Control method and device, storage medium and electronic equipment

• Main Authors: WANG XUN, YANG YINXIANG, CHEN ZHONGCHUAN, ZHU YIMING, ZHOU DONGHONG, XIA XIANQIU, WANG GUANPING, YANG ZHONGSHAN, LEI ZHIJUN
• Format: Patent
• Language: Chinese; English
• Published: 17.04.2020
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

The invention provides a control method and device, a storage medium and electronic equipment. The control method is applied to gantry type wheel set mechanism grabbing equipment. The method comprisesthe steps of firstly obtaining a to-be-executed motion control instruction and a target position point coordinate, then determining a target corner position of a motor by utilizing a kinematics solving method based on the target position point coordinate, and then determining a target analog quantity output value for controlling the speed of the motor based on the target corner position and the actual position of the motor. Thus, the gantry type wheel set mechanism grabbing equipment control device provided by the scheme can realize the control on the gantry type wheel set mechanism grabbingequipment. 本发明提供了一种控制方法、装置、存储介质及电子设备，该控制方法应用于龙门式轮组机构抓取设备。首先获取待执行的运动控制指令以及目标位置点坐标，然后基于所述目标位置点坐标，利用运动学求解方法确定出电机的目标转角位置，之后基于所述目标转角位置以及电机实际位置，确定出控制所述电机的速度的目标模拟量输出值。可见，本方案提供的龙门式轮组机构抓取设备控制装置，能够实现对龙门式轮组机构抓取设备的控制。