of the driver so that the actual output torque of the left and right motors follows the target output torque.

9. A dynamic stabilization system for a transverse traverse machine, characterized in that, It includes a memory and a processor, wherein the memory stores computer program instructions, and when the computer program instructions are executed by the processor, a dynamic stabilization method for a transverse traverse machine as described in any one of claims 1 to 8 is implemented.

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