CN101973314A - Multivariant four-track counterweight trolley synchronous control system and control method - Google Patents
Multivariant four-track counterweight trolley synchronous control system and control method Download PDFInfo
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- CN101973314A CN101973314A CN 201010520731 CN201010520731A CN101973314A CN 101973314 A CN101973314 A CN 101973314A CN 201010520731 CN201010520731 CN 201010520731 CN 201010520731 A CN201010520731 A CN 201010520731A CN 101973314 A CN101973314 A CN 101973314A
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Abstract
The invention provides a multivariant four-track counterweight trolley synchronous control system and a control method applied to a crawling crane. The synchronous control system comprises an operation handle, a speed synchronous controller, a main frame controller, a trolley controller, a position gesture compensator, a main frame hydraulic system and a hydraulic motor speed sensor, a trolley hydraulic system, a hydraulic motor speed sensor, a rotation angle sensor arranged on a main frame, a track directional angle sensor arranged on the trolley, two rotation angle sensors and a length sensor arranged on two link mechanisms at the joint of the main frame and the trolley. The synchronous control system and method of the invention allow the main frame to be connected with the trolley in the manner of releasing at full degree of freedom, decrease the stress load on the connecting mechanism of the main frame and the trolley, protect the connecting mechanism of the main frame and the trolley, lighten the whole weight, and ensure the synchronous control precision between the trolley and the main frame.
Description
Technical field
The present invention relates to a kind of synchronous control system and control method of crawler belt counterweight dolly, especially, relate to a kind of synchronous control system and control method that is applied to the multivariant four crawler belt counterweight dollies of having of crawler crane.
Background technology
Hoisting crane needs the counterweight of load constant weight to keep it stable when lifting.For the crawler crane of super-tonnage, adopt the super-starting balance weight dolly usually as its corresponding counterweight.At present, the super-starting balance weight dolly (hereinafter to be referred as dolly) of external super-tonnage crawler-type crane (hereinafter to be referred as main frame) all adopts crawler type or rubber-tyred walking scheme.Wherein, the connection mode of main frame and dolly is essentially entirely and is rigidly connected.
Yet with respect to crawler-mounted walking scheme, the walking scenario-frame of rubber-tyred is comparatively complicated, cost an arm and a leg and loss very big; Simultaneously, complete rigidly connected connection mode requires high to the mechanical characteristics of the bindiny mechanism between main frame and the dolly.Thereby, adopt the crawler-type traveling scheme to become preferably between main frame and the dolly.For the crawler-type traveling scheme, at cost-cutting, improve under the prerequisite of reliability of physical construction, need to realize synchronous revolution and translation synchronously between main frame and the dolly.This has higher requirement to the synchro control of the super-starting balance weight dolly of crawler crane undoubtedly.
Summary of the invention
The object of the present invention is to provide a kind of synchronous control system and control method that is applied to the multivariant four crawler belt counterweight dollies of having of crawler crane; it has discharged 3 degree of freedom of physical construction fully; significantly reduced the suffered stress loading of mechanical fastener; when actv. has been protected physical construction; reduce the design difficulty and the productive costs of physical construction, and alleviated the weight of physical construction.
To achieve these goals, a kind of synchronous control system that is applied to the multivariant four crawler belt counterweight dollies of having of crawler crane of the present invention, wherein, comprise operating handle, the speed synchronization controller, console controller, agv controller, the pose compensator, host hydraulic system and hydraulic motor speed sensor, little vehicle hydraulic system and hydraulic motor speed sensor, be positioned at the degreeof turn sensor on the main frame and be positioned at crawler belt direction angle angular transducer on the dolly, and be positioned at two degreeof turn sensors and a linear transducer on main frame and dolly junction two link mechanisms, wherein, described operating handle is connected to described speed synchronization controller, described speed synchronization controller again respectively with described console controller, described agv controller is connected, described console controller and described agv controller are connected to described host hydraulic system and described little vehicle hydraulic system more respectively, described main frame hydraulic motor speed sensor is connected to console controller, described dolly hydraulic motor speed sensor is connected to agv controller, the degreeof turn sensor on the described main frame, 3 pose sensors on crawler belt direction angle angular transducer on the dolly and two link rods are connected on described speed synchronization controller and the described agv controller by described pose compensator.
The synchronous control system with multivariant four crawler belt counterweight dollies according to above-mentioned wherein, includes the dolly rotational speed governor in the described agv controller, crawler belt direction angle controller, crawler belt direction angle compensating controller.
According to the above-mentioned synchronous control system with multivariant four crawler belt counterweight dollies, wherein, described pose compensator is used for speed compensation and dolly pose deviation compensation.
In addition, a kind of synchronisation control means that is applied to the multivariant four crawler belt counterweight dollies of having of crawler crane of the present invention, it may further comprise the steps:
Step 1: current dolly of input and the residing operating mode of main frame in synchronous control system;
Step 2: calculate the required desired orientation angle of dolly crawler belt under the described operating mode;
Step 3: detect current dolly crawler belt direction angle and whether equal described desired orientation angle;
Step 4:, under the control of agv controller, dolly crawler belt direction angle is adjusted to described desired orientation angle if current dolly crawler belt direction angle is not equal to described desired orientation angle; If current dolly crawler belt direction angle equals described desired orientation angle, then skip this step;
Step 5: after current dolly crawler belt direction angle equals described desired orientation angle, enter the readiness for action of synchronous translation between main frame and the dolly;
Step 6: in the synchronous translation process, adjust speed deviation and pose deviation between the two in real time, between dolly and the main frame to guarantee synchronous translation.
According to the above-mentioned synchronisation control means with multivariant four crawler belt counterweight dollies, wherein, in the step 1, the residing operating mode of dolly and crawler belt comprises synchronous revolution operating mode and synchronous translation operating mode.
According to above-mentioned synchronisation control means with multivariant four crawler belt counterweight dollies, wherein, to turn round synchronously under the operating mode, the desired orientation angle of dolly crawler belt is
, wherein, R is the radius of turn of dolly, K is that the dolly center of gyration is apart from the distance between the center of gyration between two dollies; Under the translation operating mode, the crawler belt desired orientation angle of dolly equals the crawler belt direction angle of main frame synchronously.
According to above-mentioned synchronisation control means with multivariant four crawler belt counterweight dollies, wherein, in the step 4, the desired orientation angle of adjusting the dolly crawler belt may further comprise the steps: crawler belt direction angle controller j controller, calculate the expectation rotating speed of dolly crawler belt, again the expectation rotating speed and the actual measurement rotating speed of dolly crawler belt are imported dolly rotational speed governor ω controller, the ω controller then the aperture of export ratio electromagnetic valve to control little vehicle hydraulic system, thereby realize driving, thereby the crawler belt direction angle that takes place to turn round dolly is adjusted to described desired orientation angle to the dolly crawler belt.
According to above-mentioned synchronisation control means with multivariant four crawler belt counterweight dollies, wherein, crawler belt direction angle controller j controller according to the input wherein the actual crawler belt direction angle that records and the difference at desired orientation angle, based on the control method of PID, calculate the expectation rotating speed of the left and right sides crawler belt of two dollies respectively.
According to above-mentioned synchronisation control means with multivariant four crawler belt counterweight dollies, wherein, in dolly rotational speed governor ω controller, after the expectation rotating speed of dolly crawler belt subtracts each other with the actual measurement rotating speed, carry out control and treatment based on the PID principle, thereby the aperture that obtains proportion magnetic valve is to control little vehicle hydraulic system.
According to above-mentioned synchronisation control means with multivariant four crawler belt counterweight dollies, wherein, in step 6, in the synchronous translation process, the expectation rotating speed of dolly is the synchronous expectation rotating speed of speed synchronization controller output and the rotating speed compensation value sum of crawler belt direction angle compensating controller j compensating controller output between dolly and the main frame.
According to above-mentioned synchronisation control means with multivariant four crawler belt counterweight dollies, wherein, in the step 6, speed deviation between dolly and the main frame and pose deviation are drawn by the pose feedback calculation on two link rods between main frame and the dolly by the pose compensator.
According to above-mentioned synchronisation control means with multivariant four crawler belt counterweight dollies, wherein, turning round under the operating mode synchronously, the pose compensator is learnt angle of revolution β and g in measurement, the collapsing length l of two link rods, the swinging radius R of dolly, the center of gyration of dolly 1 apart between the center of gyration of two dollies apart from K, and the initial length l of the collapsing length l of two link rods
0Situation under, the pose compensator calculates the direction angle j of two dollies in the following way
1And j
2, the swinging radius R between two dollies and the main frame
1And R
2, and the deflection angle of the center of gyration of two dollies
:
Wherein, the anti-clockwise angle is "+", and clockwise angle is "-".
According to above-mentioned synchronisation control means with multivariant four crawler belt counterweight dollies, wherein, under synchronous translation operating mode, learn angle of revolution β and g in measurement, the collapsing length l of two link rods, the swinging radius R of dolly, the center of gyration of dolly 1 apart between the center of gyration of two dollies apart from K, the initial length l of the collapsing length l of two link rods
0, and the degreeof turn Ang_ of main frame
MainSituation under, the pose compensator calculates the initial coordinate (x of two dollies in the following way
1, x
2And the coordinate (x after moving and y),
1', x
2' y '):
;
;
;
Wherein, the anti-clockwise angle is "+", and clockwise angle is "-".
According to above-mentioned synchronisation control means with multivariant four crawler belt counterweight dollies, wherein, the pose deviation that the pose compensator calculates is handled with the mode based on PID in the pose compensating controller, output pose compensation value, described pose compensation value is transfused to crawler belt direction angle compensating controller.
According to above-mentioned synchronisation control means with multivariant four crawler belt counterweight dollies, wherein, the speed deviation that the pose compensator calculates is handled with the mode based on PID in the pose compensating controller, thereby obtain the compensation value of speed deviation, the deviate input speed synchronous controller of described speed compensation is expected rotating speed synchronously with the original desired speed sum formation of operating handle input.
Therefore; a kind of synchronous control system that is applied to the multivariant four crawler belt counterweight dollies of having of crawler crane of the present invention and control method are owing to adopted the structure of three pose degree of freedom that discharge fully; significantly reduced the stress loading that main frame and dolly attaching parts are born; actv. has been protected the attaching parts while of main frame and dolly; alleviated its overall weight, actv. has guaranteed the synchronous control accuracy between dolly and the main frame.
Description of drawings
Fig. 1 is the structured flowchart of main frame of the present invention and dolly;
Fig. 2 is the overall control structure block diagram of synchronous control system with multivariant four crawler belt counterweight dollies of the present invention;
Fig. 3 is the overall control structure block diagram of agv controller among Fig. 2;
Fig. 4 adjusts the agv controller control structure figure in crawler belt direction angle stage for dolly among the present invention;
Fig. 5 is the schematic diagram calculation at dolly crawler belt desired orientation angle among the present invention;
Fig. 6 is the control structure block diagram of dolly crawler belt rotational speed governor among the present invention;
Fig. 7 is the account form scheme drawing of pose compensator under synchronous revolution operating mode among Fig. 2;
Fig. 8 is the account form scheme drawing of pose compensator under synchronous translation operating mode among Fig. 2.
The specific embodiment
The present invention will be further described in detail below in conjunction with accompanying drawing.
In the present invention, crawler crane (hereinafter to be referred as main frame) disposes a super-starting balance weight dolly (hereinafter to be referred as dolly), two can independently center on the rotating pedrail mechanism of self axis of revolution about this dolly was furnished with, these two pedrail mechanisms abbreviate dolly 1 and dolly 2 as,, the concrete structure block diagram as shown in Figure 1.As seen from the figure, main frame is connected on the dolly by telescopic two link mechanisms.In said structure, total system provides three pose degree of freedom altogether, i.e. angle of revolution β and g, and the collapsing length l of two link rods.Wherein, the first cover pedrail mechanism dolly 1 and the second cover pedrail mechanism dolly 2 can be around rolling disk rotations separately, thereby provide two degree of freedom, i.e. direction angle j for system
1And j
2Therefore, the whole crawler crane system that is made of main frame and dolly includes 5 degree of freedom altogether.
Rise in the retry concrete, mainly contain two kinds of operating modes between main frame and the dolly, promptly turn round operating mode and synchronous translation operating mode synchronously.The present invention mainly carries out synchro control with main frame to above-mentioned four crawler belt counterweight dollies with 5 degree of freedom, specifically comprises the synchronous revolution control and the control of translation synchronously of dolly and main frame.Realize above-mentioned two kinds of synchro control, just can realize the cooperation between main frame and the dolly, guaranteed the normal operation of total system.Therefore, include 5 CD-ROM drive motor in the whole crawler crane system, to control above-mentioned 5 degree of freedom.Particularly, the rotating speed w of 4 HM Hydraulic Motor of four crawler belts by driving two dollies
1L, w
1R, w
2L, w
2R, and the rotating speed w of main frame rotary motor
RotatingThe rotating speed w of (at synchronous revolution operating mode) or main frame running motor
Traveling(at synchronous translation operating mode) controls above-mentioned 5 degree of freedom.Wherein, it should be noted that and turning round under the operating mode synchronously that need 3 motor driven during the main frame revolution, owing to be to be rigidly connected between these 3 motors, promptly rotating speed is identical, so it is reduced to a main frame rotary motor; Under synchronous translation operating mode, main frame needs four crawler belts of individual drive, but (set operating mode under the situation not considering that main frame turns round according to this crawler crane, translation synchronously can only rectilinear translation, during situation about can not turn round) synchronous translation, four crawler belt speed setting main frame are identical, thereby are reduced to a main frame running motor.
Introduce the control of the synchronous revolution that how to realize between dolly and the main frame and translation synchronously below in detail.The overall control policy of this synchronous control system is as follows: at first, system is according to the operating mode of operator's input, and main frame and the present residing operating mode of dolly, determines the step that main frame and dolly need be revised; Then, calculating reaches the desired orientation angle that the operator expects that the dolly crawler belt should reach under the operating mode; Then, by the degreeof turn sensor, detect current dolly crawler belt direction angle and whether equal the desired orientation angle, if the crawler belt direction angle of dolly is not equal to the desired orientation angle, agv controller turns round around axis of revolution separately by driving trolley 1 and dolly 2 respectively and adjusts the crawler belt direction angle; In the process of the crawler belt direction angle of adjusting dolly, be positioned at the difference of the crawler belt direction angle controller of agv controller according to crawler belt actual measurement direction angle and crawler belt desired orientation angle, with control method based on PID, the expectation rotating speed of difference counting of carriers 1 left and right sides crawler belt and the expectation rotating speed of dolly 2 left and right sides crawler belts, at last, rotational speed governor based on PID control is exported the hydraulic efficiency pressure system opening value according to the actual measurement rotating speed of the feedback of motor rotary speed sensor and the difference of expectation rotating speed, this opening value is through D/A converter output modulated pressure pump proportion magnetic valve aperture, with final control dolly HM Hydraulic Motor output speed, thereby realize the adjustment of dolly crawler belt direction angle, after the direction angle adjustment finished, system entered with the moved further readiness for action.In synchronous translation process, the operator expects that by the handle input moving velocity is to the speed synchronization controller; This speed synchronization controller basis, from the speed deviation compensation value of pose compensating controller output, and from the desired speed of handle input, weighting draws the expectation synchronous speed; The expectation synchronous speed is imported console controller and agv controller respectively; Crawler belt direction angle compensating controller in the agv controller, according to pose deviation compensation value from the output of pose compensating controller, from crawler belt actual measurement direction angle and the initial crawler belt desired orientation angle that sensor feedback is returned according to the operating mode decision, by mode based on PID, the compensation value of output crawler belt rotating speed; The expectation synchronous speed of mentioning in this compensation value and the previous step, and the actual measurement rotating speed of returning from the motor rotary speed sensor feedback, input is based on the rotational speed governor of PID control, this controller is exported hydraulic pressure aperture and through in the input hydraulic pressure proportion magnetic valve after D/A conversion the becoming electric current subsequently, is finally adjusted motor rotary speed.
Fig. 2 is the synchronous control system overall structure block diagram with multivariant four crawler belt counterweight dollies of the present invention.As seen from the figure, include operating handle in this synchronous control system, the speed synchronization controller, console controller, agv controller, the pose compensator, host hydraulic system and little vehicle hydraulic system, wherein, operating handle links to each other with the speed synchronization controller, the speed synchronization controller again respectively with console controller, agv controller links to each other, console controller and agv controller then are connected to host hydraulic system and little vehicle hydraulic system respectively, and host hydraulic system and little vehicle hydraulic system all are connected on the speed synchronization controller through the pose compensator.In addition, (not shown) main frame hydraulic motor speed sensor is connected to console controller, the dolly hydraulic motor speed sensor is connected to agv controller, and the degreeof turn sensor on the main frame and three pose sensors on crawler belt direction angle angular transducer on the dolly and two link rods are connected on speed synchronization controller and the agv controller by the pose compensator.Wherein, include dolly rotational speed governor ω controller in the agv controller, crawler belt direction angle controller j controller, crawler belt direction angle compensating controller j compensating controller.
By the synchronous control system of said structure, can realize the synchro control between main frame and the dolly.With reference to Fig. 2, concrete control flow is as follows:
(1) operator is by the expectation rotational speed omega of operating handle input system
0To the speed synchronization controller;
(2) synchronous controller as calculated after, respectively main frame is expected rotational speed omega synchronously
D_MainSame with dolly
Step expectation rotational speed omega
D_SCBe input to console controller and agv controller;
(3) console controller and agv controller are respectively according to the actual measurement rotational speed omega of above-mentioned expectation rotating speed and HM Hydraulic Motor feedback
M_MainAnd ω
M_SCAnd, calculate Hydraulic Pump proportion magnetic valve aperture V parameter from the compensating rotational speed that crawler belt direction angle compensating controller is exported
MainAnd V
SCAnd be input to host hydraulic system and little vehicle hydraulic system;
(4) main frame train of mechanism and trolley body system feed back pose respectively and are related to the pose compensator;
(5) the pose compensator then is input to the speed synchronization controller with speed deviation compensation Δ ω, and j is input in the agv controller with pose deviation compensation Δ, to adjust the pose deviation;
(6) agv controller is again according to above-mentioned pose compensation, and the revolution rolling disk feeds back crawler belt direction angle measured value that comes and the crawler belt direction angle expectation value that determines according to operating mode, and the compensating rotational speed of adjusting four crawler belts is input in the dolly rotational speed governor.
Describe the structure of agv controller below in detail, its concrete block diagram as shown in Figure 3.Turning round under the operating mode synchronously, when adjusting the crawler belt direction angle, direction angle controller j controller calculates the expectation rotational speed omega of crawler belt
Expectation _ jUnder synchronous translation operating mode, the synchronous expectation rotational speed omega of speed synchronization controller output crawler belt
Expectation _ synchronously, j compensating controller output speed compensation value Δ ω
Compensation, sum of the two is as the expectation rotating speed of crawler belt.According to different operating modes, different crawler belt expectation rotational speed omega is selected to obtain by system
ExpectationThen, rotational speed governor ω controller is according to ω
ExpectationCrawler belt actual speed ω with the motor rotary speed sensor measurement
Actual measurement, output Hydraulic Pump proportion magnetic valve aperture, thus controlled hydraulic system is to adjust the rotating speed of dolly.
Following method is then adopted in the adjustment of crawler belt direction angle in the agv controller, and its concrete block diagram as shown in Figure 4.At first, according to the desired orientation angle of operating mode and operator's input counting of carriers crawler belt; This moment the actual crawler belt direction angle j that records
Actual measurement, if two unequal then systems of angle enter the crawler belt direction angle adjusting stage; According to deviate,, calculate the expectation rotational speed omega of dolly crawler belt by direction angle controller j controller with mode based on PID
Expectation,, this rotating speed and actual measurement motor rotary speed ω
Actual measurementAgain through rotational speed governor ω controller output hydraulic pressure capacity of pump.The hydraulic efficiency pressure system of last dolly 1 outputs driving force to the crawler belt of dolly 1 according to the aperture of proportion magnetic valve.The direction angle of dolly 1 crawler belt takes place to turn round and changed owing to the promotion of hydraulic-driven power in the crawler belt of dolly 1.After the crawler belt direction angle adjustment of dolly 1 finished, dolly 2 adopted identical step to adjust the crawler belt direction angle.After dolly 1 and dolly 2 were all adjusted and finished, whole synchronous control system entered readiness.It should be noted that, adjust in the process of crawler belt direction angle speed synchronization controller, pose compensator at dolly, and the compensating controller of crawler belt direction angle is all inoperative, and above-mentioned three controllers all do not have input value or by select switch its output all are made as 0; In the process of dolly and the synchronous translation of main frame, direction angle controller j controller is inoperative.
How to introduce desired orientation angle below in detail according to operating mode and operator's input counting of carriers crawler belt.Turning round under the operating mode synchronously, Fig. 5 is the method for calculating of dolly crawler belt expectation value direction angle.As shown in the figure, wherein, R is the swinging radius between dolly and the main frame, i.e. the radius of turn of dolly, K are the distance between the center of gyration between dolly center of gyration distance two dollies, then the desired orientation angle of dolly crawler belt
Wherein, R is variable, needs the operator to import according to current actual measured value.Under synchronous translation operating mode, the crawler belt desired orientation angle of dolly then directly equals the crawler belt direction angle of main frame, promptly the dolly crawler belt will with the main frame crawler belt in the same way.
In the agv controller, track speed is controlled as shown in Figure 6.As seen from the figure, when adjusting the crawler belt direction angle under synchronous revolution operating mode, direction angle controller j controller calculates the expectation rotational speed omega of crawler belt
Expectation _ jIn synchronous translation process, the synchronous expectation rotational speed omega of speed synchronization controller output crawler belt
Expectation _ synchronously, j compensating controller output speed compensation value Δ ω
Compensation, sum of the two is as the expectation rotating speed of crawler belt.According to different operating modes, different crawler belt expectation rotational speed omega is selected to obtain by system
ExpectationThen, crawler belt is expected rotational speed omega
ExpectationCrawler belt actual speed ω with the motor rotary speed sensor measurement
Actual measurementSubtract each other, the difference that obtains to be calculating based on the mode of PID principle, and this PID controller output hydraulic pressure aperture also becomes in the size of current input hydraulic pressure proportion magnetic valve through subsequently D/A conversion, finally adjusts motor rotary speed.
When the dolly and the direction angle of crawler belt be adjusted into consistent after, just enter readiness for action, promptly finished the dead work before the synchronous translation.At this moment, the operator can control same moved further between dolly and the main frame by operating handle.In the synchronous translation process of dolly and main frame, it is synchronous that the speed synchronization controller is responsible for the speed adjusted between dolly and the main frame, and crawler belt direction angle compensating controller then is responsible for adjusting the pose deviation between dolly and the main frame.Speed deviation compensation value between dolly and the main frame and pose deviation compensation value tool are calculated by the pose compensator.Particularly, the pose compensator goes out speed deviation and pose deviation between the two by the pose feedback calculation on two link rods between main frame and the dolly, these two values calculate speed deviation compensation value and pose deviation compensation value with the mode based on PID in the pose compensating controller, so that in time adjust deviation, guarantee the synchronous walking between main frame and the dolly.
Fig. 7 is the account form scheme drawing of pose compensator under synchronous revolution operating mode.
The pose compensator is learnt angle of revolution β and g in measurement, the collapsing length l of two link rods, the swinging radius R of dolly, the center of gyration of dolly 1 apart between the center of gyration of two dollies apart from K, and the initial length l of the collapsing length l of two link rods
0Situation under, the pose compensator calculates the direction angle j of two dollies in the following way
1And j
2, the swinging radius R between two dollies and the main frame
1And R
2, and the deflection angle of the center of gyration of two dollies
:
；
；
Wherein, the anti-clockwise angle is "+", and clockwise angle is "-".
Fig. 8 is the account form scheme drawing of pose compensator under the synchronous walking operating mode.
Learn angle of revolution β and g in measurement, the collapsing length l of two link rods, the swinging radius R of dolly, the center of gyration of dolly 1 apart between the center of gyration of two dollies apart from K, the initial length l of the collapsing length l of two link rods
0, and the degreeof turn Ang_ of main frame
MainSituation under, the pose compensator calculates the initial coordinate (x of two dollies in the following way
1, x
2And the coordinate (x after moving and y),
1', x
2' y '):
Wherein, the anti-clockwise angle is "+", and clockwise angle is "-".
By obtaining above-mentioned each value, thereby obtain representing under the α (turning round under the operating mode synchronously) and the synchronous translation operating mode of △ y(of speed deviation between dolly and the main frame); And the △ R that obtains representing pose deviation between dolly and the main frame
1, △ R
2(turning round under the operating mode synchronously) and △ x
1, △ x
2(synchronously under the translation operating mode).
The speed deviate that the pose compensating controller calculates according to previous step calculates speed deviation compensation value with the mode based on PID, and the speed synchronization controller is then according to this speed deviation compensation value, and the speed of adjusting between dolly and the main frame is synchronous.Specifically, the speed synchronization controller is adjusted the expectation rotating speed of dolly and main frame according to the speed deviation compensation value of pose compensator output.The deviate input speed synchronous controller of this speed compensation is expected rotating speed synchronously with the original desired speed sum formation of operating handle input.The elementary tactics of adjusting dolly and the expectation rotating speed of main frame is, attempts improving the desired speed of mechanism at a slow speed earlier, still can't reach speed when synchronous after adjusting, and reduces the desired speed of quick mechanism, thus the same moved further between realization dolly and the main frame.
The pose compensating controller calculates pose deviation compensation value according to the pose deviate that calculates with the mode based on PID, and crawler belt direction angle compensating controller is then according to this pose deviation compensation value, and the pose of adjusting between dolly and the main frame is synchronous.Specifically, pose deviation compensation value is introduced crawler belt direction angle compensating controller as the crawler belt direction deflection angle.Dolly is turned round the crawler belt direction angle of the angular transducer actual measurement on the rolling disk, pose deviation compensation value and the crawler belt direction angle expectation value input crawler belt direction angle compensating controller that determines according to operating mode at first, then export the compensation value of dolly crawler belt expectation rotating speed, thereby and then change the direction of travel of dolly crawler belt, thereby reach the purpose of compensation pose deviation by changing dolly crawler belt speed.
More than specific embodiments of the invention are described in detail, but the present invention is not restricted to specific embodiment described above, it is just as example.To those skilled in the art, any this is applied to the synchronous control system of the multivariant four crawler belt counterweight dollies of having of crawler crane and equivalent modifications that synchronisation control means carries out and substitutes also all among category of the present invention.Therefore, not breaking away from impartial conversion and the modification of having done under the spirit and scope of the present invention, all should contain within the scope of the invention.
Claims (15)
1. synchronous control system with multivariant four crawler belt counterweight dollies, it is characterized in that, comprise operating handle, the speed synchronization controller, console controller, agv controller, the pose compensator, host hydraulic system and hydraulic motor speed sensor, little vehicle hydraulic system and hydraulic motor speed sensor, be positioned at the degreeof turn sensor on the main frame and be positioned at crawler belt direction angle angular transducer on the dolly, and be positioned at two degreeof turn sensors and a linear transducer on main frame and dolly junction two link mechanisms, wherein, described operating handle is connected to described speed synchronization controller, described speed synchronization controller again respectively with described console controller, described agv controller is connected, described console controller and described agv controller are connected to described host hydraulic system and described little vehicle hydraulic system more respectively, described main frame hydraulic motor speed sensor is connected to console controller, described dolly hydraulic motor speed sensor is connected to agv controller, the degreeof turn sensor on the described main frame, 3 pose sensors on crawler belt direction angle angular transducer on the dolly and two link rods are connected on described speed synchronization controller and the described agv controller by described pose compensator.
2. the synchronous control system with multivariant four crawler belt counterweight dollies according to claim 1 is characterized in that, includes the dolly rotational speed governor in the described agv controller, crawler belt direction angle controller, crawler belt direction angle compensating controller.
3. the synchronous control system with multivariant four crawler belt counterweight dollies according to claim 1 is characterized in that, described pose compensator is used for speed compensation and dolly pose deviation compensation.
4. a synchronisation control means that has the synchronous control system of multivariant four crawler belt counterweight dollies according to claim 1 is characterized in that, may further comprise the steps:
Step 1: current dolly of input and the residing operating mode of main frame in synchronous control system;
Step 2: calculate the required desired orientation angle of dolly crawler belt under the described operating mode;
Step 3: detect current dolly crawler belt direction angle and whether equal described desired orientation angle;
Step 4:, under the control of agv controller, dolly crawler belt direction angle is adjusted to described desired orientation angle if current dolly crawler belt direction angle is not equal to described desired orientation angle; If current dolly crawler belt direction angle equals described desired orientation angle, then skip this step;
Step 5: after current dolly crawler belt direction angle equals described desired orientation angle, enter the readiness for action of synchronous translation between main frame and the dolly;
Step 6: in the synchronous translation process, adjust speed deviation and pose deviation between the two in real time, between dolly and the main frame to guarantee synchronous translation.
5. the synchronisation control means with multivariant four crawler belt counterweight dollies according to claim 4 is characterized in that, in the step 1, the residing operating mode of dolly and crawler belt comprises synchronous revolution operating mode and synchronous translation operating mode.
6. the synchronisation control means with multivariant four crawler belt counterweight dollies according to claim 5 is characterized in that, turns round synchronously under the operating mode, and the desired orientation angle of dolly crawler belt is
, wherein, R is the radius of turn of dolly, K is that the dolly center of gyration is apart from the distance between the center of gyration between two dollies; Under the translation operating mode, the crawler belt desired orientation angle of dolly equals the crawler belt direction angle of main frame synchronously.
7. the synchronisation control means with multivariant four crawler belt counterweight dollies according to claim 4, it is characterized in that, in the step 4, the desired orientation angle of adjusting the dolly crawler belt may further comprise the steps: crawler belt direction angle controller j controller, calculate the expectation rotating speed of dolly crawler belt, again the expectation rotating speed and the actual measurement rotating speed of dolly crawler belt are imported dolly rotational speed governor ω controller, the ω controller then the aperture of export ratio electromagnetic valve to control little vehicle hydraulic system, thereby realize driving, thereby the crawler belt direction angle that takes place to turn round dolly is adjusted to described desired orientation angle to the dolly crawler belt.
8. the synchronisation control means with multivariant four crawler belt counterweight dollies according to claim 7, it is characterized in that, crawler belt direction angle controller j controller according to the input wherein the actual crawler belt direction angle that records and the difference at desired orientation angle, based on the control method of PID, calculate the expectation rotating speed of the left and right sides crawler belt of two dollies respectively.
9. the synchronisation control means with multivariant four crawler belt counterweight dollies according to claim 7, it is characterized in that, in dolly rotational speed governor ω controller, after the expectation rotating speed of dolly crawler belt subtracts each other with the actual measurement rotating speed, carry out control and treatment based on the PID principle, thereby the aperture that obtains proportion magnetic valve is to control little vehicle hydraulic system.
10. the synchronisation control means with multivariant four crawler belt counterweight dollies according to claim 4, it is characterized in that, in step 6, in the synchronous translation process, the expectation rotating speed of dolly is the synchronous expectation rotating speed of speed synchronization controller output and the rotating speed compensation value sum of crawler belt direction angle compensating controller j compensating controller output between dolly and the main frame.
11. the synchronisation control means with multivariant four crawler belt counterweight dollies according to claim 4, it is characterized in that, in the step 6, speed deviation between dolly and the main frame and pose deviation are drawn by the pose feedback calculation on two link rods between main frame and the dolly by the pose compensator.
12. the synchronisation control means with multivariant four crawler belt counterweight dollies according to claim 11, it is characterized in that, turning round under the operating mode synchronously, the pose compensator is learnt angle of revolution β and g in measurement, the collapsing length l of two link rods, the swinging radius R of dolly, the center of gyration of dolly 1 apart between the center of gyration of two dollies apart from K, and the initial length l of the collapsing length l of two link rods
0Situation under, the pose compensator calculates the direction angle j of two dollies in the following way
1And j
2, the swinging radius R between two dollies and the main frame
1And R
2, and the deflection angle of the center of gyration of two dollies
:
；
；
Wherein, the anti-clockwise angle is "+", and clockwise angle is "-".
13. the synchronisation control means with multivariant four crawler belt counterweight dollies according to claim 11, it is characterized in that, under synchronous translation operating mode, learn angle of revolution β and g in measurement, the collapsing length l of two link rods, the swinging radius R of dolly, the center of gyration of dolly 1 apart between the center of gyration of two dollies apart from K, the initial length l of the collapsing length l of two link rods
0, and the degreeof turn Ang_ of main frame
MainSituation under, the pose compensator calculates the initial coordinate (x of two dollies in the following way
1, x
2And the coordinate (x after moving and y),
1', x
2' y '):
;
Wherein, the anti-clockwise angle is "+", and clockwise angle is "-".
14. the synchronisation control means with multivariant four crawler belt counterweight dollies according to claim 11, it is characterized in that, the pose deviation that the pose compensator calculates is handled with the mode based on PID in the pose compensating controller, output pose compensation value, described pose compensation value is transfused to crawler belt direction angle compensating controller.
15. the synchronisation control means with multivariant four crawler belt counterweight dollies according to claim 11, it is characterized in that, the speed deviation that the pose compensator calculates is handled with the mode based on PID in the pose compensating controller, thereby obtain the compensation value of speed deviation, the deviate input speed synchronous controller of described speed compensation is expected rotating speed synchronously with the original desired speed sum formation of operating handle input.
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| CN102331781A (en) * | 2011-06-24 | 2012-01-25 | 成都市新筑路桥机械股份有限公司 | Trolley left-right linear synchronous travelling control circuit, control method and detection device |
| CN102530747A (en) * | 2012-03-12 | 2012-07-04 | 上海三一科技有限公司 | Synchronous structure of crawler-type counterweight trolley and crane comprising same |
| CN102582683A (en) * | 2012-03-19 | 2012-07-18 | 上海三一重机有限公司 | Device and method for optimization control of random friction of four-tracked counterweight trolley |
| CN103879912A (en) * | 2014-03-05 | 2014-06-25 | 浙江三一装备有限公司 | Crawler crane as well as rotation device and rotation control method of crawler crane |
| CN104249977A (en) * | 2013-06-28 | 2014-12-31 | 徐工集团工程机械股份有限公司 | Rotation control system of crawler crane |
| CN105179330A (en) * | 2015-09-09 | 2015-12-23 | 华澳轮胎设备科技（苏州）股份有限公司 | Hydraulic station control system and control method thereof |
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| CN105179330B (en) * | 2015-09-09 | 2018-04-17 | 华澳轮胎设备科技（苏州）股份有限公司 | A kind of hydraulic station control system and its control method |
| CN107237269A (en) * | 2017-07-17 | 2017-10-10 | 中铁工程机械研究设计院有限公司 | A kind of many car group synchronous control systems of beam car based on pid loop and method |
| CN114604315A (en) * | 2022-03-31 | 2022-06-10 | 潍柴雷沃重工股份有限公司 | Method and system for controlling linear walking of crawler-type double-pump double-motor agricultural machine and agricultural machine |
| CN114604315B (en) * | 2022-03-31 | 2022-11-25 | 潍柴雷沃智慧农业科技股份有限公司 | Method and system for controlling linear walking of crawler-type double-pump double-motor agricultural machine and agricultural machine |
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