Intelligent control and feedback system for hinge device

Abstract

The invention relates to the technical field of mechanical motion control, and discloses a hinge device intelligent control and feedback system, which comprises a data acquisition layer, a control module, an execution module, a feedback module, a communication module and a state monitoring and diagnosis module, and is characterized in that the data acquisition layer comprises an angle sensor, a force sensor, a temperature sensor and an environment sensor; the control module comprises a controller, and the execution module comprises a hydraulic actuator, an electric actuator and a damping device. The system comprises a data collection layer, a control module, an execution module, a feedback module, a communication module and a state monitoring and diagnosis module, the data collection layer serves as a sensing module and is responsible for collecting state parameters and environment information of the hinge device and providing input for control decisions, and the execution module receives instructions of the control module and sends the instructions to the feedback module. And the adjusted hinge angle is transmitted back to the control module to confirm whether a target is reached, so that the system has the advantages of timely response, feedback mechanism, good adaptability and the like.

Description

Technical Field

[0001] This invention relates to the field of mechanical motion control technology, specifically to an intelligent control and feedback system for articulated devices. Background Technology

[0002] In multi-car applications, the motion conditions of trackless vehicles are more diverse and complex compared to rail vehicles. Due to the different operating habits of different drivers in the absence of track constraints, the design requirements for the control method of the articulated damping system are higher.

[0003] Traditional articulated buses typically employ a mechanical linkage combined with fixed hydraulic damping control. The working principle is as follows: the driver's steering command is transmitted through a mechanical linkage, driving the articulated plate to rotate; at the same time, damping is provided by a hydraulic cylinder with fixed parameters to suppress excessive swaying of the passenger compartment when turning, going uphill or downhill, or on uneven roads.

[0004] However, this traditional control method has significant limitations: such as slow response, lack of feedback mechanism, and poor adaptability. Summary of the Invention

[0005] (a) Technical problems to be solved To address the shortcomings of existing technologies, this invention provides an intelligent control and feedback system for articulated devices, which has advantages such as timely response, feedback mechanism, and good adaptability, thus solving the aforementioned problems.

[0006] (II) Technical Solution To achieve the above objectives, the present invention provides the following technical solution: an intelligent control and feedback system for articulated devices, comprising a data acquisition layer, a control module, an execution module, a feedback module, a communication module, and a status monitoring and diagnostic module. The data acquisition layer includes an angle sensor, a force sensor, a temperature sensor, and an environmental sensor. The control module includes a controller. The execution module includes a hydraulic actuator, an electric actuator, and a damping device. The feedback module includes a position feedback component, a force feedback component, and a status feedback component. The communication module includes an interface, an internal communication module, and an external communication module, wherein the internal communication uses a CAN bus. The status monitoring and diagnostic module includes status monitoring, fault diagnosis, and early warning and protection.

[0007] Preferably, the data acquisition layer, acting as a sensing module, is responsible for collecting the state parameters and environmental information of the articulated device, providing input for control decisions. Angle sensors (such as photoelectric encoders, potentiometers, and tilt sensors) measure the real-time angle of the articulation point (such as the angle between the front and rear compartments of a bus) and angular velocity (rate of change of angle), which are key parameters for directional control. Force sensors (such as strain gauges and piezoelectric sensors) detect the tension / compression forces acting on the articulated device (such as the thrust of a hydraulic rod or the torque of the articulated shaft) to prevent overload or optimize force distribution. Temperature sensors (such as thermocouples and thermistors) monitor the temperature of actuators (such as hydraulic cylinders and motors) or the articulated shaft to prevent overheating damage. Environmental sensors, such as road condition sensors (cameras and radar), are used to identify slippery road surfaces and obstacles, assisting the control algorithm in adjusting strategies (such as reducing turning speed).

[0008] Preferably, the control module receives data from the sensing module, calculates and outputs instructions through a control algorithm, and drives the execution module to adjust the articulation state. The controller (e.g., embedded CPU, PLC, microcontroller) performs data processing, algorithm execution, and instruction output (e.g., sending PWM signals to the solenoid valve). The control algorithm is used for precise adjustment of the articulation angle (e.g., maintaining a 0° articulation angle when the bus is traveling straight), reducing deviations through proportional-integral-derivative operations. Intelligent control (e.g., fuzzy control, neural network control) addresses complex working conditions (e.g., turning, slippery roads), optimizing control strategies by learning from historical data (e.g., adjusting hydraulic damping force to prevent rollover). Cooperative control works in conjunction with the vehicle system (e.g., the bus ECU), receiving information on vehicle speed and steering commands to achieve linkage between articulation angle, vehicle speed, and steering (e.g., reducing articulation angle sensitivity at high speeds and increasing flexibility at low speeds).

[0009] Preferably, the execution module receives instructions from the control module to adjust the physical state of the articulation device (such as changing the articulation angle or applying damping force). The hydraulic actuator (e.g., an articulated bus) includes a hydraulic cylinder (outputting linear motion to adjust the articulation angle), a hydraulic pump (providing pressurized oil), and a solenoid valve (controlling the direction / flow of the oil). The electric actuator (e.g., a small articulation device) includes a servo motor (driving gears / lead screws to achieve angle adjustment) and an electric push rod (linear motion, used for lightly loaded articulation devices). The damping device (aiding stability) includes hydraulic dampers and electromagnetic dampers to attenuate vibrations at the articulation point (e.g., reducing articulation angle fluctuations when a bus travels over potholes).

[0010] Preferably, the feedback module transmits the action results of the execution module back to the control module to correct command deviations and ensure control accuracy. Specifically, the position feedback component (such as a hydraulic cylinder displacement sensor or a servo motor encoder) measures the actual position of the actuator (such as the piston stroke of a hydraulic cylinder), compares it with the target position, and adjusts the control signal (such as increasing the hydraulic oil flow to bring the piston to the target position); the force feedback component (such as a hydraulic pump pressure sensor or a motor torque sensor) measures the output force of the actuator (such as the pressure of a hydraulic cylinder) to ensure that it does not exceed the rated load (such as preventing hinge shaft breakage); and the status feedback component (such as secondary feedback from a hinge angle sensor) transmits the adjusted hinge angle back to the control module to confirm whether the target has been achieved (such as whether the hinge angle conforms to the steering command when a bus turns).

[0011] Preferably, the communication module is responsible for internal system coordination (data transmission between modules) and interaction with external systems (such as the whole vehicle and remote monitoring). Internal communication uses CAN bus (automotive industry standard) and RS485 (industrial equipment) to achieve high-speed data transmission between sensors, controllers, and actuators. External communication connects with the vehicle ECU (such as the engine control unit of a bus) and remote maintenance platform via Ethernet / IP (industrial Ethernet) and 4G / 5G (remote monitoring) to achieve coordination between "articulated state" and "vehicle state".

[0012] Preferably, the status monitoring and diagnosis module is a health management layer used to monitor the system status in real time, identify faults and issue early warnings, and ensure system reliability. Status monitoring includes: displaying parameters such as hinge angle, force, and temperature in real time through sensor data; fault diagnosis uses fault tree analysis (FTA) and machine learning algorithms to identify problems such as sensor failure (e.g., no signal from the angle sensor), actuator jamming (e.g., abnormal hydraulic cylinder pressure), and circuit faults (e.g., disconnection of the CAN bus); and early warning and protection: when a fault is detected, an alarm is triggered (e.g., audible and visual alarm) and a protection mechanism is activated (e.g., cutting off the actuator power supply or switching to a backup sensor).

[0013] Compared with the prior art, the present invention provides an intelligent control and feedback system for articulated devices, which has the following beneficial effects: 1. This invention includes a data acquisition layer, a control module, an execution module, a feedback module, a communication module, and a status monitoring and diagnosis module. The data acquisition layer, acting as a sensing module, is responsible for collecting the status parameters and environmental information of the articulated device, providing input for control decisions. The control module receives data from the sensing module, calculates output commands through a control algorithm, and drives the execution module to adjust the articulation state. The execution module receives commands from the control module and adjusts the physical state of the articulated device. The feedback module transmits the action results of the execution module back to the control module to correct command deviations and ensure control accuracy. Specifically, the position feedback component measures the actual position of the actuator, compares it with the target position, and adjusts the control signal; the force feedback component measures the output force of the actuator to ensure it does not exceed the rated load; and the status feedback component transmits the adjusted articulation angle back to the control module to confirm whether the target has been achieved. Therefore, this system has advantages such as timely response, a feedback mechanism, and good adaptability.

[0014] 2. The algorithm of the control module of this invention: used for precise adjustment of the articulation angle to reduce deviation; intelligent control (such as fuzzy control, neural network control): to cope with complex working conditions (such as turning, slippery road surface), and optimize the control strategy by learning historical data (such as adjusting the hydraulic damping force to prevent rollover); collaborative control: in coordination with the whole vehicle system (such as bus ECU), receiving information on vehicle speed and steering commands to realize the linkage of "articulation angle-vehicle speed-steering" (such as reducing the sensitivity of the articulation angle at high speed and increasing flexibility at low speed).

[0015] 3. The status monitoring and diagnosis module of this invention is a health management layer used to monitor the system status in real time, identify faults and issue early warnings, and ensure system reliability. The status monitoring module displays parameters such as hinge angle, force and temperature in real time through sensor data. Attached Figure Description

[0016] Figure 1 This is a block diagram of the system structure of the present invention. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Please see Figure 1, An intelligent control and feedback system for a hinged device, including a data acquisition layer, a control module, an execution module, a feedback module, a communication module, and a status monitoring and diagnosis module. The data acquisition layer includes an angle sensor, a force sensor, a temperature sensor, and an environment sensor. The control module includes a controller. The execution module includes a hydraulic actuator, an electric actuator, and a damping device. The feedback module includes a position feedback component, a force feedback component, and a status feedback component. The communication module includes an interface, an internal communication module, and an external communication module. Among them, the internal communication uses a CAN bus. The status monitoring and diagnosis module includes status monitoring, fault diagnosis, and warning and protection.

[0019] The data acquisition layer, as a perception module, is responsible for collecting the status parameters and environmental information of the hinged device, providing inputs for control decisions. Among them, the angle sensor (such as an optical encoder, a potentiometer, an inclinometer): measures the real-time angle (such as the angle between the front and rear compartments of a bus) and angular velocity (the rate of change of the angle) of the hinge point, which are key parameters for direction control; the force sensor (such as a strain gauge type, a piezoelectric sensor): detects the tensile force / pressure received by the hinged device (such as the thrust of a hydraulic rod, the torque of a hinge shaft), used to prevent overload or optimize force distribution; the temperature sensor (such as a thermocouple, a thermistor): monitors the temperature of the actuator (such as a hydraulic cylinder, a motor) or the hinge shaft, to avoid overheating damage; the environment sensor: such as a road condition sensor (a camera, a radar), used to identify road slipperiness, obstacles, and assist the control algorithm to adjust strategies (such as reducing the turning speed).

[0020] The control module receives the data from the perception module, calculates and outputs instructions through a control algorithm, and drives the execution module to adjust the hinged state. Among them, the controller (such as an embedded CPU, a PLC, a microcontroller): realizes data processing, algorithm operation, and instruction output (such as sending a PWM signal to a solenoid valve); the control algorithm: is used for precise adjustment of the hinge angle (such as when a bus is driving straight, keeping the hinge angle at 0°), reduces the deviation through proportional-integral-derivative operation, intelligent control (such as fuzzy control, neural network control): deals with complex working conditions (such as turning, slippery roads), optimizes the control strategy by learning historical data (such as adjusting the hydraulic damping force to prevent rollover); collaborative control: collaborates with the vehicle system (such as the bus ECU), receives information on vehicle speed and steering instructions, and realizes the linkage of "hinge angle - vehicle speed - steering" (such as reducing the sensitivity of the hinge angle at high speed and increasing flexibility at low speed).

[0021] The execution module receives instructions from the control module to adjust the physical state of the articulation device (such as changing the articulation angle or applying damping force). Hydraulic actuators (e.g., in articulated buses) include hydraulic cylinders (outputting linear motion to adjust the articulation angle), hydraulic pumps (providing pressurized oil), and solenoid valves (controlling oil direction / flow). Electric actuators (e.g., in small articulation devices) include servo motors (driving gears / lead screws to achieve angle adjustment) and electric push rods (linear motion, used in lightly loaded articulation devices). Damping devices (assisting stability) include hydraulic dampers and electromagnetic dampers, used to attenuate vibrations at the articulation points (e.g., reducing articulation angle fluctuations when a bus travels over potholes). Core formula: , The output of the PID controller (such as the current of the hydraulic valve and the voltage of the motor). : Proportional coefficient (adjusts response speed).

[0022] The feedback module transmits the action results of the execution module back to the control module, corrects command deviations, and ensures control accuracy. Position feedback components (such as hydraulic cylinder displacement sensors and servo motor encoders) measure the actual position of the actuator (such as the piston stroke of a hydraulic cylinder), compare it with the target position, and adjust the control signal (such as increasing hydraulic oil flow to bring the piston to the target position). Force feedback components (such as hydraulic pump pressure sensors and motor torque sensors) measure the output force of the actuator (such as the pressure of a hydraulic cylinder) to ensure that it does not exceed the rated load (such as preventing hinge shaft breakage). Status feedback components (such as secondary feedback from hinge angle sensors) transmit the adjusted hinge angle back to the control module to confirm whether the target has been achieved (such as whether the hinge angle matches the steering command when a bus turns).

[0023] The communication module is responsible for internal system coordination (data transmission between modules) and interaction with external systems (such as the whole vehicle and remote monitoring). Internal communication uses CAN bus (automotive industry standard) and RS485 (industrial equipment) to achieve high-speed data transmission between sensors, controllers and actuators. External communication uses Ethernet / IP (industrial Ethernet) and 4G / 5G (remote monitoring) to connect with the vehicle ECU (such as the engine control unit of a bus) and remote operation and maintenance platform to achieve coordination between "articulated state" and "vehicle state".

[0024] The status monitoring and diagnosis module serves as the health management layer, used to monitor system status in real time, identify faults and provide early warnings, ensuring system reliability. Status monitoring involves displaying parameters such as hinge angle, force, and temperature in real time through sensor data. Fault diagnosis utilizes fault tree analysis (FTA) and machine learning (ML) algorithms to identify problems such as sensor failure (e.g., angle sensor no signal), actuator jamming (e.g., abnormal hydraulic cylinder pressure), and circuit faults (e.g., CAN bus disconnection). Early warning and protection involve triggering alarms (e.g., audible and visual alarms) and activating protection mechanisms (e.g., cutting off actuator power or switching to backup sensors) when a fault is detected.

[0025] The invention also includes a power module, which provides stable power to the system and ensures that each module works normally. Its core components include a power converter, a filter component, and a backup power supply.

[0026] In operation, the data acquisition layer, acting as the sensing module, is responsible for collecting the state parameters and environmental information of the articulated device, providing input for control decisions. Specifically, the angle sensor measures the real-time angle and angular velocity of the articulation point, a key parameter for directional control; the force sensor detects the tension / compression force acting on the articulation device to prevent overload or optimize force distribution; the temperature sensor monitors the temperature of the actuator or articulation shaft to prevent overheating damage; and environmental sensors, such as road condition sensors (cameras, radar), identify slippery road surfaces and obstacles, assisting the control algorithm in adjusting strategies (e.g., reducing turning speed). The control module receives data from the sensing module, calculates output commands through the control algorithm, and drives the execution module to adjust the articulation state. The execution module receives commands from the control module and adjusts the physical state of the articulation device (e.g., changing the articulation angle or applying damping force). The feedback module transmits the action results from the execution module back to the control module, correcting command deviations and ensuring control accuracy. The communication module is responsible for internal system coordination (data transmission between modules) and interaction with external systems. The status monitoring and diagnosis module, acting as the health management layer, monitors the system status in real time, identifies faults and provides early warnings, ensuring system reliability.

[0027] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An intelligent control and feedback system for a hinged device, characterized by: The system comprises a data acquisition layer, a control module, an execution module, a feedback module, a communication module, and a state monitoring and diagnosis module. The data acquisition layer comprises angle sensors, force sensors, temperature sensors, and environmental sensors. The control module comprises a controller. The execution module comprises hydraulic actuators, electric actuators, and damping devices. The feedback module comprises position feedback components, force feedback components, and state feedback components. The communication module comprises interfaces, internal communication modules, and external communication modules, with CAN bus used for internal communication. The state monitoring and diagnosis module comprises state monitoring, fault diagnosis, and early warning and protection.

2. The intelligent control and feedback system for a hinging device of claim 1, wherein: The data acquisition layer, as a perception module, is responsible for collecting state parameters and environmental information of the articulated device, providing input for control decisions. Angle sensors (such as photoelectric encoders, potentiometers, and tilt sensors) measure the real-time angle and angular velocity of the articulated point (such as the angle between the front and rear carriages of a bus), which are key parameters for directional control. Force sensors (such as strain gauge and piezoelectric sensors) detect the tension / compression force (such as the thrust of a hydraulic rod or the torque of an articulated shaft) to prevent overload or optimize force distribution. Temperature sensors (such as thermocouples and thermistors) monitor the temperature of actuators (such as hydraulic cylinders and motors) or articulated shafts to prevent overheating damage. Environmental sensors, such as road condition sensors (cameras and radars), are used to identify slippery roads and obstacles, assisting control algorithms in adjusting strategies (such as reducing turning speed).

3. The intelligent control and feedback system for a hinging device of claim 1, wherein: The control module receives data from the perception module, calculates output instructions through control algorithms, and drives the execution module to adjust the articulated state. Controllers (such as embedded CPUs, PLCs, and single-chip microcomputers) implement data processing, algorithm execution, and instruction output (such as sending PWM signals to solenoid valves). Control algorithms are used for precise adjustment of the articulated angle (such as maintaining a 0° articulated angle during straight-line driving of a bus), reducing deviations through proportional-integral-derivative operations, and intelligent control (such as fuzzy control and neural network control) to cope with complex working conditions (such as turning and slippery roads) by learning historical data to optimize control strategies (such as adjusting hydraulic damping force to prevent rollover). Collaborative control is achieved by coordinating with the vehicle system (such as the bus ECU) to receive vehicle speed and steering instructions, realizing the linkage of "articulated angle-vehicle speed-steering" (such as reducing the sensitivity of the articulated angle at high speed and increasing flexibility at low speed).

4. The intelligent control and feedback system for a hinging device of claim 1, wherein: The execution module receives instructions from the control module to adjust the physical state of the articulated device (such as changing the articulated angle and applying damping force). Hydraulic actuators (such as articulated buses) include hydraulic cylinders (outputting linear motion to adjust the articulated angle), hydraulic pumps (providing pressure oil), and solenoid valves (controlling oil direction / flow). Electric actuators (such as small articulated devices) include servo motors (driving gears or leadscrews to achieve angle adjustment) and electric push rods (linear motion for light-load articulated devices). Damping devices (auxiliary stabilization) such as hydraulic dampers and electromagnetic dampers are used to attenuate vibrations at the articulated point (such as reducing fluctuations in the articulated angle when a bus passes over a pothole).

5. The intelligent control and feedback system for a hinging device of claim 1, wherein: The feedback module transmits the action results of the execution module back to the control module, corrects the instruction deviation, and ensures control accuracy. The position feedback component (such as a hydraulic cylinder displacement sensor or a servo motor encoder) measures the actual position of the actuator (such as the hydraulic cylinder piston stroke), compares it with the target position, and adjusts the control signal (such as increasing the hydraulic oil flow to make the piston reach the target position). The force feedback component (such as a hydraulic pump pressure sensor or a motor torque sensor) measures the output force of the actuator (such as the pressure of the hydraulic cylinder) to ensure that the rated load is not exceeded (such as preventing the articulated shaft from breaking). The state feedback component (such as a secondary feedback of the articulated angle sensor) transmits the adjusted articulated angle back to the control module to confirm whether the target has been reached (such as whether the articulated angle meets the steering instruction when the bus turns).

6. The intelligent control and feedback system for a hinging device of claim 1, wherein: The communication module is responsible for internal coordination (data transmission between modules) and interaction with external systems (such as the whole vehicle and remote monitoring). Internal communication: using CAN bus (automotive industry standard) and RS485 (industrial equipment) to realize high-speed data transmission between sensors, controllers, and actuators; External communication: through Ethernet / IP (industrial Ethernet) and 4G / 5G (remote monitoring), connecting with the whole vehicle ECU (such as the engine control unit of the bus) and the remote operation and maintenance platform to realize the coordination of "articulated state-vehicle state".

7. The intelligent control and feedback system for a hinging device of claim 1, wherein: The state monitoring and diagnosis module is the health management layer, which is used to monitor the system state in real time, identify faults and give early warnings to ensure system reliability. State monitoring: real-time display of articulated angle, force, and temperature parameters through sensor data; Fault diagnosis: using fault tree analysis (FTA) and machine learning (ML) algorithms to identify sensor failure (such as no signal from the angle sensor), actuator jamming (such as abnormal pressure of the hydraulic cylinder), and line fault (such as CAN bus disconnection); Early warning and protection: when a fault is detected, trigger an alarm (such as an audible and visual alarm), and start the protection mechanism (such as cutting off the power supply of the actuator and switching to a backup sensor).

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