CN102004510B - Positioning and tracking control system for rail type eight wheel-dragged electric car - Google Patents
Positioning and tracking control system for rail type eight wheel-dragged electric car Download PDFInfo
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- CN102004510B CN102004510B CN2010105106697A CN201010510669A CN102004510B CN 102004510 B CN102004510 B CN 102004510B CN 2010105106697 A CN2010105106697 A CN 2010105106697A CN 201010510669 A CN201010510669 A CN 201010510669A CN 102004510 B CN102004510 B CN 102004510B
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Abstract
The invention relates to a positioning and tracking control system for a rail type eight wheel-dragged electric car, which comprises a displacement comparator, a displacement detector, a displacement controller, a comparator, a speed controller, a driver, a motor and speed sensor, a displacement sensor, another displacement comparator and a deviation compensator, the compound adjacent deviation coupling method is adopted, and a control scheme of a multi-motor coordination system based on a speed control closed loop and a position control closed loop is designed, so that the positioning and tracking control problem of the eight wheel-dragged electric car can be effectively obstained, the siding between wheels and a rail can be simultaneously prevented, and the precise positioning of the car can be ensured.
Description
Technical field
The present invention relates to automatic control technology, especially relate to the rail mounted eight that is used for the dock container transhipment and take turns the location tracking control system that drags motor-driven carrier.
Background technology
Along with the continuous growth of quantum of world trade, China's container port throughput sharply increases, and presses for the intelligent container wharf technology of development a new generation, to improve the efficiency of loading and unloading of container hargour.The encased conveying equipment such as intelligent truck that bank bridge crane, three-dimensional distribution system, a bridge crane and subsequent use specific bin are transported have constituted the harbour mechanical system of high-efficient automatic.Three-dimensional distribution system between a bank bridge system and the bridge system has directly determined the operational efficiency of automatic dock, becomes the core link of new and effective intelligent automatic dock handling system.
The control system of high speed electric dolly is by slide wire power supply, and motor-driven carrier has eight independent wheels, is driven respectively by four threephase asynchronous machines.Three-dimensional guideway transit system not only requires respectively to organize high speed electric dolly hi-Fix each other; And require their berth point for a An Qiao and a bridge, also must guarantee hi-Fix; Need overcome the sliding friction and the various interference of wheel and track; This just requires to different working conditions (ambient conditions, when receiving instruction with the distance of anchor point and the situation such as container of high speed dolly institute carrying) corresponding damping force to be provided, and the assurance motor-driven carrier is at the berth point hi-Fix of each requirement.Existing multimachine is coordinated controlling schemes mostly to the coordination control of many motor speeds, all can not solve well the speed of many motors and position are coordinated the problem controlled simultaneously.
Summary of the invention
In order to solve the speed of the many motors of rail mounted motor-driven carrier and position are coordinated the problem controlled simultaneously, the present invention provides a kind of rail mounted eight to take turns the location tracking control system that drags motor-driven carrier.
The technical solution adopted for the present invention to solve the technical problems is,
Rail mounted eight is taken turns and is dragged motor-driven carrier location tracking control system; Comprise displacement comparer, displacement detector, displacement controller, comparer, speed control, driver, motor and speed pickup, displacement transducer, displacement comparer, deviation compensator; It is characterized in that; Said location tracking control system comprises stem system and afterbody system
In the stem system; Comparer 111, speed control 112, driver 113, motor 101 and speed pickup 114, displacement transducer 115, displacement comparer 131, deviation compensator 132 connect into closed circuit in order, and motor 101 and speed pickup 114 are connected to speed comparator 133 and speed control 112 respectively; Comparer 121, speed control 122, driver 123, motor 102 and speed pickup 124, displacement transducer 125, displacement comparer 131, deviation compensator 132 connect into closed circuit in order, and motor 102 and speed pickup 124 are connected to speed comparator 133 and speed control 122 respectively;
In the afterbody system; Comparer 211, speed control 212, driver 213, motor 201 and speed pickup 214, displacement transducer 215, displacement comparer 231, deviation compensator 232 connect into closed circuit in order, and motor 201 and speed pickup 214 are connected to speed comparator 233 and speed control 212 respectively; Comparer 221, speed control 222, driver 223, motor 202 and speed pickup 224, displacement transducer 225, displacement comparer 231, deviation compensator 232 connect into closed circuit in order, and motor 202 and speed pickup 224 are connected to speed comparator 233 and speed control 222 respectively;
Between stem system and the afterbody system; Motor 102 and speed pickup 124 are connected to comparer 121 through deviation compensator 300; Motor 201 and speed pickup 214 are connected to comparer 211 through deviation compensator 300, and displacement comparer 131 is connected to displacement detector 500 respectively with displacement comparer 231;
Displacement detector 400 is connected to displacement controller 500 through displacement comparer 600, and displacement controller 500 is connected to comparer 111, comparer 121, comparer 211 and comparer 221 respectively.
The concrete condition of above-mentioned critical piece is following,
Comparer: be an arithmetic element, its function is that some input signals are carried out type conversion (such as D/A (digital-to-analog) conversion) and scale transformation, carries out numerical operation then, obtains an output signal, supplies with controller or driver and uses.The input signal of comparer mainly contains given signal, on-the-spot detection signal and compensator output signal etc.Comparer is realized by a SCM system (also can be a PLC (programmable logic controller (PLC)) unit); Form by D/A or A/D device, isolating device, single-chip microcomputer or SOC(system on a chip), storage unit, I/O (I/O) bus unit and power-supply system; Belong to the light current circuit, generally be installed on the motor-driven carrier controller.
Displacement detector: be one and detect and arithmetic unit; Its function is that the head and the tail wheels displacement motor amount signal that displacement comparer 131,231 transmits is carried out filtering, scale transformation; Calculate the whole displacement information of motor-driven carrier, the displacement signal that then processing is obtained sends the displacement comparer to.Displacement detector is made up of central processing unit, I/O interface chip, A/D modular converter, power supply etc.Displacement detector is installed on the motor-driven carrier controller, calculates the motor-driven carrier displacement information in real time.
Displacement controller/speed control/deviation compensator: be a kind of digital operation unit; Its function is to move various control algolithm; Such as common pid (proportional integral derivative) algorithm, fuzzy, the adjustment controlled variable can be set, then with operation result from tuning PID algorithm, single neuron PID control etc.; Be controlled quentity controlled variable, output on comparer/driver.Displacement controller/speed control/deviation compensator realizes that by unit or PLC module or industrial computer on a SCM system or the sheet its core is CPU (central processing unit) parts, realizes the control figure calculation function.Its control algolithm of displacement controller, speed control and deviation compensator is all different with controlled variable, and control algolithm and controlled variable need and be adjusted according to the field condition design.On circuit structure; Displacement controller/speed control/deviation compensator is generally by formations such as CPU element, storage unit (ROM (read-only memory) and RAM (RAS)), I/O interface, logical device, clock unit, power supplys; Formed a kind of Composite Double closed loop controlling structure, this is one of core component of this control system.Displacement controller/speed control/deviation compensator is installed in the control box on the motor-driven carrier.Displacement controller/speed control/deviation compensator can be selected various existing control methods flexibly, and the present invention does not do concrete qualification.
Driver: take turns the difference that drags the motor-driven carrier drive motors based on eight, can select different drivers.For present popular induction machine, the motor-driven carrier driver generally adopts AC converter to realize.The motor-driven carrier driver is installed on the motor-driven carrier.
Speed pickup/displacement transducer: be a kind of analog quantity detection means, can adopt devices such as code-disc or inductosyn to realize, it is installed in the ad-hoc location of two suspender bridge crane trolley travelling mechanisms.
The invention has the beneficial effects as follows that its control system that relates to adopts compound adjacent deviation coupling process, has designed the controlling schemes based on the multi-motor coordination system of speed control closed loop and position control closed loop; Can effectively solve eight and take turns and drag motor-driven carrier location tracking Control problem, prevent the slip between wheel and the track simultaneously, and guarantee the accurate location of high speed dolly; With respect to traditional multi-motor coordination control system, control device of the present invention is simple in structure, and control effectively; Requirement to the controlled quentity controlled variable pick-up unit is lower; Cost is low, is easy to realize, and is easy to use.
Description of drawings
Fig. 1 is that rail mounted eight is taken turns and dragged motor-driven carrier location tracking control system structural representation.
Embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect and be easy to understand and understand, below in conjunction with concrete diagram, further set forth the present invention.
The speed closed loop of control system has adopted two comprehensive deviation compensators and a velocity deviation compensator, and the speed control amount of accomplishing the speed control ring compensates, and realizes speed coordination control.The position control outer shroud of control system is made up of displacement comparer, displacement controller and displacement detector.
Accompanying drawing 2 is taken turns for rail mounted eight and is dragged motor-driven carrier location tracking control system composition structural representation.Wherein, Comparer 111,121,211,221; Speed control 112,122,212,222, driver 113,123,213,223, motor and speed pickup 114,124,214,224; Speed comparator 133,233 and deviation compensator 132,232 have constituted the interior ring of speed control of control system, and displacement comparer 131,231, displacement controller 500, displacement detector 400 and displacement comparer 600 have constituted the position control outer shroud.
Its concrete control procedure is following:
Because the 26S Proteasome Structure and Function of dolly initial and tail sections control system is similar, only the control procedure with the stem system is that example is explained.The given signal in dolly position is provided according to on-the-spot container handling situation and container operation plan etc. by three-dimensional distribution system automatically.At first, displacement comparer 600 receives the displacement steering order of motor-driven carrier, provides the target location p of motor-driven carrier operation
d, in first sampling period, this instruction obtains interior ring velocity setting signal u through the processing of motor-driven carrier displacement controller 500
p, and sending to speed control 112,122, speed control 112,122 obtains speed control signal through the control computing
With
Send it to driver 113,123, and then drive the operation of motor-driven carrier stem motor 101,102, make the variation of motor-driven carrier generation speed and displacement; In second sampling period, speed pickup 114,124 detects the actual speed of two motors, and sends it to the speed control 112,122 of speed comparator 133 and two motors, and speed comparator 133 calculates the velocity deviation Δ ω of two motors
F=ω
1-ω
2, with Δ ω
FSend to deviation compensator 132, the displacement transducer 115,125 of two motors will detect the displacement information p of two motors simultaneously
1And p
2Be sent to displacement comparer 131, calculate the offset deviation Δ p of two motors
F=p
1-p
2, and with Δ p
FSend to deviation compensator 132, displacement comparer 131 is also with the Displacement Feedback information p of the stem bi-motor that obtains in addition
F=(p
1+ p
2)/2 send to displacement detector 400.The stem displacement deviation information p of displacement detector 400 analysis-by-synthesis input
FWith afterbody displacement deviation information p
B, obtain the Displacement Feedback information p of this moment motor-driven carrier
f=(p
F+ p
B)/2 are with p
fBe sent to displacement comparer 600, with given displacement signal p
dMake comparisons, obtain new displacement control signal Δ p=p
d-p
fAnd the Δ ω of 132 pairs of inputs of deviation compensator
FWith Δ p
FAnalyze, obtain the deviation compensation signal c of new stem bi-motor
F, with c
FSend to comparer 111,121, comparer 111,121 is with c
FWith speed control amount u
pCompare, obtain
With
Reference input as speed control 112,122 is sent to two speed controls respectively, and speed control calculates the speed control amount that makes new advances
With
Make the speed control of two motors keep synchronously, displacement obtains coordinating control.In like manner, the control procedure of afterbody bi-motor similarly, wherein, the main speed coordinations control of accomplishing between the initial and tail sections bi-motor groups of deviation compensator 300.In this periodicity control procedure of going round and beginning again, make that many motor speeds of motor-driven carrier control deviation obtains correcting, the displacement of motor-driven carrier is controlled, thereby realizes the accurate location and the tracking Control of motor-driven carrier.
Eight to take turns the control strategy that drags the motor-driven carrier control system be when motor-driven carrier wide position, and the ring speed control is preferential in the motor-driven carrier, guarantees that the multi-motors drive system of motor-driven carrier has higher travelling speed; When motor-driven carrier during near the target parking place, the many displacement motors controls of motor-driven carrier are preferential, guarantee effective braking of motor-driven carrier and accurate location.This preferential steering logic can realize through the parameter that program is in time adjusted controller, deviation compensator etc.When situation such as the initial and tail sections bi-motor skids, motor speed feedback and position feedback information are sent to deviation compensator, and deviation compensator 132,300,232 is compensated controlled quentity controlled variable c through compensation operation
F, Δ ω and c
B, and send speed control to, can eliminate the inharmonious of many motor operations, and the difference of correcting displacement between many motors, realize accurate positioning control.
More than show and described ultimate principle of the present invention, principal character and advantage of the present invention.The technician of the industry should understand; The present invention is not restricted to the described embodiments; That describes in the foregoing description and the instructions just explains principle of the present invention; The present invention also has various changes and modifications under the prerequisite that does not break away from spirit and scope of the invention, and these variations and improvement all fall in the scope of the invention that requires protection.The present invention requires protection domain to be defined by appending claims and equivalent thereof.
Claims (1)
1. rail mounted eight is taken turns and is dragged motor-driven carrier location tracking control system; Comprise displacement comparer, displacement detector, displacement controller, comparer, speed control, driver, motor and speed pickup, displacement transducer, deviation compensator; It is characterized in that; Said location tracking control system comprises stem system and afterbody system
In the stem system; First comparer 111, first speed control 112, first driver 113, first motor 101 and first speed pickup 114, first displacement transducer 115, the first displacement comparer 131, first deviation compensator 132 connect into closed circuit in order, and first motor 101 and first speed pickup 114 are connected to first speed comparator 133 and first speed control 112 respectively; Second comparer 121, second speed controller 122, second driver 123, second motor 102 and second speed sensor 124, second displacement transducer 125, the second displacement comparer 131, first deviation compensator 132 connect into closed circuit in order, and second motor 102 and second speed sensor 124 are connected to first speed comparator 133 and second speed controller 122 respectively;
In the afterbody system; The 3rd comparer 211, third speed controller 212, the 3rd driver 213, the 3rd motor 201 and third speed sensor 214, triple motion sensor 215, triple motion comparer 231, second deviation compensator 232 connect into closed circuit in order, and the 3rd motor 201 and third speed sensor 214 are connected to second speed comparer 233 and third speed controller 212 respectively; The 4th comparer 221, the 4th speed control 222, the 4th driver 223, the 4th motor 202 and the 4th speed pickup 224, the 4th displacement transducer 225, the 4th displacement comparer 231, second deviation compensator 232 connect into closed circuit in order, and the 4th motor 202 and the 4th speed pickup 224 are connected to second speed comparer 233 and the 4th speed control 222 respectively;
Between stem system and the afterbody system; Second motor 102 and second speed sensor 124 are connected to second comparer 121 through the 3rd deviation compensator 300; First motor 201 and second speed sensor 214 are connected to the 3rd comparer 211, the first displacement comparers 131 through the 3rd deviation compensator 300 and triple motion comparer 231 is connected to displacement detector 400 respectively;
Displacement detector 400 is connected to displacement controller 500 through displacement comparer 600, and displacement controller 500 is connected to first comparer 111, second comparer 121, the 3rd comparer 211 and the 4th comparer 221 respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105106697A CN102004510B (en) | 2010-10-19 | 2010-10-19 | Positioning and tracking control system for rail type eight wheel-dragged electric car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105106697A CN102004510B (en) | 2010-10-19 | 2010-10-19 | Positioning and tracking control system for rail type eight wheel-dragged electric car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102004510A CN102004510A (en) | 2011-04-06 |
| CN102004510B true CN102004510B (en) | 2012-04-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010105106697A Expired - Fee Related CN102004510B (en) | 2010-10-19 | 2010-10-19 | Positioning and tracking control system for rail type eight wheel-dragged electric car |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103837158B (en) * | 2014-03-06 | 2016-05-25 | 中国地质大学（武汉） | Railway tunnel work car ranging and range rate device |
| CN104440910B (en) * | 2014-11-07 | 2016-05-04 | 绵阳市维博电子有限责任公司 | A kind of method and system that realize robot both hands arm Synchronization Control |
| CN104935217B (en) * | 2015-05-29 | 2017-05-17 | 天津大学 | Improved deviation coupling control method suitable for multi-motor system |
| CN106887976B (en) * | 2017-04-27 | 2019-05-10 | 天津工业大学 | Consider more permanent magnet synchronous motor deviation coupling control methods of acceleration |
| CN107357288B (en) * | 2017-06-23 | 2020-07-31 | 东南大学 | Device and method for double-vehicle cooperative motion of Mecanum wheel robot |
| CN112542965B (en) * | 2020-11-26 | 2022-06-07 | 同济大学 | Multi-motor synchronous control system and method |
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|---|---|---|---|---|
| WO2006119787A1 (en) * | 2005-05-09 | 2006-11-16 | Otis Elevator Company | Method for controlling an elevator drive device and related operartion device for an elevator system |
| CN1959578A (en) * | 2005-11-04 | 2007-05-09 | 村田机械株式会社 | Control device for movable body |
| CN101717043A (en) * | 2009-12-04 | 2010-06-02 | 常州东方机电成套有限公司 | High-precision synchronous control system and method of crane operations of bridge type crane |
-
2010
- 2010-10-19 CN CN2010105106697A patent/CN102004510B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006119787A1 (en) * | 2005-05-09 | 2006-11-16 | Otis Elevator Company | Method for controlling an elevator drive device and related operartion device for an elevator system |
| CN1959578A (en) * | 2005-11-04 | 2007-05-09 | 村田机械株式会社 | Control device for movable body |
| CN101717043A (en) * | 2009-12-04 | 2010-06-02 | 常州东方机电成套有限公司 | High-precision synchronous control system and method of crane operations of bridge type crane |
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| CN102004510A (en) | 2011-04-06 |
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