A method of non-linear stage device velocity control

Abstract

The application discloses a nonlinear stage equipment speed control method, comprising the following steps: S1, constructing a plurality of groups of equipment control channels, and based on dynamic evaluation of equipment fingerprints and channel capacity, adaptively matching and safely binding each group of equipment control channels with target stage equipment; S2, based on stage plot requirements, configuring corresponding motion parameters for each stage equipment; S3, acquiring current position information of the stage equipment, and combining the motion parameters, real-time planning and generating a feasible and smooth target speed curve; S4, in each control period through a high-precision timer, and according to the target speed curve, calculating motion data information and packaging into motion control instructions, and issuing to the corresponding equipment driver through the equipment control channel, driving the corresponding stage equipment to run; S5, real-time monitoring of the real-time running state of the stage equipment, the dynamic parameters of the S-shaped speed curve and the alarm information, and dynamically adjusting according to the monitoring data.

Description

Technical Field

[0001] This invention relates to the field of stage automation technology, specifically to a nonlinear stage equipment speed control method. Background Technology

[0002] Stage equipment control is a core technological support for modern performing arts and large-scale events, and its performance directly affects the performance effect and the safety of equipment operation. Traditional stage equipment speed control methods mostly adopt linear or simple piecewise speed planning strategies, which have obvious limitations.

[0003] Firstly, in terms of motion planning, although the traditional trapezoidal velocity curve is simple to calculate, there is an impact at the acceleration change point, which can easily cause equipment vibration, increased noise, and even accelerated mechanical wear. It cannot meet the requirements of high precision and smooth operation. This impact is more significant, especially for large, heavy or precision stage equipment.

[0004] Secondly, when faced with sudden situations (such as sudden load changes, command updates, or emergency shutdowns), most existing control systems adopt emergency stop or step adjustment strategies, lacking a smooth transition mechanism, which causes significant impact on the mechanical structure and drive system, posing safety hazards. In terms of dynamic adaptability, traditional methods are unable to adjust parameters and replan trajectories online based on the actual capacity of the equipment, real-time load, and network status, limiting the improvement of the overall system performance and reliability. Summary of the Invention

[0005] The purpose of this invention is to provide a nonlinear stage equipment speed control method to solve the above-mentioned problems.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A nonlinear stage equipment speed control method includes the following steps: S1. Construct several sets of equipment control channels, and based on the dynamic evaluation of equipment fingerprints and channel capabilities, adaptively match and securely bind each set of equipment control channels with the target stage equipment. S2. Based on the needs of the stage plot, configure the corresponding motion parameters for each stage device; S3. Obtain the current position information of the stage equipment, and combine it with the motion parameters to plan and generate a feasible and smooth target velocity curve in real time. S4. In each control cycle, a high-precision timer is used to calculate motion data information based on the target speed curve and encapsulate it into motion control instructions. These instructions are then sent to the corresponding device driver through the device control channel to drive the corresponding stage equipment to operate. S5. Real-time monitoring of the stage equipment's operating status, dynamic parameters of the S-shaped speed curve, and alarm information, and dynamic adjustments based on the monitoring data.

[0007] Preferably, step S1 specifically includes: S11. Scan the stage equipment network in real time, capture equipment broadcast data packets and extract physical layer features and application layer features to generate equipment fingerprint vectors; S12. Analyze the hardware configuration and software strategy of each device control channel to construct a channel capability matrix; S13. Input the device fingerprint vector and channel capability matrix into the pre-trained Siamese neural network, calculate the matching score and output the candidate channel list; S14. Based on the candidate channel list, the candidate device control channels and the target stage equipment perform an adaptive protocol handshake and confirm the security binding. S15. Establish a secure tunnel through PAM to complete parameter configuration and record the binding relationship to the distributed ledger to achieve non-repudiation authentication.

[0008] Preferably, the target motion parameters include the starting position, the target position, the maximum permissible speed, the maximum permissible acceleration, and the maximum permissible jerk.

[0009] Preferably, the target velocity curve is a seven-segment S-shaped velocity curve, which includes seven stages: acceleration, uniform acceleration, deceleration, constant speed, acceleration / deceleration, uniform deceleration, and deceleration / deceleration.

[0010] Preferably, the feasibility verification method for the target velocity curve is as follows: calculate the expected total displacement and expected total time required for the current target velocity curve; if the expected total displacement ≤ |target position - initial position|, then the curve is confirmed to be feasible; if the expected total displacement > |target position - initial position|, then the trigger parameter adaptive mechanism is automatically activated, the values ​​of the maximum allowable speed and the maximum allowable acceleration are reduced proportionally, and a new target velocity curve is replanned until the displacement condition is met.

[0011] Preferably, during the parameter adaptive mechanism adjustment process, the maximum allowable speed is reduced first. If the displacement condition is still not met, the maximum allowable acceleration is reduced further, and the total motion time is shortened first.

[0012] Preferably, the jerk function of the seven-segment S-shaped velocity curve is a piecewise constant function whose value switches between [+maximum permissible jerk, 0, -maximum permissible jerk].

[0013] Preferably, the maximum permissible jerk value is dynamically set and optimized by the equipment control channel according to the mechanical inertia, rigidity and load characteristics of the matched stage equipment.

[0014] Preferably, step S4 specifically includes: S41. After the motion begins, based on a high-precision timer, in each control cycle, according to the current time and the target speed curve, all stage transition time points of the target speed curve are pre-calculated offline and stored. During operation, according to the stage at the current time, the corresponding analytical calculation formulas for displacement and speed are called to calculate the target speed and target position at the current time in real time. S42. The calculated target speed and target position are encapsulated into motion control commands and sent to the corresponding device driver through the device control channel to drive the corresponding stage equipment to run. Preferably, step S5 specifically includes: S51. Real-time monitoring of the stage equipment's real-time operating status, dynamic parameters of the S-shaped speed curve, and alarm information; analysis of the monitoring data to monitor the actual load on the stage equipment. S52. If the actual load exceeds the safety threshold, a smooth emergency stop is performed based on the current real-time speed using an S-shaped braking curve. The deceleration rate of the S-shaped braking curve is constrained by the maximum permissible jerk. S53. If a new motion control command with higher priority is received, a transition trajectory is calculated based on the current maximum permissible jerk value to smoothly transition from the current motion state to the starting point of the new motion control command.

[0015] By adopting the above technical solution, the present invention has the following advantages compared with the prior art: 1. This invention provides a nonlinear stage equipment speed control method, which uses a target speed curve for planning and ensures the continuity of acceleration changes by limiting the jerk, completely eliminating the impact, vibration and noise caused by sudden acceleration changes, significantly improving the smoothness and stability of stage equipment operation, improving motion comfort and reducing mechanical wear.

[0016] 2. This invention provides a nonlinear stage equipment speed control method. By calculating the expected total displacement and verifying its feasibility, and automatically triggering a parameter adaptive mechanism when the conditions are not met, the method prioritizes adjusting the speed and then the acceleration. Under the premise of ensuring displacement constraints, it can prioritize shortening the motion time or optimizing the motion curve, which significantly enhances the system's adaptability to dynamic tasks and physical constraints.

[0017] 3. This invention provides a nonlinear stage equipment speed control method, which is based on a high-precision timer to perform real-time calculations in each control cycle, and adopts a strategy of pre-calculation offline and stage-by-stage analysis during runtime, which effectively reduces real-time calculation overhead, ensures the timely and accurate issuance of control commands, and improves the control accuracy and response performance of the system.

[0018] 4. This invention provides a nonlinear stage equipment speed control method. By monitoring the equipment status, load and alarm information in real time, it can smoothly perform emergency braking based on the S-shaped braking curve when the load exceeds the limit, minimizing the impact of emergency braking on the equipment. When faced with higher priority commands, it can smoothly transition to a new trajectory, ensuring the safety, stability and continuity of the system under abnormal conditions, and greatly reducing operational risks. Attached Figure Description

[0019] Figure 1 This is a flowchart of the method of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Example

[0021] Please refer to Figure 1 As shown, this invention discloses a nonlinear stage equipment speed control method, comprising the following steps: S1. Construct several sets of equipment control channels, and based on the dynamic evaluation of equipment fingerprints and channel capabilities, adaptively match and securely bind each set of equipment control channels with the target stage equipment. S2. Based on the needs of the stage plot, configure the corresponding motion parameters for each stage device; S3. Obtain the current position information of the stage equipment, and combine it with motion parameters to plan and generate a feasible and smooth target velocity curve in real time. S4. In each control cycle, a high-precision timer is used to calculate motion data information based on the target speed curve and encapsulate it into motion control instructions. These instructions are then sent to the corresponding device drivers through the device control channel to drive the corresponding stage equipment. S5. Real-time monitoring of the stage equipment's operating status, dynamic parameters of the S-shaped speed curve, and alarm information, and dynamic adjustments based on the monitoring data.

[0022] Step S1 is as follows: S11. Scan the stage equipment network in real time, capture equipment broadcast data packets and extract physical layer features and application layer features to generate equipment fingerprint vectors; S12. Analyze the hardware configuration and software strategy of each device control channel to construct a channel capability matrix; S13. Input the device fingerprint vector and channel capability matrix into the pre-trained Siamese neural network, calculate the matching score and output the candidate channel list; S14. Based on the candidate channel list, the candidate device control channels and the target stage equipment perform an adaptive protocol handshake and confirm the security binding. S15. Establish a secure tunnel through PAM to complete parameter configuration and record the binding relationship to the distributed ledger to achieve non-repudiation authentication.

[0023] The target motion parameters include the starting position, target position, maximum permissible velocity, maximum permissible acceleration, and maximum permissible jerk.

[0024] The target velocity curve is a seven-segment S-shaped velocity curve, which includes seven stages: acceleration, uniform acceleration, deceleration, constant speed, acceleration and deceleration, uniform deceleration, and deceleration.

[0025] The specific method for verifying the feasibility of the target velocity curve is as follows: calculate the expected total displacement and expected total time required for the current target velocity curve. If the expected total displacement is ≤|target position - initial position|, the curve is confirmed to be feasible. If the expected total displacement is >|target position - initial position|, the automatic trigger parameter adaptive mechanism is activated, the values ​​of the maximum allowable speed and the maximum allowable acceleration are reduced proportionally, and a new target velocity curve is replanned until the displacement condition is met.

[0026] For example, if the lifting platform descends from a position of 10 meters to a position of 2 meters, then |target position - initial position| = |2 - 10| = 8 meters. This means that the lifting platform needs to move a distance of 8 meters. The system calculates based on the set target motion parameters that at least 10 meters of displacement is needed to complete the current seven-segment S-shaped speed curve. However, it is clear that 10 meters > 8 meters, which is not enough. Therefore, the system will automatically reduce the maximum allowable speed and recalculate to obtain a new seven-segment S-shaped speed curve. This new curve may only require a displacement of 7 meters, satisfying 7 meters ≤ 8 meters, thus allowing it to be executed smoothly.

[0027] During the parameter adaptive mechanism adjustment process, it first attempts to reduce the maximum allowable speed. If the displacement condition is still not met, it then reduces the maximum allowable acceleration and prioritizes shortening the total motion time.

[0028] The acceleration function of the seven-segment S-shaped velocity curve is a piecewise constant function, whose value switches between [+maximum permissible jerk, 0, -maximum permissible jerk], thus ensuring that the acceleration curve is continuous and smooth.

[0029] The maximum permissible jerk value is dynamically set and optimized by the equipment control channel based on the mechanical inertia, rigidity, and load characteristics of the matched stage equipment.

[0030] Step S4 is as follows: S41. After the motion begins, based on a high-precision timer, in each control cycle, according to the current time and the target velocity curve, all stage transition time points (T1, T2, ..., T6) of the target velocity curve are pre-calculated offline and stored. During runtime, according to the stage at the current time T, the corresponding analytical calculation formulas for displacement and velocity are called to calculate the target velocity and target position at the current time in real time. S42. Encapsulate the calculated target speed and target position into motion control commands and send them to the corresponding device driver through the device control channel to drive the corresponding stage equipment to run. Step S5 is as follows: S51. Real-time monitoring of the stage equipment's real-time operating status, dynamic parameters of the S-shaped speed curve, and alarm information; analysis of the monitoring data to monitor the actual load on the stage equipment. The real-time status of the S-shaped velocity curve, including the current stage, real-time jerk, acceleration, velocity, and displacement already traveled, is integrated and displayed as part of the dynamic information in the visualization interface of the corresponding equipment control channel.

[0031] S52. If the actual load exceeds the safety threshold, a smooth emergency stop will be performed based on the current real-time speed according to the S-shaped braking curve. The deceleration rate of the S-shaped braking curve is constrained by the maximum allowable jerk, and its total braking displacement is calculated in real time as a key safety parameter and displayed in the alarm area of ​​the corresponding equipment control channel's visualization interface. S53. If a new motion control command with higher priority is received, a transition trajectory is calculated based on the current maximum permissible jerk value to smoothly transition from the current motion state to the starting point of the new motion control command.

[0032] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A speed control method for nonlinear stage equipment, characterized in that: Includes the following steps: S1. Construct several sets of equipment control channels, and based on the dynamic evaluation of equipment fingerprints and channel capabilities, adaptively match and securely bind each set of equipment control channels with the target stage equipment. S2. Based on the needs of the stage plot, configure the corresponding motion parameters for each stage device; S3. Obtain the current position information of the stage equipment, and combine it with the motion parameters to plan and generate a feasible and smooth target velocity curve in real time. S4. In each control cycle, a high-precision timer is used to calculate motion data information based on the target speed curve and encapsulate it into motion control instructions. These instructions are then sent to the corresponding device driver through the device control channel to drive the corresponding stage equipment to operate. S5. Real-time monitoring of the stage equipment's operating status, dynamic parameters of the S-shaped speed curve, and alarm information, and dynamic adjustments based on the monitoring data.

2. The nonlinear stage equipment speed control method as described in claim 1, characterized in that: Step S1 is as follows: S11. Scan the stage equipment network in real time, capture equipment broadcast data packets and extract physical layer features and application layer features to generate equipment fingerprint vectors; S12. Analyze the hardware configuration and software strategy of each device control channel to construct a channel capability matrix; S13. Input the device fingerprint vector and channel capability matrix into the pre-trained Siamese neural network, calculate the matching score and output the candidate channel list; S14. Based on the candidate channel list, the candidate device control channels and the target stage equipment perform an adaptive protocol handshake and confirm the security binding. S15. Establish a secure tunnel through PAM to complete parameter configuration and record the binding relationship to the distributed ledger to achieve non-repudiation authentication.

3. The nonlinear stage equipment speed control method as described in claim 1, characterized in that: The target motion parameters include the starting position, the target position, the maximum permissible speed, the maximum permissible acceleration, and the maximum permissible jerk.

4. The nonlinear stage equipment speed control method as described in claim 1, characterized in that: The target velocity curve is a seven-segment S-shaped velocity curve, which includes seven stages: acceleration, uniform acceleration, deceleration, constant speed, acceleration and deceleration, uniform deceleration, and deceleration and deceleration.

5. The nonlinear stage equipment speed control method as described in claim 4, characterized in that: The specific method for verifying the feasibility of the target velocity curve is as follows: calculate the expected total displacement and expected total time required for the current target velocity curve. If the expected total displacement is ≤ |target position - initial position|, the curve is confirmed to be feasible. If the expected total displacement is > |target position - initial position|, the parameter adaptive mechanism is automatically triggered to proportionally reduce the values ​​of the maximum allowable speed and the maximum allowable acceleration, and a new target velocity curve is replanned until the displacement condition is met.

6. The nonlinear stage equipment speed control method as described in claim 5, characterized in that: During the parameter adaptive mechanism adjustment process, it first attempts to reduce the maximum allowable speed. If the displacement condition is still not met, it then reduces the maximum allowable acceleration and prioritizes shortening the total motion time.

7. The nonlinear stage equipment speed control method as described in claim 5, characterized in that: The jerk function of the seven-segment S-shaped velocity curve is a piecewise constant function whose value switches between [+maximum permissible jerk, 0, -maximum permissible jerk].

8. The nonlinear stage equipment speed control method as described in claim 6, characterized in that: The maximum permissible jerk value is dynamically set and optimized by the equipment control channel based on the mechanical inertia, rigidity, and load characteristics of the matched stage equipment.

9. The nonlinear stage equipment speed control method as described in claim 5, characterized in that: Step S4 is as follows: S41. After the motion begins, based on a high-precision timer, in each control cycle, according to the current time and the target speed curve, all stage transition time points of the target speed curve are pre-calculated offline and stored. During operation, according to the stage at the current time, the corresponding analytical calculation formulas for displacement and speed are called to calculate the target speed and target position at the current time in real time. S42. The calculated target speed and target position are encapsulated into motion control commands and sent to the corresponding device driver through the device control channel to drive the corresponding stage equipment to run.

10. The nonlinear stage equipment speed control method as described in claim 5, characterized in that: Step S5 is as follows: S51. Real-time monitoring of the stage equipment's real-time operating status, dynamic parameters of the S-shaped speed curve, and alarm information; analysis of the monitoring data to monitor the actual load on the stage equipment. S52. If the actual load exceeds the safety threshold, a smooth emergency stop is performed based on the current real-time speed using an S-shaped braking curve. The deceleration rate of the S-shaped braking curve is constrained by the maximum permissible jerk. S53. If a new motion control command with higher priority is received, a transition trajectory is calculated based on the current maximum permissible jerk value to smoothly transition from the current motion state to the starting point of the new motion control command.

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