CN114896828B - Electronic driving differential method and demonstration device based on large-curvature fixed track - Google Patents
Electronic driving differential method and demonstration device based on large-curvature fixed track Download PDFInfo
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Abstract
The invention belongs to the technical field of rail cars, and particularly relates to a traveling electronic differential algorithm and a demonstration device based on a large-curvature fixed rail. The invention discloses a traveling electronic differential algorithm, which comprises the following steps: 1) obtaining the algorithm output quantity of the on-orbit trolley; 2) and defining two sides of the on-orbit trolley as a reference side and a differential side respectively, and coordinating the rotating speeds of the four groups of independent motors. The invention can effectively ensure the operation stability of the rail trolley when the rail trolley runs on the curved track.
Description
Technical Field
The invention belongs to the technical field of rail cars, and particularly relates to a traveling electronic differential method and a demonstration device based on a large-curvature fixed rail.
Background
The large-curvature fixed track has the characteristic of large curvature as the name suggests, and the most remarkable representatives of the large-curvature fixed track are Mobius rings, three-leaf knots and other structures. Fixed tracks with large curvatures are widely used in daily life, for example, conveyor belts in stations and factories, printer ribbons for computers, overpasses and roads, roller coasters in amusement parks, and the like. In actual design, it is found that even if the four-motor-driven on-track trolley with extremely excellent dynamic property, operability and the like runs on the track for a period of time due to the fact that the appearance of the track with large bending degree such as the mobius loop, the three-leaf knot and the like is wound and bent, the structure shuttles, a series of abnormal conditions such as motor dragging, on-track trolley blocking and even derailing and the like easily occur due to unequal track line lengths on two sides, and therefore adverse effects on vehicle operation stability are caused, and a solution is needed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a driving electronic differential method based on a large-curvature fixed track, which can effectively ensure the operation stability of a small vehicle on the track when the small vehicle runs on the curved track.
In order to realize the purpose, the invention adopts the following technical scheme:
a driving electronic differential method based on a large-curvature fixed track is characterized by comprising the following steps:
1) the algorithm output quantity of the on-orbit trolley is obtained by the following formula, namely the real-time ratioV 0 （t）：
Wherein:
V 0 （t）is the algorithm output quantity at the time t;
V a （t）is the target quantity at time t;
mis a speed regulation coefficient;
V x （t）the current output quantity at the moment t;
beta is the anti-shake coefficient;
Q’（t）the difference of the measured value at the time t to the measured value at the time (t-1);
Q（t）a feedback value measured for time t;
Pis the differential compensation coefficient;
angl（t）the deflection angle value of the on-orbit trolley at the time t is obtained;
V 0 （t-1）the output quantity of the algorithm at the time t-1;
EOR max the distance difference of driving wheels at two sides of the small rail trolley is obtained;
Q_ max feeding back the total amount of signals for the rotating speed of the driving wheel in a complete period;
2) defining the two sides of the on-orbit trolley as a reference side and a differential side respectively, and coordinating the rotating speeds of four groups of independent motors according to the following formula:
wherein:
motor_landmotor_rvoltage duty ratio conversion coefficients of the reference-side independent motor and the differential-side independent motor, respectively, andV 0 （t）and obtaining the output duty ratio of the independent motor at the corresponding side by multiplying.
Preferably, in step 1), the sampling period is t =20 ms.
Preferably, the demonstration device for the electronic differential speed method of the traveling crane based on the large-curvature fixed track comprises a track forming a guide path and an on-track trolley capable of traveling along the track, and is characterized in that: the on-track trolley comprises four groups of driving wheels arranged on a trolley body, each driving wheel is driven by a corresponding independent motor, and the four groups of driving wheels are pressed on the track through a pressurizing assembly; the front direction of the on-track trolley is used as the front direction, two groups of driving wheels positioned in front of the trolley body are installed on the front axle, two groups of driving wheels positioned behind the trolley body are installed at the rear axle, and the front axle and the rear axle are connected with each other through the spring plate.
Preferably, the four groups of driving wheels are I-shaped wheels with wheel shafts vertical to the rail surface of the rail, and wheel grooves of the four groups of driving wheels are meshed at the side edges of the rail, so that the driving wheels are in rolling fit with the side edges of the rail.
Preferably, the front axle and the rear axle both comprise a middle axle positioned in the middle section and motor fixing plates respectively arranged on two sides of the middle axle, and the independent motor and the corresponding driving wheel are both arranged on the motor fixing plates; the motor fixing plate and the middle bridge are connected with each other through a connecting spring; the releasing direction of the connecting spring is the same as the pressing direction of the driving wheel connected with the connecting spring relative to the track.
Preferably, the device further comprises an arc-surface-shaped elastic brush plate, a fixed end of the elastic brush plate is fixed at the vehicle body and is connected with the power module and/or the communication module at the vehicle body, and a cantilever end of the elastic brush plate extends downwards in an arc shape and is elastically pressed against the conductive plate, so that the cantilever end and the conductive plate form a brush structure.
Preferably, the track hardness is less than the drive wheel hardness.
Preferably, the track is formed by covering a layer of silicon rubber on the outside of the high-toughness engineering plastic.
The invention has the beneficial effects that:
1) according to the scheme, the distance difference between two sides of the small vehicle on the rail and the total quantity of the rotating speed feedback signals of the driving wheel in the complete period are obtained by measuring and calculating the side line length of the rail, then the real-time ratio is preliminarily obtained, and then the unified and coordinated motion of the four independent motors is ensured by means of the coordination formula of the four groups of independent motors, so that the steering stability of the small vehicle on the rail is improved, the limit of the small vehicle on the rail is improved, the small vehicle on the rail has the advantages of smooth system operation, stable speed and quick response, and the operating stability of the small vehicle on the rail when the small vehicle on the rail runs on a curved rail is effectively ensured.
The invention can be applied to the movement and demonstration of rail vehicle type devices, and has been tested in different tracks, and the effect is obvious.
2) For the on-track trolley, the front axle and the rear axle are connected by spring plates; the design enables the four driving wheels of the on-track trolley to be freely and stably buckled on the track in different bending directions to move at a high speed. The spring plate can be a horizontal elastic thin plate or an arc elastic plate with a certain radian, and can be used as appropriate according to field conditions. Through mechanical simulation, the on-orbit trolley is particularly suitable for stably running on any twisted track with the turning radius larger than 1.5 meters and the pitching radius larger than 1 meter.
3) In design, four groups of independent motors are completely and independently arranged and fixed on a front axle and a rear axle, each group of independent motors are integrated by a motor attachment mechanism formed by a motor fixing plate and a linking spring and connected with a middle axle positioned in the middle section by the linking spring, so that the invention can meet the free running requirement on a large-fluctuation space three-dimensional curved track, and can also rely on an I-shaped driving wheel to ensure that the driving wheel can be tightly clamped or pressed on the corresponding side of the track. At this time, the engaging spring constitutes a pressurizing assembly.
4) Different from the traditional soft wheel matched hard guide rail; the rail is compounded by high-toughness engineering plastics and silicon rubber, and is matched with the steel I-shaped wheel with harder texture, so that the rail trolley on the rail can not generate impact and friction sound caused by high-speed operation when the rail trolley on the rail runs at high speed, and has strong noise reduction; the on-track trolley can meet the requirement of reliable high-speed running of various irregular curved surfaces generated by bending deformation of the track in a three-dimensional space, and the speed of the on-track trolley is up to 2 m/s.
5) The power source when the rail trolley travels along the rail can be from a built-in battery plate, and also can be from a preset electric brush structure at the rail, so that the requirement of back-and-forth transmission of electric signals and even communication signals can be effectively met.
Drawings
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2 is a sectional view of the on-track trolley in a front view operating condition;
FIG. 3 is a sectional view of the left side view operating condition of FIG. 1;
fig. 4 is a graph showing the deviation between the reference side and the differential side of example 1 and the target value.
The actual correspondence between each label and the part name of the invention is as follows:
10-rail 11-conductive plate
20-on-orbit trolley 20 a-intermediate bridge 20 b-motor fixing plate 20 c-connecting spring
21-front axle 22-rear axle 23-independent motor 24-driving wheel
25-spring plate 26-elastic brush plate.
Detailed Description
For ease of understanding, the specific structure and operation of the present invention is further described herein with reference to FIGS. 1-4:
the algorithm flow of the invention is as follows:
the algorithm output quantity of the on-orbit trolley, namely the real-time ratio, is obtained by the following formulaV 0 （t）：
Wherein:
V 0 （t）the output quantity of the algorithm at the moment t;
V a （t）is the target quantity at time t;
mis a speed regulation coefficient;
V x （t）is the current output at time tOutput quantity;
beta is the anti-shake coefficient;
Q’（t）the difference of the measured value at the time t to the measured value at the time (t-1);
Q（t）a feedback value measured for time t;
Pis the differential compensation coefficient;
angl（t）the deflection angle value of the on-orbit trolley at the time t is obtained; when the front and rear groups of driving wheels of the vehicle body tend to be balanced, the deflection angle is 0, the deflection towards the left can be set to be positive increment, and the deflection towards the right can be set to be negative increment, namely a positive value; certainly, the real operation can be defined reversely, and the corresponding adjustment is good when the output is carried out;
V 0 （t-1）the output quantity of the algorithm at the time t-1;
EOR max the distance difference of the driving wheels at the two sides of the rail trolley is used; in the case of the clamping drive wheel according to the invention, this can also be understood as the difference in length or the difference in travel of the tracks on both sides;
Q_ max feeding back the total amount of signals for the rotating speed of the driving wheel in a complete period;
the sampling period t may take 20ms, although other values may be used.
Meanwhile, because the appearance of the large-bending-degree track such as the Mobius ring, the three-leaf knot and the like is coiled and bent and the structure shuttles back and forth, the length of the track real object is not easy to measure, therefore,Q_ max in real operation, the designed track length is theoretically measured by a machine using 3D software or the like. In millimeters, assuming a theoretical length of L _MAX The perimeter of the driving wheel is CAR _x Then L is _MAX /CAR _x The number of turns of the driving wheel running one revolution on the track can be obtained. Assuming that the driving wheel rotates once and the sensor at the vehicle body feeds back six signal pulses, 6 × (L) _MAX /CAR _x ) Can obtainQ_ max 。
Further:
m·[V a （t）-V x （t）]is used for making the on-track trolley accompany the target quantityV a （t）And current output quantityV x （t）The speed of the adjustment is adjusted bymDetermining;
p·angl（t）·V 0 （t-1）is output by the last algorithmV 0 （t-1）The product of the angle of deflection angle angl (t) and the differential compensation coefficientpActing together so as to adjust the differential quantity of the left side and the right side of the rail trolley in real time;
Calculating to obtain specific numerical values and judgment results by the steps, and judging by relying on a judgment unit in the formula (1); if the judgment result is correct, the output numerical value is effective, and if the judgment result is wrong, abnormal signals such as flashing lights and the like can be output, and related personnel are required to detect and maintain.
The final output of the steps is a real-time ratio based on the feedback quantity of the independent motors, so that the real-time ratio can be converted into a real-time voltage duty ratio to more conveniently drive the four independent motors to perform unified and coordinated motion.
Furthermore, because of the differential method, a speed reference is needed according to a speed target value, and when the left two groups of driving wheels are set as the speed reference, the right two groups of driving wheels output control quantity after calculating results according to the size and speed of the deflection angle of the track by the differential method; and the left side and the right side are defined by the vehicle body and can be determined according to the sitting posture of the driver. In fact, the left side and the right side are not important, and it is important to define a side as a reference, and the calculation is always carried out on the reference, so that the vehicle can jump without running and the normal demonstration can not be realized.
For convenience of description, the present invention directly defines the two sides of the rail car as a reference side and a differential side respectively, and coordinates the rotation speeds of four independent motors according to the following formula:
Wherein:
motor_landmotor_rvoltage duty ratio conversion coefficients of the reference-side independent motor and the differential-side independent motor, respectively, andV 0 （t）and multiplying to obtain the output duty ratio of the independent motor at the corresponding side.
As can be seen from the formula (2), when the formula is used, the yaw angle on the reference side needs to be always set to 0, no operation is involved, that is, the reference is independent of the rotation angle, the calculated result is output to the independent motor in front of the reference side, that is, the reference rotation speed configuration is completed, and the input quantity of the independent motor behind the reference side is obtained by multiplying the input quantity of the independent motor in front of the reference side by a coefficient k 2 Matching is performed, and debugging is performed according to the structure. The real-time value calculated by the formula (2) is output to the independent motor in front of the differential side, namely the configuration of the independent motor in front of the differential side is completed; multiplying the input quantity of the independent motor in front of the differential side by a coefficient k 4 And the differential speed distribution flow is output to the independent motors at the rear side of the differential speed side, namely the differential speed distribution flow of four groups of independent motors is completed.
On the basis of the algorithm, the invention also provides a set of on-orbit demonstration device capable of accommodating the algorithm. With particular reference to fig. 1, the demonstration apparatus comprises in particular a rail 10 formed by a mobius loop and an on-rail trolley 20 mounted on the rail 10 in the form of an elastic clamp, wherein:
the on-track trolley 20 has the outer shape shown with reference to fig. 2-3, comprising a front axle 21 with two sets of front wheels and a rear axle 22 with two sets of rear wheels arranged on the body. The front axle 21 and the rear axle 22 are fixedly connected to each other by a spring plate 25 of thin steel plate or other elastic structure, so that the four driving wheels 24 of the rail trolley 20 can be freely and stably buckled on the rail 10 to move at high speed in different bending directions. Meanwhile, the front axle 21 and the rear axle 22 have the same structure, and both include a middle axle 20a located at the middle section and motor fixing plates 20b installed at both sides of the middle axle 20a through engaging springs 20 c; an independent motor 23 is arranged on the motor fixing plate 20b on the axis traction vehicle, and an output shaft of the independent motor 23 is directly and coaxially fixedly connected with a driving wheel 24.
In the actual design, as shown in fig. 2 to 3, the drive wheel 24 is passively elastically pressed against the corresponding side of the rail 10 by means of the engaging spring 20 c; on the other hand, the driving wheel 24 is a steel spool and can thus also engage at the side of the rail 10 by means of its own race. When the independent motor 23 is started, the steel driving wheel 24 rotates, and then the advancing and retreating actions can be generated along the track 10. Of course, the engaging spring 20c itself may be a diagonal spring or a compression spring, and only needs to realize the elastic pressing function of the driving wheel 24.
The track 10 is flexible and can be formed by compounding high-toughness engineering plastics and silicon rubber; the design ensures that the on-track trolley 20 on the track 10 can not generate impact and friction sound caused by high-speed running. Meanwhile, the relatively flexible track 10 is more beneficial to forming specific appearance structures such as Mobius rings and the like, thereby achieving multiple purposes.
The power source when the rail trolley 20 travels along the rail 10 can be from a built-in battery panel, and can also be from a brush structure preset at the rail 10, so that the requirement of transmitting electric signals and even communication signals back and forth can be effectively ensured.
More specifically, as shown in fig. 2 to 3, an elastic brush plate 26 may be disposed on the vehicle body so as to always ensure that the cantilever end thereof abuts against a preset conductive plate 11 on the track 10; at this time, the on-track trolley 20 may generate a predetermined speed of travel motion along the track 10 with the continuous operation of the brush structure formed by the elastic brush plate 26 and the conductive plate 11.
For further understanding of the present invention, the operation flow of the present invention is described herein with reference to example 1 as follows:
example 1:
for the convenience of simulation, the characteristics of four groups of independent motors are assumed to be completely the same, and the characteristics of the four groups of independent motors actually have certain differences, mainly because the motor driver and the motors are a set of complex system, each element in the system has an error, and each set of motors has different outputs to the same input due to the accumulated errors, but the accumulated errors are close to linear correlation.
As a result, the above-described calculation procedure obtains the graph shown in FIG. 4 and converts it into the table shown in Table 1 below:
from table 1 above, it can be seen that the speed is increasing and the parameter value of the direction change is in the middle: 1. target valueV a （t）2, current signal output valueV x （t）Angle deviation value, 3angl（t）Substituting the formula (1) to obtain a reference rotation speed value, namely an algorithm output valueV 0 （t）Then, the differential value v _ l is obtained by combining the formula (2)（t）(ii) a In Table 1, d _ v（t）Is a variation value of the differential amount.
As can be seen from table 1, the greater the speed, the greater the differential amount; the direction is changed, and the differential speed is changed from positive to negative.
As can be seen from fig. 4 corresponding to table 1, the two curves on the differential side and the reference side are changed in position when the direction is changed, and thus two crossing curves are formed.
In addition, as can be seen from fig. 4, the target value curve has a large curvature of change, and after the differential speed method of the present invention is added, the two curves output follow the target curve closely, but have relatively smooth amplitudes. Particularly, when the trolley runs at a low speed, the trolley can run smoothly on the rail, and the control on the actual running of the trolley on the rail is well guaranteed; namely: after the differential method is applied, the whole set of demonstration device runs very smoothly, and has the advantages of stable speed and quick response, and the effect is remarkable.
It will, of course, be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but rather includes the same or similar structures that may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.
Claims (8)
1. A driving electronic differential method based on a large-curvature fixed track is characterized by comprising the following steps:
1) the algorithm output quantity of the on-orbit trolley is obtained by the following formula, namely the real-time ratioV 0 （t）：
Wherein:
V 0 （t）the output quantity of the algorithm at the moment t;
V a （t）is the target quantity at time t;
mis a speed regulation coefficient;
V x （t）the current output quantity at the moment t;
beta is the anti-shake coefficient;
Q’（t）the difference of the measured value at the time t to the measured value at the time (t-1);
Q（t）a feedback value measured for time t;
Pis the differential compensation coefficient;
angl（t）the deflection angle value of the on-orbit trolley at the time t is obtained;
V 0 （t-1）is the algorithm output quantity at the time t-1;
EOR max the distance difference of driving wheels at two sides of the small rail trolley is obtained;
Q_ max feeding back the total amount of signals for the rotating speed of the driving wheel in a complete period;
2) defining the two sides of the on-orbit trolley as a reference side and a differential side respectively, and coordinating the rotating speeds of four groups of independent motors according to the following formula:
wherein:
motor_landmotor_rvoltage duty ratio conversion coefficients of the reference-side independent motor and the differential-side independent motor, respectively, andV 0 （t）and obtaining the output duty ratio of the independent motor at the corresponding side by multiplying.
2. The electronic differential speed method for the traveling crane based on the large-curvature fixed track as claimed in claim 1, wherein the method comprises the following steps: in step 1), the sampling period is t =20 ms.
3. Demonstration device applying the electronic differential method of driving a vehicle based on a fixed track with large curvature according to claim 1 or 2, comprising a track (10) forming a guide path and an on-track trolley (20) able to travel along the track (10), characterized in that: the on-track trolley (20) comprises four groups of driving wheels (24) arranged on a trolley body, each driving wheel (24) is driven by a corresponding independent motor (23), and the four groups of driving wheels (24) are pressed on the track (10) through a pressurizing assembly; the rail trolley (20) is used as the front, two groups of driving wheels (24) positioned in front of the trolley body are installed on a front axle (21), two groups of driving wheels (24) positioned behind the trolley body are installed on a rear axle (22), and the front axle (21) and the rear axle (22) are connected with each other through a spring plate (25).
4. The presentation device of claim 3, wherein: the four groups of driving wheels (24) are I-shaped wheels with wheel shafts vertical to the rail surface of the rail (10), and wheel grooves of the four groups of driving wheels (24) are meshed at the side edges of the rail (10), so that the driving wheels (24) are in rolling fit with the side edges of the rail (10).
5. The presentation device of claim 3, wherein: the front axle (21) and the rear axle (22) respectively comprise a middle axle (20 a) positioned in the middle section and motor fixing plates (20 b) respectively arranged on two sides of the middle axle (20 a), and the independent motor (23) and the corresponding driving wheel (24) are respectively arranged on the motor fixing plates (20 b); the motor fixing plate (20 b) and the middle bridge (20 a) are connected with each other through a connecting spring (20 c); the releasing direction of the engaging spring (20 c) is the same as the pressing direction of the driving wheel (24) connected with the engaging spring (20 c) relative to the track (10).
6. The presentation device of claim 3, wherein: a conductive plate (11) is laid at the track (10) along the length direction of the track; the device also comprises an arc-surface-shaped elastic brush plate (26), wherein the fixed end of the elastic brush plate (26) is fixed at the vehicle body and is connected with a power module and/or a communication module at the vehicle body, and the cantilever end of the elastic brush plate (26) extends downwards in an arc shape and is elastically pressed against the conductive plate (11), so that the cantilever end and the conductive plate (11) form a brush structure.
7. The presentation device of claim 3, wherein: the hardness of the rail (10) is less than the hardness of the driving wheel (24).
8. The presentation device of claim 7, wherein: the track (10) is formed by covering a layer of silicon rubber on the outside of high-toughness engineering plastic.
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| JP2005219728A (en) * | 2004-01-06 | 2005-08-18 | Land Walker Ltd | Bicycle and differential gear for bicycle |
| JP4862477B2 (en) * | 2006-05-10 | 2012-01-25 | 株式会社明電舎 | Input / output duty control method for AC-AC direct conversion device |
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