CN101723248A - System and method for optimizing control of track of rotary crane - Google Patents

System and method for optimizing control of track of rotary crane Download PDF

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CN101723248A
CN101723248A CN 200910225160 CN200910225160A CN101723248A CN 101723248 A CN101723248 A CN 101723248A CN 200910225160 CN200910225160 CN 200910225160 CN 200910225160 A CN200910225160 A CN 200910225160A CN 101723248 A CN101723248 A CN 101723248A
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crane
control
movement mechanism
trajectory
system
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CN 200910225160
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CN101723248B (en
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丁卫国
任胜华
何勤奋
包起帆
夏玉峰
廖胜前
张惠杰
陆龙兴
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上海能港电气工程科技有限公司
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Abstract

The invention relates to a system and a method for the optimizing control of the track of a rotary crane. The system comprises a crane optimization track control device, a movement mechanism position detection module and a position control module, wherein the crane optimization track control device is connected with the movement mechanism position detection module and the position control module, and the movement mechanism position detection module and a movement mechanism control module are connected with movement mechanisms. The method comprises the following steps of: pre-designing and optimizing coordinate movement tracks in a natural space; converting the coordinate movement tracks into coordinates of the movement mechanisms; and performing real-time control on each movement mechanism. The system and the method can conveniently realize track optimization and track tracing, effectively reduce the running distance, improve the movement speed, save the movement space, reduce shaking and twisting of objects, are convenient for positioning control, are convenient to realize lifting and synergistic operations of large-size objects by a plurality of cranes, realize safety, high efficiency, energy conservation and emission reduction in the lifting process, greatly reduce the labor intensity, and has good economical efficiency and wide application range.

Description

旋转式起重机轨迹优化控制系统及其控制方法 Rotary crane optimal trajectory control system and control method

技术领域 FIELD

[0001] 本发明涉及起重机装卸技术领域,特别涉及旋转式起重机吊装过程中的轨迹运行 [0001] The present invention relates to a crane loading technology, and particularly relates to a rotary crane track lifting process run

控制技术领域,具体是指一种旋转式起重机轨迹优化控制系统及其控制方法。 Control technology, in particular to a rotary crane optimal trajectory control system and control method. 背景技术 Background technique

[0002] 现代社会中,物流的快速发展使得起重机吊装越来越追求安全、高效、节能,常见的起重机中,大多数起重机含有至少一个运动机构是旋转式的,如门机、塔吊等,其都有旋转移动部分,部分起重机有一个以上的旋转机构,如部分门机除了有一个旋转移动机构,门机的变幅也是通过旋转机构实现的。 [0002] In modern society, the rapid development of the logistics of making the crane hoisting increasingly seeking safe, efficient, energy-saving, common crane, the crane comprising at least a majority of the movement mechanism is a rotary, such as doors, tower crane, with its rotating moving part has, at least part of the crane has a rotating mechanism, such as a door section in addition to a rotational movement mechanism, luffing door is also achieved by a rotation mechanism.

[0003] 传统的旋转式吊车运动控制方式是为了符合吊车机械运动机构的操作模式而不是人们习惯的操作模式进行设计的,这样的控制方式在吊车的制造和实现上比较简单方便,因此,旋转式吊车的运动机构中就包含了旋转移动。 [0003] conventional rotary crane motion control to comply with the operation mode of the crane mechanical motion mechanism instead of the operating mode of people used to the design of such a control the relatively simple in manufacture and to achieve a crane, and therefore, the rotation the movement mechanism crane contains the rotational movement.

[0004] 由于起重机的运动机构是由司机通过控制手柄来实现的,因此司机控制被吊装的物体的运动往往也是喜欢直接控制运动机构。 [0004] Since the movement of the crane mechanism via the control handle by the driver is achieved, thus lifting the driver to control the movement of the object is also often prefer direct control of the movement. 由于有旋转机构存在,司机的运动控制不得不按照旋转的运动轨迹来设计运动控制的,这就使得物体在空间运动很难按照人们习惯的自然垂直空间坐标(笛卡尔坐标)来设计运动轨迹(如直线运动或特定的空间轨迹)。 Due to the presence of the rotating mechanism, the driver has to exercise control in accordance with the rotation trajectory of motion control design, which makes the movement of objects in space is difficult to follow people used natural vertical spatial coordinate (Cartesian coordinates) to design the trajectory ( a linear motion or specific spatial trajectory). 另外,由于有旋转运动,被吊装的物体轨迹很难进行优化,增加运动距离和时间,浪费工作效率和能量,占有更多的运动和安全空间,并且存在一系列的困难很难克服,如晃动、扭动,定位困难等。 In addition, due to the rotational motion, the lifting of the trajectory of the object is difficult to optimize, increased exercise distance and time, waste and energy efficiency, has more movement and security space, and there is very difficult to overcome a series of difficulties, such as shaking , twisting, positioning difficulties. 同时也会增加了吊车的油耗和机械磨损。 But also increase the crane's fuel consumption and mechanical wear.

[0005] 在吊装途径中捷径自然是两点之间尽可能走直线,而且直线在人们的自然垂直空间中也容易理解和反应的,同时还可以克服由于旋转运动带来的很多问题和困难。 [0005] In lifting the natural pathway shortcut between two points is a straight line as much as possible, but also easy to understand and straight reaction in people's natural vertical space, but also can overcome the many problems and difficulties caused by the rotational motion. 然而,对于旋转式起重机,它的直线运动往往需要多个运动机构协调运动来实现,而多个运动机构的协调控制如果让司机通过手动操作来实现是即不直观,也不方便的,通常是难度很大的, 所以,目前司机大多通过分别单独控制单个运动机构来实现吊装运动轨迹,从而不能保证进行直线的运动;部分吊装由于安全运动空间限制,必须通过直线或特定空间轨迹来运行, 这时,司机不得不通过牺牲吊装速度,通过对运动轨迹的细分,低速小步距地协调控制多个运动机构的位置来拟合直线或特定的空间轨迹。 However, for rotary crane, its linear motion often requires multiple sports agency coordination movement to achieve, and coordinated control of multiple moving mechanism so that if the driver is achieved by manual operation that is not intuitive nor easy, usually very difficult, so most of the current driver separately by a single motion control mechanism to achieve the lifting trajectory, which can not guarantee linear motion; part of the lifting movement due to security space limitations, must be run by a straight line or a specific space trajectory, which when the driver had to sacrifice by lifting speed, by breakdown of the trajectory, low-speed small step from coordination of multiple motion position control mechanism to fit a straight line or a specific space trajectories.

[0006] 同时,现在被吊装的物体越来越大,多台起重机进行抬吊的作业也变得越来越多, 当有旋转式的起重机进行抬吊时,其轨迹跟踪或协调变得非常困难,它没有办法以一台吊车的机械运动结构为运动原始点,对于操作者和指挥者来讲,都是根据人们习惯的垂直空间坐标(笛卡尔空间)来工作的,因此,多吊车抬吊大型物体比较困难。 [0006] Meanwhile, the object is now lifting increasing, multiple crane lift crane work becomes more and more, when there is a rotary crane lift crane, which becomes very tracking or coordinated difficulties, it is no way to structure a crane mechanical motion of a moving point of origin for the operator and commander speaking, are people used to work in accordance with the vertical spatial coordinate (Cartesian space), therefore, multi-crane lift hanging large objects more difficult.

[0007] 综上所述,由于操作的不直观、不方便、以及司机对速度的本能追求,这类运动还存在一定的安全隐患,因此,迫切需要提供一种符合人们自然习惯的吊装操作模式,而且逐渐变的尤为重要。 [0007] In summary, the operation is not intuitive, convenient, as well as the drivers for speed pursuit instinct, such movements there is still a security risk, therefore, an urgent need to provide a natural habit of lifting people in line with the operating mode and gradually it becomes particularly important.

4发明内容 4 SUMMARY OF THE INVENTION

[0008] 本发明的目的是克服了上述现有技术中的缺点,提供一种能够符合人们自然习惯 [0008] The object of the present invention is to overcome the disadvantages of the prior art described above, there is provided a natural diet of people can meet

的吊装操作方式、操作运行方便快捷、系统运行安全可靠、节省运动空间、减少被吊物体的晃动和扭动、能够实现多吊车协同工作的旋转式起重机轨迹优化控制系统及其控制方法。 The lifting operation, running the operation convenient, safe and reliable system operation, the motion space saving, reducing the shaking and twisting hanging objects can be achieved rotary crane track multiple crane work optimization and control system and a control method.

[0009] 为了实现上述的目的,本发明的旋转式起重机轨迹优化控制系统及其控制方法如下: [0009] To achieve the above object, the present invention is a rotary crane trajectory optimization and control system and a control method as follows:

[0010] 该旋转式起重机轨迹优化控制系统,该旋转式起重机包括吊具运动机构,所述的 [0010] The rotary trajectory optimization crane control system, the rotary crane spreader movement mechanism comprises, according to

吊具运动机构包括数个运动机构,其主要特点是,所述的控制系统包括吊车优化轨迹控制 Spreader movement mechanism includes a plurality of moving bodies, whose main feature is that the control system comprises a control trajectory optimization Crane

装置、吊具运动机构位置检测模块和吊具运动机构位置控制模块,所述的吊车优化轨迹控 Means, spreader movement mechanism position detection module spreader movement mechanism and the position control module, optimizing the trajectory of the crane control

制装置分别与所述的吊具运动机构位置检测模块和吊具运动机构控制模块相连接,且所述 Braking means respectively spreader movement mechanism and the position detection module spreader movement mechanism is connected to said control module, and said

的吊具运动机构位置检测模块和吊具运动机构控制模块均分别与所述的数个运动机构相连接。 The position detection module spreader movement mechanism spreader movement mechanism and control module are respectively connected to said several movement means.

[0011 ] 该旋转式起重机轨迹优化控制系统中的吊具运动机构包括至少两个运动机构,其中至少一个运动机构为旋转式运动机构。 [0011] The path optimization rotary crane spreader movement mechanism control system comprises at least two motion mechanism, wherein the at least one motion mechanism is a rotary moving mechanism.

[0012] 该旋转式起重机轨迹优化控制系统中的吊具运动机构位置检测模块中包括有与所述的运动机构数量相对应的运动机构位置编码器,所述的各个运动机构位置编码器分别与各个运动机构相一一对应,且所述的各个运动机构位置编码器均与所述的吊车优化轨迹控制装置相连接。 [0012] Optimization of the rotary crane control system trajectory spreader movement mechanism comprises a position detection module, the number of the moving mechanism corresponding to the position encoder movement mechanism, the movement of the respective position encoder means, respectively one correspondence with the respective motion means, and said respective motion means to optimize both a position encoder track and the crane is connected to the control means.

[0013] 该旋转式起重机轨迹优化控制系统中的吊具运动机构位置控制模块中包括有与所述的运动机构数量相对应的运动机构控制单元,所述的各个运动机构控制单元分别与各个运动机构相一一对应,且所述的各个运动机构控制单元均与所述的吊车优化轨迹控制装置相连接。 [0013] Optimization of the rotary crane control system trajectory spreader movement mechanism has a position control module comprises a kinematic mechanism according to the number corresponding to the motion control mechanism unit, the motion mechanism of the respective units are the respective motion control mechanism relative to one correspondence, and the respective units are optimized motion control mechanism of the crane track control means is connected.

[0014] 该旋转式起重机轨迹优化控制系统中的运动机构控制单元可以为PLC可编程逻辑控制器、专用控制器或者工业电脑。 [0014] The rotary motion trajectory optimization crane mechanism control unit may be a control system PLC programmable logic controller, a dedicated computer or industrial controller.

[0015] 该旋转式起重机轨迹优化控制系统中的吊车优化轨迹控制装置还连接有运动轨迹信号输入模块。 [0015] Optimization of the rotary crane track crane control system to optimize the trajectory control device is also connected to the signal input module trajectory.

[0016] 该吊车优化轨迹控制装置中的吊车优化轨迹控制装置设计和优化自然空间坐标 [0016] The trajectory control device is optimized crane Crane trajectory optimization means to control and optimize the natural space coordinates

运动轨迹,该自然空间坐标运动轨迹的产生方式为以下几种中的一种: Trajectory generating mode of the natural space as a trajectory of the coordinates of the following:

[0017] (11)旋转式起重机的司机设定; [0017] (11) a rotary crane driver settings;

[0018] (12)系统预先存储; [0018] (12) previously stored system;

[0019] (13)系统自学习产生; [0019] (13) generating self-learning system;

[0020] (14)系统通过目标跟踪产生; [0020] (14) produced by a target tracking system;

[0021] (15)系统根据约束条件优化产生。 [0021] (15) The system according to optimize the production constraints. 该旋转式起重机轨迹优化控制系统中的吊车优 Trajectory Optimization of the rotary crane Crane Control System preferably

化轨迹控制装置可以为PLC可编程逻辑控制器、专用控制器或者工业电脑。 Locus control means may be a programmable logic controller, or a dedicated controller for the computer industry PLC.

[0022] 该利用上述的系统实现旋转式起重机轨迹优化控制的方法,其主要特点是,所述 [0022] The method of using the system to achieve optimal control of rotation of the crane track, its main feature is the

的方法包括以下步骤; The method comprises the steps of;

[0023] (1)系统进行初始化操作; [0023] (1) initializing the system operation;

[0024] (2)系统读取预先设计和优化的自然空间坐标运动轨迹信息; [0024] (2) the spatial coordinate system reads natural trajectory information previously designed and optimized;

[0025] (3)系统根据旋转式起重机的参数把自然空间坐标运动轨迹信息转换成预先设计的吊具运动机构的坐标信息;[0026] (4)系统对各个吊具运动机构进行实时控制。 [0025] (3) The system according to the parameters of the rotary crane converting natural space trajectory coordinate information into the coordinate information spreader movement mechanism predesigned; [0026] (4) real-time control system for each movement of the spreader mechanism.

[0027] 该实现旋转式起重机轨迹优化控制的方法中的自然空间坐标为自然垂直空间的笛卡尔坐标;所述的预先设计的吊具运动机构的坐标信息中包括有吊具运动机构的旋转信息。 [0027] The method of the natural space coordinate rotating crane implemented trajectory optimization control in Cartesian coordinates NATURAL vertical space; coordinate information of pre-designed spreader movement mechanism included in the rotary motion information spreader mechanism .

[0028] 采用了该发明的旋转式起重机轨迹优化控制系统及其控制方法,由于在吊装过程中,司机可以不按照吊车设计的旋转机构来设计运动轨迹(有旋转运动),而是能够仅根据人们习惯的自然垂直空间坐标(笛卡尔坐标)来设计运动轨迹,如直线运动或特定的空间轨迹,从而达到优化轨迹的作用,该垂直空间坐标设计的运动轨迹可以方便地实现轨迹优化和轨迹跟踪,从而由于按照优化的轨迹运动,可以有效地减少运行距离,提高运动速度, 节约运动空间,并且还可以减低物体的晃动、扭动,方便定位控制,特别是轨迹跟踪技术方便实现多台吊车对大型物体的抬吊,能够实现多吊车协同工作,从而可以有效地扩展吊车的吊装能力,实现吊装过程中的安全、高效、节能减排,并且大大可以降低工人的劳动强度, 同时经济实用,安全可靠,结构简单, [0028] The rotary crane track of the invention, optimization and control system and a control method, since the lifting process, the driver may not be designed in accordance with the rotation mechanism of the crane is designed trajectory (rotary motion), but can be based only on people used natural vertical spatial coordinate (Cartesian coordinate) designed trajectory, such as linear motion or a particular space trajectory, the trajectory so as to achieve optimization of the design of the vertical space coordinate trajectory can easily achieve optimal trajectory tracking and so since in accordance with the trajectory optimization, can effectively reduce the running distance, the moving speed increase, moving space saving, and can also reduce the sloshing objects, twist, easy positioning control, tracking technology particularly easy to realize many of the crane hoisting large objects, multiple crane work can be realized, which can effectively extend the lifting capacity of the crane, the lifting process to achieve safe, efficient, energy saving, and can greatly reduce the labor intensity, at the same time economical and practical, safe reliable, simple structure, 本较低,适用范围广泛。 This low, wide scope of application.

附图说明 BRIEF DESCRIPTION

[0029] 图1为本发明的旋转式起重机轨迹优化控制系统的功能模块结构示意图。 Schematic [0029] FIG crane rotating locus optimization and control system of the present invention is a functional block configuration. [0030] 图2为本发明的旋转式起重机轨迹优化控制方法的整体工作流程图。 [0030] FIG rotary crane track 2 of the present invention to optimize the overall operation flowchart of the control method.

具体实施方式 detailed description

[0031] 为了能够更清楚地理解本发明的技术内容,特举以下实施例详细说明。 [0031] In order to more clearly illustrate the technical details, several embodiments of the present invention, the following detailed description. [0032] 请参阅图1所示,该旋转式起重机轨迹优化控制系统,所述的旋转式起重机包括吊具运动机构,所述的吊具运动机构包括数个运动机构,其中,所述的控制系统包括吊车优化轨迹控制装置3、吊具运动机构位置检测模块1和吊具运动机构位置控制模块2,所述的吊车优化轨迹控制装置3分别与所述的吊具运动机构位置检测模块1和吊具运动机构位置控制模块2相连接,且所述的吊具运动机构位置检测模块1和吊具运动机构位置控制模块2均分别与所述的数个运动机构相连接。 [0032] Please refer to FIG. 1, the rotary trajectory optimization crane control system, comprising a rotary crane spreader movement mechanism, the movement mechanism includes a plurality of spreader movement mechanism, wherein the control the system comprises a trajectory control means to optimize crane 3, spreader movement mechanism and a position detecting module position control module spreader movement mechanism 2, the crane control device 3 are optimized trajectory of the motion of the spreader means and a position detecting module spreader movement mechanism 2 is connected to the position control module, and said spreader movement mechanism and a position detecting module spreader movement mechanism position control module 2 are respectively connected to said several movement means.

[0033] 其中,所述的吊具运动机构包括至少两个运动机构,其中至少一个运动机构为旋转式运动机构;所述的吊具运动机构位置检测模块1中包括有与所述的运动机构数量相对应的运动机构位置编码器,所述的各个运动机构位置编码器分别与各个运动机构相一一对应,且所述的各个运动机构位置编码器均与所述的吊车优化轨迹控制装置3相连接。 [0033] wherein said movement mechanism includes at least two spreader movement mechanism, wherein the at least one motion mechanism is a rotary motion mechanism; said spreader movement mechanism comprises a position detection module of the kinematic mechanism corresponding to the number of position encoder movement mechanism, the movement of the respective position encoder means, respectively one correspondence with the respective moving mechanism, and said respective motion means to optimize both a position encoder track and the crane control apparatus 3 connected. [0034] 同时,所述的吊具运动机构位置控制模块2中包括有与所述的运动机构数量相对应的运动机构控制单元,所述的各个运动机构控制单元分别与各个运动机构相一一对应, 且所述的各个运动机构控制单元均与所述的吊车优化轨迹控制装置3相连接。 [0034] Also, the spreader movement mechanism position control module comprises a motion mechanism control unit the number of the corresponding motion mechanism 2, the control unit of the respective kinematic mechanism respectively respective moving mechanism relative eleven corresponds, and said respective motion control mechanism unit which have been optimized with the crane track control means 3 is connected. [0035] 不仅如此,所述的运动机构控制单元可以为PLC可编程逻辑控制器、专用控制器或者工业电脑。 [0035] Moreover, the movement mechanism may be a control unit PLC programmable logic controller, a dedicated computer or industrial controller. 所述的吊车优化轨迹控制装置3还连接有运动轨迹信号输入模块4,所述的吊车优化轨迹控制装置3也可以为PLC可编程逻辑控制器、专用控制器或者工业电脑。 Optimization of the crane track control means 3 is also connected to a signal input module 4 trajectory, the trajectory optimization crane control device 3 may be a PLC programmable logic controller, a dedicated computer or industrial controller. [0036] 再请参阅图2所示,该利用上述的系统实现旋转式起重机轨迹优化控制的方法, 其主要特点是,所述的方法包括以下步骤; [0037] (1)系统进行初始化操作;[0038] (2)系统读取预先设计的自然空间坐标运动轨迹信息;该预先设计的自然空间坐 [0036] Referring again to FIG. 2, the rotary crane to achieve a method of controlling the trajectory optimization using the system described above, and its main feature is that said method comprises the steps of; [0037] (1) initializing the system operation; [0038] (2) natural space coordinate system reads information pre-designed trajectory; the natural space sitting predesigned

标运动轨迹信息的产生方式为以下几种中的一种: Standard trajectory generating mode information is one of several of:

[0039] (a)旋转式起重机的司机设定; [0039] (a) a rotary crane driver settings;

[0040] (b)系统预先存储; [0040] (b) pre-stored system;

[0041] (C)系统自学习产生; [0041] (C) generating self-learning system;

[0042] (d)系统通过目标跟踪产生; [0042] (d) target tracking system by generating;

[0043] (e)系统根据约束条件优化产生; [0043] (e) The system according to optimize the production constraints;

[0044] 该自然空间坐标为自然垂直空间的笛卡尔坐标; [0044] The natural space coordinates to Cartesian coordinates NATURAL vertical space;

[0045] (3)系统根据旋转式起重机的参数把自然空间坐标运动轨迹信息转换成预先设计的吊具运动机构的坐标信息; [0045] (3) The system according to the parameters of the rotary crane converting natural space trajectory coordinate information into the coordinate information spreader movement mechanism pre-designed;

[0046] (4)系统对各个吊具运动机构进行实时控制,具体如下: [0046] (4) The system for real-time control of each spreader movement mechanism, as follows:

[0047] (a)系统判断是否存在吊具运动机构位置运动轨迹的实时位置数据信息; [0047] (a) the system determines whether there is a spreader movement mechanism position locus information of real-time location data;

[0048] (b)如果有,则所述的吊车优化轨迹控制装置读取所述的吊具运动机构位置运动 [0048] (b) if so, the crane spreader optimized trajectory control means reads the position of the moving mechanism

轨迹的实时位置数据信息,否则读取预先设计的吊具运动机构的坐标信息;所述的预先设 Real-time location data tracks, or reads the coordinate information pre-designed spreader movement mechanism; said preset

计的吊具运动机构的坐标信息中包括有运动机构的旋转信息; Coordinate information spreader movement mechanism includes a count of the rotational information of the moving mechanism;

[0049] (c)所述的吊具运动机构位置检测模块将检测到的吊具运动机构的实时位置数据信息送至所述的吊车优化轨迹控制装置; [0049] (c) moving said spreader means position detection module spreader real-time location information of the motion data detected by means of a crane according to the optimization of trajectory control device;

[0050] (d)所述的吊车优化轨迹控制装置使用闭环控制方式实时计算出各个运动机构所对应的控制量信息; [0050] (d) optimizing the trajectory of the crane control means uses the real-time closed-loop control calculates a control amount information corresponding to each moving mechanism;

[0051] (e)所述的吊车优化轨迹控制装置将各个运动机构所对应的控制量信息送至所述的吊具运动机构位置控制模块; Crane [0051] (e) optimizing the trajectory control means to control the amount of information of each moving mechanism corresponding to said spreader movement mechanism position control module;

[0052] (f)所述的吊具运动机构位置控制模块根据所述的控制量信息对各个运动机构进行实时运动控制。 The position control module spreader movement mechanism [0052] (f) the real-time motion control of each mechanism in accordance with the movement of the control amount information.

[0053] 在实际使用当中,请参阅图1所示,该旋转式起重机轨迹优化控制系统,包括吊车优化轨迹控制装置3,其中该系统还包括吊具运动机构位置检测模块1和吊具运动机构位置控制模块2,吊车轨迹优化控制装置3分别与所述的吊具运动机构位置检测模块1和吊具运动机构控制模块2相连接。 [0053] In actual use, see FIG. 1, the rotary trajectory optimization crane control system, comprising a trajectory control means to optimize the crane 3, wherein the system further comprises a spreader movement mechanism and a position detecting module spreader movement mechanism position control module 2, the control device 3 crane trajectory optimization module 2 are respectively connected to the spreader movement mechanism and a position detecting module spreader movement mechanism control.

[0054] 该旋转式起重机轨迹优化控制系统的吊具运动机构至少包括两个运动机构部分, 其中至少一个运动机构部分是旋转式的运动机构。 [0054] The rotary crane spreader motion trajectory optimization mechanism control system comprises at least two motion mechanism portion, wherein at least part of a movement mechanism is a rotary movement mechanism. 吊具的每个运动机构都有位置编码器11、12、13,组成吊具的运动机构位置检测模块l,并与所述的吊车优化轨迹控制装置3相连接。 Each spreader movement mechanism 11, 12 has a position encoder, spreader movement mechanism composed of the position detection module L, and optimization and control of the crane 3 is connected to the track means. 吊具的每个运动机构都有控制单元21、22、23,组成吊具的运动机构控制模块2,并与所述的吊车优化轨迹控制装置3相连接。 Each spreader movement mechanism moving mechanism has a control unit 21, 22, the composition control block spreader 2, and optimized with the crane track control means 3 is connected.

[0055] 该旋转式起重机轨迹优化控制系统中,吊车优化轨迹控制装置3对吊车的运动轨迹进行设计和规划,它可以扩展带有接受运动轨迹信号输入模块4,从而可以实现轨迹跟踪功能,方便实现多台起重机抬吊大型物体的功能。 [0055] The rotary crane optimal trajectory control system, the crane track control trajectory optimization apparatus 3 crane design and planning, it can be extended with an acceptable trajectory signal input module 4, thereby enabling tracking function, easy multi-crane lift lifting large objects function.

[0056] 在处理过程中,该发明的旋转式起重机轨迹优化控制系统中的吊车优化轨迹控制装置3对吊车的运动轨迹进行设计和规划,利用吊具的运动机构的机械尺寸信息可以通过计算映射出自然垂直空间坐标(笛卡尔坐标),同样可以通过自然垂直空间坐标(笛卡尔坐标)下的轨迹通过计算映射出吊具的运动机构的具体位置,即运动机构位置检测模块1 (位置编码器)对应的位置,并利用对相对应的运动控制模块2进行运动机构的位置控制和协调。 [0056] In the process, the rotary crane Crane track of the invention to optimize the trajectory control system to optimize the trajectory control device 3 planning and design of the crane, spreader movement mechanism using mechanical dimensions of the mapping information can be calculated by nature of a vertical spatial coordinate (Cartesian coordinates), may likewise be a natural vertical trajectory of spatial coordinates (Cartesian coordinates) by means of the specific position calculation map the spreader, i.e. a movement mechanism position detecting module (position encoder ) corresponding to the location and use of the corresponding motion control module controls the position and motion coordinating mechanism 2. 这样通过上述变换,可以方便地实现操作人员根据自然垂直空间坐标(笛卡尔坐标) 到吊具运动机构的空间坐标。 Thus by the above transformation, the operator can easily achieve a vertical spatial coordinate Nature (Cartesian coordinates) to the coordinate space spreader movement mechanism.

[0057] 吊具的运动机构的机械尺寸信息可以通过每个吊具提供的具体机械参数获得,也 Specific mechanical parameters [0057] spreader movement mechanism mechanical dimensions of information may be provided by each of the spreader is obtained, and

可以通过自学习的方法来对固定的自然垂直空间坐标点进行校准获得。 May be calibrated to obtain the vertical spatial coordinate point fixed by means of self-learning nature.

[0058] 当两台或两台以上的吊车进行抬吊时,根据不同的被抬吊物体,首先确定吊点之 [0058] When two or more than two cranes for lifting crane, depending on the object being carried hanging, first determine the hanging point

间的相对位置和姿态,然后通过旋转式起重机轨迹优化控制系统的吊车优化轨迹控制装置 Relative position and attitude between, and then optimize the control system by a rotary crane Crane track optimized trajectory control means

3可以接受轨迹信号输入的功能进行指导或控制它们的运动轨迹,这个运动可以保证被吊 3 may be a function of accepting input signal track guidance or control their trajectory, to ensure that this movement can be suspended

物体的相对位置和姿态不发生变化,从而实现两台或两台以上旋转式起重机的共同抬吊并 Relative position and attitude of the object is not changed, in order to achieve common Hoisting two or more than two rotary crane and

确保抬吊的安全可靠。 The Lift ensure the safe and reliable.

[0059] 所述的控制方法,包括以下步骤: [0059] The control method, comprising the steps of:

[0060] (1)吊车轨迹优化控制系统进行初始化; [0060] (1) crane optimal trajectory control system is initialized;

[0061] (2)吊车轨迹优化控制系读取自然垂直空间坐标(笛卡尔坐标)运动轨迹; [0062] (3)根据吊车参数把自然垂直空间坐标(笛卡尔坐标)运动轨迹换算成吊车运动机构坐标(含旋转); [0061] (2) optimizing the control system reads the crane track a vertical spatial coordinate Nature (Cartesian) trajectory; [0062] (3) The vertical spatial coordinates of the crane parameters NATURAL (Cartesian coordinates) in terms of crane motion trajectory means the coordinates (including rotation);

[0063] (4)读吊车运动机构位置运动轨迹的实时位置数据; Real-time position data of the moving mechanism position trajectory [0063] (4) Read crane;

[0064] (5)读吊车运动机构位置检测模块1的实时位置数据; Real-time location data [0064] (5) reads the position detection mechanism moving the crane module 1;

[0065] (6)运用闭环控制技术实时计算出各运动机构的控制量; [0065] (6) the use of closed-loop control of each control amount calculated in real time kinematic mechanism;

[0066] (7)通过吊车运动机构位置控制模块2对各运动机构执行实时运动控制。 [0066] (7) the respective kinematic mechanism controlled by the crane performs real-time motion control module 2 position of the movement mechanism right.

[0067] 采用了上述的旋转式起重机轨迹优化控制系统及其控制方法,由于在吊装过程 [0067] The above-described rotary crane optimal trajectory control system and control method, since the lifting process

中,司机可以不按照吊车设计的旋转机构来设计运动轨迹(有旋转运动),而是能够仅根据 , The driver may not be in accordance with the rotation mechanism crane design to design trajectory (rotary motion), but can be based on only

人们习惯的自然垂直空间坐标(笛卡尔坐标)来设计运动轨迹,如直线运动或特定的空间 People used natural vertical spatial coordinate (Cartesian coordinate) designed trajectory, such as linear motion or a particular spatial

轨迹,从而达到优化轨迹的作用,该垂直空间坐标设计的运动轨迹可以方便地实现轨迹优 Track, so as to optimize the effect track, the design of the vertical space coordinate trajectory can easily achieve excellent track

化和轨迹跟踪,从而由于按照优化的轨迹运动,可以有效地减少运行距离,提高运动速度, And tracking, so that due to the movement according to the trajectory optimization, can effectively reduce the running distance, the moving speed increase,

节约运动空间,并且还可以减低物体的晃动、扭动,方便定位控制,特别是轨迹跟踪技术方 Movement space saving, and can also reduce the sloshing objects, twist, easy positioning control, especially party tracking technology

便实现多台吊车对大型物体的抬吊,能够实现多吊车协同工作,从而可以有效地扩展吊车 Will achieve multiple crane lift crane for large objects, enable multi-crane work, which can effectively extend the crane

的吊装能力,实现吊装过程中的安全、高效、节能减排,并且大大可以降低工人的劳动强度, Lifting capacity, lifting process to achieve safe, efficient, energy saving, and can greatly reduce the labor intensity,

同时经济实用,安全可靠,结构简单,成本较低,适用范围广泛。 At the same time economical and practical, safe, reliable, simple structure, low cost, wide range of applications.

[0068] 在此说明书中,本发明已参照其特定的实施例作了描述。 [0068] In this specification, the present invention has been described with reference to specific embodiments thereof. 但是,很显然仍可以作出各种修改和变换而不背离本发明的精神和范围。 However, it is still apparent that various modifications and variations can be made without departing from the spirit and scope of the invention. 因此,说明书和附图应被认为是说明性的而非限制性的。 Accordingly, the specification and drawings are to be regarded as illustrative rather than restrictive.

Claims (10)

  1. 一种旋转式起重机轨迹优化控制系统,该旋转式起重机包括吊具运动机构,所述的吊具运动机构包括数个运动机构,其特征在于,所述的控制系统包括吊车优化轨迹控制装置、吊具运动机构位置检测模块和吊具运动机构位置控制模块,所述的吊车优化轨迹控制装置分别与所述的吊具运动机构位置检测模块和吊具运动机构控制模块相连接,且所述的吊具运动机构位置检测模块和吊具运动机构控制模块均分别与所述的数个运动机构相连接。 A rotary trajectory optimization crane control system, which comprises a rotary crane spreader movement mechanism, said moving mechanism comprises a plurality of spreader movement mechanism, characterized in that said control system comprises a trajectory control means to optimize the crane, crane position detecting means with motion module spreader movement mechanism and the position control module, optimizing the crane track control means are connected to the position detection module spreader movement mechanism spreader movement mechanism and said control module, and said hanging position detecting means with motion module spreader movement mechanism and control module are respectively connected to said several movement means.
  2. 2. 根据权利要求1所述的旋转式起重机轨迹优化控制系统,其特征在于,所述的吊具运动机构包括至少两个运动机构,其中至少一个运动机构为旋转式运动机构。 2. The rotary crane track according to claim 1, said control system optimization, wherein said movement mechanism includes at least two spreader movement mechanism, wherein the at least one motion mechanism is a rotary moving mechanism.
  3. 3. 根据权利要求1或2所述的旋转式起重机轨迹优化控制系统,其特征在于,所述的吊具运动机构位置检测模块中包括有与所述的运动机构数量相对应的运动机构位置编码器, 所述的各个运动机构位置编码器分别与各个运动机构相一一对应,且所述的各个运动机构位置编码器均与所述的吊车优化轨迹控制装置相连接。 The rotation of the crane or the locus control system 12 to optimize claim, wherein said spreader movement mechanism comprises a position detecting module has a number of position encoding mechanism moving the corresponding moving means , a movement of the respective position encoder means, respectively one correspondence with the respective moving mechanism, and said respective motion means to optimize both a position encoder track and the crane is connected to the control means.
  4. 4. 根据权利要求1或2所述的旋转式起重机轨迹优化控制系统,其特征在于,所述的吊具运动机构位置控制模块中包括有与所述的运动机构数量相对应的运动机构控制单元,所述的各个运动机构控制单元分别与各个运动机构相一一对应,且所述的各个运动机构控制单元均与所述的吊车优化轨迹控制装置相连接。 The rotation of the crane or the locus control system 12 to optimize claim, wherein said spreader movement mechanism comprises a position control module has a number of the moving mechanism corresponding to the movement mechanism control unit said respective motion mechanism control unit respectively one correspondence with the respective moving mechanism, and said respective motion control mechanism unit which have been optimized with the crane track control means is connected.
  5. 5. 根据权利要求4所述的旋转式起重机轨迹优化控制系统,其特征在于,所述的运动机构控制单元为PLC可编程逻辑控制器、专用控制器或者工业电脑。 The rotary crane track according to claim 4, wherein the control system optimization, wherein said movement control unit is a PLC means a programmable logic controller, a dedicated computer or industrial controller.
  6. 6. 根据权利要求1或2所述的旋转式起重机轨迹优化控制系统,其特征在于,所述的吊车优化轨迹控制装置还连接有运动轨迹信号输入模块。 The rotation of the crane or the locus control system 12 to optimize claim, characterized in that said crane further optimized trajectory control module connected to the signal input means trajectory.
  7. 7. 根据权利要求1至6中任一项所述的吊车优化轨迹控制装置,其特征在于,所述的吊车优化轨迹控制装置设计和优化自然空间坐标运动轨迹,该自然空间坐标运动轨迹的产生方式为以下几种中的一种:(11) 旋转式起重机的司机设定;(12) 系统预先存储;(13) 系统自学习产生;(14) 系统通过目标跟踪产生;(15) 系统根据约束条件优化产生。 The crane of any one of claims 1 to 6, optimized trajectory control device, wherein the device is designed to control and optimize the trajectory optimization crane natural space coordinate trajectory, the trajectory generating the natural space coordinates claim as a way of the following: (11) setting the rotary crane driver; (12) previously stored system; (13) generates self-learning system; (14) produced by a target tracking system; (15) the system optimize the production constraints.
  8. 8. 根据权利要求1或2所述的旋转式起重机轨迹优化控制系统,其特征在于,所述的吊车优化轨迹控制装置为PLC可编程逻辑控制器、专用控制器或者工业电脑。 8. The rotary crane track in claim 12 or claim optimization control system, wherein said trajectory control means to optimize the crane PLC programmable logic controller, a dedicated computer or industrial controller.
  9. 9. 一种利用权利要求1所述的系统实现旋转式起重机轨迹优化控制的方法,其特征在于,所述的方法包括以下步骤:(1) 系统进行初始化操作;(2) 系统读取预先设计和优化的自然空间坐标运动轨迹信息;(3) 系统根据旋转式起重机的参数把自然空间坐标运动轨迹信息转换成预先设计的吊具运动机构的坐标信息;(4) 系统对各个吊具运动机构进行实时控制。 A use as claimed in claim 1, the system of rotating crane implemented method of optimizing control track, wherein said method comprises the steps of: (1) initializing the system operation; (2) the pre-designed system reads natural space and optimized trajectory coordinate information; (3) the spatial coordinate system, converting the natural trajectory information into coordinate information of pre-designed spreader movement mechanism according to the parameter of rotary crane; (4) system for each spreader movement mechanism real-time control.
  10. 10. 根据权利要求9所述的实现旋转式起重机轨迹优化控制的方法,其特征在于,所述的自然空间坐标为自然垂直空间的笛卡尔坐标;所述的预先设计的吊具运动机构的坐标信息中包括有吊具运动机构的旋转信息c 10. The effect rotation of the crane track according to claim 9, optimization control, wherein the natural space coordinates to Cartesian coordinates NATURAL vertical space; coordinate spreader movement mechanism according to the pre-designed information includes the spreader movement mechanism rotation information c
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CN102566582A (en) * 2011-12-20 2012-07-11 中联重科股份有限公司 Location method, device and system
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CN104891357B (en) * 2015-06-08 2018-07-10 中国人民解放军空军工程大学 lifting operation auxiliary system
CN105217454A (en) * 2015-10-19 2016-01-06 江苏大学 The anti-sway crashproof control system of a kind of revolving crane lift heavy and control method
CN109132886A (en) * 2018-06-20 2019-01-04 北京航天发射技术研究所 A kind of transport reprinting vehicle and the cartridge box based on transport reprinting vehicle reprint method
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