A method and system for cross-coupling and synchronous deviation correction control of a loop car

Abstract

The application discloses a kind of loop trolley double-side cross coupling synchronous deviation correction control method and system, it is related to industrial production line control technical field.The method respectively acquires the operating state parameter of left side execution unit and right side execution unit of loop trolley, constructs left side tracking error, right side tracking error and the synchronization deviation amount of bilateral synchronization relationship;With running direction, track section, bilateral response sequence, synchronization deviation expansion trend and abnormal contact characteristic information, construct loop trolley special disturbance attribution amount;Based on synchronization deviation amount and special disturbance attribution amount, generate left side correction distribution and right side correction distribution, realize difference cross coupling correction control by anti-oscillation state machine.The system includes bilateral state acquisition, synchronization deviation construction, special disturbance attribution, correction distribution, state machine control and execution control module.The scheme can inhibit loop trolley bilateral synchronization deviation amplification and correction oscillation, improve synchronization correction stability and operating reliability.

Description

Technical Field

[0001] This invention relates to the field of industrial production line control technology, and in particular to a method and system for synchronous correction control of a looper trolley on both sides. Background Technology

[0002] In continuous strip steel processing production lines, looper devices are typically installed to maintain a certain strip steel reserve, adapting to tension adjustments, process cycle variations, and filling / unloading requirements during continuous strip steel conveying. The looper trolley within the looper device usually reciprocates along a pre-set track to coordinate with the strip steel conveying process under different operating conditions. For looper trolleys driven by dual-sided actuators or with dual-sided operating mechanisms working in tandem, the consistency of the running states on both sides directly affects the trolley's stability and the reliability of the looper operation.

[0003] In existing technologies, control methods for looper-related equipment typically focus on corrective control after strip position detection, adjustment of looper height or contact state, tension control, and general operating parameter adjustments. For the operation control of the looper trolley itself, existing solutions mostly rely on synchronous adjustments based on single operating parameters such as position and speed, or use conventional compensation methods to correct the actuators on both sides after a deviation is detected. While these solutions can provide some adjustment under normal operating conditions, during actual operation of the looper trolley, the left and right sides are often affected by varying degrees of track friction, localized obstruction, load changes, directional switching impacts, and inconsistent timing of the actuator responses on both sides. This creates disturbances with significant asymmetric characteristics, leading to a gradual increase in the synchronous deviation between the two sides.

[0004] Especially when switching between filling and releasing directions, operating on different track sections, or experiencing localized abnormal contact, the dynamic responses of the two actuators on the looper trolley are often inconsistent. If the symmetrical compensation method used in general dual-actuator systems is still adopted, although it can correct the synchronization error to some extent, it is easy for the correction action on one side to restrain the recovery process on the other side. This causes the synchronization deviation to continue to amplify during the correction process, and may even lead to problems such as repeated adjustments, oscillation switching, oblique movement, jamming, or collisions, affecting the smoothness of the looper trolley's operation and the reliability of the continuous operation of the production line.

[0005] Furthermore, existing technologies for handling synchronous correction on both sides of the looper trolley mostly lack disturbance identification mechanisms for specific operating conditions of the looper trolley. They cannot distinguish the differences in the sources of deviation under different operating directions, different track sections, and different response sequences, and also lack control strategies that implement differentiated correction allocation to the two-sided actuators based on the source of disturbance. At the same time, during the gradual recovery of synchronous deviation, existing control methods usually lack dedicated state management mechanisms for correction oscillations, making it difficult to promptly suppress over-correction, compensate for alternating fluctuations, and address issues such as inappropriate exit timing.

[0006] Therefore, there is an urgent need to provide a method and system for synchronous correction control of both sides of the looper trolley to solve the problems in the existing technology that the synchronous deviation of both sides of the looper trolley is easily amplified under asymmetric disturbance, the correction process is easily mutually restrained and prone to oscillation, and the stability is insufficient. Summary of the Invention

[0007] The purpose of this invention is to provide a method and system for synchronous correction control of a looper trolley with cross-coupling on both sides, in order to solve the problems in the prior art where the looper trolley is subjected to asymmetric disturbances during operation such as filling, releasing and switching track sections, resulting in increased synchronous deviation, mutual restraint of correction, and easy oscillation. This invention aims to improve the pertinence, stability and operational reliability of synchronous correction of the looper trolley on both sides.

[0008] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution: A method for synchronous correction control of a looper trolley with dual-side cross-coupling includes the following steps: Step 1: Collect the operating status parameters of the left and right execution units of the looper trolley respectively. The operating status parameters include at least two of the following: position parameters, speed parameters, drive response parameters, running direction parameters, track section parameters, and abnormal contact characterization parameters. Step 2: Based on the operating status parameters of the left execution unit and the operating status parameters of the right execution unit, construct the left tracking error and the right tracking error respectively, and construct the synchronization deviation quantity representing the synchronization relationship between the two sides based on the left tracking error and the right tracking error; Step 3: Based on the running direction parameters, the track section parameters, the order of responses on both sides, the increasing trend of the synchronization deviation, and the abnormal contact characterization parameters, construct a special disturbance attribution quantity for the looper trolley; Step 4: Based on the synchronization deviation and the dedicated disturbance attribution of the looper trolley, generate the left correction allocation and the right correction allocation, and output differentiated cross-coupling correction control commands to the left execution unit and the right execution unit respectively according to the left correction allocation and the right correction allocation. Step 5: Based on the threshold state, expansion trend and convergence stability of the synchronization deviation, switch between normal synchronization state, correction preparation state, enhanced correction state, oscillation suppression state and recovery exit state, and adjust the differentiated cross-coupling correction control command in different states. Step 6: In the next sampling period, re-collect the operating status parameters and update the synchronization deviation, the dedicated disturbance attribution of the looper trolley, and the current status until the synchronization deviation meets the recovery conditions. The specific disturbance attribution quantity for the looper trolley is used to distinguish at least one disturbance type among forward hindrance disturbance in the looping direction, lag disturbance in the looping direction, sudden increase in resistance in local track sections, and bilateral response sequence imbalance disturbance. The left-side correction allocation quantity and the right-side correction allocation quantity are asymmetrically allocated according to the identified disturbance type to apply enhanced correction compensation to the lag side and suppressive or limiting correction compensation to the lead side, thereby suppressing the amplification and oscillation of bilateral synchronization deviation of the looper trolley during the correction process.

[0009] Optionally, the position parameters include the position values ​​of the left and right execution units, the speed parameters include the speed values ​​of the left and right execution units, the drive response parameters include at least one of drive current, drive torque, drive delay time, and drive response change rate, and the abnormal contact characterization parameters include at least one of railside contact signal, contact duration, and contact frequency.

[0010] Optionally, the dedicated disturbance attribution quantity for the looper trolley is a comprehensive characterization quantity constructed based on the running direction parameters, track section parameters, the order of bilateral responses, the rate of change of synchronization deviation, and abnormal contact characterization parameters. It is used to determine the current disturbance state as one or more of the following: forward obstruction disturbance in the looping direction, backward lag disturbance in the looping direction, sudden increase in resistance in the local track section, or imbalance in the bilateral response sequence.

[0011] Optionally, the step of generating the left-side correction allocation and the right-side correction allocation based on the synchronization deviation and the attribution of the looper trolley-specific disturbance includes: When the left execution unit is determined to be the side with a delayed response, the left correction compensation gain is increased and the right follower compensation gain is decreased. When the right-side execution unit is determined to be the side with a delayed response, the right-side correction compensation gain is increased and the left-side follower compensation gain is decreased. When it is determined that one side of the actuator is in a state of sudden increase in resistance in a local track section, a gradual ascent compensation is applied to that side of the actuator, and a limiting compensation is applied to the other side of the actuator.

[0012] Optionally, the state switching between the normal synchronization state, the correction preparation state, the enhanced correction state, the oscillation suppression state, and the recovery exit state includes: When the synchronization deviation exceeds the threshold for multiple consecutive sampling periods and the rate of change of the synchronization deviation exceeds the preset expansion threshold, the system switches from normal synchronization state to correction preparation state. When the special disturbance attribution quantity of the looper trolley indicates that the current disturbance is in a state of continuous enhancement, the state of preparation for correction is switched to the state of enhanced correction. When the synchronization deviation fluctuates alternately and the convergence trend is unstable, the state switches from enhanced correction to oscillation suppression. When the synchronization deviation is less than the recovery threshold for multiple consecutive sampling periods and the rate of change of the synchronization deviation meets the stable convergence condition, switch to the recovery exit state.

[0013] To achieve the above-mentioned technical objectives, the present invention also adopts the following technical solution: A looper trolley dual-side cross-coupling synchronous correction control system, comprising: The dual-side status acquisition module is used to acquire the operating status parameters of the left and right execution units of the looper trolley, respectively. The operating status parameters include at least two of the following: position parameters, speed parameters, drive response parameters, running direction parameters, track section parameters, and abnormal contact characterization parameters. The synchronization deviation construction module is used to construct the left tracking error and the right tracking error based on the running status parameters of the left execution unit and the running status parameters of the right execution unit, respectively, and to construct a synchronization deviation quantity representing the synchronization relationship between the two sides based on the left tracking error and the right tracking error. A dedicated disturbance attribution module is used to construct a dedicated disturbance attribution quantity for the looper trolley based on the running direction parameters, the track section parameters, the order of responses on both sides, the expansion trend of the synchronization deviation, and the abnormal contact characterization parameters. The differentiated cross-coupling correction allocation module is used to generate left-side correction allocation and right-side correction allocation based on the synchronization deviation and the looper trolley-specific disturbance attribution. The anti-oscillation state machine module is used to switch between normal synchronization state, correction preparation state, enhanced correction state, oscillation suppression state and recovery exit state based on the threshold state, expansion trend and convergence stability of the synchronization deviation amount, and to adjust the correction control strategy in different states. The dual-sided execution control module is used to output differentiated cross-coupling correction control commands to the left execution unit and the right execution unit respectively, based on the left correction allocation amount and the right correction allocation amount; The closed-loop update module is used to reacquire the operating status parameters in the next sampling period and update the synchronization deviation, the dedicated disturbance attribution of the looper trolley, and the current status until the synchronization deviation meets the recovery conditions. The dedicated disturbance attribution module is configured to identify at least one disturbance type among forward hindrance disturbance in the filling direction, backward lag disturbance in the releasing direction, sudden increase in resistance in local track sections, and bilateral response sequence imbalance disturbance. The differentiated cross-coupling correction allocation module is configured to generate asymmetric correction allocation amounts for the left and right execution units based on the identified disturbance types, so as to apply enhanced correction compensation to the lag side and suppressive or limiting correction compensation to the lead side, thereby suppressing the amplification and oscillation of bilateral synchronization deviation of the looper trolley during the correction process.

[0014] Optionally, the dual-side status acquisition module includes at least two of the following: a position acquisition unit, a speed acquisition unit, a drive response acquisition unit, a running direction identification unit, a track section identification unit, and an abnormal contact detection unit. The position acquisition unit and the speed acquisition unit are used to acquire the real-time running status of the left execution unit and the right execution unit, respectively.

[0015] Optionally, the dedicated disturbance attribution module includes a directional disturbance identification unit, a segment disturbance identification unit, a response sequence identification unit, and an abnormal contact analysis unit. The directional disturbance identification unit is used to identify forward hindrance disturbances in the filling direction and backward hysteresis disturbances in the releasing direction. The segment disturbance identification unit is used to identify sudden increases in resistance in local track segments. The response sequence identification unit is used to identify disturbances with imbalanced response sequences on both sides.

[0016] Optionally, the differentiated cross-coupling correction allocation module includes a lag-side enhancement compensation unit, a lead-side suppression compensation unit, and a limiting adjustment unit. The lag-side enhancement compensation unit is used to output enhanced correction compensation to the lag-side execution unit, the lead-side suppression compensation unit is used to output suppressed correction compensation to the lead-side execution unit, and the limiting adjustment unit is used to limit the compensation output amplitude of the lead-side execution unit under the condition of sudden increase in local resistance.

[0017] Optionally, the anti-oscillation state machine module includes an entry determination unit, an enhanced correction unit, an oscillation suppression unit, and a recovery exit determination unit. The entry determination unit is used to determine whether to enter the correction preparation state based on the synchronization deviation amount and its expansion trend. The enhanced correction unit is used to maintain the enhanced correction state when the disturbance continues to increase. The oscillation suppression unit is used to perform amplitude reduction, freezing, or slow release processing on the correction control strategy when the synchronization deviation amount fluctuates alternately. The recovery exit determination unit is used to control the system to exit the correction state when the synchronization deviation amount meets the stable convergence condition.

[0018] The main advantages of this invention compared to existing technologies are as follows: This invention constructs a synchronization deviation quantity characterizing the synchronization relationship between the two sides by separately collecting the operating status parameters of the left and right execution units of the looper trolley. Furthermore, it constructs a dedicated disturbance attribution quantity for the looper trolley by combining operating direction parameters, track section parameters, the order of responses between the two sides, the expansion trend of the synchronization deviation quantity, and abnormal contact characterization parameters. Based on this, left-side and right-side correction allocation quantities are generated, and differentiated cross-coupled correction control commands are output to the left and right execution units respectively. Simultaneously, based on the threshold state, expansion trend, and convergence stability of the synchronization deviation quantity, the invention switches between normal synchronization state, correction preparation state, enhanced correction state, oscillation suppression state, and recovery exit state. This enables targeted suppression and stable correction of the synchronization deviation between the two sides of the looper trolley, addressing the problems of increased synchronization deviation, mutual restraint of corrections, and oscillation caused by asymmetric disturbances affecting the two execution units during looper trolley operation such as loop filling, loop releasing, and track section switching.

[0019] This invention sets up a dedicated disturbance attribution quantity for the looper trolley, which no longer treats the bilateral synchronization deviation as a general synchronization error. Instead, it can distinguish and identify disturbances from different sources by combining the specific running direction of the looper trolley, the track section, and the bilateral response relationship, thereby improving the adaptability and pertinence of the bilateral synchronization correction process to actual working conditions.

[0020] This invention asymmetrically allocates the left and right correction amounts according to the identified disturbance type, so that the lagging side receives enhanced correction compensation and the leading side receives suppressed or limited correction compensation. This avoids the constraint of the correction action on the other side on the recovery process in the traditional symmetrical compensation method, and helps to reduce the continued amplification of synchronization deviation during the correction process.

[0021] This invention sets up a normal synchronization state, a correction preparation state, a strengthened correction state, an oscillation suppression state, and a recovery exit state, and switches between states based on the threshold state, expansion trend, and convergence stability of the synchronization deviation. This allows for the suppression of alternating fluctuations and overcorrection during the synchronization deviation recovery process, thereby improving the stability and operational reliability of the double-sided synchronous correction process of the looper trolley.

[0022] This invention can reduce the risks of skew, jamming, collision and abnormal shutdown caused by asynchronous operation of the two sides of the looper trolley, which is conducive to improving the continuous operation capability of the looper trolley under complex working conditions and improving the stability of the related production line operation. Attached Figure Description

[0023] Figure 1This is a flowchart of the steps of the looper trolley double-sided cross-coupling synchronous correction control method of the present invention; Figure 2 This is a structural diagram of the double-sided cross-coupling synchronous correction control system for the looper trolley of the present invention; Figure 3 This is a structural diagram of the dual-side status acquisition module of the present invention; Figure 4 This is a structural diagram of the dedicated disturbance attribution module of the present invention; Figure 5 This is a structural diagram of the differentiated cross-coupling correction allocation module of the present invention; Figure 6 This is a structural diagram of the anti-oscillation state machine module of the present invention. Detailed Implementation

[0024] The technical solution of the present invention will be further described in detail below with reference to specific embodiments. It should be understood that the following embodiments are only used to illustrate the present invention and are not intended to limit the scope of protection of the present invention. Equivalent substitutions, simple modifications, or conventional adjustments made by those skilled in the art to the present invention without departing from the technical concept of the present invention should all fall within the scope of protection of the present invention.

[0025] This embodiment provides a double-sided cross-coupling synchronous correction control system and method for a looper trolley, which is applied to the looper device in a continuous strip processing production line. It is used to detect, attribute, allocate, and correct the synchronization deviation between the left and right execution units during the operation of the looper trolley along the track, so as to reduce the risk of skew, jamming, collision, and abnormal shutdown caused by asynchronous operation of the two sides, and improve the operational stability and correction reliability of the looper trolley during the filling, unloading, and track section switching processes.

[0026] The looper trolley's dual-sided cross-coupling synchronous correction control system in this embodiment can be installed in the industrial controller within the looper trolley's control cabinet, or it can be installed in the production line's central control unit. The industrial controller can be implemented using a PLC, industrial computer, embedded controller, DCS control unit, or other commonly used control devices in the field.

[0027] like Figures 2-6 As shown, the system includes: a dual-side state acquisition module 110, a synchronization deviation construction module 120, a dedicated disturbance attribution module 130, a differentiated correction allocation module 140, an anti-oscillation state machine module 150, a dual-side execution control module 160, and a closed-loop update module 170.

[0028] The system includes: a dual-side state acquisition module 110 for acquiring operating state parameters of the left and right sides of the looper trolley; a synchronization deviation construction module 120 for constructing a synchronization deviation quantity representing the dual-side synchronization relationship based on the acquired operating state parameters; a dedicated disturbance attribution module 130 for identifying the dominant disturbance source of the current synchronization deviation; a differentiated correction allocation module 140 for generating left-side correction allocation quantities and right-side correction allocation quantities based on the synchronization deviation and disturbance attribution results; an anti-oscillation state machine module 150 for state management and oscillation suppression of the correction process; a dual-side execution control module 160 for outputting correction control commands to the left and right execution units respectively; and a closed-loop update module 170 for re-acquiring operating state parameters in the next sampling cycle and updating the calculation results and control states of each module to form a closed-loop synchronization correction process.

[0029] The working relationship between the above modules is as follows: the dual-side state acquisition module 110 provides basic input to the synchronization deviation construction module 120 and the dedicated disturbance attribution module 130; the synchronization deviation construction module 120 outputs the synchronization deviation amount and its changing trend to the dedicated disturbance attribution module 130, the differentiated correction allocation module 140 and the anti-oscillation state machine module 150; the dedicated disturbance attribution module 130 outputs the dominant disturbance type and disturbance intensity information to the differentiated correction allocation module 140; the anti-oscillation state machine module 150 outputs the current control state to the differentiated correction allocation module 140 and the dual-side execution control module 160; the dual-side execution control module 160 generates control commands based on the correction allocation results of the left and right sides respectively; the closed-loop update module 170 is responsible for periodically updating the inputs, outputs and states of the above modules.

[0030] The following details the specific implementation methods of each module of the system. The dual-side status acquisition module 110 is used to acquire the operating status parameters of the left and right execution units of the looper trolley, respectively. The operating status parameters include at least two of the following: position parameters, speed parameters, drive response parameters, running direction parameters, track section parameters, and abnormal contact characterization parameters, and preferably all of the above parameters.

[0031] The position parameters can be obtained from encoders, displacement sensors, magnetic scales, or pulse counting units installed on the left and right running mechanisms; the speed parameters can be obtained by converting the position change or directly obtained from the speed detection unit; the drive response parameters can be obtained from the driver feedback, such as drive current, drive torque, drive output change rate, and execution response delay time; the running direction parameters can be directly determined by the current running command status output by the controller, which is used to characterize whether the current looper trolley is in the filling or releasing direction; the track section parameters can be obtained by matching the current position of the looper trolley with a preset track section mapping table; the abnormal contact characterization parameters can be formed by one or more of the following: contact switch, vibration sensor, impact sensor, current surge detection unit, or contact signal counting unit.

[0032] The track segment parameters can be formed as follows: the entire track is pre-divided into multiple fixed segments along the travel direction of the looper trolley, and each segment is assigned a corresponding segment number; the controller determines the current segment range of the looper trolley based on the current position parameters, thereby determining the corresponding segment number. Areas historically prone to localized resistance anomalies, localized wear, or trackside interference can be separately designated as key segments to improve the specificity of subsequent disturbance attribution.

[0033] The abnormal contact characterization parameters can be formed using a comprehensive characterization method. Specifically, they can be combined based on one or more of the following: the number of abnormal contact signals occurring per unit time, the duration of abnormal contact, the degree of sudden increase in vibration amplitude, the intensity of the impact signal, and the instantaneous jump in the driving current. These parameters are used to reflect whether there are signs of localized rubbing, abnormal contact, or jamming on the left and right sides of the current looper trolley. The abnormal contact characterization parameters thus constructed can be either a single contact quantity or a comprehensive judgment quantity.

[0034] To improve the stability of subsequent judgments, this embodiment can also preprocess the collected raw parameters, such as moving average filtering, low-pass filtering, outlier removal, time alignment, and smoothing. All of the above preprocessing methods can be implemented using existing mature technologies in the field; their underlying computational processes are not considered innovative points of this invention and will not be elaborated upon here.

[0035] The synchronization deviation construction module 120 is used to construct the synchronization deviation between the two sides of the looper trolley based on the operating status parameters of the left and right sides. This module does not only compare the current position difference between the left and right sides, but also comprehensively considers the position deviation, speed deviation and response sequence difference between the two sides to more accurately characterize the actual cooperative state of the two sides of the looper trolley.

[0036] The module's inputs mainly include position parameters, velocity parameters, and drive response parameters, while its outputs include synchronization deviation and its trend. The synchronization deviation is used for subsequent disturbance attribution, differentiated error correction allocation, and state machine switching.

[0037] The dedicated disturbance attribution module 130 is used to identify the dominant disturbance source of the current synchronization deviation after a synchronization deviation is detected. Unlike general dual-actuator synchronization control, this embodiment does not uniformly regard all asynchrony as ordinary error, but combines the running direction of the looper trolley, track section, the order of response on both sides, and abnormal contact information to perform specialized disturbance attribution for the looper trolley's unique operating conditions.

[0038] In this embodiment, the dedicated disturbance attribution module can identify at least four types of disturbances: forward hindrance disturbances in the filling direction, lag disturbances in the releasing direction, sudden increase in drag in local track sections, and disturbances with unbalanced response sequences on both sides. The module output includes information on the dominant disturbance type, disturbance intensity, and whether the disturbance is persistent.

[0039] The differential correction allocation module 140 is used to generate left-side correction allocation and right-side correction allocation based on the synchronization deviation result and the disturbance attribution result, respectively.

[0040] The core of this module is not simply to distribute the correction amount equally between the left and right sides, but rather to allocate different intensities, rhythms, and forms of compensation to the left and right sides according to the different states of the lag side and the lead side. For example, enhanced compensation can be allocated to the lag side, and suppressed or limited compensation can be allocated to the lead side; gradual increase compensation can be allocated to the locally high resistance side, and limited follow-up compensation can be allocated to the other side.

[0041] The anti-oscillation state machine module 150 is used to manage the state of the correction process to avoid alternating fluctuations, frequent switching and overcorrection when the synchronization deviation is close to recovery.

[0042] In this embodiment, the anti-oscillation state machine module includes at least a normal synchronization state, a correction preparation state, an enhanced correction state, an oscillation suppression state, and a recovery exit state. This module determines the current control state based on the synchronization deviation, the deviation change trend, the duration of the disturbance, and the convergence stability, and sends this state to the differentiated correction allocation module 140 and the dual-sided execution control module 160.

[0043] The dual-sided execution control module 160 is used to generate control commands that act on the left and right execution units respectively, based on the left and right correction allocation amounts. The control commands can specifically act on at least one of the following controlled objects: drive speed, output cycle time, compensation gain, follow-limit value, response priority, or execution delay correction amount for the left and right execution units.

[0044] In other words, the dual-side execution control module does not abstractly "output a command", but rather implements the correction results onto the adjustable control object, thereby forming an executable control action.

[0045] The closed-loop update module 170 is used to re-acquire the bilateral operating status parameters in the next sampling period and sequentially update the synchronization deviation, disturbance attribution result, left and right side correction allocation result, and current state machine state. This module is also used to determine whether the current correction process has ended.

[0046] In this embodiment, the closed-loop update module can determine whether to exit the correction mode based on conditions such as whether the synchronization deviation is continuously lower than the recovery threshold, whether the abnormal contact has disappeared, and whether the operation on both sides has returned to consistency.

[0047] Furthermore, the parameters in this embodiment, such as the sampling period, state switching threshold, oscillation judgment count, and recovery threshold, can all be preset based on the historical operating data of the looper trolley, on-site debugging results, equipment rated operating parameters, or trial operation statistics, and can be corrected during the debugging phase according to actual working conditions. This invention does not limit the specific values ​​of these parameters, only requiring that they support state judgment and control switching in subsequent steps.

[0048] Based on the above system, the looper trolley double-sided cross-coupling synchronous correction control method in this embodiment includes the following steps.

[0049] Step 1: Collect and preprocess operating status parameters from both sides. First, the dual-side status acquisition module 110 acquires the operating status parameters of the left and right execution units of the looper trolley, respectively. The operating status parameters include at least the position and speed parameters of the left and right sides, and may further include drive response parameters, running direction parameters, track section parameters, and abnormal contact characterization parameters.

[0050] In this embodiment, the left position parameter and the right position parameter are used to characterize the current position of the left and right running mechanisms; the left speed parameter and the right speed parameter are used to characterize the current running speed of the left and right sides; the drive response parameter is used to characterize the response capability of the left and right execution units to control commands; the running direction parameter is used to distinguish whether the current process is a charging process or a releasing process; the track section parameter is used to identify the track section where the trolley is currently located; and the abnormal contact characterization parameter is used to reflect whether there are signs of local friction, increased impact, or jamming.

[0051] After parameter acquisition, the raw parameters are preprocessed. Preprocessing includes, but is not limited to: filtering and smoothing of position and velocity parameters, jitter removal of abnormal contact signals, unified alignment of sampling timing on both sides, and removal of abrupt changes in values. These processes reduce the interference of sampling noise, instantaneous impacts, and asynchronous sampling on subsequent synchronization deviation assessments.

[0052] Step 2: Construct the bilateral synchronization deviation After completing the data acquisition and preprocessing in step 1, the bilateral synchronization deviation of the looper trolley is constructed.

[0053] In this embodiment, the synchronization deviation amount The weighted fusion of position deviation, velocity deviation, and response timing deviation is expressed as follows:

[0054] in, This indicates the positional deviation between the left and right sides. This indicates the speed deviation between the left and right sides. This indicates the timing deviation between the left and right sides of the response. These are the corresponding weighting coefficients.

[0055] In the specific implementation, It can be obtained from the difference in position parameters between the left and right sides. It can be obtained from the difference in velocity parameters between the left and right sides. It can be obtained from the time difference between the left and right sides reaching the response threshold for the same control command. This synchronization deviation not only reflects the asynchrony in the positions of the two sides, but also the inconsistency in the rhythm of movement and the order of response of the two sides. Therefore, it is more suitable for the scenario of synchronous correction control of two sides of a looper car.

[0056] Furthermore, the trend of synchronization deviation can be obtained based on the change of synchronization deviation over multiple consecutive sampling periods, which can be used for subsequent disturbance attribution and state switching judgment.

[0057] Step 3: Construct the specific perturbation attribution results for the looper car After obtaining the synchronization deviation, the process of attributing specific disturbances proceeds. The purpose of this step is to determine which specific disturbance of the looper is mainly causing the current synchronization deviation, rather than treating all asynchrony phenomena as general errors.

[0058] This embodiment prioritizes a rule-based perturbation attribution logic, as detailed below: When the running direction parameter indicates that the looper trolley is in the filling direction, and the synchronization deviation continues to increase over multiple consecutive sampling periods, while the abnormal contact characteristic parameter on one side increases significantly, or the drive response parameter on that side is consistently higher than that on the other side, the current dominant disturbance is determined to be a forward stall disturbance. This disturbance generally indicates that the looper trolley encounters strong resistance on one side during its forward movement, causing a lag in its movement on that side.

[0059] When the running direction parameter indicates that the looper trolley is in the loop-releasing direction, and one side consistently lags behind the other side for multiple consecutive sampling periods, while the synchronization deviation fails to converge in time during the pullback process, the current dominant disturbance is determined to be a pullback lag disturbance. This disturbance generally reflects a problem with smooth release or a following delay on one side during the loop-releasing process.

[0060] When the track section parameters indicate that the looper trolley is in a specific track section, and repeated sudden increases in synchronization deviation, abnormal contact enhancement, or significant increases in drive load occur within that section, the current dominant disturbance is determined to be a sudden increase in resistance in a local track section. This indicates that there may be localized abnormal resistance, changes in adhesion status, or localized wear problems in that specific track section.

[0061] When the position and velocity deviations on both sides do not remain significantly different for a long period of time, but the order of responses on the left and right sides is continuously unbalanced, that is, one side always acts first and the other side always follows, and the synchronization deviation during the correction phase cannot be stably converged, the current dominant disturbance is determined to be a disturbance of unbalanced response order on both sides.

[0062] In other embodiments, the aforementioned rule-based disturbance attribution can also be implemented in conjunction with existing classification methods. For example, decision tree classification, fuzzy inference, or Bayesian classification methods can be used, with parameters such as running direction, track segment parameters, response sequence, synchronization deviation trend, and abnormal contact characterization parameters as inputs, and the dominant disturbance type and disturbance intensity as outputs. Such methods can be directly implemented using existing mature technologies in the field; their underlying training or solution processes will not be elaborated upon, but their input content, output results, and their location in this application should be clearly defined.

[0063] Step 4: Generate differentiated correction allocation for the left and right sides After identifying the dominant disturbance type, differentiated correction allocation amounts are generated for the left and right sides based on the synchronization deviation and disturbance attribution results.

[0064] In this embodiment, the basic cross-coupling correction amount can be constructed first. Its expression is:

[0065] in, This represents the coupling coefficient corresponding to the position deviation and velocity deviation.

[0066] After obtaining the basic cross-coupling correction amount, a differentiated allocation is performed based on the disturbance type and the operating status of the left and right sides. The specific rules are as follows: When the left side is determined to be the lagging side, the compensation intensity of the left side is increased and the compensation intensity of the right side is appropriately reduced to promote the recovery of the left side as soon as possible; When the right side is determined to be the lagging side, increase the compensation intensity on the right side and appropriately reduce the compensation intensity on the left side. When the dominant disturbance is identified as a forward blocking disturbance, enhanced compensation is preferentially applied to the blocking side, and the deviation is suppressed from continuing to expand on the leading side. When the dominant disturbance is identified as a retracement lag disturbance, the retracement timing on the lag side is corrected first, and the excessively rapid release on the leading side is limited. When the dominant disturbance is identified as a sudden increase in drag in a local track section, a gradual increase compensation is adopted for the high-drag side, that is, the compensation amount is gradually increased rather than instantaneously increased, in order to reduce the impact; at the same time, a limited follow-up compensation is adopted for the other side. When the dominant disturbance is identified as a two-sided response sequence imbalance disturbance, the control timing of the lagging side is corrected first, and the suppressive following correction is applied to the leading side.

[0067] Therefore, the essence of this step is not to perform ordinary average compensation for synchronization deviation, but to generate different types, intensities and rhythms of correction control quantities on the left and right sides according to the actual working conditions of the looper trolley, and to implement these correction control quantities on specific control objects such as drive speed, output beat, compensation gain, follow limit value or response priority.

[0068] Step 5: Execute anti-oscillation state switching control After generating the left and right correction allocation in step 4, state machine control is executed to prevent alternating fluctuations or frequent switching during the correction process.

[0069] In this embodiment, the state machine includes at least: normal synchronization state, correction preparation state, enhanced correction state, oscillation suppression state, and recovery exit state.

[0070] When the synchronization deviation exceeds the preset threshold within multiple consecutive sampling periods, the system switches from normal synchronization state to correction preparation state.

[0071] When the synchronization deviation continues to widen and the dominant disturbance type output in step 3 remains consistent over multiple consecutive sampling periods, indicating that the current disturbance persists, the system enters a state of enhanced error correction.

[0072] When the synchronization deviation begins to decrease, but the direction of change alternates repeatedly within multiple consecutive sampling periods, or the correction allocation results on the left and right sides repeatedly flip, it is determined that there is an oscillation trend, and the system switches to the oscillation suppression state.

[0073] Under oscillation suppression, the compensation outputs on the left and right sides can be reduced, frozen, or released slowly, i.e., the compensation intensity is reduced, the compensation is kept unchanged for a short time, or the compensation is released with a small rate of change, so as to suppress excessive correction.

[0074] When the synchronization deviation is continuously lower than the recovery threshold and remains stable within the preset sampling window, the system enters the recovery exit state and exits the correction mode after the maintenance conditions are met.

[0075] The aforementioned entry threshold, recovery threshold, number of consecutive sampling cycles, and number of oscillation judgments can all be preset based on the historical operating data of the looper trolley, on-site debugging results, and rated operating parameters, and can be modified during the debugging phase.

[0076] Step 6: Close the loop and exit the correction process After completing step 5, the process of steps 1 to 5 is repeated in the next sampling period, that is, the operating state parameters of both sides are collected again, the synchronization deviation is reconstructed, the disturbance attribution is re-performed, the left and right side correction allocation is regenerated, and the current state machine state is re-determined.

[0077] If the synchronization deviation continues to decrease and remains below the recovery threshold, the abnormal contact characterization parameters return to normal, and the operation on both sides becomes consistent again, then the closed-loop update module determines that the synchronization correction of this round is complete, the system exits the correction mode, and only retains the normal operation control.

[0078] If the synchronization deviation increases, the disturbance intensifies, or the oscillation trend occurs again during the closed-loop update process, the system will re-enter the corresponding state and continue to execute the synchronization correction process until the exit conditions are met.

[0079] To further illustrate the working process of the present invention, a specific working condition example is given below.

[0080] When the looper trolley is running in the looping direction, the dual-side state acquisition module detects that the left-side position advance is consistently less than the right-side, and the abnormal contact characterization parameter on the left side increases over multiple consecutive sampling periods, while the left-side drive response parameter is consistently higher than the right-side. The synchronization deviation construction module calculates that the synchronization deviation is continuously increasing. Based on this, the dedicated disturbance attribution module determines that the current dominant disturbance type is a forward blocking disturbance. The differentiated correction allocation module then increases the compensation intensity on the left side and decreases the following compensation intensity on the right side; the anti-oscillation state machine module enters the enhanced correction state after the synchronization deviation exceeds the threshold for multiple consecutive sampling periods. Subsequently, under the correction action of both sides, the synchronization deviation begins to converge; if compensation flips during the convergence process, the system enters the oscillation suppression state, reducing the amplitude of compensation output changes; when the synchronization deviation is continuously below the recovery threshold and remains stable, the system enters the recovery exit state and exits the correction process.

[0081] Through the above process, this embodiment can detect the synchronization deviation itself when the two sides of the looper trolley are not running synchronously, and can also identify the dominant disturbance type that causes the synchronization deviation. Based on the disturbance type, differentiated correction control is implemented on the left and right sides respectively. At the same time, the anti-oscillation state machine is used to suppress alternating fluctuations and excessive correction, thereby improving the pertinence, stability and operational reliability of the synchronization correction of the two sides of the looper trolley.

Claims

1. A method for synchronous correction control of a looper trolley with dual-sided cross-coupling, characterized in that, Includes the following steps: Step 1: Collect the operating status parameters of the left and right execution units of the looper trolley respectively. The operating status parameters include at least two of the following: position parameters, speed parameters, drive response parameters, running direction parameters, track section parameters, and abnormal contact characterization parameters. Step 2: Based on the operating status parameters of the left execution unit and the operating status parameters of the right execution unit, construct the left tracking error and the right tracking error respectively, and construct the synchronization deviation quantity representing the synchronization relationship between the two sides based on the left tracking error and the right tracking error; Step 3: Based on the running direction parameters, the track section parameters, the order of responses on both sides, the increasing trend of the synchronization deviation, and the abnormal contact characterization parameters, construct a special disturbance attribution quantity for the looper trolley; Step 4: Based on the synchronization deviation and the dedicated disturbance attribution of the looper trolley, generate the left correction allocation and the right correction allocation, and output differentiated cross-coupling correction control commands to the left execution unit and the right execution unit respectively according to the left correction allocation and the right correction allocation. Step 5: Based on the threshold state, expansion trend and convergence stability of the synchronization deviation, switch between normal synchronization state, correction preparation state, enhanced correction state, oscillation suppression state and recovery exit state, and adjust the differentiated cross-coupling correction control command in different states. Step 6: In the next sampling period, re-collect the operating status parameters and update the synchronization deviation, the dedicated disturbance attribution of the looper trolley, and the current status until the synchronization deviation meets the recovery conditions. The specific disturbance attribution quantity for the looper trolley is used to distinguish at least one disturbance type among forward hindrance disturbance in the looping direction, lag disturbance in the looping direction, sudden increase in resistance in local track sections, and bilateral response sequence imbalance disturbance. The left-side correction allocation quantity and the right-side correction allocation quantity are asymmetrically allocated according to the identified disturbance type to apply enhanced correction compensation to the lag side and suppressive or limiting correction compensation to the lead side, thereby suppressing the amplification and oscillation of bilateral synchronization deviation of the looper trolley during the correction process.

2. The method for synchronous correction control of a looper trolley with dual-sided cross-coupling according to claim 1, characterized in that, The position parameters include the position values ​​of the left and right execution units, the speed parameters include the speed values ​​of the left and right execution units, the drive response parameters include at least one of drive current, drive torque, drive delay time, and drive response change rate, and the abnormal contact characterization parameters include at least one of railside contact signal, contact duration, and contact frequency.

3. The method for synchronous correction control of a looper trolley with dual-sided cross-coupling according to claim 1, characterized in that, The dedicated disturbance attribution quantity for the looper trolley is a comprehensive characterization quantity constructed based on the running direction parameters, track section parameters, the order of bilateral responses, the rate of change of synchronization deviation, and abnormal contact characterization parameters. It is used to determine the current disturbance state as one or more of the following: forward obstruction disturbance in the looping direction, backward lag disturbance in the looping direction, sudden increase in resistance in the local track section, or imbalance in the bilateral response order.

4. The method for synchronous correction control of a looper trolley with dual-sided cross-coupling according to claim 1, characterized in that, The generation of left-side correction allocation and right-side correction allocation based on the synchronization deviation and the attribution of the looper trolley-specific disturbance includes: When the left execution unit is determined to be the side with a delayed response, the left correction compensation gain is increased and the right follower compensation gain is decreased. When the right-side execution unit is determined to be the side with a delayed response, the right-side correction compensation gain is increased and the left-side follower compensation gain is decreased. When it is determined that one side of the actuator is in a state of sudden increase in resistance in a local track section, a gradual ascent compensation is applied to that side of the actuator, and a limiting compensation is applied to the other side of the actuator.

5. The method for synchronous correction control of a looper trolley with dual-sided cross-coupling according to claim 1, characterized in that, The state switching between normal synchronization state, correction preparation state, enhanced correction state, oscillation suppression state, and recovery exit state includes: When the synchronization deviation exceeds the threshold for multiple consecutive sampling periods and the rate of change of the synchronization deviation exceeds the preset expansion threshold, the system switches from normal synchronization state to correction preparation state. When the special disturbance attribution quantity of the looper trolley indicates that the current disturbance is in a state of continuous enhancement, the state of preparation for correction is switched to the state of enhanced correction. When the synchronization deviation fluctuates alternately and the convergence trend is unstable, the state switches from enhanced correction to oscillation suppression. When the synchronization deviation is less than the recovery threshold for multiple consecutive sampling periods and the rate of change of the synchronization deviation meets the stable convergence condition, switch to the recovery exit state.

6. A looper trolley dual-sided cross-coupling synchronous correction control system, characterized in that, include: The dual-side status acquisition module is used to acquire the operating status parameters of the left and right execution units of the looper trolley, respectively. The operating status parameters include at least two of the following: position parameters, speed parameters, drive response parameters, running direction parameters, track section parameters, and abnormal contact characterization parameters. The synchronization deviation construction module is used to construct the left tracking error and the right tracking error based on the running status parameters of the left execution unit and the running status parameters of the right execution unit, respectively, and to construct a synchronization deviation quantity representing the synchronization relationship between the two sides based on the left tracking error and the right tracking error. A dedicated disturbance attribution module is used to construct a dedicated disturbance attribution quantity for the looper trolley based on the running direction parameters, the track section parameters, the order of responses on both sides, the expansion trend of the synchronization deviation, and the abnormal contact characterization parameters. The differentiated cross-coupling correction allocation module is used to generate left-side correction allocation and right-side correction allocation based on the synchronization deviation and the looper trolley-specific disturbance attribution. The anti-oscillation state machine module is used to switch between normal synchronization state, correction preparation state, enhanced correction state, oscillation suppression state and recovery exit state based on the threshold state, expansion trend and convergence stability of the synchronization deviation amount, and to adjust the correction control strategy in different states. The dual-sided execution control module is used to output differentiated cross-coupling correction control commands to the left execution unit and the right execution unit respectively, based on the left correction allocation amount and the right correction allocation amount; The closed-loop update module is used to reacquire the operating status parameters in the next sampling period and update the synchronization deviation, the dedicated disturbance attribution of the looper trolley, and the current status until the synchronization deviation meets the recovery conditions. The dedicated disturbance attribution module is configured to identify at least one disturbance type among forward hindrance disturbance in the filling direction, backward lag disturbance in the releasing direction, sudden increase in resistance in local track sections, and bilateral response sequence imbalance disturbance. The differentiated cross-coupling correction allocation module is configured to generate asymmetric correction allocation amounts for the left and right execution units based on the identified disturbance types, so as to apply enhanced correction compensation to the lag side and suppressive or limiting correction compensation to the lead side, thereby suppressing the amplification and oscillation of bilateral synchronization deviation of the looper trolley during the correction process.

7. The double-sided cross-coupling synchronous correction control system for the looper trolley according to claim 6, characterized in that, The dual-side status acquisition module includes at least two of the following: a position acquisition unit, a speed acquisition unit, a drive response acquisition unit, a running direction identification unit, a track section identification unit, and an abnormal contact detection unit. The position acquisition unit and the speed acquisition unit are used to acquire the real-time running status of the left execution unit and the right execution unit, respectively.

8. The double-sided cross-coupling synchronous correction control system for the looper trolley according to claim 6, characterized in that, The dedicated disturbance attribution module includes a directional disturbance identification unit, a segment disturbance identification unit, a response sequence identification unit, and an abnormal contact analysis unit. The directional disturbance identification unit is used to identify forward hindrance disturbances in the filling direction and backward lag disturbances in the releasing direction. The segment disturbance identification unit is used to identify sudden increases in resistance in local track segments. The response sequence identification unit is used to identify disturbances with imbalanced response sequences on both sides.

9. The looper trolley dual-sided cross-coupling synchronous correction control system according to claim 6, characterized in that, The differentiated cross-coupling correction allocation module includes a lag-side enhancement compensation unit, a lead-side suppression compensation unit, and a limiting adjustment unit. The lag-side enhancement compensation unit is used to output enhanced correction compensation to the lag-side execution unit, the lead-side suppression compensation unit is used to output suppressed correction compensation to the lead-side execution unit, and the limiting adjustment unit is used to limit the compensation output amplitude of the lead-side execution unit under the condition of sudden increase in local resistance.

10. The double-sided cross-coupling synchronous correction control system for the looper trolley according to claim 6, characterized in that, The anti-oscillation state machine module includes an entry determination unit, an enhanced correction unit, an oscillation suppression unit, and a recovery exit determination unit. The entry determination unit is used to determine whether to enter the correction preparation state based on the synchronization deviation amount and its expansion trend. The enhanced correction unit is used to maintain the enhanced correction state when the disturbance continues to increase. The oscillation suppression unit is used to perform amplitude reduction, freezing, or slow release processing on the correction control strategy when the synchronization deviation amount fluctuates alternately. The recovery exit determination unit is used to control the system to exit the correction state when the synchronization deviation amount meets the stable convergence condition.

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