A method, system and device for fault-tolerant control of a cable attitude

Abstract

The application relates to the technical field of control systems, and discloses a pull rope posture fault tolerance control method, system and device, the method comprising the following steps: collecting target rope length, servo pulse information, rotation displacement information and pulling force information of each rope path, determining accumulated winding and unwinding rope length, current effective winding diameter, current actual rope length, rope length difference and pulling force difference, and forming an abnormal type separation result when target rope path exists an execution geometric error; when the abnormal type separation result is a winding diameter change type execution geometric error, correcting a pulse conversion coefficient and determining a subsequent control pulse number; the application can improve the reliability of fault diagnosis and fault tolerance control of a control system.

Description

Technical Field

[0001] This application relates to the field of control system technology, specifically to a fault-tolerant control method, system, and device for rope attitude failure. Background Technology

[0002] Rope-based attitude adjustment technology is a control technique that uses one or more ropes to pull a controlled object, adjusting its pitch, roll, or other attitude angles to achieve a target posture. In control system monitoring, testing, fault detection, diagnosis, and fault-tolerant control scenarios, the control system typically needs to simultaneously collect data on the target rope length, servo pulse information, rotational displacement, and tension. Based on the collected results, it determines whether the rope's execution state meets the control objective. Rope-based attitude adjustment technology can be applied to multi-point lifting platforms, cable-driven attitude adjustment mechanisms, flexible traction positioning equipment, and four-point rope-based attitude adjustment devices. In a four-point rope-based attitude adjustment device, four rope paths pull the controlled object to different positions, and the pitch and roll angles of the controlled object are changed by combining the retraction and release of the four ropes.

[0003] Existing rope attitude adjustment control methods typically use the target attitude or target rope length as control input. The winding reel is driven to wind or unwind the rope based on the number of pulses output by the servo driver, and the operating status is fed back through components such as attitude angle sensors, encoders, and tension sensors. While this type of control can achieve closed-loop control during general attitude adjustment, the fault diagnosis process often only checks whether the attitude angle has reached the target position, whether the servo motor has executed commands, and whether the tension has exceeded the protection limit. It fails to compare servo pulse information, rotational displacement information, winding reel status, and tension distribution status in the same processing step.

[0004] In structures where the pull rope is wound around a reel, the number of layers of the pull rope changes during the winding or unwinding process. For the same number of servo pulses or the same rotational displacement, the actual length of the rope wound or unwound differs depending on the number of layers. For example, if the outer diameter of the reel increases, the length of the pull rope released or retracted when the reel rotates through the same angle will be longer. If the control system still calculates the actual rope length using a fixed pulse conversion factor, the control system may consider the target rope path to have reached the target rope length, even though the current actual rope length of the pull rope corresponding to the target rope path has deviated from the target rope length. When this deviation continues to be included in the calculation of subsequent control pulse counts, it will cause subsequent attitude adjustments to continue using an inaccurate conversion benchmark.

[0005] Furthermore, the sources of anomalies during the rope attitude adjustment process are not limited to changes in the winding reel diameter. Deviations in the actual rope length of the target rope path may stem from inaccurate calculations of the current effective winding diameter, or from anomalies in attitude angle sensor data acquisition, tension acquisition, changes in the weight distribution of the controlled object, external contact effects, or a redistribution of forces among the four ropes. For example, if only one target rope path shows a deviation in its actual rope length and a corresponding deviation in the tension of the rope, the anomaly is more likely to point to an execution geometric error in the target rope path; if the tension of all four ropes deviates from the calibrated tension simultaneously, the anomaly is more likely to point to changes in the overall load on the controlled object; if neither the actual rope length nor the tension shows a corresponding deviation, but the measured attitude angle differs from the attitude angle calculated based on the rope length, the anomaly is more likely to point to the attitude angle information acquisition process.

[0006] Therefore, existing technologies still face challenges in comprehensively identifying execution geometric errors based on target rope length, servo pulse information, rotational displacement information, and tension information during control system monitoring, testing, and fault diagnosis. They also suffer from insufficient differentiation between execution geometric errors caused by changes in rope diameter, attitude sensing anomalies, and load disturbance anomalies. When the source of anomalies is not distinguished, the control system may incorrectly write attitude sensing anomalies or load disturbance anomalies into the pulse conversion coefficient, or it may continue to use the original pulse conversion coefficient after the occurrence of execution geometric errors caused by changes in rope diameter, thereby affecting subsequent calculation of control pulse counts and fault-tolerant control execution. Summary of the Invention

[0007] To address the problem that existing four-point rope attitude adjustment control systems struggle to distinguish between target rope execution geometric errors, attitude sensing anomalies, and load disturbance anomalies, and tend to use the pulse conversion benchmark after deviation to calculate the number of control pulses, this application provides a rope attitude fault-tolerant control method, system, and device. By collecting target rope length, servo pulse information, rotational displacement information, and tension information, the cumulative rope length, current effective coil diameter, current actual rope length, rope length difference, and tension difference are determined. After forming the anomaly type separation result, the pulse conversion coefficient and the number of control pulses are corrected, thereby achieving a corresponding update between the fault diagnosis result and the fault-tolerant control parameters.

[0008] To achieve the above objectives, this application adopts the following technical solution:

[0009] This application provides a fault-tolerant control method for rope attitude failure, including:

[0010] Receive the target rope length of each rope path, collect the servo pulse information and rotational displacement information of the corresponding winding disc of each rope path, and collect the tension information of each pull rope at the same acquisition time.

[0011] The cumulative winding and unwinding lengths of each rope path are obtained based on servo pulse information and rotational displacement information. The current effective winding diameter of the corresponding winding reel for each rope path is determined based on the cumulative winding and unwinding lengths. Based on the current effective winding diameter, rotational displacement information, and servo pulse information, the current actual rope length of each rope path is calculated. The absolute difference between the current actual rope length and the target rope length is calculated as the rope length difference. The absolute difference between the tension information of each rope and the average tension of the four ropes at the same acquisition time is calculated as the tension difference.

[0012] One of the four rope paths is taken as the target rope path. When the rope length difference of the target rope path exceeds the preset rope length difference threshold, and the tension difference of the corresponding pull rope of the target rope path exceeds the preset tension difference threshold, it is determined that there is an execution geometric error in the target rope path.

[0013] When there is an execution geometric error in the target rope path, an abnormal type separation result is formed. When the abnormal type separation result is an execution geometric error of the roll diameter change type, the pulse conversion coefficient of the target rope path is corrected according to the rope length difference of the target rope path, and the number of control pulses required for subsequent attitude adjustment of the target rope path is determined according to the corrected pulse conversion coefficient.

[0014] Preferably, the method for obtaining the cumulative length of rope release and take-up for each rope path includes:

[0015] At the first data collection moment, the cumulative length of rope taken in and out for each rope path is set to zero;

[0016] Based on the preset arc length conversion relationship between the rotational displacement of the winding disc and the effective winding diameter, the rotational displacement information between adjacent acquisition times and the effective winding diameter of the previous acquisition time are converted into the length of a single rope winding and unwinding.

[0017] When the pulse direction in the servo pulse information indicates that the rope is being wound up, the length of the rope being wound up and released in a single instance is added to the cumulative length of the rope being wound up and released at the previous acquisition time.

[0018] When the pulse direction in the servo pulse information indicates that the rope is being released, the length of the rope being released and retrieved in a single operation is subtracted from the cumulative length of the rope being released and retrieved at the previous acquisition time to obtain the cumulative length of the rope being released and retrieved at the current acquisition time.

[0019] Preferably, the method for determining the current effective winding diameter of the winding reel corresponding to each rope path includes:

[0020] Obtain the rope diameter, preset initial coil diameter, and preset single-layer rope length corresponding to each rope path;

[0021] Divide the absolute value of the cumulative rope length by the preset single-layer accommodating rope length and round down to obtain the number of rope layer changes.

[0022] When the cumulative length of the rope being wound up and out is greater than zero, the number of rope layers that change is determined as the number of rope layers that have been added.

[0023] When the cumulative length of the rope being wound up and out is less than zero, the number of rope layers that have changed is determined as the number of rope layers that have been reduced.

[0024] When the cumulative length of the rope wound up and down is equal to zero, the initial coil diameter is determined as the current effective coil diameter;

[0025] Based on the number of rope layer changes, the direction of increase or decrease corresponding to the cumulative length of rope winding and unwinding, the rope diameter of the corresponding pull rope for each rope path, and the preset rope layer roll diameter correction relationship, the roll diameter change amount with the direction of increase or decrease is obtained.

[0026] The initial roll diameter is combined with the roll diameter change in both increasing and decreasing directions to obtain the current effective roll diameter.

[0027] Preferably, the method for obtaining the current actual rope length of each rope path includes:

[0028] Read the actual rope length at the previous data acquisition time as the starting rope length;

[0029] The rotational displacement information between adjacent acquisition times is converted into arc length with the current effective roll diameter to obtain the single rope length change.

[0030] When the servo pulse information indicates that the rope is being wound up, the initial rope length is subtracted from the single rope length change.

[0031] When the servo pulse information indicates that the rope is being released, the starting rope length is added to the single rope length change to obtain the current actual rope length.

[0032] Preferably, the method for correcting the pulse conversion coefficient of the target rope path based on the rope length difference of the target rope path includes:

[0033] Obtain the original pulse conversion coefficient of the target rope path;

[0034] When the number of pulses is not zero, divide the difference in rope length of the target rope by the number of pulses in the servo pulse information of the target rope between adjacent acquisition times to obtain the unit pulse deviation.

[0035] When the actual length of the target rope is greater than the target rope length, subtract the unit pulse deviation from the original pulse conversion coefficient.

[0036] When the actual length of the target rope is less than the target rope length, the original pulse conversion factor is added to the unit pulse deviation to obtain the corrected pulse conversion factor.

[0037] Preferably, the method for determining the number of control pulses required for subsequent attitude adjustment of the target rope based on the corrected pulse conversion coefficient includes:

[0038] If the current actual rope length is greater than the target rope length, the difference between the current actual rope length and the target rope length will be used as the subsequent rope length adjustment amount, and the subsequent rope winding will be determined.

[0039] If the current actual rope length is less than the target rope length, the difference between the target rope length and the current actual rope length will be used as the subsequent rope length adjustment amount, and the subsequent rope release will be determined.

[0040] If the current actual rope length is equal to the target rope length, the subsequent rope length adjustment amount is set to zero, and the number of control pulses is set to zero;

[0041] The subsequent rope length adjustment is divided by the corrected pulse conversion coefficient, and the number of control pulses is obtained according to the preset rounding rule.

[0042] Preferably, it further includes:

[0043] The current attitude angle information of the acquisition device includes the measured pitch angle and the measured roll angle.

[0044] The attitude estimation results are calculated based on the rope length to attitude sub-mapping in the preset rope length attitude mapping relationship. The attitude estimation results include the estimated pitch angle and the estimated roll angle.

[0045] Calculate the difference between the estimated pitch angle and the measured pitch angle to obtain the pitch angle difference; calculate the difference between the estimated roll angle and the measured roll angle to obtain the roll angle difference; determine the pitch angle difference and roll angle difference as attitude response residuals;

[0046] During the pre-calibration attitude adjustment process, the tension information of the four ropes and the current attitude angle information of the device under different target rope lengths are recorded to form a calibration tension table;

[0047] The calibration tension is read from the calibration tension gauge to determine the calibration tension corresponding to the current attitude angle information of the device, and the difference between the tension information of each rope and the calibration tension is determined as the tension distribution residual.

[0048] Preferably, it further includes:

[0049] Determine the relationship between the current actual rope length and the target rope length based on the sequence of data collection times;

[0050] When adjacent collection times that reach the preset collection quantity all satisfy the condition that the current actual rope length of the target rope path is greater than the target rope length, or all satisfy the condition that the current actual rope length of the target rope path is less than the target rope length, the absolute value of the difference between the current actual rope length of the target rope path and the target rope length within the adjacent collection times that reach the preset collection quantity is accumulated to obtain the execution quantity offset residual.

[0051] Otherwise, the execution offset residual will be set to zero.

[0052] Preferably, the method for forming anomaly type separation results includes:

[0053] When the actual rope length of the target rope path is greater than or less than the target rope length in adjacent collection times within the preset collection quantity, the execution quantity offset residual exceeds the preset offset residual threshold, the absolute value of the tension distribution residual of the pull rope corresponding to the target rope path exceeds the preset tension residual threshold, and the absolute value of the tension distribution residual of the pull rope corresponding to at least one rope path other than the target rope path does not exceed the preset tension residual threshold, the abnormal type separation result is determined as roll diameter variation type execution geometric error.

[0054] Preferably, the method for generating anomaly type separation results further includes:

[0055] When the absolute value of the pitch angle difference or the absolute value of the roll angle difference in the attitude response residual exceeds the preset attitude residual threshold, the execution amount offset residual does not exceed the preset offset residual threshold, and the absolute value of the tension distribution residual of the four rope paths does not exceed the preset tension residual threshold, the abnormal type separation result is determined as an attitude sensing abnormality.

[0056] When the absolute value of the tension distribution residual of the four rope paths exceeds the preset tension residual threshold, the abnormality type separation result is determined to be a load disturbance abnormality.

[0057] Secondly, this application provides a fault-tolerant control system for rope attitude, comprising:

[0058] The acquisition module is used to receive the target rope length of each rope path, acquire the servo pulse information and rotational displacement information of the corresponding winding disc of each rope path, and acquire the tension information of each pull rope at the same acquisition time.

[0059] The calculation module is used to obtain the cumulative winding and unwinding length of each rope path based on servo pulse information and rotational displacement information, and to determine the current effective winding diameter of the corresponding winding reel for each rope path based on the cumulative winding and unwinding length; based on the current effective winding diameter, rotational displacement information, and servo pulse information, it calculates the current actual rope length of each rope path; it calculates the absolute difference between the current actual rope length and the target rope length as the rope length difference, and calculates the absolute difference between the tension information of each pull rope and the average tension of the four pull ropes at the same acquisition time as the tension difference;

[0060] The exception module is used to determine that there is an execution geometric error in the target rope when one of the four rope paths is taken as the target rope path and the rope length difference of the target rope path exceeds the preset rope length difference threshold, and the tension difference of the corresponding pull rope of the target rope path exceeds the preset tension difference threshold.

[0061] The judgment module is used to determine the abnormal type separation result when there is an execution geometric error in the target rope path; when the abnormal type separation result is a roll diameter change type execution geometric error, the pulse conversion coefficient of the target rope path is corrected according to the rope length difference of the target rope path, and the number of control pulses required for subsequent attitude adjustment of the target rope path is determined according to the corrected pulse conversion coefficient.

[0062] Thirdly, this application provides a fault-tolerant control device for rope posture failure, including four rope execution units and a controller;

[0063] Each rope execution unit includes a pull rope, a winding reel, a servo driver, a rotational displacement acquisition unit, and a tension acquisition unit. The pull rope is wound around the corresponding winding reel and used to pull the controlled object. The servo driver is used to drive the corresponding winding reel to take in or release the rope. The rotational displacement acquisition unit is used to acquire the rotational displacement information of the corresponding winding reel, and the tension acquisition unit is used to acquire the tension information of the corresponding pull rope.

[0064] The controller is connected to four rope execution units respectively, and is used to receive the target rope length of each rope, obtain the servo pulse information, rotational displacement information and tension information of each rope, and determine the current effective coil diameter and current actual rope length of each rope based on the servo pulse information and rotational displacement information.

[0065] The controller is also used to determine the rope length difference based on the current actual rope length and the target rope length, determine the tension difference based on the tension information of each pull rope, and determine that there is an execution geometric error in the target rope path when the rope length difference of the target rope path exceeds the preset rope length difference threshold and the tension difference of the pull rope corresponding to the target rope path exceeds the preset tension difference threshold.

[0066] The controller is also used to generate anomaly type separation results when there are execution geometric errors in the target rope path, and when the anomaly type separation results are execution geometric errors of the roll diameter variation type, to correct the pulse conversion coefficient of the target rope path, and to determine the number of control pulses required for subsequent attitude adjustment of the target rope path based on the corrected pulse conversion coefficient.

[0067] Compared with the prior art, the beneficial effects achieved by this application are as follows:

[0068] This application collects target rope length, servo pulse information, rotational displacement information, and tension information. It uses the servo pulse information and rotational displacement information to calculate the cumulative rope length, and then determines the current effective coil diameter based on the cumulative rope length. This allows the control system monitoring and control system testing process to incorporate the winding state of the winding reel into the rope length conversion chain. Compared with the method of directly converting the actual rope length using a fixed pulse conversion coefficient, this application allows the current actual rope length to be updated according to the rope winding and unwinding states, thereby reducing rope length conversion distortion caused by changes in coil diameter.

[0069] This application calculates the difference between the current actual rope length and the target rope length, and calculates the difference between the tension information of each rope and the average tension of the four ropes at the same acquisition time. When both the rope length difference of the target rope path and the tension difference of the corresponding rope of the target rope path exceed the corresponding threshold, it determines that there is an execution geometric error in the target rope path. The above processing makes fault detection no longer dependent on a single attitude angle error, a single path rope length error, or a single tension threshold, but uses both length execution deviation and force distribution deviation as the judgment criteria, thereby improving the accuracy of attribution of execution geometric error of the target rope path.

[0070] This application, after discovering execution geometric errors in the target rope path, further generates anomaly type separation results. When the anomaly type separation results indicate a roll diameter variation type execution geometric error, the pulse conversion coefficient of the target rope path is corrected based on the rope length difference. Then, the number of control pulses required for subsequent attitude adjustment of the target rope path is determined based on the corrected pulse conversion coefficient. The above processing feeds back the fault diagnosis results to the control parameter correction and subsequent control pulse number calculation process, transforming the control process from fixed conversion execution to dynamic correction based on monitoring results, reducing the risk of accumulated control deviations caused by errors in pulse conversion reference.

[0071] This application uses attitude response residuals, tension distribution residuals, and execution offset residuals to form anomaly type separation results, distinguishing and processing roll diameter variation-type execution geometric errors, attitude sensing anomalies, and load disturbance anomalies. When the anomaly type separation result is an attitude sensing anomaly, the pulse conversion coefficient of the target rope path is maintained and an attitude angle information verification command is generated. When the anomaly type separation result is a load disturbance anomaly, the pulse conversion coefficients of the four rope paths are maintained and the target rope length of each rope path is re-received. The above processing can avoid incorrectly writing attitude sensing anomalies or overall load disturbance anomalies into the pulse conversion coefficients, improving the responsiveness of the control system's fault diagnosis and control safety protection. The above processing can transfer part of the attitude adjustment action to the three rope paths other than the target rope path when there are continuous execution geometric errors in the target rope path, forming a fault-tolerant control chain for abnormal working conditions, improving the operational reliability of the four-point rope attitude adjustment device in the fault detection, fault diagnosis, and fault-tolerant control process. Attached Figure Description

[0072] Figure 1 This is a schematic diagram of the overall process of the fault-tolerant control method for rope attitude failure in this application.

[0073] Figure 2 This is a schematic diagram illustrating the calculation process for the current effective roll diameter and the current actual rope length in this application;

[0074] Figure 3 This is a schematic diagram illustrating the formation and corresponding processing flow of the anomaly type separation results in this application;

[0075] Figure 4This is a schematic diagram of the fault-tolerant control pulse bias generation and release process in this application;

[0076] Figure 5 This is a schematic diagram of the fault-tolerant control system for the rope attitude of this application;

[0077] Figure 6 This is a schematic diagram of the fault-tolerant control device for the rope attitude failure of this application. Detailed Implementation

[0078] The technical solution of this application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments and specific features in the embodiments are detailed descriptions of the technical solution of this application, rather than limitations thereof.

[0079] Example 1

[0080] See Figures 1-4 As shown in the figure, this embodiment provides a fault-tolerant control method for rope attitude failure, as detailed below:

[0081] The system receives the target rope length for each rope path, collects the servo pulse information and rotational displacement information of the corresponding winding disc for each rope path, and collects the tension information of each rope at the same acquisition moment.

[0082] In this embodiment, the target rope length is the target rope length data assigned to each rope path in the attitude adjustment task. The target rope length is used to represent the rope length that the corresponding rope path needs to achieve in the target attitude. When the attitude adjustment task starts, the four-point rope attitude adjustment device receives the attitude adjustment task data through the communication interface. When the attitude adjustment task data directly contains the target rope lengths of the four rope paths, the four-point rope attitude adjustment device reads the target rope lengths according to the rope path numbers. When the attitude adjustment task data contains target attitude angle information, the four-point rope attitude adjustment device converts the target attitude angle information into the target rope lengths of the four rope paths according to the preset rope length attitude mapping relationship, and writes the target rope lengths of the four rope paths into the data record of this attitude adjustment task.

[0083] The preset rope length attitude mapping relationship is the correspondence between the actual rope lengths of the four rope paths and the current attitude angle information of the device. This preset rope length attitude mapping relationship includes rope length to attitude sub-mapping and attitude to rope length sub-mapping. The rope length to attitude sub-mapping uses the actual rope lengths corresponding to the four rope paths as input data and the estimated pitch angle and estimated roll angle as output data. The rope length to attitude sub-mapping is used to calculate the attitude estimation result based on the current actual rope lengths of the four rope paths. The attitude to rope length sub-mapping uses the target attitude angle information as input data and the target rope lengths corresponding to the four rope paths as output data. The sub-mapping is used to calculate the target rope length of the four rope paths based on the target attitude angle information. The rope length to attitude sub-mapping and attitude to rope length sub-mapping in the preset rope length attitude mapping relationship are both formed and written into the controller during the attitude adjustment calibration process. The preset rope length attitude mapping relationship is used to calculate the attitude estimation result based on the current actual rope length of the four rope paths, and also to calculate the target rope length of the four rope paths based on the target attitude angle information. The input data in the preset rope length attitude mapping relationship is the actual rope length corresponding to the four rope paths respectively, and the output data is the estimated pitch angle and the estimated roll angle, or the input data is the target attitude angle information, and the output data is the target rope length corresponding to the four rope paths respectively.

[0084] The preset rope length attitude mapping relationship is obtained during the calibration attitude adjustment process. First, the four-point rope attitude adjustment device is adjusted to the reference attitude, and the actual rope length, measured pitch angle, and measured roll angle of the four rope paths are read. Then, based on the allowable pitch angle adjustment range and roll angle adjustment range of the four-point rope attitude adjustment device, the calibration attitude point coverage range is determined. The boundary of the calibration attitude point coverage range is jointly determined by the mechanical limit position of the four-point rope attitude adjustment device, the allowable length range of the rope, the allowable force range of the tension sensor, and the allowable attitude range of the measured object. Within the calibration attitude point coverage range, the attitude positions are set in the order of pitch angle from the lower boundary to the upper boundary and roll angle from the left boundary to the right boundary, so that the attitude positions cover the pitch angle boundary position, roll angle boundary position, reference attitude position, and positions where pitch angle and roll angle change simultaneously.

[0085] The four-rope combination coverage rule is as follows: at each attitude position, the actual rope length combination of the four rope paths participating in attitude formation is recorded; during the attitude adjustment calibration process, the controller does not only change the actual rope length of one rope path, but controls the four rope paths to perform rope winding or releasing according to the target rope length combination of the four rope paths corresponding to the target attitude angle information; when the rope length difference of the four rope paths does not exceed the preset rope length difference threshold, and the tension difference of the corresponding pull ropes of the four rope paths does not exceed the preset tension difference threshold, the actual rope length, measured pitch angle, and measured roll angle of the four rope paths at the same acquisition time are read; the actual rope length of the four rope paths is used as a set of input data, and the measured pitch angle and measured roll angle are used as a set of output data, and the input data and output data are saved accordingly to form a saved data in the preset rope length attitude mapping relationship.

[0086] The attitude angle boundaries are the range of measured pitch and roll angles allowed by the preset rope length attitude mapping relationship. During the attitude calibration and adjustment process, the attitude angle boundaries are determined by the minimum measured pitch angle, maximum measured pitch angle, minimum measured roll angle, and maximum measured roll angle from the saved data. When calculating the attitude estimation results based on the current actual rope lengths of the four rope paths, it is first determined whether the current actual rope lengths of the four rope paths fall within the range of the saved actual rope lengths of the four rope paths in the preset rope length attitude mapping relationship, and whether the calculated estimated pitch angle and estimated roll angle fall within the attitude angle boundaries. When the current actual rope lengths of the four rope paths fall within the range of the saved actual rope lengths, and the estimated pitch angle and estimated roll angle fall within the attitude angle boundaries, the controller calls the preset rope length attitude mapping relationship to output the attitude estimation results.

[0087] When the current actual rope length of any rope path exceeds the range of the saved actual rope length of the corresponding rope path in the preset rope length attitude mapping relationship, or when the calculated estimated pitch angle exceeds the attitude angle boundary, or when the calculated estimated roll angle exceeds the attitude angle boundary, the controller will not perform extrapolation calculation based on the data that exceeds the range; the controller will write the current actual rope length, measured pitch angle, measured roll angle and target rope length of the four rope paths at the current acquisition time into the calibration record, and pause the use of the current attitude estimation result for attitude response residual calculation; then the controller will re-receive the target rope length of each rope path, so that the four-point rope attitude adjustment device returns to the attitude angle boundary covered by the preset rope length attitude mapping relationship; when the calibration record is accumulated to the point that it can supplement the saved actual rope length range or attitude angle boundary, the four-point rope attitude adjustment device will re-execute the calibration attitude adjustment process and write the supplemented saved data into the preset rope length attitude mapping relationship.

[0088] In this embodiment, the servo pulse information of the winding reel corresponding to each rope path includes the number of pulses, the pulse direction, and the pulse occurrence time. The number of pulses indicates the number of execution pulses output to the corresponding winding reel, the pulse direction indicates whether the corresponding winding reel is in the rope winding direction or the rope unwinding direction, and the pulse occurrence time is used to align with the acquisition time. The four-point rope pulling posture adjustment device reads the number of pulses, the pulse direction, and the pulse occurrence time from the servo driver corresponding to each rope path, and writes the number of pulses, the pulse direction, and the pulse occurrence time into the servo pulse information according to the rope path number.

[0089] The controller, based on the pulse occurrence time, assigns the number and direction of pulses located after the previous acquisition time and within the current acquisition time to the servo pulse information corresponding to the current acquisition time, and uses this information to calculate the single rope length and unit pulse deviation between adjacent acquisition times.

[0090] In this embodiment, the rotational displacement information of the winding reel corresponding to each rope path includes the change in rotational angle or the change in code count between adjacent acquisition times. The change in rotational angle represents the angular displacement of the winding reel between adjacent acquisition times, and the change in code count is converted into the angular displacement of the winding reel between adjacent acquisition times using the encoder resolution. The four-point rope pull posture adjustment device reads the code count at the current acquisition time from the encoder of the winding reel corresponding to each rope path, and calculates the difference between the code count at the current acquisition time and the code count at the previous acquisition time to obtain the rotational displacement information. When the encoder directly outputs the rotational angle, the four-point rope pull posture adjustment device directly reads the change in rotational angle between adjacent acquisition times as the rotational displacement information.

[0091] In this embodiment, the tension information of each rope is the tension value borne by the four ropes at the same acquisition time. The tension information includes at least the rope number, acquisition time, and tension value. The tension value is calculated from the electrical signal output by the tension sensor. The four-point rope posture adjustment device synchronously reads the output data of the tension sensors corresponding to the four rope paths at each acquisition time, converts the output data into tension values ​​according to the calibration relationship of the tension sensors, and then writes the rope number, acquisition time, and tension value into the tension information. The tension information of the four ropes at the same acquisition time is used to calculate the average tension of the four ropes and the tension difference between the ropes.

[0092] It should be noted that the tension difference is used to identify whether there is a force deviation in the target rope path at the current acquisition time, based on the average tension of the four ropes; while the subsequent tension distribution residual is used to identify the source of force deviation at the anomaly type separation stage, based on the calibrated tension. The comparison benchmarks of the two are different. The tension difference is used to perform the initial screening of geometric errors, while the tension distribution residual is used to classify geometric errors, attitude sensing anomalies and load disturbance anomalies of roll diameter variation type.

[0093] It should be noted that acquiring the target rope length provides a benchmark for calculating the rope length difference for each rope path; acquiring servo pulse information determines the number and direction of execution commands received by the corresponding winding reel; acquiring rotational displacement information determines the amount of mechanical rotation of the corresponding winding reel between acquisition times; acquiring tension information determines the force distribution state of the four ropes at the same acquisition time; the target rope length, servo pulse information, rotational displacement information, and tension information are used together to subsequently determine the cumulative rope length, the current effective coil diameter, the current actual rope length, the rope length difference, and the tension difference, and are also used to determine whether there is an execution geometric error in the target rope path.

[0094] The cumulative winding and unwinding lengths of each rope path are obtained based on servo pulse information and rotational displacement information. The current effective winding diameter of the corresponding winding reel for each rope path is determined based on the cumulative winding and unwinding lengths. Based on the current effective winding diameter, rotational displacement information, and servo pulse information, the current actual rope length of each rope path is calculated. The absolute difference between the current actual rope length and the target rope length is calculated as the rope length difference. The absolute difference between the tension information of each pull rope and the average tension of the four pull ropes at the same acquisition time is calculated as the tension difference.

[0095] In one optional embodiment, the method for obtaining the cumulative length of the rope for each rope path includes:

[0096] At the first acquisition moment, the cumulative winding and unwinding length of each rope path is set to zero; according to the preset arc length conversion relationship between the rotational displacement of the winding reel and the effective winding diameter, the rotational displacement information between adjacent acquisition moments and the effective winding diameter of the previous acquisition moment are converted into the single winding and unwinding length; when the pulse direction in the servo pulse information indicates winding, the single winding and unwinding length is added to the cumulative winding and unwinding length of the previous acquisition moment; when the pulse direction in the servo pulse information indicates unwinding, the single winding and unwinding length is subtracted from the cumulative winding and unwinding length of the previous acquisition moment to obtain the cumulative winding and unwinding length of the current acquisition moment.

[0097] In this embodiment, the cumulative winding and unwinding rope length is the length data obtained by directionally accumulating the winding and unwinding rope lengths formed by the same rope path between each acquisition time, starting from the first acquisition time. When the cumulative winding and unwinding rope length is greater than zero, it indicates that the corresponding rope path is in the winding state after winding relative to the first acquisition time. When the cumulative winding and unwinding rope length is less than zero, it indicates that the corresponding rope path is in the unwinding state after unwinding relative to the first acquisition time. The cumulative winding and unwinding rope length is used to determine the number of rope layer changes that have occurred on the pull rope on the winding reel relative to the first acquisition time, and serves as input data for determining the current effective winding diameter.

[0098] In this embodiment, the rotational displacement of the winding reel is the angular displacement of the winding reel around its central axis between adjacent acquisition times, and the rotational displacement is represented by rotational displacement information; the effective winding diameter is the equivalent winding diameter corresponding to the rope participating in the winding and unwinding motion on the winding reel. The effective winding diameter is not the diameter of the fixed structure of the winding reel, but a converted diameter that changes with the cumulative winding and unwinding rope length and the number of rope layers; the rotational displacement of the winding reel is used to represent the angular range through which the winding reel rotates, and the effective winding diameter is used to represent the length reference that can drive the winding and unwinding of the rope under the same rotational displacement.

[0099] In this embodiment, the preset arc length conversion relationship is the correspondence between the rotational displacement of the winding reel, the effective winding diameter, and the single winding and unwinding rope length. The preset arc length conversion relationship is used to convert the angular displacement of the winding reel into the length change of the rope along the winding direction. The preset arc length conversion relationship is obtained during the equipment calibration stage. During calibration, the winding reel is first adjusted to the winding state corresponding to the first data acquisition moment. Then, the winding reel is controlled to rotate through the set rotational displacements according to the winding and unwinding directions, and the single winding and unwinding rope length formed by the corresponding rope is recorded simultaneously. Subsequently, the rotational displacement information, the effective winding diameter, and the single winding and unwinding rope length are saved accordingly to form the preset arc length conversion relationship. When the structural dimensions of the winding reel are known, the preset arc length conversion relationship can also be pre-written into the controller based on the circumferential motion relationship of the winding reel and checked with the measured single winding and unwinding rope length during the equipment calibration stage.

[0100] In this embodiment, when converting the rotational displacement information between adjacent acquisition moments and the effective winding diameter corresponding to the previous acquisition moment into the length of a single rope take-up and release, the rotational displacement information of the current acquisition moment and the effective winding diameter corresponding to the previous acquisition moment are read first; then, according to the preset arc length conversion relationship, the angular displacement represented by the rotational displacement information is converted to the effective winding diameter corresponding to the previous acquisition moment to obtain the length change of the rope along the winding direction between adjacent acquisition moments; subsequently, the pulse direction in the servo pulse information between the same adjacent acquisition moments is read, and the length change is recorded as the length of a single rope take-up and release corresponding to the rope take-up, or the length of a single rope take-up and release corresponding to the rope release, according to the pulse direction.

[0101] In one alternative embodiment, the method for determining the current effective diameter of the winding reel corresponding to each rope path includes:

[0102] Obtain the rope diameter, preset initial coil diameter, and preset single-layer rope length corresponding to each rope path; divide the absolute value of the cumulative rope length by the preset single-layer rope length and round down to obtain the number of rope layer changes; when the cumulative rope length is greater than zero, the number of rope layer changes is determined as the number of rope layers added; when the cumulative rope length is less than zero, the number of rope layer changes is determined as the number of rope layers reduced; based on the number of rope layer changes, the direction of increase or decrease corresponding to the cumulative rope length, the rope diameter of each rope path corresponding to the pull rope, and the preset rope layer coil diameter correction relationship, obtain the coil diameter change amount with the direction of increase or decrease; combine the initial coil diameter with the coil diameter change amount with the direction of increase or decrease to obtain the current effective coil diameter.

[0103] In this embodiment, the current effective winding diameter of each rope path corresponding to the winding reel is the equivalent diameter used for arc length conversion when the pull rope is being wound or unwound on the corresponding winding reel at the current acquisition time. The current effective winding diameter is used to convert the rotational displacement information into the current actual rope length change, and is also used to subsequently correct the pulse conversion coefficient. Since the number of layers the pull rope is wound on the winding reel will change the distance between the pull rope and the central axis of the winding reel, the current effective winding diameter needs to be updated based on the cumulative winding and unwinding rope length.

[0104] In this embodiment, the rope diameter of the corresponding pull rope for each rope path is the outer diameter of the corresponding pull rope cross-section. The rope diameter is used to indicate the change in diameter direction required for the effective roll diameter after each layer of rope is added or removed. The rope diameter is written into the controller by the pull rope specification data during the assembly of the four-point pull rope posture adjustment device, or by measuring the actual pull rope with a vernier caliper or diameter gauge and then writing it into the controller. After the pull rope of the same rope path is replaced, the four-point pull rope posture adjustment device receives the rope diameter of the corresponding pull rope again.

[0105] In this embodiment, the preset initial winding diameter is the effective diameter of the winding reel of the corresponding rope path at the first acquisition time when the rope is pulled and unwound. The preset initial winding diameter is set after the equipment is assembled. When setting it, the four-point rope pulling posture adjustment device is first adjusted to the posture position corresponding to the first acquisition time, and then the rope winding state on the corresponding winding reel is confirmed. Then, the effective diameter corresponding to the outer winding of the rope at the first acquisition time is measured or read, and the effective diameter is written into the controller as the preset initial winding diameter.

[0106] In this embodiment, the preset single-layer accommodating rope length is the length of the pull rope corresponding to the current rope layer position when the winding reel is fully wound with a pull rope. The preset single-layer accommodating rope length is used to convert the cumulative winding and unwinding rope length into the number of rope layer changes. The preset single-layer accommodating rope length is determined according to the winding reel's winding rope width, rope diameter, and the number of pull ropes arranged in the same rope layer. After the equipment is assembled, the corresponding result is written to the controller. When the accommodating lengths of different rope layers of the same winding reel need to be processed separately, the controller saves the preset single-layer accommodating rope lengths corresponding to each rope layer in the order of rope layers, and calls the preset single-layer accommodating rope lengths corresponding to the next rope layer after the cumulative winding and unwinding rope length crosses the corresponding length of the previous rope layer.

[0107] In this embodiment, the number of rope layer changes is the result of the cumulative length of the rope being wound up and down relative to the preset single-layer accommodating rope length, resulting in a change in the number of layers. The number of rope layer changes is used to indicate the number of layers that the outer layer of the pull rope participating in the winding conversion has crossed relative to the first data acquisition time. The reason for calculating the number of rope layer changes is that the current effective roll diameter change comes from the pull rope adding or removing rope layers on the winding reel. Only by first determining the number of rope layer changes can the roll diameter change with the direction of increase or decrease be determined.

[0108] In this embodiment, the preset rope layer diameter correction relationship is the correspondence between the number of rope layer changes, the rope diameter, and the change in diameter with increasing or decreasing direction. The preset rope layer diameter correction relationship is used to convert the increase or decrease in the number of rope layers into the change in the current effective diameter relative to the initial diameter. The preset rope layer diameter correction relationship is obtained during the equipment assembly and calibration stage. First, the structural dimensions of the winding reel and the rope diameter are read. Then, according to the change in the effective diameter along the diameter direction when the rope is added or removed from the winding reel, a correspondence is established. Subsequently, the winding reel is controlled to complete the rope winding and unwinding and the corresponding actual rope length changes are recorded. The preset rope layer diameter correction relationship is then checked, and the check result is written to the controller for subsequent data acquisition.

[0109] In this embodiment, the change in winding diameter with increasing or decreasing direction is the change in diameter of the current effective winding diameter relative to the initial winding diameter; when the cumulative winding and unwinding rope length is greater than zero, the change in winding diameter with increasing or decreasing direction corresponds to the direction of increasing effective winding diameter; when the cumulative winding and unwinding rope length is less than zero, the change in winding diameter with increasing or decreasing direction corresponds to the direction of decreasing effective winding diameter; after combining the change in winding diameter with increasing or decreasing direction and the initial winding diameter, the current effective winding diameter of the winding reel at the current acquisition time is obtained.

[0110] Through the aforementioned steps, the servo pulse information first determines the rope winding or releasing direction of the corresponding rope path between adjacent acquisition times; the rotational displacement information is then combined with the effective roll diameter corresponding to the previous acquisition time to obtain the single rope winding / releasing length between adjacent acquisition times; the single rope winding / releasing length is written into the cumulative rope winding / releasing length according to the rope winding or releasing direction, so that the cumulative rope winding / releasing length reflects the amount of winding or releasing of the corresponding rope path relative to the first acquisition time; the cumulative rope winding / releasing length is then converted into the number of rope layer changes, and the number of rope layer changes is converted into the roll diameter change amount with increasing or decreasing direction through the preset rope layer roll diameter correction relationship; the roll diameter change amount with increasing or decreasing direction is combined with the initial roll diameter to obtain the current effective roll diameter; therefore, the current effective roll diameter can be updated with the actual winding and releasing process of each rope path, and when calculating the current actual rope length based on the current effective roll diameter, it can avoid converting the same rotational displacement at different rope layer positions into the same rope length change amount.

[0111] Based on the current effective roll diameter, rotational displacement information, and servo pulse information, the current actual rope length of each rope path is calculated.

[0112] In one alternative embodiment, the method for obtaining the current actual rope length of each rope path includes:

[0113] The actual rope length at the previous acquisition time is read as the starting rope length; the rotational displacement information between adjacent acquisition times is converted into arc length with the current effective roll diameter to obtain the single rope length change; when the servo pulse information indicates that the rope is being wound up, the starting rope length is subtracted from the single rope length change; when the servo pulse information indicates that the rope is being released, the starting rope length is added to the single rope length change to obtain the current actual rope length.

[0114] In this embodiment, when converting the rotational displacement information between adjacent acquisition moments into arc length using the current effective roll diameter to obtain the single rope length change, the rotational displacement information corresponding to the current acquisition moment and the current effective roll diameter are first read. When the rotational displacement information is a rotational angle change value, the rotational angle change value is used as the angle input of the preset arc length conversion relationship. When the rotational displacement information is an encoded count change value, the encoded count change value is first converted into the rotational angle change value of the winding disc, and then the rotational angle change value is used as the angle input of the preset arc length conversion relationship. Subsequently, the rotational angle change value and the current effective roll diameter are input into the preset arc length conversion relationship to obtain the length change of the rope along the winding direction between adjacent acquisition moments, and the length change is determined as the single rope length change. The single rope length change is used to represent the actual rope length change at the current acquisition moment relative to the previous acquisition moment, and is used as the length basis for adding or subtracting the current actual rope length based on the calculated rope length.

[0115] Through the above steps, the current effective roll diameter first provides the length conversion benchmark corresponding to the rotational displacement of the winding disc at the current acquisition time; the rotational displacement information then provides the actual mechanical rotation of the winding disc between adjacent acquisition times; the preset arc length conversion relationship converts the mechanical rotation into the single rope length change formed by the pull rope along the winding direction; the pulse direction in the servo pulse information then determines the addition or subtraction direction of the single rope length change relative to the calculated rope length; therefore, when winding the rope, the current actual rope length is deducted from the calculated rope length according to the single rope length change, and when releasing the rope, the current actual rope length is added to the calculated rope length according to the single rope length change, so that the current actual rope length is simultaneously constrained by the current effective roll diameter, rotational displacement information, and servo pulse information, avoiding obtaining the current actual rope length of each rope path solely based on a fixed pulse conversion relationship.

[0116] In this embodiment, the average tension of the four ropes at the same acquisition time is the average of the tension information of the four rope paths corresponding to the ropes at the same acquisition time. When calculating the average tension of the four ropes at the same acquisition time, the tension information of the four ropes at the same acquisition time is first read, then the tension value corresponding to each of the four ropes is extracted, and then the four tension values ​​are added together and divided by four to obtain the average tension of the four ropes at the same acquisition time. The average tension of the four ropes at the same acquisition time is used to form a comparison benchmark for the force of each rope.

[0117] In this embodiment, the rope length difference is the absolute difference between the current actual rope length and the target rope length of the same rope path. The rope length difference is used to represent the length deviation of the corresponding rope path relative to the target rope length at the current acquisition time. The tension difference is the absolute difference between the tension information of a single rope and the average tension of the four ropes at the same acquisition time. The tension difference is used to represent the force deviation of the corresponding rope relative to the average force state of the four ropes. The rope length difference serves as the basis for judging whether the target rope path has reached the target rope length, and the tension difference serves as the basis for judging whether there is a force distribution deviation in the corresponding rope of the target rope path. The rope length difference and the tension difference are used together to subsequently judge whether there is an execution geometric error in the target rope path.

[0118] Through the above steps, the current actual rope length and the target rope length are first converted into a comparable rope length difference, which reflects the deviation of the executed length of the same rope path. The average tension of the four ropes at the same acquisition time is then used as the force comparison benchmark, so that the tension information of each rope is converted into the corresponding tension difference, which reflects the deviation of the force distribution of the corresponding rope at the same acquisition time. When both rope length difference and tension difference occur for the same target rope path, it indicates that both the length execution result and the force distribution result of the target rope path deviate from the corresponding benchmark. Therefore, it is possible to determine whether there is an execution geometric error in the target rope path based on the rope length difference and tension difference from both the length execution and force distribution aspects.

[0119] One of the four rope paths is taken as the target rope path. When the rope length difference of the target rope path exceeds the preset rope length difference threshold, and the tension difference of the corresponding pull rope of the target rope path exceeds the preset tension difference threshold, it is determined that there is an execution geometric error in the target rope path.

[0120] In this embodiment, the preset rope length difference threshold is used to determine whether the current actual rope length of the target rope path deviates from the target rope length limit. The preset rope length difference threshold is set during the calibration attitude adjustment process. When setting it, the winding reel, the pull rope, the tension sensor, and the tilt feedback are all in normal working condition. The four-point pull rope attitude adjustment device is controlled to perform multiple attitude adjustment tasks, and the difference between the current actual rope length and the target rope length of each rope path after the target attitude is reached is recorded. Then, based on the difference range formed by each rope path in normal working condition, the preset rope length difference threshold is determined and written into the controller.

[0121] In this embodiment, the preset tension difference threshold is used to determine whether the tension information of the corresponding pull rope of the target rope deviates from the tension limit of the average tension of the four pull ropes at the same acquisition time. The preset tension difference threshold is set during the calibration attitude adjustment process. When setting it, the winding reel, pull rope, tension sensor and tilt feedback are all in normal working condition. The four-point pull rope attitude adjustment device is controlled to complete the attitude adjustment under different combinations of target rope lengths, and the difference between the tension information of each pull rope and the average tension of the four pull ropes at the same acquisition time is recorded. Then, based on the difference range formed under normal working condition, the preset tension difference threshold is determined and written into the controller.

[0122] In this embodiment, the execution geometric error is the geometric conversion deviation between the target rope path's rotational displacement of the winding reel, servo pulse information, and the rope retraction and extension results. The execution geometric error indicates that the control execution quantity received by the target rope path does not correspond to the actual rope length formed by the target rope path, causing the target rope path to have a length execution deviation when it reaches the target rope length, and causing the corresponding pull rope of the target rope path to form a force distribution deviation among the four pull ropes.

[0123] It should be noted that when the rope length difference of the target rope exceeds the preset rope length difference threshold, it indicates that the current actual rope length of the target rope has exceeded the allowable length deviation range under normal working conditions; when the tension difference of the corresponding pull rope of the target rope exceeds the preset tension difference threshold, it indicates that the corresponding pull rope of the target rope has exceeded the allowable force deviation range under normal working conditions; when the rope length difference exceeds the preset rope length difference threshold alone, it may only indicate that the target attitude has not yet been adjusted; when the tension difference exceeds the preset tension difference threshold alone, it may only indicate that the load condition has changed; when the rope length difference of the target rope exceeds the preset rope length difference threshold, and the tension difference of the corresponding pull rope of the target rope exceeds the preset tension difference threshold, the target rope has both length execution deviation and force distribution deviation, therefore the target rope is determined to have execution geometric error.

[0124] Through the above steps, the four rope paths are sequentially judged as target rope paths, so that each rope path completes the comparison of length execution deviation and force distribution deviation according to the same rules; the preset rope length difference threshold provides the length judgment benchmark between the current actual rope length and the target rope length, and the preset tension difference threshold provides the force judgment benchmark between the tension information and the average tension of the four ropes at the same acquisition time; when the same target rope path meets both judgment conditions at the same time, it can eliminate misjudgments caused by only a single length deviation or a single force deviation, and locate the execution geometric error to the corresponding target rope path.

[0125] When there is an execution geometric error in the target rope path, an anomaly type separation result is generated. When the anomaly type separation result is an execution geometric error of the roll diameter change type, the pulse conversion coefficient of the target rope path is corrected according to the rope length difference of the target rope path, and the number of control pulses required for subsequent attitude adjustment of the target rope path is determined according to the corrected pulse conversion coefficient.

[0126] Among them, the pulse conversion factor is the reference for the change in the length of the pull rope corresponding to a single pulse in the target rope path. The pulse conversion factor is used to convert the pull rope length that needs to be adjusted in the target rope path into the number of pulses that the servo control link needs to output. The number of control pulses required for subsequent attitude adjustment is the number of pulses that the target rope path needs to output to the corresponding winding reel by the servo control link in subsequent attitude adjustment. The number of control pulses required for subsequent attitude adjustment is used to control the corresponding winding reel to complete the rope winding or releasing, so that the current actual rope length of the target rope path is adjusted to the target rope length.

[0127] In an optional embodiment, the method for correcting the pulse conversion coefficient of the target rope path based on the rope length difference of the target rope path includes:

[0128] Obtain the original pulse conversion coefficient of the target rope path; when the number of pulses is not zero, divide the rope length difference of the target rope path by the number of pulses in the servo pulse information of the target rope path between adjacent acquisition times to obtain the unit pulse deviation; when the current actual rope length of the target rope path is greater than the target rope length, subtract the unit pulse deviation from the original pulse conversion coefficient; when the current actual rope length of the target rope path is less than the target rope length, add the unit pulse deviation to the original pulse conversion coefficient to obtain the corrected pulse conversion coefficient; when the number of pulses is equal to zero, do not calculate the unit pulse deviation and keep the original pulse conversion coefficient of the target rope path.

[0129] When the number of pulses is zero, it means that the target rope path did not receive the execution pulse output by the servo control link between adjacent acquisition times, and the rope length difference of the target rope path cannot be decomposed into the unit pulse deviation corresponding to a single pulse. In this case, the controller does not correct the pulse conversion coefficient of the target rope path based on the rope length difference of the target rope path, but maintains the original pulse conversion coefficient of the target rope path.

[0130] In this embodiment, the original pulse conversion coefficient is the pulse conversion coefficient used by the target rope path before this correction; the original pulse conversion coefficient is read from the controller, and the controller saves the initial pulse conversion coefficient corresponding to each rope path after the four-point rope attitude adjustment device has completed assembly and calibration; when the target rope path has completed the pulse conversion coefficient correction in the previous attitude adjustment process, the controller reads the corrected pulse conversion coefficient saved in the previous attitude adjustment process as the original pulse conversion coefficient before this correction.

[0131] In this embodiment, the unit pulse deviation is the length deviation value of a single pulse corresponding to the target rope path between adjacent acquisition times. To obtain the unit pulse deviation, the rope length difference of the target rope path is read first, and then the number of pulses in the servo pulse information of the target rope path between adjacent acquisition times is read. When the number of pulses is not zero, the rope length difference of the target rope path is divided by the number of pulses to obtain the unit pulse deviation. The unit pulse deviation is used to decompose the rope length difference of the target rope path into the conversion reference corresponding to a single pulse, so that the subsequent pulse conversion coefficient correction can correspond to the pulse output unit of the servo control link.

[0132] In this embodiment, the corrected pulse conversion factor is a single pulse length conversion benchmark updated based on the difference in rope length of the target rope path and the unit pulse deviation. When the current actual rope length of the target rope path is greater than the target rope length, it indicates that the pulse execution result obtained according to the original pulse conversion factor has resulted in the target rope path retaining a length exceeding the target rope length. Therefore, the unit pulse deviation is subtracted from the original pulse conversion factor. When the current actual rope length of the target rope path is less than the target rope length, it indicates that the pulse execution result obtained according to the original pulse conversion factor has resulted in the target rope path being insufficient in length relative to the target rope length. Therefore, the unit pulse deviation is added to the original pulse conversion factor. The corrected pulse conversion factor is used to replace the original pulse conversion factor and participates in the calculation of the number of control pulses required for subsequent attitude adjustment.

[0133] In an optional embodiment, the method for determining the number of control pulses required for subsequent attitude adjustment of the target rope based on the corrected pulse conversion coefficient includes:

[0134] If the current actual rope length is greater than the target rope length, the difference between the current actual rope length and the target rope length is used as the subsequent rope length adjustment amount, and the subsequent rope take-up is determined; if the current actual rope length is less than the target rope length, the difference between the target rope length and the current actual rope length is used as the subsequent rope length adjustment amount, and the subsequent rope release is determined; if the current actual rope length is equal to the target rope length, the subsequent rope length adjustment amount is set to zero, and the control pulse count is set to zero; the subsequent rope length adjustment amount is divided by the corrected pulse conversion coefficient, and the control pulse count is obtained according to the preset rounding rule.

[0135] In this embodiment, the subsequent rope length adjustment amount is the length change required to adjust the target rope path from the current actual rope length to the target rope length. If the current actual rope length is greater than the target rope length, the target rope path needs to shorten the pull rope length. Therefore, the difference between the current actual rope length and the target rope length is used as the subsequent rope length adjustment amount, and the subsequent rope winding is determined. If the current actual rope length is less than the target rope length, the target rope path needs to increase the pull rope length. Therefore, the difference between the target rope length and the current actual rope length is used as the subsequent rope length adjustment amount, and the subsequent rope unwinding is determined. The subsequent rope length adjustment amount is used to represent the change in pull rope length that the winding reel needs to complete in the subsequent attitude adjustment of the target rope path.

[0136] In this embodiment, a preset rounding rule is used to convert the calculation result obtained by dividing the subsequent rope length adjustment by the corrected pulse conversion coefficient into an integer number of control pulses. The specific content of the preset rounding rule is as follows: when the calculation result is an integer, the calculation result is directly used as the number of control pulses; when the calculation result is not an integer, the integer part and the decimal part of the calculation result are read first. When the length corresponding to the decimal part is less than half of the corrected pulse conversion coefficient, the integer part is used as the number of control pulses; when the length corresponding to the decimal part is not less than half of the corrected pulse conversion coefficient, the integer part is incremented by one and used as the number of control pulses. Since the servo control link executes control with integer pulses, the preset rounding rule can make the number of control pulses consistent with the execution form of the servo control link.

[0137] It should be noted that dividing the subsequent rope length adjustment by the corrected pulse conversion factor converts the required length adjustment of the target rope path into the number of pulses that the servo control link can execute. The subsequent rope length adjustment represents the length of the pull rope that needs to be adjusted, and the corrected pulse conversion factor represents the change in pull rope length corresponding to a single pulse. Dividing the two gives the number of pulses required to complete the length adjustment. Since the corrected pulse conversion factor already includes the rope length difference correction result of the target rope path, the number of control pulses required for subsequent attitude adjustment is no longer calculated according to the original pulse conversion factor.

[0138] Through the above steps, after the target rope path has an execution geometric error, the rope length difference of the target rope path is first converted into a unit pulse deviation. The unit pulse deviation is then used to correct the original pulse conversion coefficient of the target rope path to obtain the corrected pulse conversion coefficient. Subsequently, based on the relationship between the current actual rope length and the target rope length, the subsequent rope winding or unwinding is determined, and the difference between the current actual rope length and the target rope length is converted into the subsequent rope length adjustment amount. The subsequent rope length adjustment amount is then converted into the number of control pulses through the corrected pulse conversion coefficient. Therefore, the number of control pulses required for the subsequent attitude adjustment of the target rope path can be corrected based on the current execution deviation of the target rope path, reducing the length conversion deviation caused by continuing to use the original pulse conversion coefficient.

[0139] In an optional embodiment, it further includes:

[0140] The system acquires the current attitude angle information of the acquisition device, including the measured pitch angle and the measured roll angle. Based on the actual rope lengths of the four rope paths and the preset rope length attitude mapping relationship, the system calculates the attitude estimation results, including the estimated pitch angle and the estimated roll angle. The system calculates the difference between the estimated pitch angle and the measured pitch angle to obtain the pitch angle difference. The system also calculates the difference between the estimated roll angle and the measured roll angle to obtain the roll angle difference. The pitch angle difference and roll angle difference are then determined as attitude response residuals. During the pre-calibrated attitude adjustment process, the tension information of the four ropes at different target rope lengths and the current attitude angle information of the device are recorded to form a calibration tension table. The calibration tension corresponding to the current attitude angle information of the device is read from the calibration tension table, and the difference between the tension information of each rope and the calibration tension is determined as the tension distribution residual.

[0141] In this embodiment, the current attitude angle information of the device is the attitude angle measurement data formed by the four-point rope attitude adjustment device at the current acquisition time. The current attitude angle information of the device includes the measured pitch angle and the measured roll angle. The measured pitch angle is the angle measurement value formed by the four-point rope attitude adjustment device around the pitch direction, and the measured roll angle is the angle measurement value formed by the four-point rope attitude adjustment device around the roll direction. The current attitude angle information of the device is used to compare with the attitude estimation result and generate attitude response residuals. When acquiring the current attitude angle information of the device, the four-point rope attitude adjustment device reads the angle measurement value in the pitch direction and the angle measurement value in the roll direction from the tilt feedback interface at the current acquisition time, and then records the angle measurement value in the pitch direction as the measured pitch angle and the angle measurement value in the roll direction as the measured roll angle.

[0142] In this embodiment, the attitude estimation result is the attitude angle estimation data calculated based on the current actual rope length of the four rope paths and the preset rope length attitude mapping relationship. The attitude estimation result includes the estimated pitch angle and the estimated roll angle. The estimated pitch angle is the pitch direction angle calculated based on the current actual rope length of the four rope paths, and the estimated roll angle is the roll direction angle calculated based on the current actual rope length of the four rope paths. The attitude estimation result is used to represent the attitude state that the current actual rope length of the four rope paths should form under the preset rope length attitude mapping relationship, and is used to compare with the current attitude angle information of the device. When obtaining the attitude estimation result, the current actual rope length of the four rope paths at the same acquisition time is read first, and then the current actual rope length of the four rope paths is input into the preset rope length attitude mapping relationship. When there is no identical actual rope length of the four rope paths in the preset rope length attitude mapping relationship, the saved actual rope lengths on both sides of the current actual rope length of each rope path are searched in the preset rope length attitude mapping relationship. For each rope path, the actual rope length not greater than the current actual rope length is read. The system retrieves the longest and closest saved actual rope length, and reads the nearest saved actual rope length that is not less than the current actual rope length. It then reads the saved data corresponding to the saved actual rope lengths of all four rope paths. Next, it determines the positional ratio of the current actual rope length of each rope path between the saved actual rope lengths on both sides. The positional ratio is determined by first calculating the length difference between the current actual rope length and the nearest saved actual rope length that is not greater than the current actual rope length; then calculating the length interval between the nearest saved actual rope length that is not less than the current actual rope length and the nearest saved actual rope length that is not greater than the current actual rope length and the nearest saved actual rope length; and determining the ratio between the length difference and the length interval as the positional ratio of the corresponding rope path. For each rope path, the single rope weight corresponding to the nearest saved actual rope length that is not greater than the current actual rope length is obtained by subtracting the positional ratio of that rope path from one; the single rope weight corresponding to the nearest saved actual rope length that is not less than the current actual rope length is obtained according to the positional ratio of that rope path.

[0143] When combining the position ratios of the four rope paths into the final weight, multiple sets of saved data are first obtained based on the saved actual rope lengths on both sides of each rope path. Each set of saved data includes the measured pitch angle and measured roll angle corresponding to the saved actual rope lengths on one side of each of the four rope paths. For any set of saved data, the single rope weights corresponding to the four rope paths in that set of saved data are read sequentially, and the four single rope weights are multiplied together to obtain the final weight corresponding to that set of saved data. Then, the measured pitch angles in each set of saved data are multiplied by the corresponding final weights, and the products are added together to obtain the estimated pitch angle. The measured roll angles in each set of saved data are multiplied by the corresponding final weights, and the products are added together to obtain the estimated roll angle. When the current actual rope length of a certain rope path is the same as the saved actual rope length on one side, the single rope weight corresponding to the same saved actual rope length is set to one, and the single rope weight corresponding to the saved actual rope length on the other side is set to zero, so that the saved data corresponding to the same saved actual rope length participates in the attitude estimation result calculation.

[0144] In this embodiment, the pre-calibration attitude adjustment process is a data establishment process performed by the four-point rope attitude adjustment device before formal fault diagnosis. The pre-calibration attitude adjustment process is used to establish the corresponding data between different target rope lengths, the current attitude angle information of the device, and the tension information of the four ropes, so that the calibration tension can be read in the current attitude and the tension information at the current acquisition time can be compared with the calibration tension. When the pre-calibration attitude adjustment process is executed, the four-point rope attitude adjustment device is first adjusted to the attitude position corresponding to the first acquisition time, and then different target rope length combinations are input into the four rope paths in sequence. After each target rope length combination is input, the four rope paths are controlled to perform rope winding or rope unwinding respectively until the rope length difference of the four rope paths does not exceed the preset rope length difference threshold. Then, the tension information of the four ropes is read, and the current attitude angle information of the device is read simultaneously. Then, the target rope length, the tension information of the four ropes, the measured pitch angle, and the measured roll angle are saved accordingly.

[0145] In this embodiment, the calibration tension table is a data table generated during the pre-calibrated attitude adjustment process. The calibration tension table is used to store the calibration tension of the four ropes under different target rope lengths and different current attitude angle information of the device. When forming the calibration tension table, a data record format including rope path number, target rope length, measured pitch angle, measured roll angle and calibration tension is first established. Then, under each target rope length combination, the target rope lengths of the four rope paths are read, and the tension information of the four ropes at the same acquisition time is read. Subsequently, the tension information of each rope is used as the calibration tension of the corresponding rope path under the current target rope length and the current attitude angle information of the device. Finally, four data records are written according to the rope path number, so that each data record contains a rope path number, a target rope length, a measured pitch angle, a measured roll angle and a calibration tension. After the data records for different target rope length combinations are all written, the calibration tension table is obtained.

[0146] In this embodiment, when reading the calibration tension corresponding to the current attitude angle information of the device from the calibration tension table, the measured pitch angle and measured roll angle at the current acquisition time are read first, and then the record that is exactly the same as the measured pitch angle and measured roll angle is searched in the calibration tension table. When there is a record that is exactly the same as the measured pitch angle and measured roll angle in the calibration tension table, the calibration tension corresponding to the four tension ropes is read according to the rope route number, and the read calibration tension is used as the comparison benchmark for each tension rope at the current acquisition time.

[0147] When there is no record in the calibration tension table that is exactly the same as the measured pitch angle and the measured roll angle, first search the calibration tension table for the nearest saved pitch angle that is not greater than the measured pitch angle, and then search for the nearest saved pitch angle that is not less than the measured pitch angle; then search for the nearest saved roll angle that is not greater than the measured roll angle, and then search for the nearest saved roll angle that is not less than the measured roll angle; then read the calibration tension record that corresponds to both the aforementioned saved pitch angle and the saved roll angle to obtain multiple sets of calibration tension under the same rope route number.

[0148] After obtaining multiple sets of calibration tension, first determine the positional ratio of the measured pitch angle between two saved pitch angles, and then determine the positional ratio of the measured roll angle between two saved roll angles. For each rope path number, read the calibration tension at the corresponding saved pitch angle and the corresponding saved roll angle, and weight the multiple sets of calibration tension according to the positional ratio of the measured pitch angle and the positional ratio of the measured roll angle to obtain the calibration tension of the corresponding rope path at the current acquisition time. When the measured pitch angle is the same as a saved pitch angle, or the measured roll angle is the same as a saved roll angle, the weight corresponding to the same angle is set to one, and the weight corresponding to the other angle is set to zero.

[0149] When the measured pitch angle exceeds the range of pitch angles already saved in the calibration tension table, or the measured roll angle exceeds the range of roll angles already saved in the calibration tension table, the calibration tension is not extrapolated. The controller writes the measured pitch angle, measured roll angle, tension information of the four ropes, and target rope length of the four rope paths at the current acquisition time into the calibration record, and re-receives the target rope length of each rope path, so that the four-point rope attitude adjustment device returns to the attitude range covered by the calibration tension table. After adopting the aforementioned reading method, even if the current attitude angle information of the device at the current acquisition time is not exactly the same as the measured pitch angle and measured roll angle in the calibration tension table, the calibration tension corresponding to each rope can still be obtained within the coverage range of the calibration tension table and used to calculate the tension distribution residual.

[0150] In this embodiment, the tension distribution residual is the difference between the tension information of each rope at the current acquisition time and the calibrated tension. The tension distribution residual is used to represent the deviation of the actual force state of each rope at the current attitude from the calibrated force state. When calculating the tension distribution residual, the current attitude angle information of the device at the current acquisition time is read first, and then the calibrated tension corresponding to the measured pitch angle and measured roll angle at the current acquisition time is found from the calibrated tension table. Then, the tension information of the four ropes at the current acquisition time is read respectively, and the tension information of each rope is subtracted from the calibrated tension under the same rope path number to obtain the tension distribution residual corresponding to each rope. The reason for calculating the tension distribution residual is that the four-point rope attitude adjustment device should have a force distribution state corresponding to the calibrated tension under the same attitude. If the tension information at the current acquisition time deviates from the calibrated tension, the tension distribution residual can reflect the force distribution deviation of the corresponding rope path and provide a basis for judgment for the subsequent formation of abnormal type separation results.

[0151] In an optional embodiment, it further includes:

[0152] Determine the relationship between the current actual rope length and the target rope length based on the sequence of data collection times;

[0153] When adjacent collection times that reach the preset collection quantity all satisfy the condition that the current actual rope length of the target rope path is greater than the target rope length, or all satisfy the condition that the current actual rope length of the target rope path is less than the target rope length, the absolute value of the difference between the current actual rope length of the target rope path and the target rope length within the adjacent collection times that reach the preset collection quantity is accumulated to obtain the execution quantity offset residual; otherwise, the execution quantity offset residual is determined to be zero.

[0154] In this embodiment, the preset sampling quantity is the number of sampling moments used to determine whether the actual rope length and the target rope length are in the same direction within adjacent sampling moments. The preset sampling quantity is set during the calibration attitude adjustment process. When setting it, the four-point rope pulling attitude adjustment device is first controlled to perform rope winding adjustment and rope releasing adjustment, and the number of sampling moments covered by the corresponding changes in rotational displacement information and the corresponding update of the current actual rope length after the servo pulse information starts to be output is recorded. Then, the number of sampling moments that can cover one pulse output, one change in the rotational displacement of the winding disc, and one update of the current actual rope length is determined as the preset sampling quantity. The preset sampling quantity is set in the above manner to ensure that the judgment process covers the complete execution process of the target rope from receiving servo pulse information to forming the current change in the actual rope length, avoiding judgment based solely on the relationship between the current actual rope length and the target rope length at a single sampling moment.

[0155] In this embodiment, the execution offset residual is the cumulative result of the absolute value of the difference between the current actual rope length and the target rope length in the same deviation direction within adjacent acquisition times when the preset acquisition quantity is reached. When the current actual rope length of the target rope is greater than the target rope length in adjacent acquisition times, it indicates that the target rope is in a length-over-limit state in adjacent acquisition times. The absolute value of the difference between the current actual rope length and the target rope length at each acquisition time is accumulated to obtain the execution offset residual. When the current actual rope length of the target rope is less than the target rope length in adjacent acquisition times, it indicates that the target rope is in a length-insufficient state in adjacent acquisition times. The absolute value of the difference between the target rope length and the current actual rope length at each acquisition time is accumulated to obtain the execution offset residual. The execution offset residual is calculated by accumulating the absolute value of the difference in order to summarize the same-direction length deviation of the target rope in adjacent acquisition times into a comparable result, so that the execution offset residual can reflect the degree of execution offset of the target rope and provide a basis for judgment for the subsequent formation of anomaly type separation results.

[0156] In an optional embodiment, the method further includes: generating an anomaly type separation result, specifically including:

[0157] When the actual rope length of the target rope path is greater than or less than the target rope length in adjacent collection times within the preset collection quantity, the execution quantity offset residual exceeds the preset offset residual threshold, the absolute value of the tension distribution residual of the pull rope corresponding to the target rope path exceeds the preset tension residual threshold, and the absolute value of the tension distribution residual of the pull rope corresponding to at least one rope path other than the target rope path does not exceed the preset tension residual threshold, the abnormal type separation result is determined as roll diameter variation type execution geometric error.

[0158] In this embodiment, the anomaly type separation result is a judgment result obtained by classifying the sources of anomalies in the four-point rope attitude adjustment device based on the current actual rope length, target rope length, execution amount offset residual, and tension distribution residual of the target rope path. The anomaly type separation result is used to distinguish the execution anomalies caused by the current effective roll diameter conversion deviation of the target rope path, the measurement anomalies caused by the current attitude angle information of the device, and the disturbance anomalies caused by the change in the common load of the four ropes. The reason for forming the anomaly type separation result is that when judging based solely on the current actual rope length or the current attitude angle information of the device, the execution deviation of the target rope path may be covered by the compensation action of other rope paths, resulting in the anomaly source not being able to correspond to the target rope path. By incorporating the execution amount offset residual and the tension distribution residual into the judgment process, the anomaly type separation result can correspond the length offset direction, the cumulative length offset result, and the force distribution deviation result of the target rope path, providing a basis for subsequent selection of pulse conversion coefficient correction, attitude angle information verification command, or re-receiving the target rope length of each rope path.

[0159] In this embodiment, the execution geometric error caused by the change in the effective winding diameter of the winding reel corresponding to the target rope path is the execution geometric error caused by the change in the effective winding diameter of the winding reel. The execution geometric error caused by the change in winding diameter indicates that the servo pulse information and rotational displacement information of the target rope path have formed a mechanical execution action, but the rope length conversion benchmark corresponding to the current effective winding diameter does not match the actual winding and unwinding state of the target rope path, causing the target rope path to form a length deviation in the same direction in multiple adjacent acquisition times, and causing the force distribution of the corresponding pull rope of the target rope path to deviate. The reason for the formation of the execution geometric error caused by the change in winding diameter is that the four-point pull rope attitude adjustment device needs to separate the single rope execution abnormality caused by the change in winding diameter from the attitude sensing abnormality and the load disturbance abnormality. Only when the abnormality type separation result is determined to be the execution geometric error caused by the change in winding diameter can the pulse conversion coefficient be corrected and the control pulse number adjusted for the target rope path.

[0160] In this embodiment, the process for determining the abnormal type separation result as a roll diameter variation type execution geometric error is as follows: when the actual rope length of the target rope is greater than or less than the target rope length in adjacent acquisition times that reach the preset acquisition quantity, it indicates that the direction of the length deviation of the target rope is the same in adjacent acquisition times that reach the preset acquisition quantity; when the execution quantity offset residual exceeds the preset offset residual threshold, it indicates that the cumulative result of the length deviation of the target rope in the same direction has exceeded the allowable range; when the absolute value of the tension distribution residual of the target rope corresponding to the pull rope exceeds the preset threshold... When the tension residual threshold is reached, it indicates that the stress state of the pull rope corresponding to the target rope path has deviated from the calibrated tension. When the absolute value of the tension distribution residual of the pull rope corresponding to at least one rope path other than the target rope path does not exceed the preset tension residual threshold, it indicates that the tension distribution deviation is not a load change that occurs simultaneously in all four rope paths. Therefore, when the conditions of consistent length deviation direction, excessive execution amount offset residual, excessive tension distribution residual of the target rope path, and no excessive tension distribution residual of at least one rope path other than the target rope path are met at the same time, the abnormal type separation result is determined to be a roll diameter variation type execution geometric error.

[0161] In this embodiment, the preset offset residual threshold is the cumulative length limit for determining whether the execution offset residual exceeds the normal execution record range. The preset offset residual threshold is set during the calibration attitude adjustment process. During setting, the winding reel, pull rope, tension sensor, tilt feedback, and servo control link are all in normal working condition. Then, the four-point pull rope attitude adjustment device is controlled to perform rope winding and unwinding according to different target rope lengths. During each attitude adjustment process, the actual rope length and target rope length of the target rope path are read according to the preset acquisition quantity within adjacent acquisition times, and the corresponding execution offset residual record is obtained according to the calculation method of the execution offset residual. After multiple target rope lengths and multiple rope paths have been recorded, the maximum value in the execution amount offset residual record results is read and written to the controller as the preset offset residual threshold. The preset offset residual threshold is set by using the maximum value in the execution amount offset residual record results so that the preset offset residual threshold corresponds to the execution amount offset boundary that the four-point rope attitude adjustment device can form under normal working conditions. When the subsequent execution amount offset residual exceeds the preset offset residual threshold, it can indicate that the cumulative deviation of the target rope path length has exceeded the normal execution record range formed during the calibration attitude adjustment process.

[0162] In this embodiment, the preset tension residual threshold is the tension limit value used to determine whether the tension distribution residual exceeds the normal force distribution recording range. The preset tension residual threshold is set during the calibration attitude adjustment process. First, tension information of the four ropes and the current attitude angle information of the device are collected under different target rope lengths, and a calibration tension table is formed. Then, with the winding reel, ropes, tension sensor, tilt feedback, and servo control link all in normal working condition, the four-point rope attitude adjustment device is controlled again to reach the corresponding current attitude angle information in the calibration tension table. Under each device's current attitude angle information, the tension information of the four ropes is read, and the corresponding calibration tension is read from the calibration tension table. Then, the tension information of each rope is... The absolute value of the difference between the information and the corresponding calibrated tension is recorded as the tension distribution residual record result. After the current attitude angle information of multiple devices and the four rope paths are recorded, the maximum value in the tension distribution residual record result is read and written to the controller as the preset tension residual threshold. The preset tension residual threshold is set by using the maximum value in the tension distribution residual record result so that the preset tension residual threshold corresponds to the force distribution boundary that the four-point rope attitude adjustment device can form under normal working conditions. When the absolute value of the subsequent tension distribution residual exceeds the preset tension residual threshold, it can indicate that the force state of the corresponding rope has exceeded the normal force distribution record range corresponding to the calibrated tension table.

[0163] In an optional embodiment, the method for generating anomaly type separation results further includes:

[0164] When the absolute value of the pitch angle difference or the absolute value of the roll angle difference in the attitude response residual exceeds the preset attitude residual threshold, the execution amount offset residual does not exceed the preset offset residual threshold, and the absolute values ​​of the tension distribution residuals of the four rope paths do not exceed the preset tension residual threshold, the abnormal type separation result is determined as an attitude sensing abnormality.

[0165] In this embodiment, the preset attitude residual threshold is the angle limit for determining whether the attitude response residual exceeds the calibrated attitude response recording range. The preset attitude residual threshold is set during the attitude calibration adjustment process. During setting, the winding reel, pull rope, tension sensor, tilt feedback, and servo control link are all calibrated first, and the four-point pull rope attitude adjustment device reaches different attitude positions according to different target rope lengths. At each attitude position, the current actual rope length of the four rope paths is read, and the attitude estimation result is calculated based on the preset rope length attitude mapping relationship. Simultaneously, the current attitude angle information of the device is read. Then, the absolute value of the difference between the estimated pitch angle and the measured pitch angle, and the absolute value of the difference between the estimated roll angle and the measured roll angle are calculated respectively. The absolute values ​​of the aforementioned differences are recorded as attitude response residual recording results. After recording is completed at multiple attitude positions, the maximum value in the attitude response residual recording results is read and written to the controller as a preset attitude residual threshold. The preset attitude residual threshold is set by using the maximum value in the attitude response residual recording results. This is to ensure that the preset attitude residual threshold corresponds to the attitude measurement boundary formed by the four-point rope attitude adjustment device during the attitude adjustment calibration process. When the absolute values ​​of the pitch angle difference or roll angle difference in the subsequent attitude response residual exceed the preset attitude residual threshold, it indicates that the current attitude angle information of the device is inconsistent with the attitude estimation results corresponding to the current actual rope lengths of the four rope paths.

[0166] In this embodiment, an attitude sensing anomaly is defined as a discrepancy between the current attitude angle information collected by the device and the calculated actual rope lengths of the four rope paths, provided that the target rope path has not experienced an execution offset and the four rope paths have not experienced a tension distribution deviation. When the absolute value of the pitch angle difference or roll angle difference in the attitude response residual exceeds a preset attitude residual threshold, it indicates an angular difference between the measured pitch angle or roll angle and the attitude estimation result. When the execution offset residual does not exceed a preset offset residual threshold, it indicates that there is no cumulative length offset exceeding the calibration range between the current actual rope length of the target rope path and the target rope length. The result is that when the absolute values ​​of the tension distribution residuals of the four rope paths do not exceed the preset tension residual threshold, it indicates that the force state of the four ropes does not exceed the force distribution range corresponding to the calibrated tension table. Therefore, when the angle difference exceeds the preset attitude residual threshold, but the execution offset residual and tension distribution residual do not exceed the corresponding threshold, the anomaly type separation result is determined to be an attitude sensing anomaly. The purpose of calculating the attitude sensing anomaly is to avoid misjudging the angle difference formed by the current attitude angle information acquisition link of the device as the execution geometric error of the target rope path, and to provide a basis for maintaining the pulse conversion coefficient of the target rope path and generating attitude angle information verification instructions.

[0167] In an optional embodiment, the method for generating anomaly type separation results further includes:

[0168] When the absolute value of the tension distribution residual of the four rope paths exceeds the preset tension residual threshold, the abnormality type separation result is determined to be a load disturbance abnormality.

[0169] In this embodiment, the load disturbance anomaly is the result of anomaly type separation after the load state of the four-point rope attitude adjustment device changes. The load disturbance anomaly indicates that the force state of the ropes corresponding to the four rope paths deviates from the calibrated force under the current attitude angle information of the corresponding device in the calibration force table. When the absolute value of the force distribution residual of the ropes corresponding to the four rope paths exceeds the preset force residual threshold, it indicates that the four ropes are all outside the normal force distribution recording range at the same acquisition time. The force deviation does not occur concentratedly in a single target rope path, but acts on all four rope paths simultaneously. In the four-point rope attitude adjustment device, the execution geometric error of the diameter change of a single target rope path usually causes the shape of the rope corresponding to the target rope path to change. The force distribution deviates, but at least one rope other than the target rope remains within the preset tension residual threshold. When the absolute value of the tension distribution residual of the four ropes exceeds the preset tension residual threshold, the judgment criteria point to changes in the weight distribution of the tested object, external contact effects, changes in the installation position of the tested object, or changes in the overall load during attitude adjustment. Therefore, the anomaly type separation result is determined to be a load disturbance anomaly, indicating that the current anomaly source does not belong to the execution geometric error of a single target rope, nor to the separate acquisition anomaly of the current attitude angle information of the device. Instead, it is necessary to re-receive the target rope length of each rope and readjust the attitude according to the current load state.

[0170] In an optional embodiment, it further includes:

[0171] When the anomaly type separation result is a diameter variation type execution geometric error, the corrected pulse conversion coefficient is used to determine the number of subsequent control pulses for the target rope path; when the anomaly type separation result is an attitude sensing anomaly, the pulse conversion coefficient of the target rope path is maintained, and an attitude angle information verification command is generated; when the anomaly type separation result is a load disturbance anomaly, the pulse conversion coefficients of the four rope paths are maintained, and the target rope length of each rope path is received again.

[0172] In this embodiment, when the anomaly type separation result is a diameter variation type execution geometric error, the corrected pulse conversion coefficient is used to determine the number of subsequent control pulses for the target rope path. This is because a diameter variation type execution geometric error indicates that the rope length conversion benchmark corresponding to the current effective diameter of the target rope path does not match the actual winding and unwinding state of the target rope path. In this case, the length of the target rope path deviates from the pulse conversion coefficient pointing to the target rope path. If the original pulse conversion coefficient is used to calculate the number of subsequent control pulses for the target rope path, the subsequent attitude adjustment will still be performed according to the deviated conversion benchmark. Therefore, the controller writes the corrected pulse conversion coefficient into the control parameters of the target rope path, and when calculating the number of subsequent control pulses for the target rope path, it divides the subsequent rope length adjustment amount by the corrected pulse conversion coefficient to make the number of subsequent winding or unwinding control pulses for the target rope path consistent with the corrected rope length conversion benchmark of the current effective diameter.

[0173] In this embodiment, the attitude angle information verification instruction is a verification control instruction generated when the anomaly type separation result indicates an attitude sensing anomaly. The attitude angle information verification instruction is used to request the tilt feedback interface to re-acquire the current attitude angle information of the device and to request the controller not to correct the pulse conversion coefficient of the target rope path based on the current attitude angle information of the device. The content of the attitude angle information verification instruction includes the acquisition time that triggers the attitude angle information verification instruction, the measured pitch angle, the measured roll angle, the estimated pitch angle, the estimated roll angle, the attitude response residual, and the preset attitude residual threshold. After the controller generates the attitude angle information verification instruction, it sends a re-acquisition request to the tilt feedback interface and compares the re-acquired measured pitch angle and measured roll angle with the attitude estimation result again. The re-acquired current attitude angle information of the device is used to determine whether the measured pitch angle or measured roll angle output by the tilt feedback interface needs to be verified, re-acquired, or suspended.

[0174] In this embodiment, when the anomaly type separation result is an attitude sensing anomaly, the pulse conversion coefficient of the target rope path is maintained, and an attitude angle information verification command is generated. This is because the judgment condition for attitude sensing anomaly is that the absolute value of the pitch angle difference or the absolute value of the roll angle difference in the attitude response residual exceeds the preset attitude residual threshold, while the execution quantity offset residual does not exceed the preset offset residual threshold, and the absolute values ​​of the tension distribution residuals of the four rope paths do not exceed the preset tension residual threshold. This judgment condition indicates that the current actual rope length of the four rope paths has not formed an execution quantity offset exceeding the calibration range, and the force state of the four ropes has not formed a tension distribution deviation exceeding the calibration range. Therefore, the source of the anomaly points to the current attitude angle information acquisition result of the device, not the pulse conversion coefficient of the target rope path. The controller maintains the pulse conversion coefficient of the target rope path and re-acquires and compares the current attitude angle information of the device through the attitude angle information verification command.

[0175] In this embodiment, when the anomaly type separation result is a load disturbance anomaly, the pulse conversion coefficients of the four rope paths are maintained, and the target rope lengths of each rope path are received again. This is because the judgment condition for a load disturbance anomaly is that the absolute value of the tension distribution residual of the corresponding pull ropes of the four rope paths all exceeds the preset tension residual threshold. This judgment condition indicates that the force state of the four pull ropes deviates from the calibration tension of the corresponding device under the current attitude angle information in the calibration tension table. The source of the anomaly points to the change in the load state of the four-point pull rope attitude adjustment device, rather than the deviation of the pulse conversion coefficient of a single target rope path. If the pulse conversion coefficients of the four rope paths are corrected under a load disturbance anomaly, the controller will mistakenly write the change in load state into the rope length conversion reference. Therefore, the controller maintains the pulse conversion coefficients of the four rope paths and receives the target rope lengths of each rope path again, so that the subsequent attitude adjustment can re-form the target rope length distribution relationship of the four rope paths according to the current load state.

[0176] In an optional embodiment, it further includes:

[0177] When the geometric error of the roll diameter variation is determined to be the result of the anomaly type separation of the same target rope path within a preset number of consecutive attitude adjustment cycles, the number of control pulses of the target rope path is limited to within a preset upper limit. When the number of control pulses before the target rope path is limited is greater than the preset upper limit, the difference between the number of control pulses before the target rope path is limited and the preset upper limit is determined as the number of unexecuted pulses. Based on the number of unexecuted pulses and the corrected pulse conversion coefficient of the target rope path, the unexecuted rope length adjustment amount is obtained. According to the preset rope length attitude mapping relationship, the unexecuted rope length adjustment amount is allocated to the three rope paths other than the target rope path, and converted into the fault-tolerant control pulse bias amount according to the corrected pulse conversion coefficient of each of the three rope paths. The fault-tolerant control pulse bias amount is merged into the control pulse number of the three rope paths.

[0178] In this embodiment, the preset number of continuous attitude adjustment cycles is the number of cycles used to determine whether the execution geometric error of the same target rope diameter variation type occurs repeatedly in adjacent attitude adjustment tasks. Each continuous attitude adjustment cycle starts from the time each rope receives the target rope length and ends when the current actual rope length, attitude response residual, tension distribution residual, execution amount offset residual, and anomaly type separation result are all recorded. The preset number is written to the controller after the attitude adjustment process is calibrated. When setting the preset number, the attitude adjustment cycle covered from the servo pulse information output to the formation of the anomaly type separation result in one attitude adjustment task is read first, and then the number of attitude adjustment cycles required for the four-point rope attitude adjustment device to complete one target attitude switch is read. The number of cycles that can cover one target attitude switch and one anomaly type separation result verification is determined as the preset number. The preset number is set in the aforementioned way so that the execution geometric error of the same target rope diameter variation type needs to be repeatedly confirmed in adjacent attitude adjustment tasks before the control pulse number limit of the target rope is triggered, avoiding the direct limitation of the control pulse number of the target rope based solely on one anomaly type separation result.

[0179] In this embodiment, the preset pulse upper limit is the maximum number of control pulses allowed to be output by the target rope path within one continuous attitude adjustment cycle. The preset pulse upper limit is set during the equipment calibration stage. When setting it, the upper limit of the number of pulses that the servo driver corresponding to the target rope path is allowed to receive within one continuous attitude adjustment cycle is read first, and then the upper limit of the rotational displacement that the winding disc corresponding to the target rope path is allowed to form within one continuous attitude adjustment cycle is read. The rope length change corresponding to the upper limit of rotational displacement is converted into the number of pulses according to the corrected pulse conversion coefficient. Then, the minimum value between the upper limit of the number of pulses that the servo driver is allowed to receive and the number of pulses corresponding to the upper limit of rotational displacement is taken as the preset pulse upper limit. The preset pulse upper limit is set in the above manner so that the number of control pulses of the target rope path is simultaneously constrained by the execution capability of the servo control link and the mechanical winding capability of the winding disc.

[0180] It should be noted that when the geometric error of the roll diameter variation is determined to be the abnormal type separation result of the same target rope path within a preset number of consecutive attitude adjustment cycles, it indicates that the length conversion deviation of the same target rope path has been repeated in adjacent attitude adjustment tasks. If the target rope path is driven according to the control pulse number before the limit is reached, the target rope path will continue to generate rope winding or unwinding execution in the same direction. Therefore, the control pulse number of the target rope path is limited to within the preset pulse upper limit, so that the target rope path only executes no more than the preset pulse upper limit of control pulses within a consecutive attitude adjustment cycle. The part not executed by the target rope path is then jointly undertaken by the three rope paths other than the target rope path.

[0181] In this embodiment, the unexecuted rope length adjustment amount is the amount of rope length adjustment that was not executed in the target rope path due to the limitation on the number of control pulses. When calculating the unexecuted rope length adjustment amount, the number of control pulses before the limitation of the target rope path is read first, and then the preset pulse upper limit is read. The difference between the number of control pulses before the limitation of the target rope path and the preset pulse upper limit is taken as the number of unexecuted pulses. Then, the number of unexecuted pulses is converted with the corrected pulse conversion coefficient of the target rope path to obtain the unexecuted rope length adjustment amount. The purpose of calculating the unexecuted rope length adjustment amount is to convert the difference in control pulses that could not be executed by the target rope path into a difference in rope length, so that the length difference can be allocated to the three rope paths other than the target rope path according to the preset rope length attitude mapping relationship.

[0182] In this embodiment, the fault-tolerant control pulse bias is the number of control pulses that need to be added or reduced for the three rope paths other than the target rope path to compensate for the unexecuted rope length adjustment. The fault-tolerant control pulse bias is used to transfer the attitude adjustment action corresponding to the unexecuted rope length adjustment to the three rope paths other than the target rope path after the number of control pulses of the target rope path is limited. When calculating the fault-tolerant control pulse bias, the angle difference formed by the unexecuted rope length adjustment of the target rope path to the estimated pitch angle and estimated roll angle is first determined according to the preset rope length attitude mapping relationship. Then, the rope length change direction and rope length change amount of the three rope paths that can offset the angle difference are found in the preset rope length attitude mapping relationship. Subsequently, the rope length change amount of each of the three rope paths is divided by the corrected pulse conversion coefficient of the corresponding rope path, and the fault-tolerant control pulse bias amount of each of the three rope paths is obtained according to the preset rounding rule.

[0183] In this embodiment, based on the preset rope length attitude mapping relationship, when allocating the unexecuted rope length adjustment amount to the three rope paths other than the target rope path, the target execution rope length change amount corresponding to the number of control pulses before the target rope path is restricted is read first, and the restricted execution rope length change amount corresponding to the number of control pulses after the target rope path is restricted is read second. Then, the difference between the target execution rope length change amount and the restricted execution rope length change amount is determined as the unexecuted rope length adjustment amount. Next, the unexecuted rope length adjustment amount is superimposed on the current actual rope length of the target rope path to obtain the reference rope length corresponding to the unrestricted target rope path. Then, the reference rope length of the target rope path and the current actual rope lengths of the three rope paths other than the target rope path are input into the preset rope length attitude mapping relationship to obtain the reference attitude estimation result. Then, the actual rope length after the target rope path is restricted and the current actual rope lengths of the three rope paths other than the target rope path are input into the preset rope length attitude mapping relationship to obtain the restricted attitude estimation result. Finally, the reference attitude estimation result and the restricted attitude estimation result are compared. The attitude estimation results are used to obtain the estimated pitch angle difference and estimated roll angle difference that need to be compensated by the three rope paths other than the target rope path. Finally, the actual rope length after the target rope path constraint is executed is fixed in the preset rope length attitude mapping relationship, and candidate rope length changes are generated for the three rope paths other than the target rope path. When generating candidate rope length changes, the actual rope length, target rope length, and corrected pulse conversion coefficient of each rope path other than the target rope path are read at the current acquisition time. Then, the single pulse rope length change corresponding to the corrected pulse conversion coefficient is used as the rope length adjustment step size. Then, starting from the current actual rope length and ending at the target rope length, the candidate rope length changes are arranged along the rope reeling direction or the rope releasing direction according to the rope length adjustment step size. If the current actual rope length is greater than the target rope length, the candidate rope length changes are generated in the rope reeling direction. If the current actual rope length is less than the target rope length, the candidate rope length changes are generated in the rope releasing direction. If the current actual rope length is equal to the target rope length, the candidate rope length changes are determined to be zero.

[0184] After obtaining the candidate rope length changes for the three rope paths other than the target rope path, the controller combines the candidate rope length changes for the three rope paths one by one to obtain candidate allocation combinations. For each candidate allocation combination, the controller inputs the actual rope length after the target rope path is constrained and the actual rope length after the candidate rope length changes for the three rope paths other than the target rope path are superimposed into a preset rope length attitude mapping relationship to obtain the candidate attitude estimation result. Then, the candidate attitude estimation result is compared with the reference attitude estimation result to obtain the candidate pitch angle difference and the candidate roll angle difference. When the absolute value of the candidate pitch angle difference is... If the absolute value of the candidate roll angle difference does not exceed the preset attitude residual threshold, the corresponding candidate allocation combination is determined as an available allocation combination. When there are multiple available allocation combinations, the available allocation combination with the smallest sum of absolute values ​​of candidate rope length changes of the three rope paths is selected. When there are no available allocation combinations, the candidate allocation combination with the smallest sum of absolute values ​​of candidate pitch angle difference and candidate roll angle difference is selected. The three candidate rope length changes in the selected candidate allocation combination are respectively determined as the rope length changes of the three rope paths other than the target rope path.

[0185] Using the above allocation method, the rope length adjustment step size is determined by the corrected pulse conversion coefficient of each rope path, the candidate adjustment range is determined by the length interval between the current actual rope length and the target rope length, the stopping condition is determined by the preset attitude residual threshold, and the selection rule is jointly limited by the angle difference and the absolute value of the rope length change. Therefore, the rope length change undertaken by the three rope paths other than the target rope path can directly correspond to the attitude angle change in the preset rope length attitude mapping relationship, without the need to design a separate optimization algorithm.

[0186] In this embodiment, when merging the fault-tolerant control pulse bias into the control pulse count of the three rope paths, the number of control pulses that the three rope paths other than the target rope path originally needed to execute in the current continuous attitude adjustment cycle is first read, and then the fault-tolerant control pulse bias corresponding to each of the three rope paths is read; when the rope length change direction corresponding to the fault-tolerant control pulse bias is the same as the original rope winding or rope unwinding direction of the corresponding rope path, the fault-tolerant control pulse bias is added to the original number of control pulses that the corresponding rope path originally needed to execute to obtain the updated control pulse count of the corresponding rope path; when the fault-tolerant control pulse bias... When the direction of the corresponding rope length change is opposite to the original rope winding or unwinding direction of the corresponding rope path, the number of control pulses that the corresponding rope path originally needed to execute is reduced by the fault-tolerant control pulse offset, and the updated number of control pulses and execution direction of the corresponding rope path are determined based on the subtraction result. Subsequently, the controller writes the updated control pulse numbers of the three rope paths into the servo control link of the corresponding rope path respectively. The above operation is used to compensate for the attitude adjustment effect corresponding to the unexecuted rope length adjustment amount by correcting the control pulse numbers of the three rope paths other than the target rope path after the number of control pulses of the target rope path is limited.

[0187] In an optional embodiment, it further includes:

[0188] If the target rope path with the limited number of control pulses is not identified as having a diameter variation type of execution geometric error within a preset number of consecutive attitude adjustment cycles, the preset pulse upper limit of the target rope path is canceled; the control pulse number of the target rope path is restored to the control pulse number determined based on the corrected pulse conversion coefficient; and the addition of fault-tolerant control pulse bias to the three rope paths other than the target rope path is stopped.

[0189] It should be noted that the above operations in this embodiment are used to release the control pulse count limit of the target rope path when the execution geometric error of the diameter variation type of the same target rope path no longer meets the triggering conditions, and to stop the three rope paths other than the target rope path from undertaking the unexecuted rope length adjustment. When the execution geometric error of the diameter variation type is not determined to be the abnormal type separation result of the same target rope path within a preset number of consecutive attitude adjustment cycles, it indicates that the same target rope path has no longer formed the execution amount offset residual and tension distribution residual that meet the conditions within the preset number of consecutive attitude adjustment cycles. At this time, the target rope path continues to be limited by the preset pulse upper limit, which will cause the control pulse count of the target rope path to not be executed according to the result corresponding to the corrected pulse conversion coefficient, and will cause the three rope paths other than the target rope path to continue to add the fault-tolerant control pulse bias. Therefore, the controller cancels the preset pulse upper limit of the target rope path, restores the control pulse count of the target rope path to the control pulse count determined according to the corrected pulse conversion coefficient, and stops adding the fault-tolerant control pulse bias to the three rope paths other than the target rope path, so that the four rope paths re-execute the subsequent attitude adjustment according to their respective corrected pulse conversion coefficients and target rope length.

[0190] In summary, this application first obtains the cumulative winding and unwinding rope length by collecting the target rope length, servo pulse information, rotational displacement information, and tension information of each rope path, and then determines the current effective winding diameter based on the cumulative winding and unwinding rope length; then, it calculates the current actual rope length based on the current effective winding diameter, rotational displacement information, and servo pulse information, so that the current actual rope length can be updated according to the winding and unwinding states of the winding reel; subsequently, it forms an anomaly type separation result by combining rope length difference, tension difference, attitude response residual, tension distribution residual, and execution amount offset residual, and distinguishes and processes winding diameter change type execution geometric error, attitude sensing anomaly, and load disturbance anomaly; when the anomaly type separation result is winding diameter change type execution geometric error, it is based on the target rope path's... The pulse conversion coefficient of the target rope path is corrected based on the rope length difference, and the number of control pulses is determined based on the corrected pulse conversion coefficient. When the same target rope path is determined to be a diameter change type of execution geometric error within a preset number of consecutive attitude adjustment cycles, the three rope paths other than the target rope path are made to undertake the corresponding attitude adjustment role by using the preset pulse upper limit, the amount of unexecuted rope length adjustment, and the fault-tolerant control pulse offset. In this way, in the four-point rope attitude adjustment device, the single rope execution deviation caused by the current effective diameter change of the winding reel can be included in the fault diagnosis and subsequent control pulse number calculation process, reducing the current actual rope length conversion deviation caused by the fixed pulse conversion coefficient, and providing an executable control basis for the attitude adjustment distribution and tension distribution among the four rope paths.

[0191] Example 2

[0192] See Figure 5 As shown, this embodiment provides a fault-tolerant control system for rope attitude, which is used to implement the fault-tolerant control method for rope attitude in Embodiment 1. The fault-tolerant control system for rope attitude includes a data acquisition module, a calculation module, an anomaly module, and a judgment module. The data acquisition module, calculation module, anomaly module, and judgment module are connected through a data interface. The data output by the data acquisition module is sent to the calculation module, the data output by the calculation module is sent to the anomaly module, the data output by the anomaly module is sent to the judgment module, and the control result output by the judgment module is sent to the servo control link of the corresponding rope path.

[0193] In this embodiment, the acquisition module is used to receive the target rope length of each rope path, acquire the servo pulse information and rotational displacement information of the winding reel corresponding to each rope path, and acquire the tension information of each rope at the same acquisition time. When the acquisition module receives the target rope length, it receives the target rope length of the four rope paths according to the rope path number. When the acquisition module acquires the servo pulse information, it reads the number of pulses, pulse direction, and pulse occurrence time from the servo driver corresponding to each rope path. When the acquisition module acquires the rotational displacement information, it reads the rotational displacement information from the encoder or rotation angle acquisition interface of the winding reel corresponding to each rope path. When the acquisition module acquires the tension information, it reads the tension value from the tension sensor corresponding to each rope path and writes the tension information of the four ropes at the same acquisition time into the same set of acquisition records.

[0194] In this embodiment, the calculation module is used to obtain the cumulative winding and unwinding length of each rope path based on servo pulse information and rotational displacement information, and to determine the current effective winding diameter of the winding reel corresponding to each rope path based on the cumulative winding and unwinding length. At the first acquisition moment, the calculation module sets the cumulative winding and unwinding length of each rope path to zero, and then converts the rotational displacement information between adjacent acquisition moments and the effective winding diameter of the previous acquisition moment into the single winding and unwinding length according to the preset arc length conversion relationship. When the pulse direction in the servo pulse information indicates winding, the calculation module adds the single winding and unwinding length to the cumulative winding and unwinding length of the previous acquisition moment. When the pulse direction in the servo pulse information indicates unwinding, the calculation module subtracts the single winding and unwinding length from the cumulative winding and unwinding length of the previous acquisition moment to obtain the cumulative winding and unwinding length of the current acquisition moment.

[0195] In this embodiment, the calculation module is also used to calculate the current actual rope length of each rope path based on the current effective roll diameter, rotational displacement information, and servo pulse information. The calculation module first reads the actual rope length at the previous acquisition time as the starting rope length, and then converts the rotational displacement information between adjacent acquisition times with the current effective roll diameter into arc length to obtain the single rope length change. When the servo pulse information indicates that the rope is being wound up, the calculation module subtracts the single rope length change from the starting rope length. When the servo pulse information indicates that the rope is being released, the calculation module adds the single rope length change to the starting rope length to obtain the current actual rope length.

[0196] In this embodiment, the calculation module is also used to calculate the absolute difference between the current actual rope length and the target rope length as the rope length difference, and to calculate the absolute difference between the tension information of each rope and the average tension of the four ropes at the same acquisition time as the tension difference; the calculation module first reads the tension information of the four ropes at the same acquisition time, and then calculates the average tension of the four ropes at the same acquisition time; then it calculates the absolute difference between the current actual rope length and the target rope length of each rope path to obtain the rope length difference of each rope path; and calculates the absolute difference between the tension information of each rope and the average tension of the four ropes at the same acquisition time to obtain the tension difference of each rope.

[0197] In this embodiment, the anomaly module is used to select one of the four rope paths as the target rope path and determine whether the target rope path has an execution geometric error. The anomaly module sequentially reads the rope length difference and the tension difference of the corresponding pull rope for each target rope path. When the rope length difference of the target rope path exceeds a preset rope length difference threshold and the tension difference of the corresponding pull rope exceeds a preset tension difference threshold, the anomaly module determines that the target rope path has an execution geometric error. When the rope length difference of the target rope path does not exceed the preset rope length difference threshold, or the tension difference of the corresponding pull rope does not exceed the preset tension difference threshold, the anomaly module does not determine that the target rope path has an execution geometric error.

[0198] In this embodiment, the judgment module is used to determine the abnormal type separation result when there is an execution geometric error in the target rope path. The judgment module reads the attitude response residual, execution amount offset residual, and tension distribution residual, and determines the abnormal type separation result as a roll diameter change type execution geometric error, attitude sensing abnormality, or load disturbance abnormality based on the attitude response residual, execution amount offset residual, and tension distribution residual. When the abnormal type separation result is a roll diameter change type execution geometric error, the judgment module corrects the pulse conversion coefficient of the target rope path based on the rope length difference of the target rope path, and determines the number of control pulses required for subsequent attitude adjustment of the target rope path based on the corrected pulse conversion coefficient. When the abnormal type separation result is an attitude sensing abnormality, the judgment module maintains the pulse conversion coefficient of the target rope path and generates an attitude angle information verification command. When the abnormal type separation result is a load disturbance abnormality, the judgment module maintains the pulse conversion coefficients of the four rope paths and re-receives the target rope length of each rope path.

[0199] In this embodiment, the rope attitude fault-tolerant control system completes the input of target rope length, servo pulse information, rotational displacement information, and tension information through the acquisition module; completes the calculation of cumulative rope length, current effective coil diameter, current actual rope length, rope length difference, and tension difference through the calculation module; completes the identification of execution geometric errors through the anomaly module; and completes the formation of anomaly type separation results, correction of pulse conversion coefficients, and determination of control pulse number through the judgment module. Thus, the rope attitude fault-tolerant control system can execute the rope attitude fault-tolerant control method in Embodiment 1 in a modular manner, and establish a correspondence between the fault diagnosis results and subsequent attitude adjustment control parameters.

[0200] Example 3

[0201] See Figure 6As shown, this embodiment provides a rope attitude fault-tolerant control device, which is used to implement the rope attitude fault-tolerant control method in Embodiment 1. The rope attitude fault-tolerant control device includes four rope path execution units and a controller. The four rope path execution units are respectively connected to the controlled object, and the controller is respectively connected to the four rope path execution units and is used to receive the target rope length, collect operating data, form anomaly type separation results, and output control pulse number.

[0202] In this embodiment, each rope execution unit includes a pull rope, a winding reel, a servo driver, a rotational displacement acquisition device, and a tension acquisition device. The pull rope is wound around the corresponding winding reel and used to pull the controlled object. The servo driver is connected to the corresponding winding reel and is used to drive the corresponding winding reel to wind or unwind the rope according to the number of control pulses output by the controller. The rotational displacement acquisition device is set at the position of the corresponding winding reel or the shaft of the corresponding winding reel and is used to acquire the rotational displacement information of the corresponding winding reel. The tension acquisition device is set on the force transmission path of the corresponding pull rope and is used to acquire the tension information of the corresponding pull rope.

[0203] In this embodiment, the controller is connected to the servo driver, rotational displacement acquisition unit, and tension acquisition unit in the four rope execution units respectively; the controller outputs the number of control pulses to the servo driver and reads servo pulse information from the servo driver; the controller reads rotational displacement information from the rotational displacement acquisition unit and reads tension information from the tension acquisition unit; the controller performs time alignment of the servo pulse information, rotational displacement information, and tension information at the same acquisition time, and writes the aligned servo pulse information, rotational displacement information, and tension information into the data record of the corresponding rope path.

[0204] In this embodiment, the controller receives the target rope length for each rope path and determines the current effective winding diameter and current actual rope length for each rope path based on servo pulse information and rotational displacement information. The controller first determines the cumulative winding and unwinding rope length for each rope path based on the pulse direction and rotational displacement information in the servo pulse information, and then determines the current effective winding diameter of the corresponding winding reel for each rope path based on the cumulative winding and unwinding rope length, rope diameter, preset initial winding diameter, preset single-layer accommodating rope length, and preset rope layer winding diameter correction relationship. Subsequently, the controller calculates the current actual rope length for each rope path based on the current effective winding diameter, rotational displacement information, and servo pulse information.

[0205] In this embodiment, the controller is also used to determine the rope length difference based on the current actual rope length and the target rope length, and to determine the tension difference based on the tension information of each pull rope; the controller takes one of the four rope paths as the target rope path, and reads the rope length difference of the target rope path and the tension difference of the pull rope corresponding to the target rope path; when the rope length difference of the target rope path exceeds the preset rope length difference threshold, and the tension difference of the pull rope corresponding to the target rope path exceeds the preset tension difference threshold, the controller determines that there is an execution geometric error in the target rope path, and writes the target rope path number, rope length difference, tension difference and acquisition time into the execution geometric error record.

[0206] In this embodiment, the rope attitude fault-tolerant control device may further include an attitude angle acquisition unit, which is connected to the controller. The attitude angle acquisition unit is used to acquire the current attitude angle information of the device, which includes the measured pitch angle and the measured roll angle. The controller calculates the attitude estimation result based on the current actual rope length of the four rope paths and the preset rope length attitude mapping relationship, and forms the attitude response residual based on the difference between the attitude estimation result and the current attitude angle information of the device. The controller also reads the calibration tension corresponding to the current attitude angle information of the device from the calibration tension table, and determines the difference between the tension information of each rope and the calibration tension as the tension distribution residual.

[0207] In this embodiment, the controller is further configured to generate anomaly type separation results when execution geometry errors exist in the target rope path. When the execution offset residual exceeds a preset offset residual threshold, the absolute value of the tension distribution residual of the pull rope corresponding to the target rope path exceeds a preset tension residual threshold, and the absolute value of the tension distribution residual of the pull rope corresponding to at least one rope path other than the target rope path does not exceed the preset tension residual threshold, the controller determines the anomaly type separation result as a roll diameter variation type execution geometry error. When the attitude response residual exceeds a preset attitude residual threshold, the execution offset residual does not exceed a preset offset residual threshold, and the absolute values ​​of the tension distribution residuals of the pull ropes corresponding to the four rope paths do not exceed the preset tension residual threshold, the controller determines the anomaly type separation result as an attitude sensing anomaly. When the absolute values ​​of the tension distribution residuals of the pull ropes corresponding to the four rope paths all exceed the preset tension residual threshold, the controller determines the anomaly type separation result as a load disturbance anomaly.

[0208] In this embodiment, when the anomaly type separation result is a diameter variation type execution geometric error, the controller corrects the pulse conversion coefficient of the target rope path based on the rope length difference of the target rope path, and determines the number of control pulses required for subsequent attitude adjustment of the target rope path based on the corrected pulse conversion coefficient; the controller outputs the number of control pulses to the servo driver corresponding to the target rope path, so that the winding reel corresponding to the target rope path performs rope winding or unwinding according to the number of control pulses; when the anomaly type separation result is an attitude sensing anomaly, the controller maintains the pulse conversion coefficient of the target rope path and sends an attitude angle information verification command to the attitude angle acquisition device; when the anomaly type separation result is a load disturbance anomaly, the controller maintains the pulse conversion coefficients of the four rope paths and re-receives the target rope length of each rope path.

[0209] In this embodiment, when the geometric error of the roll diameter variation is determined to be the abnormal type separation result of the same target rope path within a preset number of consecutive attitude adjustment cycles, the controller limits the number of control pulses of the target rope path to within a preset pulse upper limit. When the number of control pulses before the target rope path is limited is greater than the preset pulse upper limit, the controller determines the number of unexecuted pulses based on the difference between the number of control pulses before the target rope path is limited and the preset pulse upper limit, and obtains the unexecuted rope length adjustment amount based on the number of unexecuted pulses and the corrected pulse conversion coefficient of the target rope path. The controller then allocates the unexecuted rope length adjustment amount to the three rope paths other than the target rope path according to the preset rope length attitude mapping relationship, and merges the fault-tolerant control pulse bias amount into the control pulse number of the three rope paths other than the target rope path.

[0210] In this embodiment, the rope attitude fault-tolerant control device completes four-point rope traction of the controlled object through four rope execution units, and completes data acquisition, current effective roll diameter calculation, current actual rope length calculation, execution geometric error identification, anomaly type separation result formation, and control pulse number output through the controller; thus, the rope attitude fault-tolerant control device can support the rope attitude fault-tolerant control method in Embodiment 1 at the physical structure level, and make roll diameter change type execution geometric error, attitude sensing anomaly, and load disturbance anomaly correspond to different control processing methods.

[0211] The above description is merely a preferred embodiment of this application. The scope of protection of this application is not limited to the above embodiments. All technical solutions falling within the scope of this application's concept are within the scope of protection of this application. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of this application should also be considered within the scope of protection of this application.

Claims

1. A fault-tolerant control method for rope attitude failure, characterized in that, include: Receive the target rope length of each rope path, collect the servo pulse information and rotational displacement information of the corresponding winding disc of each rope path, and collect the tension information of each pull rope at the same acquisition time. The cumulative winding and unwinding lengths of each rope path are obtained based on servo pulse information and rotational displacement information. The current effective winding diameter of the corresponding winding reel for each rope path is determined based on the cumulative winding and unwinding lengths. Based on the current effective winding diameter, rotational displacement information, and servo pulse information, the current actual rope length of each rope path is calculated. The absolute difference between the current actual rope length and the target rope length is calculated as the rope length difference. The absolute difference between the tension information of each rope and the average tension of the four ropes at the same acquisition time is calculated as the tension difference. One of the four rope paths is taken as the target rope path. When the rope length difference of the target rope path exceeds the preset rope length difference threshold, and the tension difference of the corresponding pull rope of the target rope path exceeds the preset tension difference threshold, it is determined that there is an execution geometric error in the target rope path. When there is an execution geometric error in the target rope path, an anomaly type separation result is generated. When the anomaly type separation result is an execution geometric error of the roll diameter change type, the pulse conversion coefficient of the target rope path is corrected according to the rope length difference of the target rope path, and the number of control pulses required for subsequent attitude adjustment of the target rope path is determined according to the corrected pulse conversion coefficient.

2. The method according to claim 1, characterized in that, Methods for obtaining the cumulative length of rope taken in and out for each rope path include: At the first data collection moment, the cumulative length of rope taken in and out for each rope path is set to zero; Based on the preset arc length conversion relationship between the rotational displacement of the winding disc and the effective winding diameter, the rotational displacement information between adjacent acquisition times and the effective winding diameter of the previous acquisition time are converted into the length of a single rope winding and unwinding. When the pulse direction in the servo pulse information indicates that the rope is being wound up, the length of the rope being wound up and released in a single instance is added to the cumulative length of the rope being wound up and released at the previous acquisition time. When the pulse direction in the servo pulse information indicates that the rope is being released, the length of the rope being released and retrieved in a single operation is subtracted from the cumulative length of the rope being released and retrieved at the previous acquisition time to obtain the cumulative length of the rope being released and retrieved at the current acquisition time.

3. The method according to claim 1, characterized in that, Methods for determining the current effective diameter of the winding reel corresponding to each rope path include: Obtain the rope diameter, preset initial coil diameter, and preset single-layer rope length corresponding to each rope path; Divide the absolute value of the cumulative rope length by the preset single-layer accommodating rope length and round down to obtain the number of rope layer changes. When the cumulative length of the rope being wound up and out is greater than zero, the number of rope layers that change is determined as the number of rope layers that have been added. When the cumulative length of the rope being wound up and out is less than zero, the number of rope layers that have changed is determined as the number of rope layers that have been reduced. When the cumulative length of the rope wound up and down is equal to zero, the initial coil diameter is determined as the current effective coil diameter; Based on the number of rope layer changes, the direction of increase or decrease corresponding to the cumulative length of rope winding and unwinding, the rope diameter of the corresponding pull rope for each rope path, and the preset rope layer roll diameter correction relationship, the roll diameter change amount with the direction of increase or decrease is obtained. The initial roll diameter is combined with the roll diameter change in both increasing and decreasing directions to obtain the current effective roll diameter.

4. The method according to claim 1, characterized in that, Methods for obtaining the current actual rope length of each rope path include: Read the actual rope length at the previous data acquisition time as the starting rope length; The rotational displacement information between adjacent acquisition times is converted into arc length with the current effective roll diameter to obtain the single rope length change. When the servo pulse information indicates that the rope is being wound up, the initial rope length is subtracted from the single rope length change. When the servo pulse information indicates that the rope is being released, the starting rope length is added to the single rope length change to obtain the current actual rope length.

5. The method according to claim 1, characterized in that, Methods for correcting the pulse conversion coefficient of the target rope path based on the rope length difference include: Obtain the original pulse conversion coefficient of the target rope path; When the number of pulses is not zero, divide the difference in rope length of the target rope by the number of pulses in the servo pulse information of the target rope between adjacent acquisition times to obtain the unit pulse deviation. When the actual length of the target rope is greater than the target rope length, subtract the unit pulse deviation from the original pulse conversion coefficient. When the actual length of the target rope is less than the target rope length, the original pulse conversion factor is added to the unit pulse deviation to obtain the corrected pulse conversion factor.

6. The method according to claim 1, characterized in that, Methods for determining the number of control pulses required for subsequent attitude adjustments of the target rope path based on the corrected pulse conversion coefficient include: If the current actual rope length is greater than the target rope length, the difference between the current actual rope length and the target rope length will be used as the subsequent rope length adjustment amount, and the subsequent rope winding will be determined. If the current actual rope length is less than the target rope length, the difference between the target rope length and the current actual rope length will be used as the subsequent rope length adjustment amount, and the subsequent rope release will be determined. If the current actual rope length is equal to the target rope length, the subsequent rope length adjustment amount is set to zero, and the number of control pulses is set to zero; The subsequent rope length adjustment is divided by the corrected pulse conversion coefficient, and the number of control pulses is obtained according to the preset rounding rule.

7. The method according to claim 1, characterized in that, Also includes: The current attitude angle information of the acquisition device includes the measured pitch angle and the measured roll angle. The attitude estimation results are calculated based on the rope length to attitude sub-mapping in the preset rope length attitude mapping relationship. The attitude estimation results include the estimated pitch angle and the estimated roll angle. Calculate the difference between the estimated pitch angle and the measured pitch angle to obtain the pitch angle difference; calculate the difference between the estimated roll angle and the measured roll angle to obtain the roll angle difference; determine the pitch angle difference and roll angle difference as attitude response residuals; During the pre-calibration attitude adjustment process, the tension information of the four ropes and the current attitude angle information of the device under different target rope lengths are recorded to form a calibration tension table; The calibration tension is read from the calibration tension gauge to determine the calibration tension corresponding to the current attitude angle information of the device, and the difference between the tension information of each rope and the calibration tension is determined as the tension distribution residual.

8. The method according to claim 7, characterized in that, Also includes: Determine the relationship between the current actual rope length and the target rope length based on the sequence of data collection times; When adjacent collection times that reach the preset collection quantity all satisfy the condition that the current actual rope length of the target rope path is greater than the target rope length, or all satisfy the condition that the current actual rope length of the target rope path is less than the target rope length, the absolute value of the difference between the current actual rope length of the target rope path and the target rope length within the adjacent collection times that reach the preset collection quantity is accumulated to obtain the execution quantity offset residual. Otherwise, the execution offset residual will be set to zero.

9. The method according to claim 8, characterized in that, The specific methods for generating anomaly type separation results include: When the actual rope length of the target rope path is greater than or less than the target rope length in adjacent collection times within the preset collection quantity, the execution quantity offset residual exceeds the preset offset residual threshold, the absolute value of the tension distribution residual of the pull rope corresponding to the target rope path exceeds the preset tension residual threshold, and the absolute value of the tension distribution residual of the pull rope corresponding to at least one rope path other than the target rope path does not exceed the preset tension residual threshold, the abnormal type separation result is determined as roll diameter variation type execution geometric error.

10. The method according to claim 9, characterized in that, Methods for generating anomaly type separation results also include: When the absolute value of the pitch angle difference or the absolute value of the roll angle difference in the attitude response residual exceeds the preset attitude residual threshold, the execution amount offset residual does not exceed the preset offset residual threshold, and the absolute value of the tension distribution residual of the four rope paths does not exceed the preset tension residual threshold, the abnormal type separation result is determined as an attitude sensing abnormality. When the absolute value of the tension distribution residual of the four rope paths exceeds the preset tension residual threshold, the abnormality type separation result is determined to be a load disturbance abnormality.

11. A fault-tolerant control system for rope attitude, used to implement the fault-tolerant control method for rope attitude as described in any one of claims 1-10, characterized in that, include: The acquisition module is used to receive the target rope length of each rope path, acquire the servo pulse information and rotational displacement information of the corresponding winding disc of each rope path, and acquire the tension information of each pull rope at the same acquisition time. The calculation module is used to obtain the cumulative winding and unwinding length of each rope path based on servo pulse information and rotational displacement information, and to determine the current effective winding diameter of the corresponding winding reel for each rope path based on the cumulative winding and unwinding length; based on the current effective winding diameter, rotational displacement information, and servo pulse information, it calculates the current actual rope length of each rope path; it calculates the absolute difference between the current actual rope length and the target rope length as the rope length difference, and calculates the absolute difference between the tension information of each pull rope and the average tension of the four pull ropes at the same acquisition time as the tension difference; The exception module is used to determine that there is an execution geometric error in the target rope when one of the four rope paths is taken as the target rope path and the rope length difference of the target rope path exceeds the preset rope length difference threshold, and the tension difference of the corresponding pull rope of the target rope path exceeds the preset tension difference threshold. The judgment module is used to determine the abnormal type separation result when there is an execution geometric error in the target rope path; When the anomaly type separation result is a roll diameter variation type execution geometric error, the pulse conversion coefficient of the target rope path is corrected according to the rope length difference of the target rope path, and the number of control pulses required for subsequent attitude adjustment of the target rope path is determined according to the corrected pulse conversion coefficient.

12. A fault-tolerant control device for rope attitude, used to implement the fault-tolerant control method for rope attitude as described in any one of claims 1-10, characterized in that, Includes four rope-guided actuators and a controller; Each rope execution unit includes a pull rope, a winding reel, a servo driver, a rotational displacement acquisition unit, and a tension acquisition unit. The pull rope is wound around the corresponding winding reel and used to pull the controlled object. The servo driver is used to drive the corresponding winding reel to take in or release the rope. The rotational displacement acquisition unit is used to acquire the rotational displacement information of the corresponding winding reel, and the tension acquisition unit is used to acquire the tension information of the corresponding pull rope. The controller is connected to four rope execution units respectively, and is used to receive the target rope length of each rope, obtain the servo pulse information, rotational displacement information and tension information of each rope, and determine the current effective coil diameter and current actual rope length of each rope based on the servo pulse information and rotational displacement information. The controller is also used to determine the rope length difference based on the current actual rope length and the target rope length, determine the tension difference based on the tension information of each pull rope, and determine that there is an execution geometric error in the target rope path when the rope length difference of the target rope path exceeds the preset rope length difference threshold and the tension difference of the pull rope corresponding to the target rope path exceeds the preset tension difference threshold. The controller is also used to generate anomaly type separation results when there are execution geometric errors in the target rope path, and when the anomaly type separation results are execution geometric errors of the roll diameter variation type, to correct the pulse conversion coefficient of the target rope path, and to determine the number of control pulses required for subsequent attitude adjustment of the target rope path based on the corrected pulse conversion coefficient.

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