Mover control method and apparatus for synchronous track, and electronic device and storage medium

Abstract

A mover control method and apparatus (2000) for a synchronous track, and an electronic device and a storage medium. The synchronous track comprises an initial position and a target position. The method comprises: firstly, acquiring initial operation data of a mover reaching an initial position, and target synchronization data required when the mover reaches a target position (301); then, on the basis of the initial operation data and the target synchronization data, generating initial planning data, wherein the initial planning data comprises first speed planning data of a first speed adjustment stage, second speed planning data of a second speed adjustment stage, and an initial adjustment position between the two speed adjustment stages (302); and finally, on the basis of the initial planning data, obtaining speed planning parameters, and on the basis of the speed planning parameters, controlling the mover to move from the initial position to the target position (303). The smoothness of mover operation control in the synchronous track is improved, thereby preventing the risk of mover failure caused by a low smoothness.

Description

Method and device for controlling mover on synchronous track, electronic device and storage medium TECHNICAL FIELD

[0001] The present application relates to the technical field of control, and particularly relates to a method and device for controlling a mover on a synchronous track, an electronic device and a storage medium. BACKGROUND

[0002] The mover is conveyed by using the magnetic levitation conveying technology, which has a relatively wide application in the industrial automation field, such as being used for conveying goods on a logistics line to assemble, package and SMT of precision electronic components. In these applications, the workpiece on the mover usually needs to be processed during the movement of the mover, and before the processing operation, there is a synchronous track, and the movement data of the mover on the synchronous track is controlled to reach the movement data corresponding to the processing operation.

[0003] In the prior art, when the mover is controlled in the synchronous track, the initial movement data of the mover when entering the synchronous track is directly increased to the target movement data with the maximum acceleration to meet the synchronous control requirement. However, due to the large difference between the target control data and the initial movement data, the mover control in the synchronous track by this control method is prone to be not smooth, and the mover is prone to failure.

[0004] SUMMARY

[0005] The method and device for controlling a mover on a synchronous track, the electronic device and the storage medium provided by the embodiments of the present application can improve the synchronous control smoothness of the mover on the synchronous track.

[0006] To achieve the above object, a first aspect of the embodiments of the present application provides a method for controlling a mover on a synchronous track, the synchronous track comprising an initial position and a target position, and the method comprising:

[0007] obtaining initial movement data of the mover reaching the initial position and target synchronous data required when the mover reaches the target position;

[0008] generating initial planning data based on the initial movement data and the target synchronous data, the initial planning data comprising first speed planning data of a first speed adjustment stage, second speed planning data of a second speed adjustment stage and an initial adjustment position between the two speed adjustment stages;

[0009] obtaining speed planning parameters according to the initial planning data, and controlling the mover to move from the initial position to the target position according to the speed planning parameters.

[0010] In some embodiments, the generating initial planning data based on the initial running data and the target synchronization data comprises:

[0011] obtaining an adjustment time based on the initial position, the initial running data, the target position and the target synchronization data; obtaining a first running planning parameter based on the adjustment time, and obtaining a second running planning parameter based on the adjustment time and the first running planning parameter;

[0012] generating a first position, a first speed and a first acceleration of each moment in a first speed adjustment stage based on the first running planning parameter to obtain the first speed planning data, and generating a second position, a second speed and a second acceleration of each moment in a second speed adjustment stage based on the second running planning parameter to obtain the second speed planning data;

[0013] determining the adjustment position according to the first position corresponding to the adjustment time.

[0014] In some embodiments, when the initial adjustment position is between the initial position and the target position, the obtaining the speed planning parameter based on the initial planning data comprises:

[0015] when there is no speed reversal in the first speed in the first speed planning data and the second speed in the second speed planning data, obtaining the speed planning parameter based on the first speed planning data and the second speed planning data; when there is a speed reversal in the first speed in the first speed planning data or the second speed in the second speed planning data, using the position of the first speed reversal as a target adjustment position, and obtaining the speed planning parameter based on the target adjustment position.

[0016] In some embodiments, the obtaining the speed planning parameter based on the target adjustment position comprises:

[0017] obtaining first target planning data between the target adjustment position and the initial position based on the initial planning data, the first target planning data comprising a first target planning parameter of each moment;

[0018] updating the initial position with the target adjustment position, and updating the initial running data with the first target planning parameter corresponding to the moment of the target adjustment position;

[0019] obtaining a second target planning parameter corresponding to the initial planning data based on the updated initial position and the updated initial running data;

[0020] The speed planning parameter is obtained based on the first target planning parameter and the second target planning parameter.

[0021] In some embodiments, the obtaining the speed planning parameter according to the initial planning data comprises:

[0022] The initial adjustment position is determined to be outside the initial position and the target position according to the initial planning data;

[0023] Third speed planning data corresponding to the overall adjustment stage from the initial position to the target position is generated based on the initial running data and the target synchronization data, the third speed planning data at least comprising a third position, a third speed and a third acceleration at each time;

[0024] The speed planning parameter is obtained according to the third speed planning data when the third speed does not exist speed reversal;

[0025] The third speed planning data is updated by setting the third speed less than zero to zero when the third speed exists speed reversal, and the speed planning parameter is obtained according to the third speed planning data.

[0026] In some embodiments, the initial running data comprises an initial speed and an initial acceleration, the target synchronization data comprises a target speed, a target time and a target acceleration, and the adjustment time is obtained based on the initial position, the initial running data, the target position and the target synchronization data, comprising:

[0027] A first time multiplier is obtained based on a product of the target time and the target speed, a second time multiplier is obtained based on a product of the target time and the initial speed, and a third time multiplier is obtained based on a product of the target time squared and the target acceleration;

[0028] A fourth time multiplier is obtained based on a product of the target acceleration and the target time, and a fifth time multiplier is obtained based on a product of the initial acceleration and the target time;

[0029] A first adjustment time term is obtained by subtracting the initial position, the first time multiplier and the second time multiplier one by one based on a sum of the target position and the third time multiplier;

[0030] A second adjustment time term is obtained by adding the fourth time multiplier and the fifth time multiplier one by one based on a difference between the initial speed and the target speed;

[0031] The adjustment time is obtained based on a ratio of the first adjustment time term and the second adjustment time term.

[0032] In some embodiments, the first running planning parameter comprises a first sub-planning parameter, a second sub-planning parameter, a third sub-planning parameter and a fourth sub-planning parameter, and the first running planning parameter based on the adjustment time comprises: a first planning multiplier based on a product of the target acceleration and the adjustment time, a second planning multiplier based on a product of the initial acceleration and the adjustment time, and a third planning multiplier based on a product of the target velocity and the adjustment time;

[0033] The first planning parameter item is obtained by subtracting the initial velocity, the fourth time multiplier, the fifth time multiplier and the second planning multiplier from the sum of the target velocity and the first planning multiplier, and the first sub-planning parameter is obtained based on a ratio of the first planning parameter item and the third planning multiplier;

[0034] The second sub-planning parameter is obtained based on half of the initial acceleration, the third sub-planning parameter is obtained based on the initial velocity, and the fourth sub-planning parameter is obtained based on the initial position.

[0035] In some embodiments, the second running planning parameter comprises a fifth sub-planning parameter, a sixth sub-planning parameter, a seventh sub-planning parameter and an eighth sub-planning parameter, and the second running planning parameter based on the adjustment time and the first running planning parameter comprises:

[0036] The second planning parameter item is obtained based on a sum of the initial velocity, the fourth time multiplier and the second planning multiplier, and the target velocity and the first planning multiplier are subtracted one by one, and the fifth sub-planning parameter is obtained based on a ratio of the second planning parameter item and the third planning multiplier;

[0037] The sixth sub-planning parameter is obtained based on a product of the first sub-planning parameter and the adjustment time, and the second sub-planning parameter is added;

[0038] The seventh sub-planning parameter is obtained based on a product of the square of the adjustment time and the first sub-planning parameter, a product of the second sub-planning parameter and the adjustment time, and the third sub-planning parameter;

[0039] The eighth sub-planning parameter is obtained based on a product of the cube of the adjustment time and the first sub-planning parameter, a product of the square of the adjustment time and the second sub-planning parameter, a product of the third sub-planning parameter and the adjustment time, and the fourth sub-planning parameter.

[0040] To achieve the above-mentioned purpose, the synchronous orbit comprises an initial position and a target position, and the device comprises:

[0041] The data acquisition module is configured to acquire initial operation data of the mover reaching the initial position and target synchronization data required when the mover reaches the target position.

[0042] The data generation module is configured to generate initial planning data based on the initial operation data and the target synchronization data, the initial planning data including first speed planning data of a first speed adjustment stage, second speed planning data of a second speed adjustment stage, and an initial adjustment position between the two speed adjustment stages.

[0043] The control module is configured to obtain speed planning parameters according to the initial planning data, and control the mover to move from the initial position to the target position according to the speed planning parameters.

[0044] To achieve the above object, a third aspect of the embodiments of the present application provides an electronic device, which comprises a memory and a processor, the memory stores a computer program, and the processor implements the mover control method of the synchronous orbit when executing the computer program.

[0045] To achieve the above object, a fourth aspect of the embodiments of the present application provides a storage medium, which is a computer readable storage medium, the storage medium stores a computer program, and the computer program is executed by a processor to implement the mover control method of the synchronous orbit.

[0046] The mover control method, device, electronic device and storage medium of the synchronous orbit provided by the embodiments of the present application, the synchronous orbit comprises an initial position and a target position, the method comprises the following steps: first, acquiring initial operation data of the mover reaching the initial position and target synchronization data required when the mover reaches the target position; then, generating initial planning data based on the initial operation data and the target synchronization data, the initial planning data including first speed planning data of a first speed adjustment stage, second speed planning data of a second speed adjustment stage, and an initial adjustment position between the two speed adjustment stages; finally, obtaining speed planning parameters according to the initial planning data, and controlling the mover to move from the initial position to the target position according to the speed planning parameters. The embodiments of the present application gradually generate speed control parameters for smooth control between the first position and the second position by using the first speed planning data generated by the first operation data of the mover reaching the first position and the second operation data required when the mover reaches the second position, thereby effectively improving the smoothness of the synchronization operation control of the mover in the synchronous transition orbit.

[0047] Other features and advantages of the present application will be set forth in the description that follows, and in part will be apparent from the description, or can be learned by practice of the application. The purposes and other advantages of the present application will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings. BRIEF DESCRIPTION OF DRAWINGS

[0048] FIG. 1 is a schematic diagram of a structure of a magnetic levitation track according to an embodiment of the present application.

[0049] FIG. 2 is a schematic diagram of a synchronization control phase according to an embodiment of the present application.

[0050] FIG. 3 is a flowchart of a mover control method of a synchronous track according to an embodiment of the present application.

[0051] FIG. 4 is a flowchart of step 302 in FIG. 3.

[0052] FIG. 5 is a flowchart of step 401 in FIG. 4.

[0053] FIG. 6 is a flowchart of step 402 in FIG. 4.

[0054] FIG. 7 is another flowchart of step 402 in FIG. 4.

[0055] FIG. 8 is a schematic diagram of first and second speed planning data according to an embodiment of the present application.

[0056] FIG. 9 is a flowchart of a first method of determining speed planning parameters according to an embodiment of the present application.

[0057] FIG. 10 is a schematic diagram of first and second speed curves according to an embodiment of the present application.

[0058] FIG. 11 is a schematic diagram of a first speed curve reversing according to an embodiment of the present application.

[0059] FIG. 12 is a flowchart of step 902 in FIG. 9.

[0060] FIG. 13 is a schematic diagram of first and second target planning data according to an embodiment of the present application.

[0061] FIG. 14 is a schematic diagram of first and second target planning data according to another embodiment of the present application.

[0062] FIG. 15 is a flowchart of a second method of determining speed planning parameters according to an embodiment of the present application.

[0063] FIG. 16 is a schematic diagram of an initial adjustment position error according to an embodiment of the present application.

[0064] FIG. 17 is a schematic diagram of third speed planning data according to another embodiment of the present application.

[0065] FIG. 18 is a schematic diagram of third speed appearing speed reversal according to another embodiment of the present application.

[0066] FIG. 19 is a schematic diagram of updating third speed according to another embodiment of the present application.

[0067] FIG. 20 is a schematic diagram of a structure of a mover control device of a synchronous track according to an embodiment of the present application.

[0068] FIG. 21 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0069] In order to make the objects, technical solutions and advantages of the present application clearer, further detailed description will be made to the present application with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0070] It should be noted that although the functional modules are divided in the device schematic diagram, and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a manner different from the module division in the device or the order in the flowchart.

[0071] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the specification herein is for describing the embodiments of the present application only and is not intended to limit the present application.

[0072] The use of magnetic levitation conveying technology to convey the mover has a relatively wide application in the field of industrial automation, such as being used for conveying goods on the logistics line to assemble, package and SMT of precision electronic components, etc. In these applications, it is usually required to process the workpiece on the mover during the running of the mover, and there is a synchronous track before the processing operation, and the running data of the mover on the synchronous track is controlled to reach the running data corresponding to the processing operation.

[0073] In the prior art, when the mover is controlled in the synchronous track, the initial running data of the mover when entering the synchronous track is directly increased to the target running data with maximum acceleration to meet the synchronous control requirement. However, due to the large difference between the target control data and the initial running data, the control of the mover in the synchronous track by this control method is prone to cause the running of the mover to be not smooth, and the risk of failure of the mover.

[0074] In order to improve the smoothness of the mover in the synchronous control of the synchronous orbit, the embodiments of the application utilize the initial running data of the starting position and the target synchronization data of the target position to plan the running data of the two speed adjustment stages of the mover running in the synchronous orbit, and combine the initial adjustment position as the transition position of the two speed adjustment stages, so as to control the synchronous running of the mover in the control stage of the synchronous orbit at the speed adjustment speed of the two speed adjustment stages, thereby improving the smoothness of the mover running control in the synchronous orbit and avoiding the risk of failure of the mover due to low smoothness.

[0075] In order to better illustrate the mover control method of the synchronous orbit provided by the embodiments of the application, the embodiments first describe the maglev conveying track to which the mover control method is applied. Referring to FIG. 1, it is a structural schematic diagram of a maglev conveying track provided by an embodiment of the application. As shown in FIG. 1, the mover runs on the maglev conveying track, and the maglev conveying track includes a synchronous orbit, which includes an initial position and a target position.

[0076] In some application scenarios, the mover needs to be controlled at the target position, and these control operations have precise requirements for the running data, that is, the trolley needs to maintain consistent speed, acceleration and other motion characteristics with the external shaft in a specific position interval. The external shaft is the leading one, responsible for guiding the motion characteristics of the trolley in the synchronous region. The trolley is the slave shaft, which must follow the motion characteristics of the external shaft in a specific region. Therefore, when the mover runs to the initial position, in order to make the running data meet the target synchronization data when the mover runs to the target position, it is necessary to plan the data of the synchronous control track of the mover running on the synchronous orbit at the initial position, and then control the synchronous running of the mover on the synchronous orbit.

[0077] Referring to FIG. 2, a schematic diagram of a synchronization control phase is shown according to an embodiment of the present application. As shown in FIG. 2, the synchronization control phase of the mover mainly includes four stages, which are a preparation synchronization stage, a start synchronization stage, an ongoing synchronization stage, and an exit synchronization stage. The preparation synchronization stage is located at a moment when the mover is about to reach an initial position, at which time the synchronization running plan of the mover is prepared, and the jerk of the mover is reduced to 0 and the acceleration is kept stable to facilitate the subsequent running data control of the mover. The start synchronization stage is located at a moment when the mover reaches the initial position, which is the most important stage in the synchronization stage, at which time the running data of the mover is planned according to the initial running data of the mover reaching the initial position and the target synchronization data required for the mover reaching a target position. The ongoing synchronization stage is located at a moment when the mover runs in the synchronization track, at which time the mover is controlled to run synchronously according to the running data of the mover planned in the start synchronization stage, so that the mover can reach the target position and achieve the target synchronization data. The exit synchronization stage is located at a moment after the mover reaches the target position and the corresponding control operation is performed, at which time the mover exits the synchronization control phase.

[0078] Based on the above-mentioned magnetic levitation conveying track, the mover control method of the synchronization track according to an embodiment of the present application will be described in detail. Referring to FIG. 3, an optional flowchart of the mover control method of the synchronization track is shown according to an embodiment of the present application. The method in FIG. 3 can include, but is not limited to, steps 301 to 303. It can be understood that the order of steps 301 to 303 in FIG. 3 is not limited in the present embodiment, and the order of steps can be adjusted or some steps can be reduced or added according to actual needs. The mover control method of the synchronization track provided in the present embodiment can be applied to intelligent terminals, servers, computers, and the like connected to the magnetic levitation conveying track.

[0079] Step 301: Obtain the initial running data of the mover reaching the initial position and the target synchronization data required for the mover reaching the target position.

[0080] Step 301 will be described in detail below.

[0081] In some embodiments, when the mover runs to the initial position p s , the initial running data of the mover at the current moment is obtained, which includes the initial speed v s and the speed acceleration a s of the mover reaching the initial position p s . At the same time, the target synchronization data required for the mover reaching the target position p e is also obtained, which includes the target speed v e , the target time t e , and the target acceleration a e . The target time te is the running time length of the mover from the initial position p s to the target position p e .

[0082] Step 302: generating initial planning data based on initial running data and target synchronization data.

[0083] Step 302 will be described in detail below.

[0084] In some embodiments, after obtaining the initial running data and the target synchronization data, in order to ensure that the mover can just reach the target position with the target speed v e and the target acceleration a e after the target time t e , it is necessary to plan the running data of the mover according to the initial running data and the target synchronization data at the initial position p s (i.e. the start synchronization stage as shown in FIG. 2) to generate initial planning data, wherein the initial planning data includes first speed planning data of the first speed adjustment stage, second speed planning data of the second speed adjustment stage, and the initial adjustment position p a between the two speed adjustment stages. The specific parameter calculation is based on a cubic polynomial planning formula, as shown in the following formula (1).

[0085] Wherein, p is the position parameter, v is the speed parameter, a is the acceleration parameter, jerk is the jerk parameter, t is the time parameter, and {A, B, C, D} are control planning parameters. Formula (1) is an ABCD description form of position, speed and time. According to the planning as shown in formula (1), after determining the control planning parameters {A, B, C, D}, the position, speed and acceleration information at each time can be determined.

[0086] Next, two segment planning is performed according to formula (1) between the initial position p s and the target position p e to determine the first speed planning data of the first speed adjustment stage, the second speed planning data of the second speed adjustment stage, and the initial adjustment position p a between the two speed adjustment stages.

[0087] When performing two segment planning, multiple conditions need to be met. They include segment point conditions, start and end point conditions, and continuity conditions. The segment point conditions are as shown in the following formula (2).

[0088] Wherein, p1(0) = p s indicates that in the first speed adjustment stage, the position corresponding to time 0 (i.e. the starting time) is the starting position ps ; p2(t e ) = p e represents that in the second speed adjustment stage, the position corresponding to time t e (target time) is the target position p e ; t a refers to the transition time corresponding to the initial adjustment position p a of the mover in the running planning, so p1(t a ) = p2(t a ) = p a represents that the positions corresponding to the last time (i.e., the transition time t a ) of the first speed adjustment stage and the initial time (i.e., the transition time t a ) of the second speed adjustment stage are the same initial transition position p a .

[0089] The starting endpoint condition is shown in the following formula (3).

[0090] wherein v1(0) = v s and a1(0) = a s represent that in the first speed adjustment stage, the speed corresponding to time 0 (i.e., the starting time) is the initial speed v s and the acceleration is the initial acceleration a s ; v2(t e ) = v e and a2(t e ) = a e represent that in the second speed adjustment stage, the speed corresponding to time t e (target time) is the target speed v e and the acceleration is the target acceleration a e .

[0091] The continuity condition is shown in the following formula (4).

[0092] Formula (4) represents that the speed and acceleration corresponding to the last time (i.e., the transition time t a ) of the first speed adjustment stage and the initial time (i.e., the transition time t a ) of the second speed adjustment stage are the same.

[0093] After determining the above constraint conditions, the control planning parameters of the two speed adjustment stages can be further calculated. The control planning parameters of the first speed adjustment stage are taken as the first running planning parameters {A1, B1, C1, D1}, and the control planning parameters of the first speed adjustment stage are taken as the second running planning parameters {A2, B2, C2, D2}.

[0094] In addition, in order to improve the efficiency and accuracy of calculating the first operation planning parameters {A1, B1, C1, D1} and the second operation planning parameters {A2, B2, C2, D2}, the time parameters in the first speed adjustment stage and the second speed adjustment stage are normalized as shown in the following formula (5).

[0095] Next, according to the above-mentioned constraint conditions, initial operation data and target synchronization data, the first operation planning parameters {A1, B1, C1, D1} and the second operation planning parameters {A2, B2, C2, D2} are solved, which is specifically to form the equation group as shown in the following formula (6) according to the above-mentioned constraint conditions, initial operation data and target synchronization data.

[0096] Then, the equation group in the above-mentioned formula (6) is solved through relevant mathematical solving steps, and the first operation planning parameters {A1, B1, C1, D1}, the second operation planning parameters {A2, B2, C2, D2} and the adjustment time t a of the mover reaching the initial adjustment position p a when the initial operation data and the target synchronization data are further described below.

[0097] Referring to FIG. 4, the initial planning data is generated based on the initial operation data and the target synchronization data, including the following steps 401 to 404.

[0098] Step 401: obtaining the adjustment time based on the initial position, the initial operation data, the target position and the target synchronization data.

[0099] The step 401 will be described in detail below.

[0100] In some embodiments, after obtaining the initial operation data, the target synchronization data and the equation group (6), first, the adjustment time t s is obtained according to the initial position p e , the target position p e , the target time t e , the target speed v s , the initial speed v s , the initial acceleration a e and the target acceleration a a . The following will be further described in detail.

[0101] Referring to FIG. 5, the adjustment time is obtained based on the initial position, the target position, the target time, the target speed, the initial speed, the initial acceleration and the target acceleration, including the following steps 501 to 505.

[0102] Step 5(i)1: Obtain the first time multiplication term based on the product of the target time and the target velocity, obtain the second time multiplication term based on the product of the target time and the initial velocity, and obtain the third time multiplication term based on the product of the square of the target time and the target acceleration.

[0103] Step 502: Obtain the fourth time multiplication term based on the product of the target acceleration and the target time, and obtain the fifth time multiplication term based on the product of the initial acceleration and the target time.

[0104] Step 503: Based on the sum of the target position and the third time multiplication term, subtract the initial position, the first time multiplication term, and the second time multiplication term one by one to obtain the first adjustment time term.

[0105] Step 504: Based on the difference between the initial velocity and the target velocity, add the fourth time multiplication term and the fifth time multiplication term one by one to obtain the second adjustment time term.

[0106] Step 505: Obtain the adjustment time based on the ratio of the first adjustment time item to the second adjustment time item.

[0107] Steps 501 to 505 are described in detail below.

[0108] In some embodiments, in order to obtain a precise adjustment time t a First, based on the target time t e and target speed v e The product of the first time term t is obtained. e ·v e Based on target time t e and initial velocity v s The product of these terms yields the second time term t. e ·v s And based on the square of the target time t e 2 and target acceleration a e The product of these terms yields the third time term a. e ·t e 2 Next, based on the target acceleration a e and target time t e The product of these terms yields the fourth time term a. e ·t e And based on the initial acceleration a s and target time t e The product of these terms yields the fifth time term a. s ·t e Then, based on six times the number of target positions 6p e Multiplying the third time term a e ·t e2 and, subtracting one by one six times the initial position 6p s , four times the first time multiplied term 4t e ·v e and twice the second time multiplied term 2t e ·v s , to obtain a first adjustment time term (6p e -6p s -4t e ·v e -2t e ·v s +a e ·t e 2 ), and based on the difference between twice the initial speed 2v s and twice the target speed 2v e , adding one by one a fourth time multiplied term a e ·t e and a fifth time multiplied term a s ·t e , to obtain a second adjustment time term (2v s -2v e +a e ·t e +a s ·t e ); finally, based on the ratio of the first adjustment time term and the second adjustment time term, obtaining the adjustment time t a as shown in the following equation (7).

[0109] Step 402: obtaining a first running planning parameter based on the adjustment time, and obtaining a second running planning parameter based on the adjustment time and the first running planning parameter.

[0110] Step 402 will be described in detail below.

[0111] In some embodiments, after obtaining the initial running data, the target synchronization data, the adjustment time and the equation group (6), according to the target time t e , the adjustment time t a , the target speed v e , the initial speed v s , the initial acceleration a s , the target acceleration a e and the initial position p s , a first running planning parameter {A1, B1, C1, D1} is obtained, which includes a first sub-speed planning parameter A1, a second sub-speed planning parameter B1, a third sub-speed planning parameter C1 and a fourth sub-speed planning parameter D1. This will be described in further detail below.

[0112] Referring to Figure 6, the first operation planning parameters are obtained based on the adjustment time, including the following steps 601 to 605.

[0113] Step 601: Obtain the first planning term based on the product of the target acceleration and the adjustment time, obtain the second planning term based on the product of the initial acceleration and the adjustment time, and obtain the third planning term based on the product of the target velocity and the adjustment time.

[0114] Step 602: Based on the sum of the target speed and the first planning term, subtract the initial speed, the fourth time term, the fifth time term, and the second planning term one by one to obtain the first planning parameter term, and obtain the first sub-planning parameter based on the ratio of the first planning parameter term and the third planning term.

[0115] Step 603: Obtain the second sub-programming parameters based on half of the initial acceleration, the third sub-programming parameters based on the initial velocity, and the fourth sub-programming parameters based on the initial position.

[0116] Steps 601 to 603 are described in detail below.

[0117] In some embodiments, in order to obtain accurate first running plan parameters {A1, B1, C1, D1}, the target acceleration a is first used as a basis. e and adjustment time t a The product of these terms yields the first planning term a. e ·t a Based on the initial acceleration a s and adjustment time t a The product of these terms yields the second programming term a. s ·t a And based on the target speed t e and adjustment time t a The product of these terms yields the third programming term t. e ·t a .

[0118] Next, based on twice the target speed 2v e Multiplying the first planning term a e ·t a The sum of each value is subtracted by twice the initial velocity 2v. s Fourth time multiplication term a e ·t e Fifth time term a s ·t e And the second planning term a s ·t a The first planning parameter term (2v) is obtained. e -2v s -ae • t e - a s • t e + a e • t a - a s • t a ), and the first sub-planning parameter is obtained based on the ratio of the first planning parameter term and the six times of the third planning multiplication term 6t e • t a , as shown in the following equation (8).

[0119] In addition, the second sub-planning parameter B1=a s / 2 is obtained based on half of the initial acceleration a s , the third sub-planning parameter C1=v s is obtained based on the initial speed v s , and the fourth sub-planning parameter D1=p s is obtained based on the initial position p s .

[0120] In some embodiments, after obtaining the initial running data, the target synchronization data, the adjustment time, the first running planning parameter, and the equation group (6), the second running planning parameter {A2, B2, C2, D2} is obtained based on the target time t e , the adjustment time t a , the target speed v e , the initial speed v s , the initial acceleration a s , the target acceleration a e , and the first running planning parameter {A1, B1, C1, D1}, and the second running planning parameter includes a fifth sub-speed planning parameter A2, a sixth sub-speed planning parameter B2, a seventh sub-speed planning parameter C2, and an eighth sub-speed planning parameter D2. The following will be described in further detail.

[0121] Referring to FIG. 7, the second running planning parameter is obtained based on the adjustment time and the first running planning parameter, including the following steps 701 to 704.

[0122] Step 701: the second planning parameter term is obtained based on the sum of the initial speed, the fourth time multiplication term, and the second planning multiplication term, and the target speed and the first planning multiplication term are subtracted one by one, and the fifth sub-planning parameter is obtained based on the ratio of the second planning parameter term and the third planning multiplication term.

[0123] Step 702: the sixth sub-planning parameter is obtained based on the product of the first sub-planning parameter and the adjustment time, and the second sub-planning parameter is added.

[0124] Step 703: Based on the product of the square of the adjustment time and the first sub-planning parameter, plus the product of the second sub-planning parameter and the adjustment time, and plus the third sub-planning parameter, a seventh sub-planning parameter is obtained.

[0125] Step 704: Based on the product of the cube of the adjustment time and the first sub-planning parameter, plus the product of the square of the adjustment time and the second sub-planning parameter, plus the product of the adjustment time and the third sub-planning parameter, and plus the fourth sub-planning parameter, an eighth sub-planning parameter is obtained.

[0126] The steps 701 to 704 are described in detail as follows.

[0127] In some embodiments, in order to obtain an accurate second running planning parameter, based on the sum of twice the amount of initial speed 2v s , twice the amount of fourth time multiplier 2a e ·t e , and the second planning multiplier a s ·t a , and subtracting twice the amount of target speed 2v e and the first planning multiplier a e ·t a one by one, the second planning parameter term (2v s -2v e +2a e ·t e -a e ·t a +a s ·t a ) is obtained, and based on the ratio of the second planning parameter term and six times the amount of third planning multiplier 6t e ·t a , the fifth sub-planning parameter is obtained as shown in the following formula (9).

[0128] Next, based on the product of six times the amount of the first sub-planning parameter and the adjustment time 6A1·T1, and adding twice the amount of the second sub-planning parameter 2B1, a sixth sub-planning parameter B2=6A1·T1+2B1 is obtained.

[0129] And based on the product of the square of the adjustment time and three times the amount of the first sub-planning parameter 3A1·T1 2 , plus the product of twice the amount of the second sub-planning parameter and the adjustment time 2B1·T1, and plus the third sub-planning parameter C1, a seventh sub-planning parameter C2=3A1·T1 2 +2B1·T1+C1 is obtained.

[0130] And based on the product of the cube of the adjustment time and the first sub-planning parameter A1·T1 3plus the product of the third sub-planning parameter and the adjustment time C1-T1, and plus the fourth sub-planning parameter D1, to obtain the eighth sub-planning parameter D2=A1-T1+B1-T1+C1-T1+D1 2 plus the product of the third sub-planning parameter and the adjustment time C1-T1, and plus the fourth sub-planning parameter D1, to obtain the eighth sub-planning parameter D2=A1-T1+B1-T1+C1-T1+D1 3 +B1-T1 2 +C1-T1+D1.

[0131] Step 403: based on the first running planning parameter, at least generating the first position, the first speed and the first acceleration of each time of the first speed adjustment stage to obtain the first speed planning data, and based on the second running planning parameter, at least generating the second position, the second speed and the second acceleration of each time of the second speed adjustment stage to obtain the second speed planning data.

[0132] Step 403 is described in detail as follows.

[0133] In some embodiments, after obtaining the first running planning parameter {A1, B1, C1, D1}, the first position, the first speed and the first acceleration of each time of the first speed adjustment stage can be further generated by using the above-mentioned cubic polynomial planning formula of formula (1), so as to obtain the first speed planning data of the first speed adjustment stage; and after obtaining the second running planning parameter {A2, B2, C2, D2}, the second position, the second speed and the second acceleration of each time of the second speed adjustment stage can be further generated by using the above-mentioned cubic polynomial planning formula of formula (1), so as to obtain the second speed planning data of the second speed adjustment stage.

[0134] Step 404: determining the adjustment position according to the first position corresponding to the adjustment time.

[0135] Step 404 is described in detail as follows.

[0136] In some embodiments, after determining the first position of each time of the first speed adjustment stage, since the above-mentioned segment point condition (2) is that the adjustment position corresponding to the adjustment time is the end point position of the first speed adjustment stage, and is also the start point position of the second speed adjustment stage, the first position corresponding to the adjustment time can be directly determined as the adjustment position.

[0137] Referring to FIG. 8, it is a schematic diagram of the first speed planning data and the second speed planning data according to an embodiment of the present application. As shown in FIG. 8, when the mover runs to the initial position, the initial running data corresponding to the initial position and the target synchronous data corresponding to the target position are used to plan two-stage cubic running to determine the initial adjustment position, and to obtain the position-time curve corresponding to the first speed planning data of the first speed adjustment stage (i.e. from the initial position to the initial adjustment position, and from the initial time to the adjustment time), and to obtain the position-time curve corresponding to the second speed planning data of the second speed adjustment stage (i.e. from the initial adjustment position to the target position, and from the adjustment time to the target time).

[0138] Through the above steps 401 to 404, the initial running data corresponding to the initial position and the target synchronous data corresponding to the target position are used to preliminarily plan the running data of the mover on the synchronous track, to determine the first speed planning data of the first speed adjustment stage from the initial position to the initial transition position, and to determine the second speed adjustment data from the initial transition position to the target position, thereby effectively improving the smoothness of the synchronous running control of the mover on the synchronous track.

[0139] Step 303: obtaining the speed planning parameters according to the initial planning data, and controlling the mover to move from the initial position to the target position according to the speed planning parameters.

[0140] The step 303 will be described in detail below.

[0141] In some embodiments, after determining the first speed planning data of the first speed adjustment stage from the initial position to the initial transition position, and determining the second speed adjustment data from the initial transition position to the target position, since in actual application, the initial adjustment position should normally be between the initial position and the target position, it is necessary to first judge whether the generated initial adjustment position is between the initial position and the target position, and according to the judgment result, to determine the speed planning parameters for controlling the synchronous running control of the mover based on the first speed planning data and the second speed planning data. How to determine the speed planning parameters according to the judgment result and the first speed planning data and the second speed planning data will be further described below.

[0142] Referring to FIG. 9, when the initial adjustment position is between the initial position and the target position, the speed planning parameters are obtained according to the initial planning data, including the following steps 901 to 902.

[0143] Step 901: when the first speed in the first speed planning data and the second speed in the second speed planning data do not exist speed reversal, the speed planning parameters are obtained according to the first speed planning data and the second speed planning data.

[0144] The step 901 will be described in detail below.

[0145] In some embodiments, when it is determined that the generated initial adjustment position is between the initial position and the target position, it is proved that the generated initial adjustment position is normal and correct. In addition, since in the actual synchronous control process of the mover, in order to avoid the failure of the maglev transport track, the mover cannot move reversely (i.e., the running speed direction is opposite to the initial speed), it is necessary to further determine whether the first speed and the second speed preliminarily planned exist speed reversal in the first speed planning data and the second speed planning data.

[0146] In some embodiments, after the first speed at each time in the first speed adjustment stage and the second speed at each time in the second speed adjustment stage are generated, the first speed curve and the second speed curve can be directly generated. Referring to FIG. 10, it is a schematic diagram of the first speed curve and the second speed curve provided by the embodiments of the present application. As shown in FIG. 10, after the first speed at each time in the first speed adjustment stage and the second speed at each time in the second speed adjustment stage are generated, the first speed time curve from the initial time to the adjustment time can be directly generated, and the second speed time curve from the adjustment time to the target time can be generated. Then, whether there is a speed point less than 0 can be determined from the first speed time curve and the second speed time curve, so as to determine whether the first speed in the first speed planning data and the second speed in the second speed planning data exist speed reversal. Referring to FIG. 11, it is a schematic diagram of the first speed existing speed reversal provided by the embodiments of the present application. As shown in FIG. 11, when it is determined that the first speed time curve generated by the first speed in the first speed planning data exists a case less than 0, it is determined that the first speed in the first speed planning data exists speed reversal.

[0147] In some embodiments, whether the first speed in the first speed planning data and the second speed in the second speed planning data exist speed reversal can also be determined by another method, which specifically includes the following description. For the first speed planning data of the first speed adjustment stage, first, the first sub-planning parameter A1 and the second sub-planning parameter B1 are obtained, and the acceleration formula in the above formula (1) is used to calculate the time point t a0 As shown in the following formula (10).

[0148] Next, the speed formula in the above formula (1) is used to calculate the time point t a0 The corresponding first speed v a0 As shown in the following formula (11).

[0149] va0 = t a0 (3t a0 ·A1+2B1)+v s (11)

[0150] Then, it is judged whether the time point t a0 corresponding to the first speed v a0 is the same as the initial speed v s , that is, whether the first speed in the first speed planning data has a speed reversal; in addition, whether the second speed in the second speed planning data has a speed reversal is similar to judging whether the first speed in the first speed planning data has a speed reversal.

[0151] When it is determined that the initial adjustment position is between the initial position and the target position, and it is determined that neither the first speed in the first speed planning data nor the second speed in the second speed planning data has a speed reversal, it is proved that the first speed planning data and the second speed planning data obtained by initial planning meet the safety requirements of the maglev conveying track, that is, the first speed planning data and the second speed planning data are directly combined as the speed planning parameters, and the mover is controlled to move from the initial position to the target position according to the speed planning parameters.

[0152] Step 902: When the first speed in the first speed planning data or the second speed in the second speed planning data has a speed reversal, the position of the first speed reversal is used as the target adjustment position, and the speed planning parameters are obtained based on the target adjustment position.

[0153] The step 902 is described in detail below.

[0154] In some embodiments, when it is determined that the first speed in the first speed planning data or the second speed in the second speed planning data has a speed reversal, the position of the first speed reversal will be determined first. It can be the position corresponding to the time point (i.e., the first speed reversal point) at which the first speed is 0 in the first speed-time curve as shown in FIG. 11. It can also be obtained by using the speed formula in the above formula (1) to obtain the speed reversal point equation group as shown in formula (12).

[0155] 3A1t 2 +2B1t+C1=0(12)

[0156] Then, by solving the formula (12), two solving roots t v1 , t v2 , the smaller t v1 of the two solving roots is taken as the time point at which the first speed is 0, and then the time point t v1The first position corresponding to the first speed reversal is taken as the first speed-reversal position. It can be understood that the determination of the first speed-reversal position in the second speed planning data is similar to the determination of the first speed-reversal position in the first speed planning data. Then, the first speed-reversal position is taken as the target adjustment position, and the speed planning parameter is obtained based on the target adjustment position. How to obtain the speed planning parameter based on the target adjustment position will be described further below.

[0157] Referring to FIG. 12, the speed planning parameter is obtained based on the target adjustment position, including the following steps 1201 to 1204.

[0158] Step 1201: Obtain the initial planning data between the target adjustment position and the initial position to obtain the first target planning data.

[0159] Step 1202: Update the initial position with the target adjustment position, and update the initial running data with the first target planning parameter corresponding to the time point of the target adjustment position.

[0160] Step 1203: Obtain the second target planning parameter corresponding to the initial planning data based on the updated initial position and the updated initial running data.

[0161] Step 1204: Obtain the speed planning parameter based on the first target planning parameter and the second target planning parameter.

[0162] The steps 1201 to 1204 will be described in detail below.

[0163] In some embodiments, after the target adjustment position is determined, the initial planning data between the target adjustment position and the initial position is first obtained to obtain the first target planning data, and the first target planning data includes the first target planning parameter at each time point. It can be understood that when the target adjustment position is between the initial position and the initial adjustment position, the first target planning data obtained is the first speed planning data between the initial position and the target adjustment position (i.e., part of the first speed planning data), and the first target planning parameter is the part of the first speed planning data; when the target adjustment position is between the initial adjustment position and the target position, the first target planning data obtained includes the first speed planning data between the initial position and the initial adjustment position (i.e., all of the first speed planning data) and the second speed planning data between the initial adjustment position and the target adjustment position (i.e., part of the second speed planning data), and the first target planning parameter includes all of the first speed planning data and the part of the second speed planning data.

[0164] Next, the target adjustment position is taken as the new initial position, and the first target planning parameter corresponding to the time point of the target adjustment position is taken as the new initial running data as shown in the following formula (13).

[0165] Then, the running data of the two speed adjustment stages is planned by similar steps of steps 401 to 404 based on the updated initial position, the updated initial running data, the target position and the target synchronization data, to obtain second target planning parameters corresponding to the initial planning data, wherein the second target planning parameters include new updated first speed adjustment data of the first speed adjustment stage and new updated second speed adjustment data of the second speed adjustment stage. Next, the speed planning parameters are obtained based on the first target planning parameters and the second target planning parameters, and the mover is controlled to move from the initial position to the target position according to the speed planning parameters.

[0166] Referring to FIG. 13, it is a schematic diagram of the first target planning data and the second target planning data according to the first embodiment of the present application. As shown in FIG. 13, when the target adjustment position at the time point of the first speed reversal is before the initial adjustment position, the first speed planning data between the initial position and the target adjustment position is reserved as the first target planning data, and then the updated first speed adjustment data and the updated second speed adjustment data of the two new speed adjustment stages and the updated adjustment position are obtained according to the target adjustment position and the corresponding first speed and first acceleration at the target adjustment position, the target position and the target synchronization data, and the updated first speed adjustment data, the updated second speed adjustment data and the updated adjustment position are taken as the second target planning data, and the first target planning data and the second target planning data are taken as the speed planning parameters.

[0167] Referring to FIG. 14, it is a schematic diagram of the first target planning data and the second target planning data according to the second embodiment of the present application. As shown in FIG. 14, when the target adjustment position at the time point of the first speed reversal is after the initial adjustment position, the first speed planning data between the initial position and the initial adjustment position and the second speed planning data between the initial adjustment position and the target adjustment position are reserved as the first target planning data, and then the updated first speed adjustment data and the updated second speed adjustment data of the two new speed adjustment stages and the updated adjustment position are obtained according to the target adjustment position and the corresponding second speed and second acceleration at the target adjustment position, the target position and the target synchronization data, and the updated first speed adjustment data, the updated second speed adjustment data and the updated adjustment position are taken as the second target planning data, and the first target planning data and the second target planning data are taken as the speed planning parameters.

[0168] Through the steps 901 to 902 and steps 1201 to 1204, by judging whether the initial adjustment position and the initial speed exist speed reversal one by one, and when there is a speed reversal, the second running data planning is re-performed while the first target planning data is retained, so as to avoid the failure of the magnetic levitation conveying system, and improve the reliability and safety of the mover in the synchronous running planning.

[0169] When it is determined that the initial adjustment position is outside the initial position and the target position, it is proved that the initial adjustment position obtained by the initial planning is wrong, and the synchronous data planning needs to be re-performed. How to re-perform the synchronous data planning of the mover when it is determined that the initial adjustment position is outside the initial position and the target position will be further described below.

[0170] Referring to FIG. 15, the speed planning parameters are obtained according to the initial planning data, including the following steps 1501 to 1504.

[0171] Step 1501: determining that the initial adjustment position is outside the initial position and the target position according to the initial planning data.

[0172] The step 1501 will be described in detail below.

[0173] Referring to FIG. 16, it is a schematic diagram of the wrong initial adjustment position provided by the embodiment of the application. As shown in FIG. 16, when it is determined that the initial adjustment position is outside the initial position and the target position according to the initial planning data obtained by the initial planning (i.e., p a > p e or p a < p s ), or it is determined that the adjustment time obtained by the initial planning is outside the initial time and the target time (i.e., t a > t e or t a < 0), it is proved that the initial adjustment position obtained by the initial planning is wrong, and the synchronous running control of the mover cannot be performed by using the first speed planning data and the second speed planning data obtained by the initial planning, and the synchronous data planning needs to be re-performed.

[0174] Step 1502: generating the third speed planning data corresponding to the overall adjustment stage from the initial position to the target position based on the initial running data and the target synchronous data.

[0175] The step 1502 will be described in detail below.

[0176] In some embodiments, the first speed planning data and the second speed planning data obtained by the two-stage synchronous operation data planning are not used, and the third speed planning data corresponding to the whole adjustment stage from the initial position to the target position is directly generated based on the initial operation data of the initial position and the target synchronous data of the target position.

[0177] The third speed planning data is generated based on the cubic polynomial planning formula shown in formula (1) above, and the third operation planning parameters {A3, B3, C3, D3} can be obtained based on formula (1), the initial operation data of the initial position and the target synchronous data of the target position, as shown in formula (14) below.

[0178] After obtaining the third operation planning parameters {A3, B3, C3, D3}, the third speed, the third position and the third acceleration at each time can be obtained by using the cubic polynomial planning formula shown in formula (1) again, and the third speed planning data is obtained based on the third speed, the third position and the third acceleration.

[0179] Referring to FIG. 17, it is a schematic diagram of the third speed planning data provided by the embodiments of the present application. As shown in FIG. 17, it shows the third position-time curve corresponding to the third speed planning data obtained by planning the synchronous operation data based on the initial operation data of the mover reaching the initial position and the target synchronous data of the mover reaching the target position.

[0180] Step 1503: When the third speed does not exist speed reversal, the speed planning parameter is obtained according to the third speed planning data.

[0181] The steps 1502 to 1503 are described in detail below.

[0182] In some embodiments, after obtaining the third speed planning data, similar to the steps 901 to 902 described above, it is also necessary to determine whether the third speed corresponding to the third speed planning data exists speed reversal. When it is determined that the third speed corresponding to the third speed planning data does not exist speed reversal point, the third speed planning data is directly taken as the speed planning parameter, and the mover is controlled to move from the initial position to the target position according to the speed planning parameter.

[0183] Step 1504: When the third speed exists speed reversal, the third speed less than zero is set to zero, the third speed in the third speed planning data is updated, and the speed planning parameter is obtained according to the third speed planning data.

[0184] The step 1504 is described in detail below.

[0185] Referring to FIG. 18, it is a schematic diagram of the third speed appearing speed reversal according to an embodiment of the present application. As shown in FIG. 18, when it is determined that the third speed planning data corresponds to the case of third speed appearing speed reversal, in order to avoid the failure of the magnetic levitation conveying track, the third speed planning data needs to be adjusted.

[0186] When it is determined that the third speed exists speed reversal, the third speed corresponding to the time point less than 0 in the third speed is set to 0, and the third speed corresponding to the time point greater than 0 in the third speed is retained, thereby updating the third speed in the third speed planning data. Referring to FIG. 19, it is a schematic diagram of updating the third speed according to an embodiment of the present application. As shown in FIG. 19, first, the time period in which the third speed time curve corresponding to the third speed determines the appearance of speed reversal is determined, then the third speed of the time period is set to 0 (as shown in the upper diagram of FIG. 19), and the third speed planning data is updated, thereby obtaining the third position time curve in the updated third speed planning data (as shown in the lower diagram of FIG. 19). Then, the speed planning parameter is obtained according to the updated third speed planning data, and the mover is controlled to move from the initial position to the target position according to the speed planning parameter.

[0187] Through the above steps 1501 to 1504, by re-planning the synchronous operation data for the case of the initial adjustment position being wrong, the case of appearing speed reversal is considered synchronously, and the third speed planning data is updated and adjusted for the case of speed reversal, thereby improving the reliability and accuracy of the synchronous operation control of the mover in the synchronous track.

[0188] The mover control method, device, electronic equipment and storage medium of the synchronous orbit are provided, the synchronous orbit comprises an initial position and a target position, the method comprises the following steps: first, obtaining initial running data of the mover reaching the initial position and target synchronization data required when the mover reaches the target position; then, obtaining adjustment time based on the initial position, the initial running data, the target position and the target synchronization data, obtaining first running planning parameters based on the adjustment time, and obtaining second running planning parameters based on the adjustment time and the first running planning parameters; at least generating a first position, a first speed and a first acceleration of each moment in a first speed adjustment stage based on the first running planning parameters to obtain first speed planning data, and at least generating a second position, a second speed and a second acceleration of each moment in a second speed adjustment stage based on the second running planning parameters to obtain second speed planning data, and determining an adjustment position according to the first position corresponding to the adjustment time; next, when the initial adjustment position is between the initial position and the target position, when the first speed in the first speed planning data and the second speed in the second speed planning data do not exist speed reversal, obtaining speed planning parameters according to the first speed planning data and the second speed planning data; when the first speed in the first speed planning data or the second speed in the second speed planning data exists speed reversal, using the position of the first speed reversal as a target adjustment position, obtaining initial planning data between the target adjustment position and the initial position to obtain first target planning data, updating the target adjustment position as the initial position, updating the initial running data by using the first target planning parameter corresponding to the moment of the target adjustment position, obtaining second target planning parameters corresponding to the initial planning data based on the updated initial position and the updated initial running data, and obtaining speed planning parameters based on the first target planning parameters and the second target planning parameters; when the initial adjustment position is outside the initial position and the target position according to the initial planning data, generating third speed planning data corresponding to the overall adjustment stage from the initial position to the target position based on the initial running data and the target synchronization data, the third speed planning data at least comprising a third position, a third speed and a third acceleration of each moment, when the third speed does not exist speed reversal, obtaining speed planning parameters according to the third speed planning data, and when the third speed exists speed reversal, setting the third speed less than zero to zero, updating the third speed in the third speed planning data, and obtaining speed planning parameters according to the third speed planning data; finally, controlling the mover to move from the initial position to the target position according to the speed planning parameters.

[0189] The embodiment of the application plans the running data of the two speed adjustment stages of the mover running in the synchronization track by using the initial running data of the starting position and the target synchronization data of the target position, and combines the initial adjustment position as the transition position of the two speed adjustment stages, so as to control the mover to run synchronously in the control stage of the synchronization track at the speed adjustment speed of the two speed adjustment stages, thereby improving the smoothness of the mover running control in the synchronization track and avoiding the risk of the mover failure due to low smoothness. In addition, the initial adjustment position and whether there is speed reversal are judged one by one, and when there is speed reversal, the second running data planning is re-performed while the first target planning data is reserved, so as to avoid the failure of the maglev conveying system and improve the reliability and safety of the mover in the synchronous running planning. In addition, the initial adjustment position is re-planned, the speed reversal is considered, and the third speed planning data is updated and adjusted for the speed reversal, thereby improving the reliability and accuracy of the synchronous running control of the mover in the synchronization track.

[0190] The embodiment of the application also provides a mover control device of a synchronization track, which can implement the mover control method of the synchronization track. Referring to FIG. 20, the device 2000 includes:

[0191] The data acquisition module 2010 is configured to acquire initial running data of the mover reaching an initial position and target synchronization data required when the mover reaches a target position.

[0192] The data generation module 2020 is configured to generate initial planning data based on the initial running data and the target synchronization data, wherein the initial planning data includes first speed planning data of a first speed adjustment stage, second speed planning data of a second speed adjustment stage, and an initial adjustment position between the two speed adjustment stages.

[0193] The control module 2030 is configured to obtain speed planning parameters according to the initial planning data, and control the mover to move from the initial position to the target position according to the speed planning parameters.

[0194] In some embodiments, the data generation module 2020 is further configured to:

[0195] obtain an adjustment time based on the initial position, the initial running data, the target position, and the target synchronization data, obtain first running planning parameters based on the adjustment time, and obtain second running planning parameters based on the adjustment time and the first running planning parameters;

[0196] generate first position, first speed and first acceleration of each time of a first speed adjustment stage based on the first operation planning parameter to obtain the first speed planning data, and generate second position, second speed and second acceleration of each time of a second speed adjustment stage based on the second operation planning parameter to obtain the second speed planning data;

[0197] determine the adjustment position according to the first position corresponding to the adjustment time.

[0198] In some embodiments, the mover control device 2000 of the synchronous orbit further comprises a planning parameter determination module 2040. When the initial adjustment position is between the initial position and the target position, the planning parameter determination module 2040 is configured to: when there is no speed reversal in the first speed in the first speed planning data and the second speed in the second speed planning data, obtain the speed planning parameter according to the first speed planning data and the second speed planning data; when there is speed reversal in the first speed in the first speed planning data or the second speed in the second speed planning data, use the position of the first speed reversal as the target adjustment position, and obtain the speed planning parameter based on the target adjustment position.

[0199] In some embodiments, the planning parameter determination module 2040 is further configured to:

[0200] obtain the initial planning data between the target adjustment position and the initial position to obtain first target planning data, the first target planning data comprising first target planning parameter of each time;

[0201] update the initial position with the target adjustment position, and update the initial operation data with the first target planning parameter corresponding to the time of the target adjustment position;

[0202] obtain second target planning parameter corresponding to the initial planning data based on the updated initial position and the updated initial operation data;

[0203] obtain the speed planning parameter based on the first target planning parameter and the second target planning parameter.

[0204] In some embodiments, the planning parameter determination module 2040 is further configured to:

[0205] determine that the initial adjustment position is outside the initial position and the target position according to the initial planning data;

[0206] generate third speed planning data corresponding to the overall adjustment stage from the initial position to the target position based on the initial running data and the target synchronization data, the third speed planning data including at least a third position, a third speed and a third acceleration at each time point;

[0207] when the third speed has no speed reversal, obtain the speed planning parameter according to the third speed planning data;

[0208] when the third speed has a speed reversal, set the third speed less than zero to zero, update the third speed in the third speed planning data, and obtain the speed planning parameter according to the third speed planning data.

[0209] In some embodiments, the data generation module 2020 is further configured to:

[0210] obtain a first time multiplier based on a product of the target time and the target speed, a second time multiplier based on a product of the target time and the initial speed, and a third time multiplier based on a product of a square of the target time and the target acceleration;

[0211] obtain a fourth time multiplier based on a product of the target acceleration and the target time, and a fifth time multiplier based on a product of the initial acceleration and the target time;

[0212] obtain a first adjustment time item by subtracting the initial position, the first time multiplier and the second time multiplier from a sum of the target position and the third time multiplier;

[0213] obtain a second adjustment time item by adding the fourth time multiplier and the fifth time multiplier to a difference between the initial speed and the target speed;

[0214] obtain the adjustment time based on a ratio of the first adjustment time item to the second adjustment time item.

[0215] In some embodiments, the data generation module 2020 is further configured to:

[0216] obtain a first planning multiplier based on a product of the target acceleration and the adjustment time, a second planning multiplier based on a product of the initial acceleration and the adjustment time, and a third planning multiplier based on a product of the target speed and the adjustment time;

[0217] a first planning parameter term is obtained by subtracting the initial speed, the fourth time multiplier, the fifth time multiplier and the second planning multiplier from the sum of the target speed and the first planning multiplier one by one, and the first sub-planning parameter is obtained based on the ratio of the first planning parameter term and the third planning multiplier;

[0218] The second sub-planning parameter is obtained based on half of the initial acceleration, the third sub-planning parameter is obtained based on the initial speed, and the fourth sub-planning parameter is obtained based on the initial position.

[0219] In some embodiments, the data generation module 2020 is further configured to:

[0220] A second planning parameter term is obtained based on the sum of the initial speed, the fourth time multiplier and the second planning multiplier, and the target speed and the first planning multiplier are subtracted one by one, and the fifth sub-planning parameter is obtained based on the ratio of the second planning parameter term and the third planning multiplier;

[0221] The sixth sub-planning parameter is obtained based on the product of the first sub-planning parameter and the adjustment time, and the second sub-planning parameter is added;

[0222] The seventh sub-planning parameter is obtained based on the product of the square of the adjustment time and the first sub-planning parameter, the product of the second sub-planning parameter and the adjustment time, and the third sub-planning parameter is added;

[0223] The eighth sub-planning parameter is obtained based on the product of the cube of the adjustment time and the first sub-planning parameter, the product of the square of the adjustment time and the second sub-planning parameter, the product of the third sub-planning parameter and the adjustment time, and the fourth sub-planning parameter is added.

[0224] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment are basically the same as the specific implementation of the mover control device of the synchronous orbit and the specific implementation of the above-mentioned mover control method of the synchronous orbit. Here, it will not be repeated.

[0225] In the embodiment of the present application, the mover control device of the synchronous track utilizes the initial running data of the starting position and the target synchronous data of the target position to plan running data of two speed adjustment stages of the mover running in the synchronous track, and combines the initial adjustment position as the transition position of the two speed adjustment stages, so as to control the synchronous running of the mover at the speed adjustment speed of the two speed adjustment stages in the control stage of the synchronous track, thereby improving the smoothness of the mover running control in the synchronous track and avoiding the risk of failure of the mover due to low smoothness. In addition, the initial adjustment position and whether there is a speed reversal are judged one by one, and when there is a speed reversal, the second running data planning is re-performed while the first target planning data is retained, thereby avoiding failure of the maglev conveying system and improving the reliability and safety of the mover in the synchronous running planning. Furthermore, the synchronous running data planning is re-performed in the case of an incorrect initial adjustment position, the case of a speed reversal is considered synchronously, and the third speed planning data is updated and adjusted for the case of a speed reversal, thereby improving the reliability and accuracy of the synchronous running control of the mover in the synchronous track.

[0226] The embodiment of the present application also provides an electronic device, comprising:

[0227] at least one memory;

[0228] at least one processor;

[0229] at least one program;

[0230] The program is stored in the memory, and the processor executes the at least one program to implement the mover control method of the synchronous track provided in the embodiment of the present application. The electronic device can be any intelligent terminal including a mobile phone, a tablet computer, a personal digital assistant (PDA), a vehicle-mounted computer, etc.

[0231] Please refer to FIG. 21, which shows the hardware structure of the electronic device of another embodiment, the electronic device comprising:

[0232] The processor 2101 can be implemented in a general-purpose CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits, etc., and is used to execute related programs to implement the technical solutions provided in the embodiments of the present application;

[0233] The memory 2102 can be implemented in the form of a ROM (Read Only Memory), a static storage device, a dynamic storage device, or a RAM (Random Access Memory), etc. The memory 2102 can store an operating system and other application programs, and when the technical solutions provided by the embodiments of the present application are implemented by software or firmware, the related program codes are stored in the memory 2102 and are called and executed by the processor 2101 to implement the synchronous orbit motor control method of the embodiments of the present application;

[0234] The input / output interface 2103 is used to realize information input and output.

[0235] The communication interface 2104 is used to realize the communication interaction between the device and other devices, which can realize communication through wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0236] The bus 2105 transmits information between various components (such as the processor 2101, the memory 2102, the input / output interface 2103, and the communication interface 2104) of the device.

[0237] The processor 2101, the memory 2102, the input / output interface 2103, and the communication interface 2104 are connected to each other through the bus 2105 for communication connection within the device.

[0238] The embodiments of the present application also provide a storage medium, which is a computer readable storage medium, and stores a computer program. The computer program is executed by a processor to implement the above-mentioned synchronous orbit motor control method.

[0239] The memory is a non-transitory computer readable storage medium, which can be used to store non-transitory software programs and non-transitory computer executable programs. In addition, the memory can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory can optionally include a memory remotely arranged relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0240] The embodiments described in the embodiments of the present application are used to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that, with the evolution of technology and the appearance of new application scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0241] Those skilled in the art can understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and can include more or fewer steps than the figures, or combine certain steps, or different steps.

[0242] The device embodiments described above are merely illustrative, and units described as separate components can or can not be physically separated, i.e., can be located in one place or distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments.

[0243] Those skilled in the art can understand that all or some of the steps in the above disclosed method, the function modules / units in the system and the device can be implemented as software, firmware, hardware and their appropriate combinations.

[0244] The terms "first", "second", "third", "fourth" and the like (if any) in the specification of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0245] It should be understood that in the present application, "at least one" means one or more, and "multiple" means two or more. "And / or" is used to describe the association between the associated objects, which means that there can be three relationships, for example, "A and / or B" can represent three cases: only A, only B, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects. "At least one of the following" or similar expressions means any combination of these items, including any combination of single or multiple items. For example, at least one of a, b or c can mean a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0246] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented by other manners. For example, the apparatus embodiments described above are merely illustrative, for example, the division of the above units is merely a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. The coupling or direct coupling or communication connection between the units or components shown or discussed can be indirect coupling or communication connection through some interfaces, apparatuses or units, and can be electrical, mechanical or other forms.

[0247] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they can be located in one place or distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0248] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0249] If the integrated unit is realized in the form of 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 solutions of the present application essentially or the part of the prior art that contributes to the technical solutions or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method of each embodiment of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program storage media.

[0250] The preferred embodiments of the embodiments of the present application are described above with reference to the accompanying drawings, but this does not limit the scope of the embodiments of the present application. Any modifications, equivalent replacements and improvements made by those skilled in the art without departing from the scope and essence of the embodiments of the present application shall be within the scope of the embodiments of the present application.

Claims

1. A method for controlling a mover of a synchronous orbit, characterized by, The synchronous orbit comprises an initial position and a target position, and the method comprises: acquiring initial operation data of the mover reaching the initial position and target synchronous data required when the mover reaches the target position; generating initial planning data based on the initial operation data and the target synchronous data, the initial planning data comprising first speed planning data of a first speed adjustment stage, second speed planning data of a second speed adjustment stage, and an initial adjustment position between the two speed adjustment stages; obtaining speed planning parameters according to the initial planning data, and controlling the mover to move from the initial position to the target position according to the speed planning parameters.

2. The synchronous orbiting mobile controller method of claim 1, wherein, The generation of the initial planning data based on the initial operation data and the target synchronous data comprises: obtaining an adjustment time based on the initial position, the initial operation data, the target position, and the target synchronous data; obtaining first operation planning parameters based on the adjustment time, and obtaining second operation planning parameters based on the adjustment time and the first operation planning parameters; generating at least a first position, a first speed, and a first acceleration of each moment of the first speed adjustment stage based on the first operation planning parameters to obtain the first speed planning data, and generating at least a second position, a second speed, and a second acceleration of each moment of the second speed adjustment stage based on the second operation planning parameters to obtain the second speed planning data; determining the adjustment position according to the first position corresponding to the adjustment time.

3. The synchronous orbiting mobile controller method of claim 2, wherein, When the initial adjustment position is between the initial position and the target position, the obtaining of the speed planning parameters according to the initial planning data comprises: when there is no speed reversal in the first speed of the first speed planning data and the second speed of the second speed planning data, obtaining the speed planning parameters according to the first speed planning data and the second speed planning data; when there is a speed reversal in the first speed of the first speed planning data or the second speed of the second speed planning data, using the position of the first speed reversal as a target adjustment position, and obtaining the speed planning parameters based on the target adjustment position.

4. The synchronous orbiting mobile controller method of claim 3, wherein, The obtaining of the speed planning parameters based on the target adjustment position comprises: acquiring the initial planning data between the target adjustment position and the initial position to obtain first target planning data, the first target planning data comprising first target planning parameters of each moment; updating the initial position with the target adjustment position, and updating the initial operation data with the first target planning parameters corresponding to the moment of the target adjustment position; obtaining second target planning parameters corresponding to the initial planning data based on the updated initial position and the updated initial operation data; obtaining the speed planning parameters based on the first target planning parameters and the second target planning parameters.

5. The synchronous orbiting mobile controller method of claim 2, wherein, The obtaining of the speed planning parameters according to the initial planning data comprises: determining that the initial adjustment position is outside the initial position and the target position according to the initial planning data; generating third speed planning data corresponding to the overall adjustment stage from the initial position to the target position based on the initial running data and the target synchronization data, the third speed planning data including at least a third position, a third speed and a third acceleration at each time; obtaining the speed planning parameters according to the third speed planning data when the third speed has no speed reversal; setting the third speed less than zero to zero, updating the third speed in the third speed planning data, and obtaining the speed planning parameters according to the third speed planning data when the third speed has speed reversal.

6. The synchronous orbiting mobile controller method of claim 2, wherein, The initial running data includes an initial speed and an initial acceleration, the target synchronization data includes a target speed, a target time and a target acceleration, and the adjustment time is obtained based on the initial position, the initial running data, the target position and the target synchronization data, including: obtaining a first time multiplier based on the product of the target time and the target speed, a second time multiplier based on the product of the target time and the initial speed, and a third time multiplier based on the product of the square of the target time and the target acceleration; obtaining a fourth time multiplier based on the product of the target acceleration and the target time, and a fifth time multiplier based on the product of the initial acceleration and the target time; obtaining a first adjustment time item by subtracting the initial position, the first time multiplier and the second time multiplier one by one based on the sum of the target position and the third time multiplier; obtaining a second adjustment time item by adding the fourth time multiplier and the fifth time multiplier one by one based on the difference between the initial speed and the target speed; obtaining the adjustment time based on the ratio of the first adjustment time item to the second adjustment time item.

7. The synchronous orbiting mobile controller method of claim 6, wherein, The first running planning parameters include a first sub-planning parameter, a second sub-planning parameter, a third sub-planning parameter and a fourth sub-planning parameter, and the first running planning parameters are obtained based on the adjustment time, including: obtaining a first planning multiplier based on the product of the target acceleration and the adjustment time, a second planning multiplier based on the product of the initial acceleration and the adjustment time, and a third planning multiplier based on the product of the target speed and the adjustment time; obtaining a first planning parameter item by subtracting the initial speed, the fourth time multiplier, the fifth time multiplier and the second planning multiplier one by one based on the sum of the target speed and the first planning multiplier, and obtaining the first sub-planning parameter based on the ratio of the first planning parameter item to the third planning multiplier; obtaining the second sub-planning parameter based on half of the initial acceleration, obtaining the third sub-planning parameter based on the initial speed, and obtaining the fourth sub-planning parameter based on the initial position.

8. The synchronous orbiting mobile controller method of claim 7, wherein, The second running planning parameters include a fifth sub-planning parameter, a sixth sub-planning parameter, a seventh sub-planning parameter and an eighth sub-planning parameter, and the second running planning parameters are obtained based on the adjustment time and the first running planning parameters, including: a fifth sub-planning parameter based on a ratio of the second sub-planning parameter and the third sub-planning parameter; a sixth sub-planning parameter based on a product of the first sub-planning parameter and the adjustment time, and added with the second sub-planning parameter; a seventh sub-planning parameter based on a product of the first sub-planning parameter and a square of the adjustment time, and added with a product of the second sub-planning parameter and the adjustment time, and added with the third sub-planning parameter; an eighth sub-planning parameter based on a product of the first sub-planning parameter and a cube of the adjustment time, and added with a product of the second sub-planning parameter and a square of the adjustment time, and added with a product of the third sub-planning parameter and the adjustment time, and added with the fourth sub-planning parameter.

9. A mover control device for a geosynchronous orbit, characterized by, The synchronous orbit comprises an initial position and a target position, and the device comprises: a data acquisition module configured to acquire initial operation data of a mover reaching the initial position, and target synchronous data required when the mover reaches the target position; a data generation module configured to generate initial planning data based on the initial operation data and the target synchronous data, wherein the initial planning data comprises first speed planning data of a first speed adjustment stage, second speed planning data of a second speed adjustment stage, and an initial adjustment position between the two speed adjustment stages; a control module configured to obtain speed planning parameters according to the initial planning data, and control the mover to move from the initial position to the target position according to the speed planning parameters. The processor executes the computer program to implement the mover control method of the synchronous orbit according to any one of claims 1 to 8.

10. An electronic device comprising a memory and a processor, the memory storing a computer program, characterized in that, The computer program is executed by the processor to implement the mover control method of the synchronous orbit according to any one of claims 1 to 8.

11. A computer readable storage medium having stored thereon a computer program, characterized in that, ​

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