阅读说明：本技术 多点吊挂恒力联调控制方法及系统 (Multi-point hanging constant force joint adjustment control method and system ) 是由 刘仁伟 侯鹏 杨兴 谢永权 董自瑞 李志慧 徐艺星 董贤达 韩哲鑫 吴晨 于 2020-11-12 设计创作，主要内容包括：本发明提供了一种多点吊挂恒力联调控制方法及系统,上位机在一个监测调整周期内,计算各吊点的吊挂力与预设的目标吊挂力的偏差分布,依据偏差分布特点,选取对应的多个吊点构成联调组合吊点,在保持所述联调组合吊点的目标吊挂合力不变条件下,设置联调组合吊点中各吊点的目标吊挂力偏移补偿量,在下一个监测调整周期,上位机将各吊点补偿后的目标吊挂力发送至PLC运动控制器,使各吊挂单元控制吊绳的收放,使各吊点的吊挂力在偏差允许范围内调整到新的稳定状态。本发明实现各点吊挂恒力保持与联调控制,改善多点吊挂力偏差分布均匀性以及联调的同步性。(The invention provides a multi-point hanging constant force joint debugging control method and a system, wherein an upper computer calculates the deviation distribution of the hanging force of each hanging point and a preset target hanging force in a monitoring and adjusting period, selects a plurality of corresponding hanging points to form a joint debugging combined hanging point according to the characteristic of the deviation distribution, sets the target hanging force deviation compensation quantity of each hanging point in the joint debugging combined hanging point under the condition of keeping the target hanging resultant force of the joint debugging combined hanging point unchanged, and sends the target hanging force compensated by each hanging point to a PLC motion controller in the next monitoring and adjusting period to enable each hanging unit to control the retraction of a hanging rope, so that the hanging force of each hanging point is adjusted to a new stable state in a deviation allowable range. The invention realizes the constant force maintenance and joint debugging control of each point hanging, and improves the deviation distribution uniformity of multipoint hanging force and the synchronism of joint debugging.)

1. The utility model provides a constant force joint debugging control system is hung to multiple spot which characterized in that includes: the system comprises an upper computer (8), a PLC motion controller (7) and a plurality of hanging units (1);

the plurality of hanging units (1) are respectively and electrically connected with the PLC motion controller (7);

each hanging unit (1) is connected with a hanging point of the multi-joint mechanism (2) through a hanging rope (4), and the hanging units (1) can receive and release the hanging ropes (4);

a tension sensor (3) is arranged on the lifting rope (4);

the method comprises the steps that an upper computer (8) calculates deviation distribution of hanging force of each hanging point and preset target hanging force in one monitoring and adjusting period, a plurality of corresponding hanging points are selected to form a combined hanging point according to the deviation distribution characteristics, target hanging force deviation compensation quantity of each hanging point in the combined hanging point is set under the condition that target hanging resultant force of the combined hanging point is kept unchanged, and in the next monitoring and adjusting period, the upper computer (8) sends the target hanging force compensated by each hanging point to a PLC motion controller (7), so that each hanging unit (1) controls retraction of a hanging rope (4), and the hanging force of each hanging point is adjusted to be in a new stable state within a deviation allowable range.

2. The multipoint hanging constant force joint debugging control system according to claim 1, wherein the length of the monitoring and adjusting period is an integral multiple of the length of the control period of the PLC motion controller (7).

3. The multi-point hanging constant force joint debugging control system according to claim 1, wherein the deviation distribution of the ith hanging point is the hanging point hanging force deviation value e in a monitoring and adjusting period_i(t) the relation curve of the hanging force deviation value in the monitoring and adjusting period to the integral mean value of the time as the amplitude E of the deviation distribution_r(i) The positive and negative direction attribute D of deviation distribution is the positive and negative sign of integral of hanging force deviation value to time_i。

4. The multi-point hanging constant force joint debugging control system of claim 1, wherein the selection of the joint debugging combined hanging point and the setting of the target hanging force offset compensation amount comprise:

if the maximum positive and negative deviation amplitudes in the plurality of hoisting points are outside the set resultant force target deviation range, selecting 2 hoisting points corresponding to the maximum positive and negative deviations as joint debugging combined hoisting points, and performing reverse offset compensation on the target hoisting forces of the selected 2 hoisting points, wherein the sum of the positive and negative offset compensation quantities is zero;

if the maximum positive and negative deviation value of one of the lifting points is out of the set resultant force target deviation range, selecting the lifting point and 2 adjacent lifting points as joint debugging combination points, and carrying out reverse offset compensation on the target lifting force offset compensation quantity of the selected 3 lifting points in proportion, wherein the sum of the positive and negative offset compensation quantities is zero;

if the maximum positive and negative deviation amplitudes of the plurality of hoisting points are within the set resultant force target deviation range, the deviation compensation amount adjustment of the target hoisting force of each hoisting point is not needed.

5. The multipoint hanging constant force joint debugging control system according to claim 1, characterized in that the PLC motion controller (7) makes each hanging unit (1) synchronously execute a constant force control algorithm to control the retraction and release of the hanging rope (4);

the constant force control algorithm adopts a strategy of outer force ring and inner position ring to carry out the deviation e between the hanging force acquired by the tension sensor and the target hanging force_iAnd (t) the control outer ring main control variable is used as a control outer ring main control variable and converted into an inner ring displacement servo control quantity, the PLC motion controller executes motion displacement control according to the inner ring displacement servo control quantity, the retraction displacement of the lifting rope is adjusted in real time, the tensioning state of the lifting rope is maintained, and the hanging force is stabilized within a set target hanging force deviation range.

6. A multi-point hanging constant force joint debugging control method is characterized in that the multi-point hanging constant force joint debugging control system of claim 1 is adopted to execute

The upper computer (8) calculates the deviation distribution of the hanging force of each hanging point and a preset target hanging force in a monitoring and adjusting period, selects a plurality of corresponding hanging points to form a combined hanging point according to the deviation distribution characteristics, sets the target hanging force offset compensation amount of each hanging point in the combined hanging point under the condition that the target hanging resultant force of the combined hanging point is kept unchanged, and transmits the target hanging force compensated by each hanging point to the PLC motion controller (7) in the next monitoring and adjusting period, so that each hanging unit (1) controls the retraction of the hanging rope (4), and the hanging force of each hanging point is adjusted to a new stable state in a deviation allowable range.

7. The multipoint hanging constant force joint debugging control method according to claim 6, characterized in that the length of the monitoring and adjusting period is an integral multiple of the length of the control period of the PLC motion controller (7).

8. The multi-point hanging constant force joint debugging control method of claim 6, wherein the multi-point hanging constant force joint debugging control system of claim 1 is characterized in that the deviation distribution of the ith hanging point is the hanging point hanging force deviation value e in a monitoring and adjusting period_i(t) the relation curve of the hanging force deviation value in the monitoring and adjusting period to the integral mean value of the time as the amplitude E of the deviation distribution_r(i) The positive and negative direction attribute D of deviation distribution is the positive and negative sign of integral of hanging force deviation value to time_i。

9. The multi-point hanging constant force joint debugging control method of claim 6, wherein the selection of the joint debugging combined hanging point and the setting of the target hanging force offset compensation amount comprise:

if the maximum positive and negative deviation amplitudes in the plurality of hoisting points are outside the set resultant force target deviation range, selecting 2 hoisting points corresponding to the maximum positive and negative deviations as joint debugging combined hoisting points, and performing reverse offset compensation on the target hoisting forces of the selected 2 hoisting points, wherein the sum of the positive and negative offset compensation quantities is zero;

if the maximum positive and negative deviation value of one of the lifting points is out of the set resultant force target deviation range, selecting the lifting point and 2 adjacent lifting points as joint debugging combination points, and carrying out reverse offset compensation on the target lifting force offset compensation quantity of the selected 3 lifting points in proportion, wherein the sum of the positive and negative offset compensation quantities is zero;

if the maximum positive and negative deviation amplitudes of the plurality of hoisting points are within the set resultant force target deviation range, the deviation compensation amount adjustment of the target hoisting force of each hoisting point is not needed.

10. The multipoint hanging constant force joint debugging control method according to claim 6, characterized in that the PLC motion controller (7) enables each hanging unit (1) to synchronously execute a constant force control algorithm to control the retraction and release of the hanging ropes (4);

the constant force control algorithm adopts a strategy of outer force ring and inner position ring to carry out the deviation e between the hanging force acquired by the tension sensor and the target hanging force_iAnd (t) the control outer ring main control variable is used as a control outer ring main control variable and converted into an inner ring displacement servo control quantity, the PLC motion controller executes motion displacement control according to the inner ring displacement servo control quantity, the retraction displacement of the lifting rope is adjusted in real time, the tensioning state of the lifting rope is maintained, and the hanging force is stabilized within a set target hanging force deviation range.

Technical Field

The invention relates to the field of spacecraft ground tests, in particular to a multipoint hanging constant force joint debugging control method and system.

Background

During ground test of the multi-joint mechanism of the spacecraft, the gravity of the mechanism needs to be unloaded, and the function, the environmental adaptability and the reliability of the testing mechanism under the in-orbit space gravity environment are simulated. Spatial gravity environments include zero-gravity, microgravity environments, and gravity environments with a particular acceleration value. At present, the gravity of the mechanism is unloaded by methods such as an air floatation method, a guide rail-pulley suspension method, an active suspension method and the like in a spacecraft ground test.

The air floatation method is characterized in that an air film is formed on an air floatation assembly and an air floatation table to generate air floatation supporting force for gravity unloading, so that a mechanism product is similar to the state of a microgravity environment when moving on the horizontal plane of the air floatation table. However, the air float process does not enable gravity real-time unloading when the mechanism has vertical motion.

The guide rail-pulley suspension method utilizes the pulling force generated by a lifting rope on a pulley to carry out gravity unloading, the pulley follows up on the top combined guide rail with low friction, and the mechanism product is similar to the state of a microgravity environment when moving on a horizontal plane. When the mechanism moves in the vertical direction, a counterweight needs to be added in the guide rail-pulley suspension method to realize the real-time unloading of the gravity of the mechanism. However, the guide rail-pulley suspension method can only have better gravity unloading performance in mechanism motion of a two-dimensional horizontal plane or a vertical plane, and the gravity unloading requirement of the mechanism in spatial multidimensional motion is difficult to meet.

The active suspension method adopts a servo unit to control the retraction displacement of the lifting rope in real time, keeps the tensioning state of the lifting rope, enables the suspension force to be stabilized within the set target suspension force deviation range, and can realize the gravity unloading of the mechanism in the spatial multidimensional motion by matching with a two-dimensional follow-up unit. The invention has been disclosed in the prior art patent application (1) to an active gravity unloading device, application No.: CN201711207990.6, which proposes a composition of an active gravity unloading device and a method for adjusting suspension force by a PLC motion controller, a tension pressure sensor, an encoder, a brake, a servo motor and a reducer, but the method does not relate to a technical method for synchronous control and resultant force maintenance of multi-point suspension force when multi-point active suspension is used for gravity unloading of multiple suspension points of a multi-joint mechanism or the same object. The invention disclosed in the similar technology patent application (2) the gravity unloading device of the multi-joint space mechanism, the application number is: CN201710840028.X, it proposes a method for realizing gravity unloading using an active constant tension control unit, which uses a horizontal two-dimensional servo-servo platform to track the horizontal displacement of the mechanism, so that the lifting rope is always in a vertical state, thereby realizing gravity unloading of a multi-joint space mechanism, but the method does not relate to the synchronization control of multi-point hanging force and the maintenance accuracy of lifting resultant force, when the multi-joint mechanism moves, because the following speed difference and unloading force value of each hanging point are different, there are problems of poor synchronization of multi-point active constant tension adjustment, large deviation distribution difference, and the phenomenon of gravity under-unloading or over-unloading at the position of a local hanging point is easy to occur in the unloading process.

Therefore, when the multi-point active suspension is used for gravity unloading of the multi-joint mechanism or multiple suspension points of the same object are suspended, how to keep the synchronism of adjustment and control of the multi-point suspension force is kept within the deviation range allowed by the suspension force of each suspension unit, the deviation distribution uniformity of the suspension force of each point is improved, and the suspension resultant force maintaining precision is improved, so that the multi-point active suspension is one of the key problems to be solved when the gravity is unloaded in real time when the multi-dimensional motion is followed in the ground test of the multi-joint mechanism of the spacecraft.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a multipoint hanging constant force joint debugging control method and system.

The invention provides a multipoint hanging constant force joint debugging control system, which comprises: the system comprises an upper computer 8, a PLC motion controller 7 and a plurality of hanging units 1;

the plurality of hanging units 1 are respectively and electrically connected with the PLC motion controller 7;

each hanging unit 1 is connected with a hanging point of the multi-joint mechanism 2 through a hanging rope 4, and the hanging units 1 can receive and release the hanging ropes 4;

the lifting rope 4 is provided with a tension sensor 3;

the upper computer 8 calculates the deviation distribution of the hanging force of each hanging point and a preset target hanging force in a monitoring and adjusting period, selects a plurality of corresponding hanging points to form a combined hanging point according to the deviation distribution characteristics, sets a target hanging force offset compensation amount of each hanging point in the combined hanging point under the condition that the target hanging resultant force of the combined hanging point is kept unchanged, and in the next monitoring and adjusting period, the upper computer 8 sends the target hanging force compensated by each hanging point to the PLC motion controller 7, so that each hanging unit 1 controls the retraction of the hanging ropes 4, and the hanging force of each hanging point is adjusted to a new stable state in a deviation allowable range.

Preferably, the length of the monitoring adjustment period is an integer multiple of the length of the control period of the PLC motion controller 7.

Preferably, the multipoint hanging constant force joint debugging control system according to claim 1, wherein the deviation distribution of the ith hanging point is the hanging point hanging force deviation value e in a monitoring and adjusting period_i(t) the relation curve of the hanging force deviation value in the monitoring and adjusting period to the integral mean value of the time as the amplitude E of the deviation distribution_r(i) The positive and negative direction attribute D of deviation distribution is the positive and negative sign of integral of hanging force deviation value to time_i。

Preferably, the selection of the joint-adjustment combined hoisting point and the setting of the target hoisting force offset compensation amount comprise:

if the maximum positive and negative deviation amplitudes in the plurality of hoisting points are outside the set resultant force target deviation range, selecting 2 hoisting points corresponding to the maximum positive and negative deviations as joint debugging combined hoisting points, and performing reverse offset compensation on the target hoisting forces of the selected 2 hoisting points, wherein the sum of the positive and negative offset compensation quantities is zero;

if the maximum positive and negative deviation value of one of the lifting points is out of the set resultant force target deviation range, selecting the lifting point and 2 adjacent lifting points as joint debugging combination points, and carrying out reverse offset compensation on the target lifting force offset compensation quantity of the selected 3 lifting points in proportion, wherein the sum of the positive and negative offset compensation quantities is zero;

if the maximum positive and negative deviation amplitudes of the plurality of hoisting points are within the set resultant force target deviation range, the deviation compensation amount adjustment of the target hoisting force of each hoisting point is not needed.

Preferably, the PLC motion controller 7 enables each hanging unit 1 to synchronously execute a constant force control algorithm to control the retraction of the lifting rope 4;

the constant force control algorithm adopts a strategy of outer force ring and inner position ring to carry out the deviation e between the hanging force acquired by the tension sensor and the target hanging force_iAnd (t) the control outer ring main control variable is used as a control outer ring main control variable and converted into an inner ring displacement servo control quantity, the PLC motion controller executes motion displacement control according to the inner ring displacement servo control quantity, the retraction displacement of the lifting rope is adjusted in real time, the tensioning state of the lifting rope is maintained, and the hanging force is stabilized within a set target hanging force deviation range.

According to the multipoint hanging constant force joint debugging control method provided by the invention, the multipoint hanging constant force joint debugging control system is adopted to execute

The upper computer 8 calculates the deviation distribution of the hanging force of each hanging point and a preset target hanging force in a monitoring and adjusting period, selects a plurality of corresponding hanging points to form a combined hanging point according to the deviation distribution characteristics, sets the target hanging force offset compensation amount of each hanging point in the combined hanging point under the condition of keeping the target hanging resultant force of the combined hanging point unchanged, and in the next monitoring and adjusting period, the upper computer 8 sends the target hanging force compensated by each hanging point to the PLC motion controller 7, so that each hanging unit 1 controls the retraction of the hanging ropes 4, and the hanging force of each hanging point is adjusted to a new stable state in a deviation allowable range.

Preferably, the length of the monitoring adjustment period is an integer multiple of the length of the control period of the PLC motion controller 7.

Preferably, the multipoint hanging constant force joint debugging control system according to claim 1, wherein the deviation distribution of the ith hanging point is the hanging point hanging force deviation value e in a monitoring and adjusting period_i(t) the relation curve of the hanging force deviation value in the monitoring and adjusting period to the integral mean value of the time as the amplitude E of the deviation distribution_r(i) The positive and negative direction attribute D of deviation distribution is the positive and negative sign of integral of hanging force deviation value to time_i。

Preferably, the selection of the joint-adjustment combined hoisting point and the setting of the target hoisting force offset compensation amount comprise:

if the maximum positive and negative deviation amplitudes in the plurality of hoisting points are outside the set resultant force target deviation range, selecting 2 hoisting points corresponding to the maximum positive and negative deviations as joint debugging combined hoisting points, and performing reverse offset compensation on the target hoisting forces of the selected 2 hoisting points, wherein the sum of the positive and negative offset compensation quantities is zero;

if the maximum positive and negative deviation value of one of the lifting points is out of the set resultant force target deviation range, selecting the lifting point and 2 adjacent lifting points as joint debugging combination points, and carrying out reverse offset compensation on the target lifting force offset compensation quantity of the selected 3 lifting points in proportion, wherein the sum of the positive and negative offset compensation quantities is zero;

if the maximum positive and negative deviation amplitudes of the plurality of hoisting points are within the set resultant force target deviation range, the deviation compensation amount adjustment of the target hoisting force of each hoisting point is not needed.

Preferably, the PLC motion controller 7 enables each hanging unit 1 to synchronously execute a constant force control algorithm to control the retraction of the lifting rope 4;

the constant force control algorithm adopts a strategy of outer force ring and inner position ring to carry out the deviation e between the hanging force acquired by the tension sensor and the target hanging force_i(t) as controlAnd controlling an outer ring main control variable, converting the outer ring main control variable into an inner ring displacement servo control variable, executing motion displacement control by the PLC according to the inner ring displacement servo control variable, adjusting the retraction displacement of the lifting rope in real time, and keeping the tensioning state of the lifting rope so that the hanging force is stabilized within a set target hanging force deviation range.

Compared with the prior art, the invention has the following beneficial effects:

the multipoint hanging constant force joint regulation method provided by the invention can realize the maintenance of hanging constant force at each point and joint regulation control under the condition that the multipoint target hanging force and the movement speed of the hanging point are different, improve the deviation distribution uniformity of the multipoint hanging force and the synchronism of the joint regulation, and improve the hanging resultant force maintenance precision, and is used for carrying out gravity real-time unloading in the ground test movement process of the multi-joint mechanism or carrying out constant force hanging on a plurality of hanging points of the same object.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic diagram of the application of the multi-point suspension constant force joint-debugging control method in gravity unloading in a multi-joint mechanism ground test;

FIG. 2 is a flow chart of a multi-point hanging constant force joint debugging control algorithm of the method of the invention.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

As shown in figure 1, the multi-point hanging constant tension system provided by the invention is used for multi-joint mechanism ground test gravity unloading, and mainly comprises a hanging unit 1, a tension sensor 3, a lifting rope 4, a pulley assembly, a two-dimensional guide rail unit 5, a cable 6, a PLC motion controller 7 and an upper computer PC 8. The plurality of hanging units are arranged on the plurality of groups of two-dimensional guide rail units above through the pulley assembly and can move in the horizontal plane along with the bottom hanging point in an active or passive mode, so that the lifting rope is kept in a vertical state. The tension sensor is arranged at the bottom of the lifting rope close to the lifting point, and two ends of the tension sensor are connected with the lifting rope. The power, control and signal cables of the hanging unit are connected with the PLC motion controller and the electric control cabinet, the upper PC machine deploys a multipoint hanging constant force joint adjusting program, the PLC motion controller deploys a hanging servo motion real-time control program, and the upper PC machine is in communication connection with the PLC motion controller.

The schematic diagram of the multipoint hanging constant force joint debugging control method is shown in figure 2, and the real-time steps are as follows:

the method comprises the following steps: PC multiple spot of host computer is hung constant force joint debugging main program software and is set up the regulation parameter, and the motion control parameter that hangs unit servo assembly receive and release the lifting rope as real time control through instruction conveying to PLC motion control ware includes:

(a) monitoring the adjustment period T_mSet as hanging unit PLC motion control period T_cA certain integer multiple M of, i.e. T_m＝T_c×M。

(b) Initially set target hanging force F of each point_o(i) And i is a set serial number of the position of the hanging unit, and the numerical value of the target hanging force is determined by the gravity unloading or the actual requirement of the hanging force of the hanging point.

(c) Deviation amplitude E allowed by single-point hanging force_sWherein, the real-time deviation of the hanging force of the hanging unit i is defined asF_iAnd (t) is a real-time measured value of the hanging force.

(d) Multipoint hanging resultant force joint adjustment set target deviation amplitude E_optWherein the real-time deviation of the multi-point hanging resultant force is defined as

(e) Single point hanging force allowable deviation amplitudeThe value and resultant force joint adjustment target deviation amplitude relation is as follows: e_opt<E_s。

Step two: multi-point hanging force data real-time collection, calculating in current monitoring period T_mThe hanging force deviation distribution of each point inside the container, the hanging force deviation value e of the point_i(t) is plotted against time t by plotting the absolute value of the deviation | e over the period_i(t) | integral mean as the amplitude E of the deviation distribution_r(i) According to the deviation value e_i(t) Positive and negative values of the integral over time determine the directional property D of the deviation distribution_i{1-1}。

Step three: selecting a multipoint hanging force joint debugging combination point and setting a target hanging force offset compensation quantity according to the following rule:

(a) if the maximum positive and negative deviation amplitudes in the plurality of hanging points are all at the set resultant force target deviation amplitude E_optAnd outside the range, selecting 2 hanging points corresponding to the maximum positive and negative deviation as joint debugging combination points, and performing reverse deviation delta S compensation on the target forces of the two hanging points with the maximum positive and negative deviation, wherein the sum of the positive and negative deviation compensation amounts is zero.

f(E_r(i)-E_opt) The adjustment coefficient mapping function is defined in relation to the difference between the point deviation amplitude and the resultant force target deviation amplitude.

(b) If only one maximum positive deviation value or negative deviation value in a plurality of hanging points is in the set resultant force target deviation amplitude E_optIf the range is out, the hanging point i and 2 hanging points adjacent to the front and the back of the physical position of the hanging point i are selected as joint debugging combination points, and 3 hanging points are selectedAnd carrying out reverse offset delta S compensation on the target hanging force offset compensation quantity in proportion, wherein the sum of the positive offset compensation quantity and the negative offset compensation quantity is zero.

p is a proportionality coefficient, p is more than or equal to 0 and less than or equal to 1, the value of p is related to the deviation distribution amplitude and direction of 3 combined hanging points, and a defined functional relationship exists:

p＝g(D_i-1E_r(i-1),D_iE_r(i),D_i+1E_r(i+1)) (5)

(c) if the maximum positive and negative deviation amplitudes in the plurality of hanging points are all at the set resultant force target deviation amplitude E_optWithin the range, the deviation compensation amount adjustment of the target hanging force of each point is not needed.

Step four: and the PC multi-point hanging constant force joint adjustment main program sends the target hanging force adjustment parameter instruction compensated at each point to the PLC motion controller in the next monitoring adjustment period, each hanging unit synchronously executes a constant force control function, and the multi-point hanging force is gradually brought to a new dynamic balance state through a plurality of continuous PLC motion control periods.

Wherein: the constant force control method of the hanging unit comprises the following steps of adopting a 'force outer ring + position inner ring' control strategy to control the deviation e of the hanging force_iAnd (t) the variable is used as a main control variable for controlling the outer ring and is converted into an inner ring servo motion displacement adjustment quantity through a function relation, the PLC motion controller executes high-precision servo motion control according to a displacement adjustment instruction, the retraction displacement of the lifting rope is adjusted in real time, the tensioning state of the lifting rope is maintained, and the hanging force is stabilized within a set target hanging force deviation amplitude range.

Specifically, the invention relates to a multi-point hanging constant tension joint adjustment control method, which suspends a plurality of hanging points of a multi-joint mechanism or an object by adopting multi-point hanging, when the mechanism or the object moves, a tension sensor arranged on each hanging rope detects hanging force of each point in real time, in each monitoring adjustment period, the deviation distribution of the hanging force of each point and a set target hanging force is calculated, a corresponding joint adjustment combination point is selected according to the characteristic of the deviation distribution, under the condition of keeping the multi-point target hanging resultant force unchanged, the deviation compensation quantity of the combined point target hanging force is set, in the next monitoring adjustment period, a multi-point hanging constant force joint adjustment main program sends target hanging force parameters compensated by each point to a PLC (programmable logic controller), so that each hanging unit synchronously executes a constant force control algorithm, controls the hanging rope retracting displacement of each hanging unit, and adjusts the tensioning state of each hanging rope, the hanging force of each point is adjusted to a new stable state within the deviation allowable range, the deviation distribution of the measured value and the target value of the multipoint hanging force is improved, and the multipoint hanging resultant force maintaining precision is improved.

Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.