Multi-device cooperative control method, system, device and storage medium

Abstract

The present application relates to the field of automatic control, and discloses a multi-device cooperative control method, system, device and storage medium.The multi-device cooperative control method comprises: acquiring size data of a steel plate to be transported; based on the size data, calculating the number of loading trolleys that can be covered by the steel plate to determine the number of loading trolleys to be called; based on the size data, the number of calls, the pre-acquired integral coupling coefficient and the adjustment parameters of each loading trolley, calculating the output torque of each loading trolley; based on the output torque, controlling each loading trolley to output the corresponding torque to transport the steel plate.The method provided in the present application can make the output torques of different loading trolleys cooperate with each other.

Description

Technical Field

[0001] This invention relates to the field of automatic control, and in particular to a method, system, device and storage medium for multi-device coordinated control. Background Technology

[0002] In the steel plate production process, specifically in the production of medium and heavy plates, multiple loading trolleys are used to transfer the rolled steel plates to the cooling bed for cooling. The following situations arise during the transfer of steel plates using these loading trolleys: Because the produced steel plates are often not of equal length, and different steel plates vary in length, when the length of a steel plate is less than the total length of multiple loading trolleys combined, some loading trolleys are fully loaded while others are unloaded or lightly loaded, resulting in a severe uneven load distribution among the loading trolleys. Furthermore, since the different loading trolleys are connected by chains, the gaps between adjacent loading trolleys are large.

[0003] Therefore, the uneven load and large gap between adjacent feeding trolleys make it difficult to control the torque between different feeding trolleys, making it impossible to achieve coordinated cooperation. This can easily lead to steel plate tilting during transportation, affecting production efficiency and even causing production accidents.

[0004] Moreover, when multiple loading trolleys are transported together, the mismatch in torque between adjacent loading trolleys can cause collisions or even violent impacts, which can easily lead to chain breakage and damage to the loading trolleys. Summary of the Invention

[0005] This invention provides a multi-device collaborative control method, system, device, and storage medium to solve the above-mentioned problems.

[0006] In a first aspect, embodiments of the present invention provide a multi-device collaborative control method, comprising: acquiring the size data of a steel plate to be transported; calculating the number of loading trolleys that the steel plate can cover based on the size data, to determine the number of loading trolleys to be called; calculating the output torque of each loading trolley based on the size data, the number of calls, a pre-acquired integral coupling coefficient, and the adjustment parameters of each loading trolley; and controlling each loading trolley to output a corresponding torque based on the output torque to transport the steel plate.

[0007] Optionally, the step of calculating the output torque of each loading trolley based on the size data, the number of calls, the pre-acquired integral coupling coefficient, and the adjustment parameters of each loading trolley includes: selecting the master device from all loading trolleys based on the number of calls and the incoming direction of the steel plate, and treating the remaining loading trolleys as slave devices; calculating the master output torque of the master device based on the adjustment parameters of the master device; and calculating the slave output torque of each slave device based on the adjustment parameters of the master device, the adjustment parameters of the slave devices, the size data, and the pre-acquired integral coupling coefficient.

[0008] Alternatively, the output torque can be calculated using the following formula: = ; in, For the output torque of the i-th slave device, For the proportional component of the speed regulator of the i-th slave device, Let i be the integral coupling coefficient of the i-th slave device. The integral component of the speed regulator of the main unit This is the load balancing correction amount for the i-th slave device to be acquired.

[0009] Optionally, the load balancing correction amount is calculated using the following formula: ; in, For the pre-obtained load balancing factor, The average output torque of all the loading trolleys called in the current calculation cycle, The output torque of the i-th slave device in the previous calculation cycle.

[0010] Optionally, the average output torque for the current calculation cycle is calculated using the following formula: ; in, The main output torque of the main device in the previous calculation cycle, The slave output torque of the i-th slave device in the previous calculation cycle, The number of calls from the device.

[0011] Optionally, the main output torque is calculated using the following formula: = ; in, Main output torque, The proportional component of the speed regulator of the main device.

[0012] Alternatively, the load balancing factor can be calculated using the following formula: ; in, The preset minimum equilibrium coefficient, The preset maximum equilibrium coefficient, For the pre-acquired attenuation coefficient, For the current thickness of the steel plate, This is the preset steel plate thickness parameter.

[0013] Optionally, the integral coupling coefficient is the ratio of the length of the steel plate covering each slave device to the length of the steel plate covering the master device.

[0014] Optionally, the step of selecting the main device from all the loading trolleys based on the number of calls and the incoming direction of the steel plate includes: based on the number of calls, selecting the loading trolley located in the middle position of all the called loading trolleys as the main device to be selected; when there are two main devices to be selected, selecting the loading trolley closer to the incoming side of the steel plate as the loading trolley with the largest weight load, so as to obtain the main device.

[0015] Optionally, the adjustment parameters of the feeding trolley include the proportional component and / or integral component of the feeding trolley's speed regulator.

[0016] Secondly, embodiments of the present invention provide a multi-device collaborative control system, comprising: a data acquisition module for acquiring dimensional data of the steel plate to be transported; a first calculation module for calculating the number of loading trolleys that the steel plate can cover based on the dimensional data, thereby determining the number of loading trolleys to be called; a second calculation module for calculating the output torque of each loading trolley based on the dimensional data, the number of calls, a pre-acquired integral coupling coefficient, and the adjustment parameters of each loading trolley; and an execution module for controlling each loading trolley to output a corresponding torque based on the output torque, in order to transport the steel plate.

[0017] Thirdly, embodiments of the present invention provide a multi-device collaborative control device, comprising: a processor and a memory, wherein the memory stores instructions; the processor invokes the instructions in the memory to cause the processor to execute the multi-device collaborative control method of any of the foregoing embodiments of the first aspect of the present invention.

[0018] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing instructions that, when executed by a processor, implement the multi-device cooperative control method of any of the foregoing embodiments of the first aspect of the present invention.

[0019] The technical solution of this invention can smoothly adjust the output torque of multiple loading trolleys, so that the output torque of different loading trolleys can coordinate and cooperate, realizing the dual coordination of speed and load of multiple loading trolleys when transporting steel plates, thereby reducing equipment wear and failure rate, and improving production efficiency and economic benefits. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0021] Figure 1 A schematic diagram illustrating the operation of a loading trolley conveying steel plates to a conveyor cooling bed; Figure 2 This is a flowchart of one embodiment of the multi-device collaborative control method of the present invention; Figure 3 This is a flowchart of step S130 in one embodiment of the multi-device cooperative control method of the present invention; Figure 4 This is a flowchart of step S131 in one embodiment of the multi-device cooperative control method of the present invention; Figure 5 This is a flowchart illustrating the operation of a loading trolley in one embodiment of the multi-device collaborative control method of the present invention. Figure 6 This is a structural block diagram of one embodiment of the multi-device collaborative control system of the present invention; Figure 7 This is a schematic diagram of the structure of one embodiment of the multi-device collaborative control system of the present invention.

[0022] Figure 8 This is a structural block diagram of one embodiment of the multi-device collaborative control device of the present invention; Explanation of icon numbers: 100 - Steel plate; 200 - Loading trolley; 1000 - Cooling bed; X - First direction; Y - Second direction; 201 - Acquisition Module; 202 - First Calculation Module; 203 - Second Calculation Module; 204 - Execution Module; A1 - Main control room; A11 - Human-machine interface; A12 - Switch; A2 - Main power room; A21 - PLC device; A22 - Communication device; A23 - Variable frequency drive network; A3 - Sensor assembly; A31 - Thermal sensor; A32 - Speedometer; A4 - Variable frequency drive; 301 - Processor; 302 - Memory; 303 - Communication interface; 304 - Bus. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0024] It should be noted that all directional indications in the embodiments of the present invention, such as up, down, left, right, front, back, etc., are only used to explain the relative positional relationship and movement of the components in a specific posture as shown in the attached figure. If the specific posture changes, the directional indication will also change accordingly.

[0025] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0026] like Figure 1 As shown, during the steel plate production process, steel plates 100 of different lengths are obtained by rolling each piece. The rolled steel plates 100 are moved to the feeding device along the first direction X. Then, the feeding device moves the steel plates to the cooling bed 1000 for cooling along the second direction Y.

[0027] The feeding device typically consists of multiple independent drive mechanisms. Each drive mechanism includes a motor, a reducer, a chain drive mechanism, and a feeding trolley 200. One, two, or more feeding trolleys 200 can lift the steel plate 100 and transfer it onto the cooling bed 1000. During the transport of the steel plate 100, the feeding trolleys 200 are moved laterally by chains to achieve the transfer of the steel plate 100; that is, the feeding trolleys 200 are flexibly connected by chains.

[0028] Since the different steel plates 100 to be moved during the production process have different lengths, it is necessary to select an appropriate number of loading trolleys to transport the steel plates 100 according to their lengths.

[0029] Furthermore, because the feeding trolleys 200 are flexibly connected by chains, the gaps between the feeding trolleys 200 are relatively large, making it difficult to balance the torque between different trolleys and achieve coordinated operation. This can easily lead to collisions between adjacent feeding trolleys 200 during the conveying of steel plates 100, causing the steel plates to tilt or even damage the feeding trolleys.

[0030] Therefore, embodiments of the present invention provide a multi-device collaborative control method suitable for flexible connection scenarios, which can realize the collaborative control of multiple loading trolleys 200 and ensure dynamic load balance among different loading trolleys 200.

[0031] For ease of understanding, the multi-device cooperative control method of the present invention will be described below, such as... Figure 2 As shown, the multi-device collaborative control method in this embodiment of the invention includes steps S110 to S140.

[0032] In step S110, the dimensional data of the steel plate 100 to be transported is obtained.

[0033] In this embodiment, when rolling the steel plate 100, the rolling mill's material tracking system can record the dimensional data of the rolled steel plate 100. By interfacing with the rolling mill's material tracking system, the dimensional data of the upcoming steel plate 100 can be obtained.

[0034] In step S120, based on the size data, the number of loading trolleys 200 that the steel plate 100 can cover is calculated to determine the number of loading trolleys 200 to be called.

[0035] In this embodiment, the dimensional data of the steel plate 100 includes the length and / or width and / or thickness of the steel plate 100. This embodiment takes multiple steel plates 100 with fixed widths, thicknesses, and different lengths as an example. By acquiring the length data of the steel plates 100 to be transported, the number of loading trolleys 200 to be called is selected. The longer the steel plate 100, the more loading trolleys 200 need to be called.

[0036] The steel plate 100 to be transported is first transferred to the surface of the loading device, that is, the steel plate 100 is placed on the pallet above the loading trolley 200. Each loading trolley 200 is the same size, the pallet size is consistent, and each loading trolley 200 can lift the same length of steel plate 100. When the steel plate 100 is long, multiple loading trolleys 200 need to be combined to lift it.

[0037] Therefore, by determining the length of the steel plate 100 using its dimensional data, the number of loading trolleys 200 that the steel plate 100 can cover can be determined, and thus the number of loading trolleys 200 that can be called can be determined.

[0038] For example, if a loading trolley 200 is used to lift the surface of a steel plate 100 with a length of X meters, then for a steel plate 100 that is 2X meters long, two loading trolleys 200 are needed; for a steel plate 100 that is 3X meters long, three loading trolleys 200 are needed; and for a steel plate 100 that is 3.5X meters long, four loading trolleys 200 are needed.

[0039] In step S130, the output torque of each loading trolley 200 is calculated based on the size data, the number of calls, the pre-acquired integral coupling coefficient, and the adjustment parameters of each loading trolley 200.

[0040] In this embodiment, after determining the number of loading trolleys 200 that need to be called, one loading trolley 200 is selected as the master device and the remaining loading trolleys 200 are selected as slave devices.

[0041] Subsequently, depending on whether the feeding trolley 200 is a master device or a slave device, different control algorithms are selected to calculate its output torque. The specific process of selecting the master device and the slave device and the process of calculating the output torque are described below.

[0042] like Figure 3 As shown, in some optional embodiments, step S130 includes steps S131 to S133.

[0043] In step S131, based on the number of calls and the incoming direction of the steel plate 100, the master device is selected from all the loading trolleys 200, and the remaining loading trolleys 200 are used as slave devices.

[0044] In step S132, the main output torque of the main device is calculated based on the adjustment parameters of the main device.

[0045] In step S133, the slave output torque of each slave device is calculated based on the adjustment parameters of the master device, the adjustment parameters of the slave device, the size data, and the pre-acquired integral coupling coefficient.

[0046] In this embodiment, the adjustment parameters of the loading trolley 200 include the proportional component and / or integral component of the speed regulator of the loading trolley 200.

[0047] like Figure 4 As shown, further, the step of selecting the master device in step S131 includes: Step S1311: Based on the number of calls, select the loading trolley 200 located in the middle position of all the called loading trolleys 200 as the main device to be selected.

[0048] Step S1312: When there are two main devices to be selected, the loading trolley 200 that is closer to the steel plate 100 on the receiving side is selected as the loading trolley 200 with the largest weight load, so as to obtain the main device.

[0049] Specifically, when only one loading trolley 200 is used, that loading trolley 200 can be used as the main device. When two loading trolleys 200 are used, the loading trolley 200 on the side closest to the steel plate 100 in the material receiving direction (i.e., the side located upstream of the production line) is used as the main device, and the other is used as the slave device.

[0050] When three loading trolleys 200 are called, the middle loading trolley 200 is designated as the master unit, and the other two are designated as slave units. When four loading trolleys 200 are called, the loading trolley 200 on the side closest to the steel plate 100 in the material receiving direction among the two middle loading trolleys 200 is designated as the master unit (see reference). Figure 1 Counting from left to right, the second loading trolley 200 is taken as the main device, and the other three are taken as the slave devices.

[0051] When calling up five, six, or even more 200-ton loading trolleys, the main device can be selected based on the following principles: The main device is the feeding trolley 200, which is located in the middle and closer to the side of the steel plate 100 in the material receiving direction.

[0052] By selecting the main device in the above manner, it is possible to ensure that the main device is located as centrally as possible in the load, so that it can bear most of the torque and prevent insufficient output.

[0053] In this embodiment, the output torque is calculated using the following formula: = ; in, For the output torque of the i-th slave device, For the proportional component of the speed regulator of the i-th slave device, Let i be the integral coupling coefficient of the i-th slave device. The integral component of the speed regulator of the main unit This is the load balancing correction amount for the i-th slave device to be acquired.

[0054] The load balancing correction amount is calculated using the following formula: ; in, For the pre-obtained load balancing factor, The average output torque of all 200 loading trolleys called in the current calculation cycle, The output torque of the i-th slave device in the previous calculation cycle.

[0055] The average output torque for the current calculation cycle is calculated using the following formula: ; in, The main output torque of the main device in the previous calculation cycle, The slave output torque of the i-th slave device in the previous calculation cycle, The number of calls from the device.

[0056] The main output torque is calculated using the following formula: = ; in, Main output torque, The proportional component of the speed regulator of the main device.

[0057] This invention employs a continuous thickness adaptive algorithm to calculate the load balancing coefficient, as shown in the following formula. The load balancing coefficient is calculated using the following formula: ; in, The preset minimum equilibrium coefficient, The preset maximum equilibrium coefficient, For the pre-acquired attenuation coefficient, For the current steel plate thickness of 100, This is a preset steel plate thickness parameter of 100.

[0058] Specifically, the load balancing coefficient β determines the strength of load balancing. If β is too small, the load balancing effect is weak; if β is too large, it may be over-adjusted, making the conveying process of the loading trolley 200 unstable.

[0059] In the production of medium-thick steel plates 100, the thickness of the steel plate 100 is the main factor affecting the load on the trolley. Steel plates 100 of different thicknesses have different characteristics. As the thickness of the steel plate 100 increases, the weight increases, the inertia also increases, the frequency of load fluctuation decreases, and the need for rapid load balancing decreases. Therefore, the load balancing coefficient needs to decay exponentially. The exponential function form ensures that when the thickness of the steel plate 100 is small, the load balancing coefficient decreases rapidly (sensitive in the thin plate region), and when the thickness of the steel plate 100 is large, the load balancing coefficient tends to be stable (stable in the thick plate region).

[0060] In this embodiment, the load balancing coefficient is selected based on the thickness of the steel plate 100. Specifically, the load balancing coefficient is 0.4 when the thickness of the steel plate 100 is 10mm; 0.282 when the thickness is 15mm; 0.210 when the thickness is 20mm; 0.167 when the thickness is 25mm; 0.141 when the thickness is 30mm; 0.125 when the thickness is 35mm; 0.115 when the thickness is 40mm; 0.109 when the thickness is 45mm; and 0.105 when the thickness is 50mm.

[0061] In this embodiment, the load balancing coefficient ranges from 0.1 to 0.5. Preferably, the load balancing coefficient is 0.2. The specific value of the load balancing coefficient in this embodiment can be preset according to the flexibility of the loading trolley 200, and this application does not limit it.

[0062] In this embodiment, the integral coupling coefficient is the ratio of the length of the steel plate 100 covering each slave device to the length of the steel plate 100 covering the master device.

[0063] The output torque of the master device and the output torque of the slave device in this embodiment can be calculated through the following steps: First, the proportional and integral components of the speed regulator for each 200 loading trolley are precisely distinguished using a PI speed regulator.

[0064] Secondly, the PLC device collects data such as speed feedback from the main device and each slave device, proportional component of the regulator, and integral component of the regulator to calculate the target output torque of 200 for each loading trolley.

[0065] Finally, based on the current output torque of each loading trolley 200, the torque adjustment amount of each loading trolley 200 is determined, and the current output torque of each loading trolley 200 is adjusted to the target output torque.

[0066] In this embodiment, a PLC device calculates the target output torque of each loading trolley 200. During calculation, after obtaining the initial output torque of each loading trolley 200, the PLC device can calculate the output torque of each loading trolley 200 in each subsequent calculation cycle based on the output torque calculated in the previous calculation cycle. This allows for real-time adjustment of the output torque of the loading trolley 200 as it moves the steel plate 100, ensuring coordinated output torque among multiple loading trolleys 200. In this embodiment, each calculation cycle of the PLC device can be 1ms, 2ms, 3ms, or other durations.

[0067] Specifically, the target output torque of 200 for each loading trolley is calculated sequentially through the following steps: 1. Calculate the load balance coefficient based on the thickness of the steel plate 100 to be transported, the preset steel plate 100 thickness parameters, the preset minimum balance coefficient, the preset maximum balance coefficient, and the pre-acquired attenuation coefficient.

[0068] 2. Obtain the proportional and integral components of the speed regulator of the main device through the speed regulator of the main device, and calculate the initial main output torque of the main device and the main output torque of the main device in each subsequent calculation cycle.

[0069] Obtain the initial total output torque of all 200 loading trolleys upon startup. Based on the initial total output torque and the initial main output torque of the main unit, obtain the initial average output torque of all slave units.

[0070] 3. After the first calculation cycle ends, at the beginning of the second calculation cycle, the average output torque of the current calculation cycle is calculated based on the initial main output torque of the main device, the number of slave devices called, and the initial slave output torque of all slave devices.

[0071] 4. Based on the load balancing coefficient, the average output torque of all called loading trolleys 200 in the current calculation cycle, and the output torque of the slave devices in the previous calculation cycle, the load balancing correction amount for each slave device is calculated. Furthermore, based on the ratio of the length of the steel plate 100 covering each slave device to the length of the steel plate 100 covering the master device, the integral coupling coefficient for each slave device is calculated.

[0072] 5. Calculate the output torque of each slave device based on the proportional component of the slave device's speed regulator, the integral coupling coefficient of the slave device, the integral component of the master device's speed regulator, and the load balancing correction of the slave device.

[0073] 6. Based on the slave output torque of each slave device and the main output torque of the main device, the target output torque of 200 for each loading trolley is obtained.

[0074] The integral and proportional components of the speed regulator of the main device, and the proportional component of the speed regulator of the slave device, can be read from the speed regulators of the main device and the slave device.

[0075] In step S140, based on the output torque, each loading trolley 200 is controlled to output the corresponding torque to transport the steel plate 100.

[0076] In this embodiment, the output torque of each loading trolley 200 is controlled according to the calculated output torque of each loading trolley 200, so that the output torques of the different loading trolleys 200 are coordinated to smoothly transfer the steel plate 100 onto the cooling bed 1000.

[0077] like Figures 1 to 5 As shown, the specific flow of the multi-device cooperative control method in this embodiment is as follows: 1. When a new steel plate 100 is detected arriving and being transferred to the feeding device, the dimensions and specifications of the arriving steel plate 100 are obtained.

[0078] 2. Check whether the current steel plate 100 has stopped on the feeding device. After the steel plate 100 stops, determine the number of feeding trolleys 200 that the steel plate 100 can cover based on the length of the steel plate 100, so as to determine the number of feeding trolleys 200 to be called.

[0079] 3. Based on the number of loading trolleys 200 called, determine the master device or the master and slave devices in the called loading trolleys 200.

[0080] 4. Calculate the integral coupling coefficient and load balancing coefficient to determine the initial output torque of the master unit and the initial output torque of each slave unit.

[0081] 5. When the main device and the slave device start to move the steel plate 100, the same speed is given to the main device and the slave device, that is, the amplitude and slope of the speed given to the main device and the slave device are the same.

[0082] Then, based on the initial output torque of the main device and the initial output torque of each slave device, the feeding device is started. The frequency conversion drive device in the feeding device drives each feeding trolley 200 to lift the steel plate 100 and move it to the cooling bed 1000. Then, the feeding trolley 200 is controlled to descend and place the steel plate 100 on the cooling bed 1000.

[0083] When transferring the steel plate 100, the output torque of each loading trolley 200 in each calculation cycle is calculated in real time to ensure that the output torques of different loading trolleys 200 are coordinated and coordinated, so that the loading trolleys 200 move forward smoothly at the same speed, avoiding collisions or tilting of the steel plate 100.

[0084] 6. After placing the steel plate 100 on the cooling bed 1000, all the loading trolleys 200 are now unloaded. Adjust the integral coupling coefficient to 1 and control all the loading trolleys 200 to retreat to their original positions to complete this transfer operation.

[0085] During the aforementioned process of moving the steel plate 100, the process involved acceleration from zero, high-speed operation of the trolley, deceleration, and finally stopping the conveying of the steel plate 100. Throughout this process, the slave device had to ensure that its speed was roughly synchronized with the master device (due to the flexible connection of the chain, a certain speed difference was permissible between the slave and master devices, and between the slave and master devices themselves), while simultaneously ensuring that the output of its driving device matched the actual load, given the different lengths of the steel plates 100 carried by the master and slave devices.

[0086] During the movement of the steel plate 100, the proportional component of the device's own speed regulator is used to quickly respond to the machine's speed deviation, ensuring the system's dynamic following performance during acceleration and deceleration, and avoiding the steel plate 100 from tilting due to excessive speed difference.

[0087] The integral component of the master device with the master device integral coupling coefficient enables the slave devices to proportionally share the integral accumulation of the master device in steady state, thereby achieving multi-machine synchronization.

[0088] Because the flexible connection allows for a certain speed difference between different trolleys, the integral term of the main device can be used as a reference parameter for soft synchronization. By using the load balancing correction as a proportional load balancing control parameter, when the actual output current of any slave device is lower than the average value (i.e., the output torque is too small), the correction term is positive, increasing the torque setpoint to allow it to share more of the load; conversely, when the actual output current of any slave device is higher than the average value (i.e., the output torque is too large), the correction term is negative, decreasing the torque setpoint. Adjustments are made in real time based on the current deviation, causing the output force of each slave device driving the same steel plate 100 to approach the average value, achieving coordinated output torque between different loading trolleys 200.

[0089] The subsequent steel plate 100 transfer process can refer to the above steps. According to the different lengths of the steel plate 100, the corresponding number of loading trolleys 200 are called. After determining the main device and the slave device, the output torque of each loading trolley 200 is calculated, so as to realize the coordinated output torque between different loading trolleys 200.

[0090] The multi-device collaborative control method provided in this embodiment of the invention includes: acquiring the size data of the steel plate 100 to be transported; calculating the number of loading trolleys 200 that the steel plate 100 can cover based on the size data, so as to determine the number of loading trolleys 200 to be called; calculating the output torque of each loading trolley 200 based on the size data, the number of calls, the pre-acquired integral coupling coefficient, and the adjustment parameters of each loading trolley 200; and controlling each loading trolley 200 to output the corresponding torque to transport the steel plate 100 based on the output torque.

[0091] The multi-device collaborative control method provided in this embodiment of the invention can smoothly adjust the output torque of multiple loading trolleys 200, so that the output torque of different loading trolleys 200 can coordinate and cooperate, realizing the dual coordination of speed and load of multiple loading trolleys 200 when transporting steel plate 100, thereby reducing equipment wear and failure rate, and improving production efficiency and economic benefits.

[0092] In addition to the above method embodiments, the present invention also provides, for example, Figure 6 The multi-device collaborative control system shown includes: a data acquisition module 201, a first calculation module 202, a second calculation module 203, and an execution module 204.

[0093] The data acquisition module 201 is used to acquire the dimensional data of the steel plate 100 to be transported.

[0094] The first calculation module 202 is used to calculate the number of loading trolleys 200 that the steel plate 100 can cover based on the size data, so as to determine the number of loading trolleys 200 to be called.

[0095] The second calculation module 203 is used to calculate the output torque of each loading trolley 200 based on the size data, the number of calls, the pre-acquired integral coupling coefficient, and the adjustment parameters of each loading trolley 200.

[0096] The execution module 204 is used to control each loading trolley 200 to output a corresponding torque according to the output torque, so as to transport the steel plate 100.

[0097] like Figure 1 and Figure 7 As shown, in this embodiment, the acquisition module 201 can be a sensor assembly A3 including multiple sensors, which includes a thermal sensor A31 and a speedometer A32. For example, the thermal sensor A31 can be an infrared sensor, a thermal imager, etc., and the speedometer A32 is a speed regulator for each loading trolley 200.

[0098] The first calculation module 202, the second calculation module 203, and the execution module 204 can be integrated into the PLC device A21. The PLC device A21 is located in the main electrical room A2 and is connected to each sensor in the sensor assembly A3 via the communication device A22 and to the variable frequency drive device A4 via the variable frequency drive network A23. The PLC device A21 can control the output torque of each loading trolley 200 of the loading device through the variable frequency drive device A4, thereby realizing the coordinated output torque of multiple loading trolleys 200.

[0099] The human-machine interface device A11 in the main control room A1 is connected to the PLC device A21 via the switch A12. The operator can send instructions to the PLC device A21 through the human-machine interface device A11, so that the PLC device A21 can calculate the number of loading trolleys 200 that the steel plate 100 can cover based on the size data, and determine the number of loading trolleys 200 to be called. Then, based on the size data, the number of calls, the pre-acquired integral coupling coefficient, and the adjustment parameters of each loading trolley 200, it calculates the output torque of each loading trolley 200 and controls each loading trolley 200 to output the corresponding torque so as to smoothly transport the steel plate 100 to the cooling bed 1000.

[0100] Specifically, in this embodiment, the communication device A22 can realize data communication transmission between the PLC device A21 and the sensor component A3 through a remote IO network.

[0101] Specifically, the communication between PLC device A21 and frequency converter A4, and between PLC device A21 and sensor assembly A3, can adopt Profinet fieldbus based on isochronous synchronization. The communication update cycle between communication device A22 and frequency converter A4 is 1ms, so that the calculation cycle of PLC device A21 is 1ms, thereby realizing the fast response of PLC device A21 and the rapid adjustment of the output torque of each loading trolley 200.

[0102] The multi-device collaborative control system provided in this embodiment of the invention implements the multi-device collaborative control method of the above embodiment of this application through the above steps. It can smoothly adjust the output torque of multiple loading trolleys 200, so that the output torque of different loading trolleys 200 can coordinate and cooperate, and realize the dual coordination of speed and load of multiple loading trolleys 200 when transporting steel plate 100, thereby reducing equipment wear and failure rate, and improving production efficiency and economic benefits.

[0103] In addition to the above method embodiments, the present invention also provides, for example, Figure 8The illustrated multi-device collaborative control device includes a processor 301 and a memory 302, wherein the memory 302 stores instructions. The processor 301 can invoke the instructions in the memory 302 to execute the multi-device collaborative control method of any of the above embodiments of the present invention.

[0104] The multi-device collaborative control equipment provided in this embodiment of the invention can smoothly adjust the output torque of multiple loading trolleys 200 by implementing the above method, so that the output torque of different loading trolleys 200 can coordinate and cooperate, thereby achieving dual coordination of speed and load of multiple loading trolleys 200 when transporting steel plate 100, thereby reducing equipment wear and failure rate, and improving production efficiency and economic benefits.

[0105] Furthermore, the multi-device collaborative control device provided in this embodiment of the invention may also include a communication interface 303 and a bus 304, with the processor 301, memory 302 and communication interface 303 electrically connected via the bus 304.

[0106] The memory 302 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 303 (which can be wired or wireless), such as the Internet, wide area network, local area network, metropolitan area network, etc. The bus 304 can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 8 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0107] Processor 301 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 301 or by instructions in software form. Processor 301 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a readily available storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 302. The processor 301 reads the information from memory 302 and, in conjunction with its hardware, completes the steps of the method described in the foregoing embodiments.

[0108] This invention also provides a computer-readable storage medium, which can be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. The computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the steps of the above-described multi-device cooperative control method.

[0109] The computer-readable storage medium provided in this embodiment of the invention stores data and computer-executable instructions of the above-described multi-device cooperative control method. The multi-device cooperative control method includes: acquiring the size data of the steel plate 100 to be transported; calculating the number of loading trolleys 200 that the steel plate 100 can cover based on the size data to determine the number of loading trolleys 200 to be called; calculating the output torque of each loading trolley 200 based on the size data, the number of calls, the pre-acquired integral coupling coefficient, and the adjustment parameters of each loading trolley 200; and controlling each loading trolley 200 to output the corresponding torque to transport the steel plate 100 based on the output torque.

[0110] When the instructions stored in the computer-readable storage medium provided in this embodiment of the invention are executed on a computer, the computer can smoothly adjust the output torque of multiple loading trolleys 200 by implementing the above method, so that the output torque of different loading trolleys 200 can coordinate and cooperate, thereby achieving dual coordination of speed and load of multiple loading trolleys 200 when transporting steel plates, thereby reducing equipment wear and failure rate, and improving production efficiency and economic benefits.

[0111] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0112] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0113] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-device collaborative control method, characterized in that, The method includes: Obtain the dimensional data of the steel plate to be transported; Based on the size data, the number of loading trolleys that the steel plate can cover is calculated to determine the number of loading trolleys to be called. Based on the size data, the number of calls, the pre-acquired integral coupling coefficient, and the adjustment parameters of each loading trolley, the output torque of each loading trolley is calculated; Based on the output torque, each of the loading trolleys is controlled to output a corresponding torque in order to transport the steel plate.

2. The multi-device collaborative control method according to claim 1, characterized in that, The step of calculating the output torque of each loading trolley based on the size data, the number of calls, the pre-acquired integral coupling coefficient, and the adjustment parameters of each loading trolley includes: Based on the number of calls and the direction of the steel plate, select the master device from all the loading trolleys and treat the remaining loading trolleys as slave devices. Based on the adjustment parameters of the main device, calculate the main output torque of the main device; Based on the adjustment parameters of the master device, the adjustment parameters of the slave device, the size data, and the pre-acquired integral coupling coefficient, the slave output torque of each slave device is calculated.

3. The multi-device cooperative control method according to claim 2, characterized in that, The output torque is calculated using the following formula: = ； in, The slave output torque of the i-th slave device, For the proportional component of the speed regulator of the i-th slave device, The integral coupling coefficient of the i-th slave device, The integral component of the speed regulator of the main device, The load balancing correction amount for the i-th slave device to be pre-acquired.

4. The multi-device collaborative control method according to claim 3, characterized in that, The load balancing correction amount is calculated using the following formula: ； in, For the pre-obtained load balancing factor, The average output torque of all the loading trolleys called in the current calculation cycle, The output torque of the i-th slave device in the previous calculation cycle.

5. The multi-device collaborative control method according to claim 4, characterized in that, The average output torque for the current calculation cycle is calculated using the following formula: ； in, The main output torque of the main device in the previous calculation cycle, The slave output torque of the i-th slave device in the previous calculation cycle. The number of calls made by the slave device.

6. The multi-device cooperative control method according to claim 5, characterized in that, The main output torque is calculated using the following formula: = ； in, For the main output torque, This refers to the proportional component of the speed regulator of the main device.

7. The multi-device cooperative control method according to claim 4, characterized in that, The load balancing coefficient is calculated using the following formula: ； in, The preset minimum equilibrium coefficient, The preset maximum equilibrium coefficient, For the pre-acquired attenuation coefficient, The thickness of the steel plate currently mentioned, This is the preset steel plate thickness parameter.

8. The multi-device cooperative control method according to claim 2, characterized in that, The integral coupling coefficient is the ratio of the length of the steel plate covering each slave device to the length of the steel plate covering the master device.

9. The multi-device cooperative control method according to claim 2, characterized in that, The step of selecting the main device from all the loading trolleys based on the number of calls and the direction of the steel plate's arrival includes: Based on the number of calls, the loading trolley located in the middle position of all the called loading trolleys is selected as the main device to be selected; When there are two main devices to be selected, the loading trolley that is closer to the steel plate on the receiving side is selected as the loading trolley with the largest weight load, so as to obtain the main device.

10. The multi-device cooperative control method according to claim 1, characterized in that, The adjustment parameters of the feeding trolley include the proportional component and / or integral component of the speed regulator of the feeding trolley.

11. A multi-device collaborative control system, characterized in that, The multi-device collaborative control system includes: The data acquisition module is used to collect the dimensional data of the steel plates to be transported. The first calculation module is used to calculate the number of loading trolleys that the steel plate can cover based on the size data, so as to determine the number of loading trolleys to be called. The second calculation module is used to calculate the output torque of each loading trolley based on the size data, the number of calls, the pre-acquired integral coupling coefficient, and the adjustment parameters of each loading trolley. The execution module is used to control each of the loading trolleys to output a corresponding torque according to the output torque, so as to transport the steel plate.

12. A multi-device collaborative control device, characterized in that, The multi-device collaborative control device includes: a processor and a memory, wherein the memory stores instructions; The processor invokes the instructions in the memory to cause the multi-device collaborative control device to implement the multi-device collaborative control method as described in any one of claims 1 to 10.

13. A computer-readable storage medium storing instructions thereon, characterized in that, When the instructions are executed by the processor, they implement the multi-device cooperative control method as described in any one of claims 1 to 10.

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