A balance control system of a high-voltage circuit breaker carrying trolley

Abstract

The application discloses a balance control system of a high-voltage circuit breaker carrying trolley and relates to the technical field of high-voltage circuit breaker carrying. The trolley body is provided with symmetrical bases and supporting rods, and the tray part is arranged between the supporting rods; the lifting assembly adopts a chain-roller force multiplication mechanism and is driven by a linear module. The balance control module comprises a chain tension sensor and a driving controller, a tension-displacement disturbance model is constructed according to the tension difference of the lifting chains on both sides, a compensation signal is output to adjust the speed and position of the linear module, and torsional flutter in the lifting process is inhibited; a position encoder is further integrated to realize active phase compensation, and a micro-amplitude displacement instruction is output according to abnormal tension fluctuation to release the internal stress of the docking; and a path planning module generates a minimum flutter energy path offline based on an elastic dynamics model and a slip rate and actively reduces the height of the tray part before a curvature mutation point to break the resonance condition.

Description

Technical Field

[0001] This invention relates to the field of high-voltage circuit breaker handling technology, and in particular to a balance control system for a high-voltage circuit breaker handling trolley. Background Technology

[0002] In power equipment operation and maintenance scenarios, 40.5kV high-voltage circuit breakers are heavy-duty precision electrical equipment, characterized by their large size, high weight, large center of gravity offset, and easily damaged precision components. This places stringent requirements on the stability, alignment accuracy, and safety of transport, disassembly, and replacement operations. Currently, the industry mostly uses traditional manual hydraulic pallet trucks and simple flatbed transport vehicles for auxiliary operations when transporting this type of high-voltage equipment.

[0003] Traditional manual hydraulic pallet trucks or simple flatbed trucks present several potential problems when moving large, high-center-of-gravity energy storage devices: First, traditional handling equipment lacks a dedicated, precise docking and locking structure, relying entirely on manual, repeated alignment adjustments during operation. This process is cumbersome and has a very low tolerance for error. Manual alignment is prone to deviations, leading to problems such as tilting of the high-voltage circuit breaker, shell collisions, and positioning misalignments. It fails to achieve rigid and stable fixing of the equipment to the pallet truck, making it susceptible to shaking and displacement during transport. This can damage the circuit breaker's internal precision insulation structure and arc-extinguishing components, causing equipment failure and posing a significant safety hazard of equipment falling. Second, during lifting, the pallet is prone to tilting due to asynchronous lifting mechanisms or uneven load distribution on both sides. This not only affects handling efficiency but also poses safety hazards such as equipment slippage, damage, and even personnel injury.

[0004] Therefore, there is an urgent need for a control system that is simple in structure, cost-controllable, and can simultaneously solve the problems of docking stability and lifting balance. Summary of the Invention

[0005] The purpose of this invention is to overcome the problems of existing energy storage handling trolleys being unable to be stably fixed during heavy-load docking and the pallet components tilting and becoming unstable during lifting, and to provide a balance control system for an energy storage handling trolley that integrates mechanical elastic docking and smooth lifting functions.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A balance control system for a high-voltage circuit breaker transport trolley includes a trolley body, the trolley body including two sets of symmetrically arranged bases and support rods; The tray, positioned between two sets of support rods, is used to support the high-voltage circuit breaker; A lever is mounted on the tray component and is movably connected to the tray component via an adjusting component, for docking and fixing with external equipment; An adjusting element is disposed between the tray component and the locking rod, and is used to drive the locking rod; The lifting assembly includes a linear module installed on the side wall of the support rod, a lifting chain, and multiple rollers. One end of the lifting chain is fixed to the side wall of the mounting box, and the other end passes sequentially around the top of the rollers on the linear module and the bottom of the rollers on the outer wall of the pallet component before being fixedly connected to the pallet component, thus forming a force-multiplying lifting mechanism. and a balance control module, the balance control module comprising: Chain tension sensors are installed at the fixed ends of the lifting chains on both sides to collect tension signals of the lifting chains in real time. The drive controller is electrically connected to the linear modules on both sides. The drive controller constructs a tension-displacement disturbance model based on the difference between the received tension signals from both sides, and outputs compensation control signals to adjust the instantaneous moving speed and position of the linear modules on both sides respectively.

[0007] In one embodiment, the balance control module further includes a position encoder disposed inside each linear module. The drive controller fuses the displacement signal fed back by the position encoder with the chain tension signal, uses an active phase compensation loop to eliminate the cumulative synchronization error of the linear modules on both sides, and simultaneously performs high-frequency fine-tuning according to the fluctuation frequency of the tension difference.

[0008] In one embodiment, the balance control module also determines the docking status based on the chain tension signal. When abnormal tension fluctuations are detected, the drive controller outputs a micro-amplitude reciprocating command to the linear module, causing the pallet component to move slightly.

[0009] In one embodiment, the present invention further includes a path planning module, which constructs a five-dimensional state space based on the elastic dynamics model of the lifting chain and the slip ratio fed back by the wheel speed sensor set on the base walking wheel. The path planning module includes the lateral sway speed of the pallet component, the accumulated elastic potential energy of the chain, and the ground adhesion margin. The minimum flutter energy path from the starting point to the ending point is generated offline using the pseudospectral method.

[0010] In one embodiment, the path planning module is further configured to: when it is determined that there is a curvature change point ahead based on the minimum flutter energy path, send an active micro-descent command to the drive controller before entering the curvature change point, and the drive controller controls the linear module to actively lower the tray component to a preset height; after passing the curvature change point, control the linear module to restore the tray component to the original height.

[0011] An energy storage transport vehicle includes a vehicle body, the vehicle body including two sets of symmetrically arranged bases and support rods, characterized in that a pallet component is provided between the two sets of support rods, the pallet component is provided with a locking rod for docking with an external device, and an adjusting component for driving the locking rod is provided between the pallet component and the locking rod.

[0012] In one embodiment, the adjusting member includes a fixing plate, which is mounted on the pallet and has an L-shaped structure, and the vertical wall of the fixing plate has a through groove; an adjusting rod that movably passes through the through groove; and a connecting rod, the upper end of which is connected to one end of the adjusting rod, the lower end of which is movably connected to a locking rod, and the middle part of the locking rod is hinged to one side of the pallet via a pin.

[0013] In one embodiment, a spring is fitted onto the adjusting rod at the position between the connecting rod and the fixing plate.

[0014] In one embodiment, the lower end of the connecting rod is provided with a through groove, and a pull rod is movably inserted through the through groove. One end of the pull rod is hinged to the locking rod, and the other end is provided with a limiting bolt to prevent slippage.

[0015] In one embodiment, a lifting assembly for adjusting the pallet height is further provided between the support rods. The lifting assembly includes a mounting box disposed on the side wall of the support rod, a linear module disposed within the mounting box, and a lifting chain. Rollers are mounted on both the linear module and the outer wall of the pallet. One end of the lifting chain is connected to the side wall of the mounting box, and the other end passes over the top of the rollers on the linear module and the bottom of the rollers on the outer wall of the pallet before being fixedly connected to the outer wall of the pallet. This lifting assembly adopts a chain-roller composite force-multiplying mechanism. When the linear module moves actively, the pallet achieves a lifting stroke twice the moving distance of the linear module through the guiding action of the rollers. Simultaneously, because the lifting chains are symmetrically arranged on both sides and share the same linear module drive, synchronous lifting on both sides can be strictly guaranteed, fundamentally avoiding pallet tilting caused by stroke differences.

[0016] This invention also employs the following key coordination relationship: each set of support rods corresponds to an independent lifting assembly, but the linear modules of the two lifting assemblies are synchronously driven by the same controller, or synchronously ensured through mechanical linkages. During the lifting process, the force on the four corners of the pallet is evenly transmitted to the linear module through the lifting chain, eliminating the torsional moment caused by off-center loading.

[0017] In one embodiment, the upper surface of the pallet is provided with several anti-slip grooves or a rubber pad to increase the friction with the bottom of the high-voltage circuit breaker and prevent the equipment from sliding relative to the pallet during acceleration or deceleration during handling.

[0018] In one embodiment, the base is provided with at least two omnidirectional wheels and one directional wheel, wherein the omnidirectional wheels are equipped with brakes to secure the vehicle body during docking, providing a stable foundation for the precise operation of the adjustment components.

[0019] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. This invention uses chain tension sensors installed at the fixed ends of the lifting chains on both sides to collect tension signals in real time. The drive controller constructs a tension-displacement disturbance model based on the tension difference and outputs a compensation control signal to adjust the instantaneous speed and position of the linear modules on both sides. Reverse compensation is applied at the initial stage of torsional sway of the pallet component, suppressing torsional chatter caused by chain elastic deformation and load eccentricity. This keeps the docking interface between the lever and the external equipment relatively stationary, avoiding shaking during the handling process, thereby solving the problem of unstable fixation after docking of traditional trolleys.

[0020] 2. This invention employs a chain-roller force-multiplying lifting mechanism. The linear module drives the pallet to rise and fall via the lifting chain and rollers. Combined with the actual speed command output by the drive controller and the active phase compensation loop, the displacement signal fed back by the position encoder is fused with the chain tension signal to eliminate the cumulative synchronization error of the linear modules on both sides. At the same time, high-frequency fine-tuning is performed according to the fluctuation frequency of the tension difference to ensure that the pallet remains horizontal at any height. This avoids the risk of tilting caused by asynchronous lifting mechanisms on both sides or uneven load distribution, thus improving operational safety.

[0021] 3. The balance control module determines the docking status based on the ratio of short-time energy to long-time energy of the tension signal. When abnormal tension fluctuations are detected, a micro-amplitude reciprocating command is output, causing the pallet component to vibrate slightly. The vibration is transmitted to the spring through the adjusting rod and the pull rod. The spring elastic deformation releases the internal stress at the docking interface between the clamp and the external equipment, preventing the decrease in docking stiffness caused by long-term wear. The path planning module generates the minimum flutter energy path offline based on the elastic dynamics model and slip ratio, and actively reduces the height of the pallet component before the curvature change point to break the flutter resonance condition and suppress dynamic trajectory drift from the root of path planning.

[0022] In summary, this invention systematically solves the problems of torsional flutter and lateral instability of energy storage transport vehicles during heavy-load docking, lifting and balancing, and dynamic transport by coordinating four levels: tension feedback compensation control, active phase synchronization, micro-amplitude vibration stress release, and path pre-planning sinking. This improves transport accuracy and safety. Attached Figure Description

[0023] Figure 1 A schematic diagram of the overall structure of the energy storage transport vehicle provided according to the present invention is shown; Figure 2 A schematic diagram of the vehicle body structure provided according to the present invention is shown; Figure 3 An enlarged structural schematic diagram of the pallet component provided according to the present invention is shown; Figure 4 A schematic diagram of the installation structure of the adjusting member and the tray member according to the present invention is shown; Figure 5The invention provides Figure 4 Enlarged schematic diagram of the adjusting component; Figure 6 A schematic block diagram of the balance control module provided according to the present invention is shown.

[0024] Legend: 1. Base; 2. Support rod; 3. Tray component; 4. Clamping rod; 5. Fixing plate; 6. Adjusting rod; 7. Connecting rod; 8. Pull rod; 9. Spring; 10. Linear module; 11. Roller. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0026] It should be noted that the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to direct setup or connection, or indirect setup or connection through centered components or centered structures.

[0027] Furthermore, in embodiments of this invention, terms such as "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" are used to indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, or in a conventional placement or usage state. These terms are merely for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the structures, features, devices, or elements referred to must have a specific orientation or positional relationship, nor that they must be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0028] The various specific technical features and embodiments described in the detailed embodiments can be combined in any suitable manner without contradiction. For example, different implementation methods can be formed by combining different specific technical features / embodiments. In order to avoid unnecessary repetition, the various possible combinations of the various specific technical features / embodiments in this invention will not be described separately.

[0029] Example 1: Please refer to Figures 1-5This invention provides a technical solution: an energy storage transport trolley, including a vehicle body. The vehicle body includes two symmetrically arranged bases 1 and support rods 2. The bases 1 are typically welded from rectangular steel pipes and have wheels installed at their bottom, which is a conventional technology. The support rods 2 are vertically fixed to the rear end or middle of the bases 1, forming a gantry-type or double-arm type frame. A pallet 3 is also provided between the two sets of support rods 2. The pallet 3 has a flat structure and is used to directly support a 40.5kV high-voltage circuit breaker. The pallet 3 is provided with a clamping rod 4 for docking with external equipment, and an adjusting component for driving the clamping rod 4 is provided between the pallet 3 and the clamping rod 4.

[0030] The adjusting component includes a fixing plate 5, which is mounted on the tray 3 and has an L-shaped structure. Its horizontal wall is fixed to the upper surface or side of the tray 3 by bolts, while its vertical wall extends outward perpendicular to the tray 3. The vertical wall of the fixing plate 5 has a through slot, which is an elongated hole with its length in the horizontal direction. An adjusting rod 6 moves through the through slot. One end of the adjusting rod 6 has a handle or pull ring, and the other end extends to the inside of the fixing plate 5. The adjusting rod 6 is constructed of multiple cylindrical segments, and the diameter of the segment passing through the through slot is smaller than the diameter of the handle segment. The handle segment also has an inclined transition, as detailed below. Figure 5 As shown. The upper end of the connecting rod 7 is connected to one end of the adjusting rod 6, which can be fastened by a thread, so that the horizontal movement of the adjusting rod 6 directly drives the connecting rod 7 to move synchronously. The lower end of the connecting rod 7 is movably connected to the locking rod 4. The middle part of the locking rod 4 is hinged to one side of the tray 3 by a pin. Based on this, when the operator pulls the adjusting rod 6 outward, the connecting rod 7 moves outward accordingly, causing the locking rod 4 to rotate around the pin in its middle. The front end of the locking rod 4, i.e., the hook, can swing horizontally.

[0031] To provide restoring force and buffering force, a spring 9 is fitted on the adjusting rod 6 between the connecting rod 7 and the fixing plate 5. The inner diameter of the spring 9 is larger than the outer diameter of the adjusting rod 6. One end of the spring 9 abuts against the inner side of the vertical wall of the fixing plate 5, and the other end abuts against the upper end face of the connecting rod 7 or the washer fixed thereto. In its natural state, the spring 9 is in a slightly pre-compressed state.

[0032] To achieve better adaptive motion, a through groove 2 is provided at the lower end of the connecting rod 7. A pull rod 8 moves through the through groove 2, with one end of the pull rod 8 hinged to the locking rod 4 and the other end equipped with a limiting bolt to prevent slippage. The through groove 2 is also an elongated hole, with its length direction being vertical. The pull rod 8 can slide up and down a certain distance in the through groove 2. The through groove 2 allows the pull rod 8 to have a small vertical displacement relative to the connecting rod 7, thereby avoiding jamming caused by motion interference.

[0033] Example 2: Based on Example 1, please refer to Figure 1 , Figure 2 and Figure 3A lifting assembly for adjusting the height of the pallet component 3 is also provided between the support rods 2. In this embodiment, lifting assemblies are respectively installed on the inner sides of the two sets of support rods 2. Specifically, the lifting assembly includes a mounting box set on the side wall of the support rod 2. The mounting box is a metal shell, hollow inside and extending vertically. A linear module 10 is provided inside the mounting box. The linear module 10 can be a ball screw type, synchronous belt type or gear rack type linear motion unit, which has a slide table that can reciprocate in the vertical direction. The lifting assembly also includes a lifting chain. The lifting chain adopts a standard sleeve roller chain or plate chain, which has high tensile strength and wear resistance. Rollers 11 are installed on both the linear module 10 and the outer wall of the pallet component 3. The rollers 11 on the linear module 10 are mounted on its slide table and can move up and down with the slide table; the rollers 11 on the outer wall of the pallet component 3 are fixedly installed on the side of the pallet component 3. Usually, two or more are set to form a stable force point.

[0034] The winding pattern of the lifting chain is the core of the lifting assembly's ability to achieve smooth lifting and multiplied stroke: one end of the lifting chain is connected to the side wall of the mounting box, with the fixing point located at the upper or lower part of the mounting box, depending on the actual arrangement. In this embodiment, it is preferably fixed to the inner top of the mounting box. Then, the lifting chain extends downward, first passing over the top of the roller 11 mounted on the slide of the linear module 10 from above, i.e., the chain engages or contacts the upper edge of the roller; then, the lifting chain changes direction and extends upward, passing over the bottom of the roller 11 mounted on the outer wall of the tray 3, i.e., the chain supports the roller from below; finally, the end of the lifting chain is fixedly connected upward to a lug on the outer wall of the tray 3. This winding pattern constitutes a movable pulley system. The roller 11 on the linear module 10 is equivalent to a movable fixed pulley relative to the mounting box, while the roller 11 on the tray 3 is equivalent to a movable pulley.

[0035] Based on the above structure, when the pallet 3 needs to be lifted, the controller drives the slide of the linear module 10 to move upward. Let the upward movement distance of the slide be S. Then, the roller 11 on the linear module 10 also moves upward by a distance S. Since one end of the lifting chain is fixed to the top of the mounting box, this fixed point remains stationary. When the roller 11 moves upward, the chain length between the fixed point and the roller 11 increases. This increased chain length is forced to be conveyed to one side of the pallet 3, causing the roller 11 on the pallet 3 to be pulled up by the chain. According to the kinematic relationship of the pulley system, the actual lifting distance of the pallet 3 is 2S. In other words, the linear module 10 only needs to move a small stroke to achieve twice the lifting stroke of the pallet 3, improving space utilization and response speed.

[0036] The overall working process and balance control effect of the present invention will be described below in conjunction with specific application scenarios.

[0037] Initial state: The transport trolley is in a low position, with pallet 3 close to the ground or at its lowest position. At this time, the linear module 10 slide of the lifting assembly is located at the bottom of the mounting box, and the lifting chain is in a critical state between slack and tension. The locking lever 4 in the adjusting component is in a locking tendency position under the action of spring 9.

[0038] Docking process: The operator pushes the service vehicle to the 40.5kV high-voltage circuit breaker, inserting the front edge of the tray 3 into the pre-reserved gap at the bottom of the equipment. As the trolley continues to move forward, it docks with the external equipment. At this time, by horizontally pulling the adjusting rod 6, the thicker section of the rod moves away from the through slot 1, so that the thinner section of the adjusting rod 6 is in the through slot 1, facilitating the movement of the adjusting rod 6. Then, by swinging the adjusting rod 6, the connecting rod 7 is deflected, thereby using the connecting rod 7 to drive the locking rod 4 to rotate around its pin and extend. The locking rod 4 engages and fixes with the external docking structure, ensuring the stability of the entire vehicle during the transport of the high-voltage circuit breaker.

[0039] Example 3: Based on Examples 1 and 2, refer to Figure 6 The present invention also provides a balance control module. In this embodiment, the balance control module includes: Chain tension sensors are installed at the fixed ends of the lifting chains on both sides to collect tension signals from both sides of the lifting chains in real time. The tension signal on the left side is denoted as... The tension signal on the right side is The sampling period is t; The drive controller is electrically connected to the linear modules 10 on both sides. The drive controller constructs a tension-displacement disturbance model based on the difference between the received tension signals from both sides, and outputs compensation control signals to adjust the instantaneous moving speed and position of the linear modules 10 on both sides respectively. The method for constructing the tension-displacement perturbation model is as follows: First calculate the real-time tension difference The formula is ; Define the torsional angular acceleration of pallet component 3. The relationship with tension difference is: ; In the formula, Let be the total moment of inertia of pallet component 3 and the 40.5kV high-voltage circuit breaker it carries, about the vertical axis; c is the equivalent damping coefficient of the chain-roller system; k is the equivalent torsional stiffness of the lifting chain; and r is the lever arm from the point of tension application to the center of rotation. The horizontal sway angle of pallet component 3. Angular velocity, Angular acceleration; Parameters are identified using offline calibration or online recursive least squares method. ; Discretize the above differential equation to obtain the time interval. The predictive model is used to estimate the yaw rate caused by the current tension difference. .

[0040] The drive controller outputs a compensation speed signal based on the predicted yaw rate. and The set speeds are respectively superimposed on the slides of the left linear module 10. The set speed of the right linear module 10 slide. In this embodiment, the compensation control law is as follows: ; ; In the formula, , The positive proportional gain and derivative gain are preset, and their values ​​are determined by on-site debugging or based on the pole placement method; the negative sign indicates that the speed of the left linear module 10 is reduced to suppress clockwise sway, and the right side is the opposite; The final speed command output by the drive controller is: ; .

[0041] The balance control module also includes a position encoder installed inside each linear module 10. The drive controller fuses the displacement signal fed back by the position encoder with the chain tension signal, uses an active phase compensation loop to eliminate the cumulative synchronization error of the linear modules 10 on both sides, and performs high-frequency fine adjustment according to the fluctuation frequency of the tension difference.

[0042] In this embodiment, the algorithm for the active phase compensation loop is as follows: Let the position encoder feedback value of the left linear module 10 be... The right side is The expected synchronous displacement command on both sides is ; Define position synchronization error ; Simultaneously, high-frequency fluctuation components are extracted from the tension signal: for the real-time tension difference signal Perform bandpass filtering with a center frequency of This frequency is determined by the chain pitch, the radius of roller 11, and the speed of the trolley, and the calculation formula is as follows: In the formula, Let be the speed of the car. The radius of the traveling wheel, To increase the number of links in the chain; After filtering, the high-frequency tension fluctuation component is obtained. ; Compensation speed of the active phase compensation loop Generated by a proportional-integral-resonant controller: ; In the formula, These are the proportional, integral, and resonance coefficients, respectively, where the resonance coefficient... According to the center frequency and system quality factor Sure: ; The compensation speed is superimposed on the synchronization speed command of the linear modules 10 on both sides to eliminate the accumulated position error and suppress high-frequency torsional resonance.

[0043] The balance control module also judges the docking status based on the chain tension signal. When abnormal tension fluctuation is detected, the drive controller outputs a micro-amplitude resetting command to the linear module 10, causing the pallet component 3 to move slightly. The criterion for judging abnormal tension fluctuations is: real-time calculation of the short-time energy of the tension signal. and long-term energy : ; ; In the formula, For a short time window, take 10-20 sampling points; For the long time window length, take 50~100 sampling points; , These are the average tension values ​​on the left and right sides within the time window, respectively; if ,in If the preset tension threshold is not met, then it is judged as an abnormal tension fluctuation; When an anomaly is detected, the drive controller outputs a small reset shift command. This small reset shift command is as follows: ; In the formula, For amplitude, The frequency of the jitter. The decay time constant is used; the micro-amplitude reciprocating command is implemented through the linear module 10, causing the tray 3 to vibrate slightly, which is then transmitted to the spring 9 through the adjusting rod 6 and the pull rod 8. The elastic deformation of the spring 9 releases the internal stress at the interface between the clamping rod 4 and the external device.

[0044] The present invention also includes a path planning module. The path planning module is based on the elastic dynamics model of the lifting chain and the slip ratio fed back by the wheel speed sensor set on the vehicle body's traveling wheels. It constructs a five-dimensional state space including the lateral yaw speed of the pallet component 3, the accumulated elastic potential energy of the chain, and the ground adhesion margin. It uses the pseudospectral method to generate the minimum flutter energy path from the starting point to the ending point offline. Specifically, the system state vector is defined as follows: ; In the formula, Let be the planar coordinates of the car in the global coordinate system. The vehicle's heading angle, The lateral yaw rate of pallet component 3. To increase the accumulation of elastic potential energy in the chain, the calculation formula is as follows: ;in The actual elongation of the chain, measured by a chain tension sensor. and chain axial stiffness The conversion yields: ; Walking wheel slip ratio Feedback value from wheel speed sensor and the actual speed of the car calculate ; The path planning module aims to minimize the total energy cost, and the cost function is... Defined as In the formula, , These are the start and end times of the transport. The lateral acceleration is determined by the curvature of the planned path and the speed of the vehicle. The weighting coefficients are preset; and the constraint condition of minimizing the total energy cost is set. This constraint condition includes: Dynamic constraints: given by the torsional dynamics equations and the vehicle kinematic model in claim 1; Path continuity: starting point and the end point fixed; Flutter energy constraint: ,in The threshold value of the maximum elastic potential energy that spring 9 can passively absorb; Slip ratio constraint: , This represents the absolute value of the maximum permissible slip ratio between the wheels and the ground. The optimal control problem described above is discretized into a nonlinear programming problem using the pseudospectral method (Legendre-Gauss-Lobatto node configuration), and the minimum flutter energy path is obtained by solving it. .

[0045] In this embodiment, the path planning module is further configured as follows: When a curvature abrupt change point is detected based on the minimum flutter energy path, an active micro-descent command is sent to the drive controller before entering the curvature abrupt change point. The drive controller controls the linear module 10 to drive the pallet 3 to actively lower the preset height. After passing the curvature abrupt change point, the linear module 10 is then controlled to restore the pallet 3 to the original height. The method for determining curvature abrupt change points is as follows: along the planned path parameters Calculate path curvature If the rate of change of curvature of two adjacent points Exceeding the preset curvature change threshold If so, it is marked as a curvature abrupt change point; Active sinking height Determined based on the change in curvature and the current speed of the trolley: In the formula, This represents the maximum allowable active descent distance for the linear module 10. The preset proportional coefficient can be calibrated experimentally; the advance time for the sinking command execution is... , Pre-aiming distance; The sinking command is achieved through the slide position setting value of the linear module 10: before entering the curvature abrupt change point. At any moment, lower the target position of the slide. This lowers the center of gravity of pallet component 3, thereby changing the chain tension distribution and breaking the flutter resonance condition; after passing the curvature abrupt change point, the target position of the slide table is restored to its original height using a gradually changing ramp function.

[0046] According to Embodiment 3, the working principle of this balance control system is as follows: After the system starts, the chain tension sensors located at the fixed ends of the lifting chains on both sides collect the tension signals on the left and right sides in real time and transmit them to the drive controller. The drive controller calculates the difference between the tension signals on both sides and constructs a tension-displacement disturbance model based on this difference: substituting the tension difference into the pre-identified torsional dynamics equation, the current yaw rate and angular acceleration of the pallet component 3 are estimated through discretization. According to the estimated yaw rate and angular acceleration, the drive controller generates compensation speed signals on the left and right sides according to the compensation control law, which are superimposed on the set speeds of the slides of the linear modules 10 on both sides, and outputs actual speed commands to drive the linear modules 10 on both sides to move, thereby suppressing torsional chatter caused by chain elastic deformation and load eccentricity.

[0047] Simultaneously, the position encoders installed inside each linear module 10 send the feedback displacement signals to the drive controller. The drive controller compares the feedback values ​​from the position encoders on both sides with the desired synchronous displacement command to obtain the position synchronization error; and performs bandpass filtering on the tension difference signal to extract the high-frequency tension fluctuation component. The drive controller uses a proportional-integral-resonant controller to generate an active phase compensation speed based on the position synchronization error and the high-frequency tension fluctuation component, which is superimposed on the synchronous speed command of the linear modules 10 on both sides to eliminate the accumulated position error and suppress high-frequency torsional resonance.

[0048] In addition, the drive controller also determines the docking status based on the chain tension signal: it calculates the ratio of short-time energy to long-time energy of the tension signal in real time. If the ratio exceeds a preset threshold, it is determined to be an abnormal tension fluctuation. At this time, the drive controller outputs a micro-amplitude reciprocating command to the linear module 10, causing the pallet component 3 to vibrate slightly. This vibration is transmitted to the spring 9 through the adjusting rod 6 and the pull rod 8. The elastic deformation of the spring 9 releases the internal stress at the docking interface between the clamping rod 4 and the external equipment.

[0049] On the other hand, the path planning module, based on the elastic dynamics model of the lifting chain and the slip ratio fed back by the wheel speed sensor, constructs a five-dimensional state space including the lateral yaw speed of the pallet component 3, the accumulated elastic potential energy of the chain, and the ground adhesion margin. It then uses a pseudospectral method to generate the minimum flutter energy path from the starting point to the ending point offline. When the path indicates that there is a curvature change point ahead, the path planning module sends an active micro-descent command to the drive controller before entering the curvature change point. The drive controller controls the linear module 10 to drive the pallet component 3 to actively lower the preset height, changing the height of the system's center of gravity and the chain tension distribution to break the flutter resonance condition. After passing the curvature change point, the linear module 10 is then controlled to restore the pallet component 3 to the original height.

[0050] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A balance control system for a high-voltage circuit breaker transport trolley, characterized in that, include: The vehicle body includes two sets of symmetrically arranged bases (1) and support rods (2); The tray component (3) is located between two sets of support rods (2) and is used to support the high-voltage circuit breaker; The lever (4) is set on the tray (3) and is movably connected to the tray (3) through the adjusting member, for docking and fixing with external equipment; An adjusting component is disposed between the tray component (3) and the lever (4) for driving the lever (4). The lifting assembly includes a linear module (10) installed on the side wall of the support rod (2), a lifting chain and multiple rollers (11). One end of the lifting chain is fixed to the side wall of the mounting box, and the other end passes through the top of the rollers (11) on the linear module (10) and the bottom of the rollers (11) on the outer wall of the tray (3) and is then fixedly connected to the tray (3) to form a force-multiplying lifting mechanism. and a balance control module, the balance control module comprising: Chain tension sensors are installed at the fixed ends of the lifting chains on both sides to collect tension signals of the lifting chains in real time. The drive controller is electrically connected to the linear modules (10) on both sides. The drive controller constructs a tension-displacement disturbance model based on the difference between the received tension signals from both sides, and outputs compensation control signals to adjust the instantaneous moving speed and position of the linear modules (10) on both sides respectively.

2. The balance control system for a high-voltage circuit breaker transport trolley according to claim 1, characterized in that, The balance control module also includes a position encoder installed inside each linear module (10). The drive controller fuses the displacement signal fed back by the position encoder with the chain tension signal, uses an active phase compensation loop to eliminate the cumulative synchronization error of the linear modules (10) on both sides, and performs high-frequency fine adjustment according to the fluctuation frequency of the tension difference.

3. The balance control system for a high-voltage circuit breaker transport trolley according to claim 1, characterized in that, The balance control module also judges the docking status based on the chain tension signal. When abnormal tension fluctuation is detected, the drive controller outputs a micro-amplitude reciprocating command to the linear module (10) to cause the pallet component (3) to move slightly.

4. The balance control system for a high-voltage circuit breaker transport trolley according to claim 1, characterized in that, It also includes a path planning module, which constructs a five-dimensional state space based on the elastic dynamics model of the lifting chain and the slip ratio fed back by the wheel speed sensor set on the walking wheel of the base (1), including the lateral sway speed of the pallet component (3), the accumulation of elastic potential energy of the chain and the ground adhesion margin, and uses the pseudospectral method to generate the minimum flutter energy path from the starting point to the end point offline.

5. The balance control system for a high-voltage circuit breaker transport trolley according to claim 4, characterized in that, The path planning module is further configured to: when it is determined that there is a curvature change point ahead based on the minimum flutter energy path, send an active micro-descent command to the drive controller before entering the curvature change point, and the drive controller controls the linear module (10) to drive the pallet component (3) to actively reduce the preset height; after passing the curvature change point, control the linear module (10) to restore the pallet component (3) to the original height.

6. The balance control system for a high-voltage circuit breaker transport trolley according to claim 1, characterized in that, The adjusting component includes a fixing plate (5), which is mounted on the tray component (3) and has an L-shaped structure. The vertical wall of the fixing plate (5) has a through groove. Adjusting rod (6), the adjusting rod (6) is movable through the through groove one; Connecting rod (7), the upper end of the connecting rod (7) is connected to one end of the adjusting rod (6), the lower end of the connecting rod (7) is movably connected to the locking rod (4), and the middle part of the locking rod (4) is hinged to one side of the tray (3) by a pin.

7. The balance control system for a high-voltage circuit breaker transport trolley according to claim 6, characterized in that, The adjusting rod (6) is fitted with a spring (9) at the position between the connecting rod (7) and the fixing plate (5).

8. The balance control system for a high-voltage circuit breaker transport trolley according to claim 6, characterized in that, The lower end of the connecting rod (7) is provided with a through groove 2, and a pull rod (8) is movably passed through the through groove 2. One end of the pull rod (8) is hinged to the clamp rod (4), and the other end is provided with a limiting bolt to prevent slippage.

9. The balance control system for a high-voltage circuit breaker transport trolley according to claim 1, characterized in that, A lifting assembly for adjusting the height of the pallet component (3) is also provided between the support rods (2). The lifting assembly includes a mounting box set on the side wall of the support rod (2). A linear module (10) is provided in the mounting box. The lifting assembly also includes a lifting chain. Rollers (11) are installed on both the linear module (10) and the outer wall of the pallet component (3). One end of the lifting chain is connected to the side wall of the mounting box, and the other end passes around the top of the roller (11) on the linear module (10) and the bottom of the roller (11) on the outer wall of the pallet component (3) before being fixedly connected to the outer wall of the pallet component (3).

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