CN110525420B - STS cart gust-preventing control system - Google Patents

STS cart gust-preventing control system Download PDF

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CN110525420B
CN110525420B CN201910824346.6A CN201910824346A CN110525420B CN 110525420 B CN110525420 B CN 110525420B CN 201910824346 A CN201910824346 A CN 201910824346A CN 110525420 B CN110525420 B CN 110525420B
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speed
cart
given
plc
sts
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CN110525420A (en
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陈智培
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Xiamen Maikaike Electromechanical Equipment Co ltd
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Xiamen Maikaike Electromechanical Equipment Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Handcart (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The utility model provides a STS cart prevents gust control system, wherein, the speed increaser is connected on the shaft of driven round of wheel, and speed encoder is connected to this speed increaser, and speed encoder and walking motor are connected to the converter. The 'big handle given speed' given by the big handle operation controller and the 'big handle given maximum speed' or the big wind selection switch command limit the big handle given maximum speed of the big running given speed to be 20% through the PLC, the big running given speed is output to the frequency converter through the PLC controller, and then the frequency converter runs the big according to the big running given speed; and the frequency converter compensates the deviation value between the given speed of the cart walking and the real-time speed of the cart walking output by the PLC in real time. The anemoscope sensor collects real-time wind speed and inputs the real-time wind speed to the PLC, and the PLC calculates the real-time wind speed to give the traveling speed of the cart. The whole control system can realize automatic control and manual control, has a real-time fault detection function, and ensures that the STS cart can safely, reliably and effectively run when being influenced by gusts.

Description

STS cart gust-preventing control system
Technical Field
The invention relates to a wind-proof control system for an STS cart (hereinafter referred to as an STS cart) of a quayside container crane, in particular to a wind gust-proof control system for the STS cart.
Background
As shown in fig. 6, in the prior art, a protector for preventing strong wind, such as a wheel clamping device, is provided for an STS cart of a quayside container crane in a static state, and the STS cart travel control mode is that a field open-loop control mode for driving a travel motor of the STS cart is established only after a protective device for preventing strong wind, such as a driving wheel brake and a wheel clamping device of the STS cart, is opened, so that the STS cart is easily interfered by the outside during traveling, and the actual travel speed of the STS cart is not consistent with the given travel speed of the open-loop control mode and cannot be compensated. When the STS cart runs, the wind-proof function can not be achieved.
The main disadvantages are that:
1. the STS cart walking is in an open-loop control mode, the control precision is low, and the STS cart is easily interfered by the outside. The actual STS cart travel speed is not consistent with the given travel speed of the open loop control mode and cannot be compensated.
2. When the STS cart is affected by strong wind, the walking of the STS cart cannot be adjusted and controlled.
3. When the STS cart is affected by strong wind, the cart walking speed is too high, which easily causes the failure of the cart brake, and the cart cannot be safely and reliably stopped, thereby generating safety accidents.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides the STS cart gust prevention control system, the whole control system can realize automatic control and manual control, the real-time fault detection function is realized, and the STS cart can be ensured to safely, reliably and effectively run when being influenced by gust.
In order to achieve the purpose, the invention adopts the following technical scheme:
the STS cart gust prevention control system comprises a cart driving mechanism, wherein the cart driving mechanism comprises a driving wheel which drives a driven wheel; the wind speed measuring device also comprises an anemoscope sensor connected with the PLC, a cart handle operation controller, a frequency converter, a speed increasing mechanism and a strong wind selection switch;
the speed increasing mechanism is arranged on the driven wheel; comprises a speed increaser, a speed encoder and a walking motor for driving a driving wheel; the speed increaser is connected to a wheel shaft of the driven wheel, and the tail end of the speed increaser is connected with the speed encoder; the frequency converter is connected with the speed encoder and the walking motor;
the 'big vehicle handle given speed' given by the big vehicle handle operation controller and the 'big vehicle handle given maximum speed' or the big wind selection switch manual command limit the big vehicle walking given speed of 20% of the maximum speed through the PLC, the 'big vehicle walking given speed' is output to the frequency converter through the PLC controller, and then the frequency converter drives the walking motor to walk the big vehicle through the driving wheel according to the 'big vehicle walking given speed'; and the frequency converter compensates the deviation value between the 'big vehicle walking given speed' output by the PLC controller and the 'big vehicle walking real-time speed' fed back by the speed encoder in real time.
The anemoscope sensor collects real-time wind speed and inputs the real-time wind speed to the PLC, and the PLC calculates the real-time wind speed given to the traveling speed of the cart.
As described above, in the STS bus gust prevention control system, "real-time wind speed given bus travel speed" = (bus travel maximum wind speed-real-time wind speed)/196 × bus handle given maximum speed.
According to the STS cart gust prevention control system, when the anemoscope sensor monitors that the real-time wind speed is 20m/s higher than the normal working maximum wind speed and 34m/s lower than the cart walking maximum wind speed; the given speed of the cart handle and the given maximum speed of the cart handle are input to the PLC by the cart handle controller, and if the given speed of the cart handle/the given maximum speed of the cart handle is greater than the given traveling speed of the cart at the real-time wind speed/the given maximum speed of the cart handle, the given traveling speed of the cart is the given traveling speed of the cart at the real-time wind speed; and if the given speed of the cart handle/the given maximum speed of the cart handle is less than the real-time given traveling speed of the cart/the given maximum speed of the cart handle, the given speed of the cart handle is the given traveling speed of the cart. The given walking speed of the cart is output to a frequency converter by a PLC controller, and the frequency converter drives a walking motor on a driving wheel of a cart mechanism to run the STS cart. If the fault occurs, the PLC outputs a fault signal which can be transmitted into a fault monitoring management system of the STS cart.
According to the STS big vehicle gust prevention control system, the manual command of the 'big wind selection switch' is operated to limit the maximum speed of the big vehicle walking at the given speed to be 20% of the big vehicle handle given maximum speed through the PLC; when a strong wind selection switch is selected, if the given speed of the cart handle/the given maximum speed of the cart handle is more than 20%, and the given speed of the cart at the real-time wind speed/the given maximum speed of the cart handle is more than 20%, the given maximum speed of the cart handle with the given speed of 20% is given by the cart; if the given speed of the cart handle/the given maximum speed of the cart handle is more than 20% and the given traveling speed of the cart at the real-time wind speed/the given maximum speed of the cart handle is less than 20%, the given traveling speed of the cart at the real-time wind speed is the given traveling speed of the cart; if the given speed of the cart handle/the given maximum speed of the cart handle is less than 20 percent and the given speed of the cart handle/the given maximum speed of the cart handle is greater than the real-time wind speed given cart walking speed/the given maximum speed of the cart handle, the given speed of the cart walking is the real-time wind speed given cart walking speed; if the speed given by the cart handle/the maximum speed given by the cart handle is less than 20% and the speed given by the cart handle/the maximum speed given by the cart handle is less than the real-time speed given by the cart walking speed/the maximum speed given by the cart handle, the speed given by the cart handle is the speed given by the cart walking; the given speed of the cart walking is output to a frequency converter by a PLC controller, and the frequency converter drives a walking motor on a driving wheel of a cart mechanism to run an STS cart. If the fault occurs, the PLC outputs a fault signal which can be transmitted into a fault monitoring management system of the STS cart.
According to the STS big vehicle gust prevention control system, when the anemoscope sensor monitors that the real-time wind speed is 34m/s higher than the maximum walking wind speed of the big vehicle, the walking speed of the big vehicle is timely reduced until the big vehicle stops running during running, and the running of the big vehicle is forbidden when the big vehicle does not run.
According to the STS cart gust prevention control system, when the anemoscope sensor monitors that the real-time wind speed is smaller than the maximum normal working wind speed =20m/s and the STS cart is in a normal working mode without strong wind, the cart handle given speed is the cart walking given speed.
According to the STS cart anti-gust control system, the anemoscope sensor is connected to the PLC through the 4-20mA signal control signal cable; the 'cart handle operation controller' and the 'strong wind selection switch' are arranged in the cab, the 'cart handle operation controller' is connected to the PLC through a communication cable or a control signal cable, and the 'strong wind selection switch' is connected to the PLC through a control signal cable; the PLC is connected with the frequency converter by a communication cable; the frequency converter is connected with a speed encoder on the driven wheel by a control signal cable; the frequency converter is connected with the walking motor by a power supply control cable.
According to the STS cart gust-prevention control system, when a driver operates an STS cart to start, after a cart walking command is given by a cart handle operation controller, a PLC controller controls a walking motor to start the STS cart through a frequency converter.
As above STS cart prevents gust control system, driven round includes driven round of sea side and land side, speed increasing mechanism installs and is driven round of sea side or land side on.
According to the STS cart gust prevention control system, the speed increaser and the speed encoder are fixed on the support, and the stainless steel protective cover covers the outside of the speed increaser and the speed encoder and is fixedly connected on the support.
Based on the technical scheme, the invention has the following technical effects:
firstly, when the STS cart is affected by strong wind, the cart can be automatically and manually adjusted and controlled to walk. The walking cart can run and brake safely and effectively.
Secondly, the STS big vehicle gust prevention control system controls the STS big vehicle to have lower walking speed when the wind speed is higher, and the proportionality constant is =1/196. And when the wind speed is higher, the STS cart can be operated at a lower speed to walk, so that the interference can be inhibited. Is insensitive to element characteristic variation and can improve the response characteristic of the system.
Thirdly, the STS cart gust prevention control system firstly establishes an excitation control mode for driving an STS cart traveling motor, and then opens a driving wheel brake, a wheel clamping device and other protection devices for preventing the gust from operating the STS cart. The STS cart can inhibit interference at the moment of starting, and timely and effectively adjusts and controls the traveling cart.
Fourthly, the frequency converter in the speed increasing mechanism of the invention feeds back the deviation value compensation of the actual speed in real time to the cart walking given speed given by the PLC, so as to form a closed loop control system, detect the running condition of the feedback walking cart in real time and generate corresponding control to eliminate the deviation.
Fifthly, the speed increasing mechanism arranged on the driven wheel is simple in structure, convenient to install and maintain and low in maintenance cost. And eliminating the feedback error of the actual running speed and the speed encoder of the walking cart.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of the electrical control system of the present invention;
FIG. 2 is a schematic perspective view of the speed increasing mechanism of the present invention;
FIG. 3 is a schematic diagram of the process for controlling the given speed of the cart travelling according to the present invention;
FIG. 4 is a graph illustrating the control of real-time wind speed to set the traveling speed of the cart according to the present invention;
FIG. 5 is a schematic flow diagram of an STS cart anti-gust control system of the present invention;
FIG. 6 is a schematic flow chart of a wind protection control system for an STS bus according to the prior art.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the claims, the specification and the drawings of the present invention, unless otherwise expressly limited, the terms "first", "second" or "third", etc. are used for distinguishing between different items and not for describing a particular sequence.
In the claims, the specification and the drawings of the present invention, unless otherwise expressly limited, all directional terms such as "central", "lateral", "longitudinal", "horizontal", "vertical", "top", "bottom", "inner", "outer", "upper", "lower", "front", "rear", "left", "right", "clockwise", "counterclockwise", etc., are used herein to indicate orientations and positional relationships, and are used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be construed as limiting the scope of the present invention.
In the claims, the description and the drawings of the present application, unless otherwise expressly limited, the terms "fixedly connected" or "fixedly connected" should be interpreted broadly, that is, any connection between the two that does not have a relative rotational or translational relationship, that is, non-detachably fixed, integrally connected, and fixedly connected by other devices or elements.
In the claims, the specification and the drawings of the present invention, the terms "including", "having" and their variants, if used, are intended to be inclusive and not limiting.
The technical solution provided by the present invention will now be explained in more detail with reference to fig. 1 to 5.
The STS big car gust prevention control system comprises an anemoscope sensor connected with a PLC controller, a big car handle operation controller, a frequency converter, a speed increasing mechanism and a big wind selection switch. The PLC is a Siemens PLC for the wind prevention control of an STS cart of the quayside container crane. The anemoscope sensor is connected to the PLC through a 4-20mA signal control signal cable; the cart handle operation controller and the strong wind selection switch are arranged in the cab, the cart handle operation controller is connected to the PLC through a communication cable or a control signal cable, and the strong wind selection switch is connected to the PLC through a control signal cable; the PLC controller is connected with the frequency converter through a communication cable.
Specifically, the cart driving mechanism of the STS cart comprises a driving wheel, the driving wheel drives a driven wheel, and a traveling motor 1 for driving the driving wheel is connected with a frequency converter by adopting a power supply control cable. The driven wheel comprises a sea side driven wheel and a land side driven wheel 4, and the speed increasing mechanism is arranged on the sea side driven wheel or the land side driven wheel 4.
In the present embodiment, the speed increasing mechanism is mounted on the land-side driven wheel 4. As shown in fig. 1, the speed increasing mechanism includes a speed increasing device 8 and a speed encoder 5 fixed on a support 6, the support 6 is fixedly connected to a walking beam 2, a land-side driven wheel 4 is installed inside the walking beam 2, a walking motor 1 for driving a driving wheel is also installed outside the walking beam, and a walking speed reducing device 3 is also connected between the driving wheel and the walking motor 1. The support 6 and the walking reducer 3 are both arranged outside the walking beam 2. A stainless steel shield is covered outside the speed increaser 8 and the speed encoder 5 and is fixedly connected on the support 6.
The speed increaser 8 is connected to a wheel shaft of the land-side driven wheel 4, the tail end of the speed increaser 8 is connected with the speed encoder 5, and the speed encoder 5 is connected with the frequency converter through a control signal cable, so that the land-side driven wheel 4 drives the speed increaser 8 to rotate through the wheel shaft, and the speed encoder 5 connected with the speed increaser 8 feeds back the real-time speed of the traveling of the cart to the frequency converter.
As shown in figure 5, when a driver operates the STS cart of the invention to start, after a cart walking command is given by a cart handle operation controller, the cart walking command is output to the frequency converter through the PLC controller, a power supply control cable is used for connecting a walking motor 1 of the frequency converter to establish a moment and feed the moment back to the PLC controller, and when the moment is greater than 0, a wheel clamping device and the like on a land side driven wheel 4 are opened to prevent a strong wind, and a driving wheel brake is opened to start the STS cart of the invention. The STS cart gust-preventing control system firstly establishes an excitation control mode of a traveling motor 1, and then opens a wheel clamping device and other protection devices for preventing the gust and a driving wheel brake to start the STS cart. The STS cart can restrain external interference at the starting moment and effectively control the traveling cart in time.
When the STS cart is started, the cart handle operation controller gives a given cart handle speed, the cart handle given maximum speed or a strong wind selection switch limits the cart handle given maximum speed of 20% of the cart walking given speed, the PLC controller outputs the cart walking given speed to the frequency converter, and the frequency converter drives the walking motor 1 on the driving wheel to run the cart through the driving wheel according to the cart walking given speed.
The speed encoder 5 of the speed increasing mechanism feeds back to the frequency converter 'cart walking real-time speed' in real time through a control signal cable. The frequency converter compensates the deviation value between the 'big vehicle walking given speed' output by the PLC controller and the 'big vehicle walking real-time speed' fed back by the speed encoder in real time, ensures that the big vehicle walking given speed and the big vehicle walking real-time speed are consistent when the STS big vehicle runs, forms a closed-loop control system, effectively inhibits external interference and safely and effectively controls the big vehicle to walk.
Specifically, as shown in fig. 1 and 3, the cart handle operation controller and the strong wind selection switch of the present invention are disposed in the cab, and the strong wind selection switch is connected to the PLC controller through a control signal cable; the cart handle operation controller is connected to the PLC through a communication cable or a control signal cable, and a cart walking command is input to the PLC through the cart handle controller. An operator inputs the given speed of the cart handle and the given maximum speed of the cart handle to the PLC through the cart handle operation controller or manually commands the big wind selection switch to limit the maximum speed of the given speed of the cart walking to be 20% of the given maximum speed of the cart handle through the PLC.
The anemoscope sensor is arranged on the tower and is connected to the PLC through a 4-20mA signal control signal cable. The anemoscope sensor collects ' real-time wind speed ' and inputs the real-time wind speed ' to the PLC controller, and the PLC controller calculates ' real-time wind speed given cart walking speed ' = (cart walking maximum wind speed-real-time wind speed) × (cart walking maximum wind speed-real-time wind speed)/196 × cart handle given maximum speed. Wherein 196 is a control ratio constant; the maximum speed given by the cart handle is the rated speed of the cart walking.
Now at normal operating maximum wind speed =20m/s; the maximum speed =34m/s of the traveling of the cart is taken as an example to illustrate the given traveling speed of the cart output by the PLC in the automatic control mode and the manual control mode of the invention.
When an anemometer sensor monitors that the real-time wind speed is 20m/s higher than the maximum normal working wind speed and 34m/s lower than the maximum traveling wind speed of the cart, the cart traveling speed is given by the real-time wind speed/the maximum speed given by the cart handle (the rated traveling speed of the cart) = (the maximum traveling wind speed of the cart-the real-time wind speed)/196.
In the automatic control mode, the given speed of the cart handle and the given maximum speed of the cart handle are input to the PLC by the cart handle controller, and if the given speed of the cart handle/the given maximum speed of the cart handle is greater than the given traveling speed of the cart at the real-time wind speed/the given maximum speed of the cart handle, the given traveling speed of the cart is the given traveling speed of the cart at the real-time wind speed; and if the given speed of the cart handle/the given maximum speed of the cart handle is less than the real-time given traveling speed of the cart/the given maximum speed of the cart handle, the given speed of the cart handle is the given traveling speed of the cart. The given walking speed of the cart is output to a frequency converter by a PLC controller, and the frequency converter drives a walking motor on a driving wheel of a cart mechanism to run the STS cart. If the fault occurs, the PLC outputs a fault signal which can be transmitted into a fault monitoring management system of the STS cart.
If the operator feels strong wind, the operator can operate a 'strong wind selection switch' to manually command that the PLC controller limits the maximum speed of the cart walking at the given speed to be 20% of the given maximum speed of the cart handle, and then the manual control mode is carried out. When a strong wind selection switch is selected, if the given speed of the cart handle/the given maximum speed of the cart handle is more than 20%, and the given speed of the cart at the real-time wind speed/the given maximum speed of the cart handle is more than 20%, the given maximum speed of the cart handle with the given speed of 20% is given by the cart; if the given speed of the cart handle/the given maximum speed of the cart handle is more than 20% and the given traveling speed of the cart at the real-time wind speed/the given maximum speed of the cart handle is less than 20%, the given traveling speed of the cart at the real-time wind speed is the given traveling speed of the cart; if the given speed of the cart handle/the given maximum speed of the cart handle is less than 20 percent and the given speed of the cart handle/the given maximum speed of the cart handle is greater than the real-time wind speed given cart walking speed/the given maximum speed of the cart handle, the given speed of the cart walking is the real-time wind speed given cart walking speed; and if the given speed of the cart handle/the given maximum speed of the cart handle is less than 20 percent and the given speed of the cart handle/the given maximum speed of the cart handle is less than the real-time given traveling speed of the cart/the given maximum speed of the cart handle, the given speed of the cart handle is the given traveling speed of the cart. The given walking speed of the cart is output to a frequency converter by a PLC controller, and the frequency converter drives a walking motor on a driving wheel of a cart mechanism to run the STS cart. If the fault occurs, the PLC outputs a fault signal which can be transmitted into a fault monitoring management system of the STS cart.
When the anemometer sensor monitors that the real-time wind speed is 34m/s higher than the maximum walking wind speed of the cart, the walking speed of the cart is timely reduced until the cart stops running during running, and the cart is forbidden to run when not running.
And when the anemometer sensor monitors that the real-time wind speed is less than the maximum normal working wind speed =20m/s and the vehicle is in a normal working mode without strong wind, the given speed of the handle of the cart is the given speed of the traveling cart.
The whole control system of the STS cart gust-preventing control system can realize automatic control and manual control, has a real-time fault detection function, and ensures that the STS cart can safely, reliably and effectively run when being influenced by gust.
The anemoscope sensor is arranged on a tower and is connected to a PLC (programmable logic controller) through a 4-20mA signal control signal cable; the 'cart handle operation controller' is arranged in the cab, the 'cart handle operation controller' is connected to the PLC through a communication cable or a control signal cable, and the 'cart handle operation controller' is connected to the PLC through a control signal cable; the PLC is connected with the frequency converter by a communication cable; the frequency converter is connected with a speed encoder on the driven wheel by a control signal cable; the frequency converter is connected with the walking motor by a power supply control cable.
Further, in order to ensure that the STS cart can effectively suppress the interference of gust when traveling, and operate and brake safely and effectively, a real-time wind speed given cart traveling speed control curve is shown in fig. 4, and a cart traveling speed given percentage (%) in the graph is a ratio of a cart handle given speed to a cart handle given maximum speed. When the real-time wind speed is greater than the maximum wind speed of normal work by 20m/s and less than the maximum wind speed of the cart walking by 34m/s, the real-time wind speed gives the cart walking speed "= (the maximum wind speed of the cart walking-the real-time wind speed)/196 the maximum speed given by the cart handle. When the real-time wind speed is larger, the real-time wind speed is lower for the given cart walking speed, and the proportionality constant =1/196. When the wind speed is high, the cart can run at a low speed to walk, and sufficient reaction force is ensured to inhibit the interference of gust attack.
Unless otherwise indicated, any of the above-described embodiments of the present invention disclose numerical ranges, which are preferred ranges, and any person skilled in the art would understand that: the preferred ranges are merely those values which are obvious or representative of the technical effect which can be achieved. Since the numerical values are too numerous to be exhaustive, some of the numerical values are disclosed in the present invention to illustrate the technical solutions of the present invention, and the above-mentioned numerical values should not be construed as limiting the scope of the present invention.
While the foregoing description shows and describes the preferred embodiments of the present invention, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (5)

  1. An STS cart gust prevention control system comprises a cart driving mechanism, wherein the cart driving mechanism comprises a driving wheel, and the driving wheel drives a driven wheel; the wind speed measuring device is characterized by also comprising an anemoscope sensor connected with the PLC, a cart handle operation controller, a frequency converter, a speed increasing mechanism and a strong wind selection switch;
    the speed increasing mechanism is arranged on the driven wheel; comprises a speed increaser, a speed encoder and a walking motor for driving a driving wheel; the speed increaser is connected to a wheel shaft of the driven wheel, and the tail end of the speed increaser is connected with the speed encoder; the frequency converter is connected with the speed encoder and the walking motor;
    the cart handle operation controller gives a cart handle given speed and a cart handle given maximum speed or a strong wind selection switch manual command, the PLC limits the cart walking given speed to the cart handle given maximum speed of 20%, the PLC outputs the cart walking given speed to the frequency converter, and the frequency converter drives the walking motor to run the cart through the driving wheel according to the cart walking given speed; the frequency converter compensates the deviation value between the given speed of the cart walking output by the PLC controller and the real-time speed of the cart walking fed back by the speed encoder in real time;
    the anemoscope sensor collects real-time wind speed and inputs the real-time wind speed to the PLC, and the PLC calculates the real-time wind speed given to the traveling speed of the cart.
  2. 2. The STS cart anti-gust control system as claimed in claim 1, wherein the anemometer sensor is connected to the PLC controller through a 4-20mA signal control signal cable; the 'cart handle operation controller' and the 'strong wind selection switch' are arranged in the cab, the 'cart handle operation controller' is connected to the PLC through a communication cable or a control signal cable, and the 'strong wind selection switch' is connected to the PLC through a control signal cable; the PLC is connected with the frequency converter by a communication cable; the frequency converter is connected with a speed encoder on the driven wheel by a control signal cable; the frequency converter is connected with the walking motor by a power supply control cable.
  3. 3. The STS bus gust prevention control system of claim 1, wherein when the driver operates the STS bus to start, the bus handle operation controller gives a bus traveling command, and the PLC controller controls the traveling motor to start the STS bus through the frequency converter.
  4. 4. The STS cart anti-gust control system as claimed in claim 1, wherein the driven wheels include a sea side driven wheel and a land side driven wheel, and the speed increasing mechanism is mounted on the sea side driven wheel or the land side driven wheel.
  5. 5. An STS cart anti-gust control system as claimed in claim 1, wherein the speed increaser and the speed encoder are fixed to a support, and a stainless steel shield is provided over the speed increaser and the speed encoder and is fixedly attached to the support.
CN201910824346.6A 2019-09-02 2019-09-02 STS cart gust-preventing control system Active CN110525420B (en)

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