CN102079486A - Multi-sling bridge crane control system with ultrasonic sensor and multi-sling bridge crane control method - Google Patents
Multi-sling bridge crane control system with ultrasonic sensor and multi-sling bridge crane control method Download PDFInfo
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- CN102079486A CN102079486A CN2011100378789A CN201110037878A CN102079486A CN 102079486 A CN102079486 A CN 102079486A CN 2011100378789 A CN2011100378789 A CN 2011100378789A CN 201110037878 A CN201110037878 A CN 201110037878A CN 102079486 A CN102079486 A CN 102079486A
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Abstract
The invention discloses a multi-sling bridge crane control system with an ultrasonic sensor and a multi-sling bridge crane control method, and the control system is characterized in that the system comprises a position control unit, an anti-swing control unit, a bridge, an operational command parser, a large crane position controller and a small crane position controller,a large crane servo driver and a small crane servo driver, a large crane position sensor and a small crane position sensor, a large crane position detection unit and a small crane position detection unit, a comparator, a multi-channel ultrasonic sensor and a large small crane sling swing-angle compensation controller.and a small crane sling swing-angle compensation controller. According to the invention, the detection on the positions, speeds, multi-sling swing-angles and the like of large traversing cranes and small traversing cranes can be completed through carrying out identification, processing and calculation on corresponding ultrasonic pulses only by using the large crane position sensor and small crane position sensor and the multi-channel ultrasonic sensor without using additional speed sensors and multi-sling swing-angle sensors, and then the anti-swing and positioning control on multi-sling bridge cranes can be realized.
Description
Technical field
The present invention relates to a kind of many suspenders bridge crane control system and control method, specially refer to a kind of many suspenders bridge crane control system and control method that has ultrasonic transduter.
Background technology
Along with growth, the international trade of world economy total amount develops, promoted that the freight container traffic industry is fast-developing rapidly, an urgent demand container terminal loading and unloading high efficiency, intellectuality, to improve efficiency of operation, the appearance of many suspenders quayside container crane (An Qiao and Chang Qiao), reduce harbour handling cost and energy consumption effectively, improved the operating efficiency of container hargour.
Present many suspenders quayside container crane mainly contains two two suspender quayside container cranes and three that hoist three suspender quayside container cranes that hoist, and this is a class novel container port loading and unloading machinery.Because a lot of quayside container cranes that rise have a plurality of suspenders that can independently hoist, can work simultaneously, thereby improve the handling efficiency of freight container greatly, still, and this many suspenders bridge crane complex structure, mode of operation is various, brings very big difficulty to control.In addition, this novel bridge crane has a plurality of suspenders that can hoist separately, the control that traditional single suspender bridge crane control system and control method are not suitable for this novel many suspenders bridge crane.
In sum, at the characteristics of prior art, need a kind of many suspenders bridge crane control system and control method that has ultrasonic transduter especially, to solve above-mentioned problem.
Summary of the invention
The object of the present invention is to provide a kind of many suspenders bridge crane control system and control method that has ultrasonic transduter, by corresponding ultrasonic pulse identification, processing and calculating, just can finish to bridge crane big/position of dolly, speed, and the detection of many suspenders pivot angle etc., and then realize the anti-of many suspenders bridge crane shaken and positioning control.
Technical matters solved by the invention can realize by the following technical solutions:
A kind of many suspenders bridge crane control system that has ultrasonic transduter, by greatly/dolly position control unit and anti-wave control unit and form, it is characterized in that described system comprises operator platform, operating order resolver, big/the dolly positioner, big/the dolly speed estimator, big/the dolly servo-driver, big/the dolly position transduser, big/the dolly position detection unit, comparator, channel ultrasonic wave sensor and big/dolly suspender pivot angle compensating controller.Wherein, operator platform is positioned at the bridge crane operator's compartment, is connected with the operating order resolver, and the mouth of operating order resolver is connected with comparator 1,2, and the mouth of comparator 1,2 is connected with big/dolly positioner; Greatly/and the dolly speed estimator is installed on the dolly of many suspenders bridge crane, and its input end is connected with big/dolly position detection unit; Greatly/and the dolly positioner is installed on the dolly of many suspenders bridge crane, and its input end is connected with big/dolly speed estimator with comparator 1,2, and its mouth is connected with other two comparators 12,22; Comparator 12,22 is installed on the dolly of many suspenders bridge crane, its input end with greatly/the dolly positioner links to each other with suspender pivot angle compensate control unit, its mouth with greatly/the dolly servo-driver links to each other; Suspender pivot angle compensating controller is installed on the dolly of many suspenders bridge crane, and its input end links to each other with the multichannel ultrasonic signal processing unit, and its mouth links to each other with comparator 22 with comparator 12 respectively; The channel ultrasonic wave sensor is installed on the dolly of many suspenders bridge crane, is made up of super sonic sending and receiving device and multichannel ultrasonic signal processing unit, and its input end links to each other with the bridge crane controller, and mouth is connected with suspender pivot angle compensating controller; Greatly/the dolly position transduser is installed in greatly/operating unit of dolly on, its mouth by fieldbus be installed on bridge crane big/big/dolly position detection unit in the dolly corresponding mobile mechanism is connected.
In one embodiment of the invention, the input end of described ultrasonic transmitter links to each other with the multichannel ultrasonic signal processing unit, it is installed in the geometric centre of each suspender, the mouth of ultrasonic receiver links to each other with the multichannel ultrasonic signal processing unit, and it is installed on the dolly of many suspenders bridge crane.
In one embodiment of the invention, described system is provided with two independently controllers, is respectively anti-register control and the anti-register control that shakes of bridge crane trolley of shaking of bridge crane cart.
In one embodiment of the invention, described ultrasonic transduter comprises ultrasonic transmitter-receiver and ultrasonic signal processor.
A kind of many suspenders bridge crane control method that has ultrasonic transduter comprises position control and anti-waves control, it is characterized in that described method comprises the steps:
1) at first sends the control command of bridge crane, be decomposed into the operating order of dolly along the operating order of directions X and cart along the Y direction through the operating order resolver by many suspenders bridge crane operator platform;
2) in first sampling period, operating order is sent to greatly/the dolly servo-driver through the processing of excessive/dolly positioner, controls big/trolley travelling to certain position;
3) in second sampling period, greatly/and the dolly position detection unit receives greatly/position detection signal of dolly position transduser, obtain the actual position of big/dolly and calculate the position deviation value S of big/dolly, actual position that simultaneously will big/dolly is sent to greatly/big/dolly velocity estimation value V that the dolly speed estimator calculates, then greatly/the position deviation value S of dolly and greatly/dolly velocity estimation value V sends to greatly/the dolly positioner controls computing and obtain greatly/position control signal of dolly; Simultaneously, the ultrasonic signal sensor is through obtaining suspender along the pivot angle value of dolly directions X with along the pivot angle value and the corresponding magnitude of angular velocity of cart Y direction to analysis, processing and the computing of detection signal, these information calculate suspender pivot angle compensate control amount through dolly directions X and cart Y direction suspender pivot angle compensating controller, then position control signal of big/dolly and the suspender pivot angle compensate control amount of big/dolly are sent in the comparator, the controlling quantity that must make new advances, and send it to big/dolly servo-driver, drive big/dolly and arrive new position;
4) constantly repeat in the second period to the control of dolly position and the inhibition of suspender pivot angle, up to reaching the final position.
The control setup of this invention is simple in structure, control effectively, lower to the requirement of controlling quantity detecting device, cost is low, is easy to realize, and is easy to use, and can realize big/dolly position control simultaneously and to the control of a plurality of suspender pivot angles.
Description of drawings
Fig. 1 is the scheme drawing that has many suspenders bridge crane control system of ultrasonic transduter of the present invention.
The specific embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect is easy to understand, below in conjunction with concrete diagram, further set forth the present invention.
As shown in Figure 1, a kind of many suspenders bridge crane control system that has ultrasonic transduter of the present invention, it comprises operator platform, operating order resolver, big/the dolly positioner, big/the dolly speed estimator, big/the dolly servo-driver, big/the dolly position transduser, big/the dolly position detection unit, comparator, channel ultrasonic wave sensor and big/dolly suspender pivot angle compensating controller.Described operator platform is positioned at the bridge crane operator's compartment, is responsible for providing the control signal of bridge crane operation; The decomposition of the main complete operation platform of operating order resolver bridge crane control command is about to order to the suspender operation and is decomposed into along the movement instruction of cart direction Y with along the movement instruction of dolly direction X; Greatly/the dolly positioner is responsible for receiving the bridge crane control command, and compare with various feedback signals, realize the control of big/dolly position, they are installed on the cart and dolly of many suspenders bridge crane; Large and small vehicle speed estimator, be responsible for big/dolly position signal of input differentiate (the speed estimator algorithm can use existing various differential algorithm), thereby obtain the speed signal of big/dolly, its function by greatly/the dolly positioner realizes; Greatly/the dolly servo-driver according to many suspenders bridge crane big/difference of trolley drive motor, can select different bridge crane servo-drivers, for present popular induction type drive motor, greatly/the dolly servo-driver generally adopts AC converter to realize, bridge crane is big/the dolly servo-driver be installed in bridge crane big/relevant position of dolly on; Greatly/dolly position transduser (as code-disc, inductosyn etc.) can detect greatly in real time/position of trolley travelling, it is installed in greatly/travel mechanism of dolly on; Greatly/function of dolly position detection unit is that big/dolly position analog measurement signal that fieldbus transmits is carried out filtering, scale conversion, isolation and A/D conversion, big/dolly the position signal that will obtain after will handling then sends comparator and big/dolly speed estimator to, greatly/the dolly position detection unit by the CAN bus with greatly/dolly position transduser (as code-disc, inductosyn etc.) links to each other, it is the part of bridge crane control computer, be installed on the bridge crane trolley, obtain on-the-spot bridge crane run location sensor information in real time by the CAN bus; Comparator is responsible for a plurality of signals of input are carried out algebraically or logic comparison operation, sends the result of comparison operation to next unit; The channel ultrasonic wave sensor (comprising ultrasonic transmitter-receiver and multichannel ultrasonic signal processor) is used for detecting in real time the running condition of corresponding suspender, and ultrasonic transmitter is installed in the geometric centre of each suspender, and ultrasonic receiver is installed on the dolly.Multichannel ultrasonic signal processor (being ultrasonic pulse emission, reception and treater) is responsible for emission, receives and handles the multiplex ultrasonic signal, each suspender distributes two-way ultrasonic pulse signal, detects this suspender respectively along moving of car direction X with along the swing situation of cart sense of motion Y.The multichannel ultrasonic signal processor filters out the pulse of unwanted frequency from the ultrasonic signal that receives, and finish corresponding suspender along the pivot angle of X direction and pivot angle speed and this suspender along the pivot angle of Y direction and the calculating of pivot angle speed, it is installed on the dolly of many suspenders bridge crane; Greatly/information such as the pivot angle of corresponding a plurality of suspenders of dolly suspender pivot angle compensating controller utilization input and cireular frequency, finish calculating to many suspenders pivot angle compensate control amount, the final inhibition that realizes many suspenders pivot angle, it is the part of bridge crane control computer, is installed on the dolly of many suspenders bridge crane.
As shown in Figure 1, a kind of many suspenders bridge crane control method that has ultrasonic transduter of the present invention, the realization position control is waved control with anti-, it is characterized in that described method comprises the steps:
1) at first sends the control command of bridge crane, be decomposed into along the operating order of dolly directions X with along the operating order of cart Y direction through the operating order resolver by many suspenders bridge crane operator platform;
2) in first sampling period, operating order is sent to greatly/the dolly servo-driver through the processing of excessive/dolly positioner, controls big/trolley travelling to certain position;
3) in second sampling period, greatly/and the dolly position detection unit receives greatly/position detection signal of dolly position transduser, obtain the actual position of big/dolly and calculate the position deviation value S of big/dolly, actual position that simultaneously will big/dolly is sent to greatly/big/dolly velocity estimation value V that the dolly speed estimator calculates, then greatly/the position deviation value S of dolly and greatly/dolly velocity estimation value V sends to greatly/the dolly positioner controls computing and obtain greatly/position control signal of dolly; Simultaneously, the ultrasonic signal sensor is through obtaining suspender along the pivot angle value of dolly directions X with along the pivot angle value and the corresponding magnitude of angular velocity of cart Y direction to analysis, processing and the computing of detection signal, these information are through calculating suspender pivot angle compensate control amount along the dolly directions X with along cart Y direction suspender pivot angle compensating controller, then position control signal of big/dolly and the suspender pivot angle compensate control amount of big/dolly are sent in the comparator, the controlling quantity that must make new advances, and send it to big/dolly servo-driver, drive big/dolly and arrive new position;
4) constantly repeat in the second period to the control of dolly position and the inhibition of suspender pivot angle, up to reaching the final position.
More than show and described groundwork of the present invention and principal character and advantage of the present invention.The technical personnel of the industry should be understood; the present invention is not restricted to the described embodiments; that describes in the foregoing description and the specification sheets just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications; these changes and improvements all fall in the claimed scope of the invention, and the claimed scope of the present invention is defined by appending claims and equivalent thereof
Claims (4)
1. many suspenders bridge crane control system that has ultrasonic transduter, by greatly/dolly position control unit and anti-wave control unit and form, it is characterized in that described system comprises operator platform, operating order resolver, big/the dolly positioner, big/the dolly speed estimator, big/the dolly servo-driver, big/the dolly position transduser, big/the dolly position detection unit, comparator, channel ultrasonic wave sensor and big/dolly suspender pivot angle compensating controller; Wherein, operator platform is positioned at the bridge crane operator's compartment, is connected with the operating order resolver, and the mouth of operating order resolver is connected with comparator (1), (2), and the mouth of comparator (1), (2) is connected with big/dolly positioner; Greatly/and the dolly speed estimator is installed on the dolly of many suspenders bridge crane, and its input end is connected with big/dolly position detection unit; Greatly/and the dolly positioner is installed on the dolly of many suspenders bridge crane, and its input end is connected with comparator (1), (2) and big/dolly speed estimator, and its mouth is connected with other two comparators (12), (22); Comparator (12), (22) are installed on the dolly of many suspenders bridge crane, its input end with greatly/the dolly positioner links to each other with suspender pivot angle compensate control unit, its mouth with greatly/the dolly servo-driver links to each other; Suspender pivot angle compensating controller is installed on the dolly of many suspenders bridge crane, and its input end links to each other with the multichannel ultrasonic signal processing unit, and its mouth links to each other with comparator (22) with comparator (12) respectively; The channel ultrasonic wave sensor is installed on the dolly of many suspenders bridge crane, is made up of super sonic sending and receiving device and multichannel ultrasonic signal processing unit, and its input end links to each other with the bridge crane controller, and mouth is connected with suspender pivot angle compensating controller; Greatly/the dolly position transduser is installed in greatly/operating unit of dolly on, its mouth by fieldbus be installed on bridge crane big/big/dolly position detection unit in the dolly corresponding mobile mechanism is connected.
2. the many suspenders bridge crane control system that has ultrasonic transduter as claimed in claim 1, it is characterized in that, the input end of described ultrasonic transmitter links to each other with the multichannel ultrasonic signal processing unit, it is installed in the geometric centre of each suspender, the mouth of ultrasonic receiver links to each other with the multichannel ultrasonic signal processing unit, and it is installed on the dolly of many suspenders bridge crane.
3. the many suspenders bridge crane control system that has ultrasonic transduter as claimed in claim 1 is characterized in that described system is provided with two independently controllers, is respectively anti-register control and the anti-register control that shakes of bridge crane trolley of shaking of bridge crane cart.
4. many suspenders bridge crane control method that has ultrasonic transduter comprises position control and anti-ly waves control, it is characterized in that described method comprises the steps:
1) at first sends the control command of bridge crane, be decomposed into the operating order of dolly along the operating order of directions X and cart along the Y direction through the operating order resolver by many suspenders bridge crane operator platform;
2) in first sampling period, operating order is sent to greatly/the dolly servo-driver through the processing of excessive/dolly positioner, controls big/trolley travelling to certain position;
3) in second sampling period, greatly/and the dolly position detection unit receives greatly/position detection signal of dolly position transduser, obtain the actual position of big/dolly and calculate the position deviation value S of big/dolly, actual position that simultaneously will big/dolly is sent to greatly/big/dolly velocity estimation value V that the dolly speed estimator calculates, then greatly/the position deviation value S of dolly and greatly/dolly velocity estimation value V sends to greatly/the dolly positioner controls computing and obtain greatly/position control signal of dolly; Simultaneously, the ultrasonic signal sensor is through obtaining suspender along the pivot angle value of dolly directions X with along the pivot angle value and the corresponding magnitude of angular velocity of cart Y direction to analysis, processing and the computing of detection signal, these information calculate suspender pivot angle compensate control amount through dolly directions X and cart Y direction suspender pivot angle compensating controller, then position control signal of big/dolly and the suspender pivot angle compensate control amount of big/dolly are sent in the comparator, the controlling quantity that must make new advances, and send it to big/dolly servo-driver, drive big/dolly and arrive new position;
4) constantly repeat in the second period control of dolly position and the inhibition of suspender pivot angle are reached the final position up to many suspenders bridge crane.
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| CN 201110037878 CN102079486B (en) | 2011-02-15 | 2011-02-15 | Multi-sling bridge crane control system with ultrasonic sensor and multi-sling bridge crane control method |
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| CN 201110037878 CN102079486B (en) | 2011-02-15 | 2011-02-15 | Multi-sling bridge crane control system with ultrasonic sensor and multi-sling bridge crane control method |
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Cited By (6)
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| CN103058059A (en) * | 2013-01-04 | 2013-04-24 | 中联重科股份有限公司 | Synchronous control device for double-flat-boom tower crane and crane carriages thereof |
| DE102012219860A1 (en) | 2012-10-30 | 2014-04-30 | Robert Bosch Gmbh | Method for determining relative position between actual position of vehicle and e.g. object, involves correcting position information with respect to actual position of vehicle based on position information and relative position |
| CN105776018A (en) * | 2016-04-27 | 2016-07-20 | 上海海事大学 | Positioning device and method for slings of double-lifting and double-sling bridge crane |
| CN107915134A (en) * | 2016-10-11 | 2018-04-17 | 深圳华云环保科技发展有限公司 | The anti-swinging method of crane and crane |
| CN108675136A (en) * | 2018-06-04 | 2018-10-19 | 上海海事大学 | A kind of pivot angle test device and its application suitable for suspender field bridge |
| CN108706469A (en) * | 2018-06-11 | 2018-10-26 | 武汉理工大学 | Crane intelligent anti-collision system based on millimetre-wave radar |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102012219860A1 (en) | 2012-10-30 | 2014-04-30 | Robert Bosch Gmbh | Method for determining relative position between actual position of vehicle and e.g. object, involves correcting position information with respect to actual position of vehicle based on position information and relative position |
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| CN108675136A (en) * | 2018-06-04 | 2018-10-19 | 上海海事大学 | A kind of pivot angle test device and its application suitable for suspender field bridge |
| CN108675136B (en) * | 2018-06-04 | 2019-09-03 | 上海海事大学 | A kind of pivot angle test device and its application suitable for suspender field bridge |
| CN108706469A (en) * | 2018-06-11 | 2018-10-26 | 武汉理工大学 | Crane intelligent anti-collision system based on millimetre-wave radar |
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