CN102331781A - Trolley left-right linear synchronous travelling control circuit, control method and detection device - Google Patents
Trolley left-right linear synchronous travelling control circuit, control method and detection device Download PDFInfo
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Abstract
The invention discloses a trolley left-right linear synchronous travelling control circuit, control method and detection device, relating to a technology used for checking linear synchronous travelling control of a trolley outside various steel box girders, aiming at providing a trolley left-right linear synchronous travelling control circuit with high accuracy, simple structure and good reliability, a control method and a detection device. The invention has the key point that the control circuit comprises an encoder, a controller, a driving unit, a left travelling actuating mechanism and a right travelling actuating mechanism, wherein the encoder is used for detecting relative angles of the left travelling actuating mechanism and the right travelling actuating mechanism of the trolley; the controller is used for receiving angle information output by the encoder, carrying out logical judgment and operation according to the angle information and outputting a driving signal to a driving unit, and the driving unit is used for driving the left travelling actuating mechanism and the right travelling actuating mechanism to move according to the driving signal. The trolley left-right linear synchronous travelling control circuit, control method and detection device in the invention are mainly used for checking linear synchronous travelling control of the trolley outside various steel box girders.
Description
Technical field
The present invention relates to various steel case beams and check dolly straight line synchronous walking control technology outward, especially a kind of dolly left and right sides straight line synchronous walking control circuit, control method and left and right sides straight line synchronous walking pick-up unit.
Background technology
The outer inspection trolley of steel case beam is a kind ofly on the girder steel rectilinear orbit that adopts joist steel or H type to make, to walk, and is used to make regular check on and safeguard a kind of practical equipment of bridge.The travel mechanism of dolly is the gear reduction box of a cover by asynchronous motor or fluid motor-driven.
In the control of traditional line synchronous walking, mainly adopt variable frequency regulating speed control to combine analog quantity control, realize the synchronous walking of dolly with open loop or semiclosed loop mode.Detect to adopt travel switch, near switch or speed pickup, owing to receive mechanical fitting scale error, rigging error; And the influence of many aspects factor such as left and right sides carriage walking parallel track degree, friction factor, seam crossing resistance; Inspection trolley can form bigger cumulative errors in the process of walking, it is big that relative displacement becomes, and causes dolly one checkpost rail easily; There is very big potential safety hazard in the phenomenon of derailing on one side.Not only delayed the process of work but also increased a large amount of odd words, made operator quivering with fear, as though treading on thin ice in start the process of dolly.So the control to the straight line synchronous walking has become the function that the outer inspection trolley of steel case beam is paid close attention to by the user side relatively.
Traditional solution adopts more:
1, through manual adjustment, in the process of moving, be object of reference with steel case beam; Whether observe left and right sides dolly at straight line, the position of manual adjustment one side travel mechanism makes it point-blank then; Complex operation had both been wasted the repair time, had increased people's error in judgement again.
2, form certain included angle with two travel switches; The block of a triggering usefulness is installed on rotating mechanism, and when relative displacement appears in dolly, the gear driven rotating mechanism rotates; Run into travel switch; Through procedure control unit, begin left and right sides travel mechanism is carried out speed governing, the time of speed governing is set through artificial.Because travel switch itself has a trigger angle, the precision of detection is low, and deflection angle is at least more than 3 degree, and is and high to the installation site of electromechanical stop and self requirement on machining accuracy, is difficult for realizing that synchronous effect is poor.
3, adopt speed pickup to make half-closed loop control, though the speed of left and right sides travel mechanism is consistent in the cycle at program scanning, because steel case beam left and right sides track is in the installation and use of reality; The depth of parallelism of both sides track; Friction factor is different, and left and right tooth roller box fit-up gap is different, causes the both sides travel mechanism in the identical time; Straight-line displacement is different, the tandem phenomenon in the left and right sides occurs.
Summary of the invention
The objective of the invention is problem, a kind of control and high, simple and practical dolly straight line synchronous walking control circuit, control method and the pick-up unit of accuracy of detection are provided to the prior art existence.
The technical scheme that the present invention adopts is such: a kind of dolly left and right sides straight line synchronous walking control circuit comprises that scrambler, controller, driver element, left lateral are walked topworks and right lateral is walked topworks; Said scrambler is used to detect the relative angle of dolly left and right walking topworks; Controller is used for the angle information of received code device output, and carries out logic determines and computing according to angle information, and to the driver element output drive signal, driver element is used for moving according to the left and right walking of said drive topworks.
Preferably, be connected through the CANOPEN communication between said scrambler and the controller.
A kind of dolly left and right sides straight line synchronous walking control method is characterized in that, may further comprise the steps:
Step 301: whether the angle delta a that departs from initial position that the left and right walking of detection dolly topworks produces because of straight-line displacement is inconsistent surpasses setting value m: then do not adjust if surpass, repeat this step 301; If surpass setting value, then execution in step 302;
Step 302: walk the speed that topworks and right lateral are walked topworks according to the value counting of carriers left lateral of said angle;
Step 303: control dolly left lateral walks topworks and right lateral is walked the speed walking that topworks is calculated according to step 302, and topworks returns to initial position up to the left and right walking of dolly;
Step 304: the left and right walking of dolly topworks walks according to initial velocity again.
Preferably; Said angle delta a is defined as the dolly left lateral and walks topworks and right lateral and walk the current angle of topworks and deduct initial angle; υ 1 walks the initial velocity of topworks for left lateral; υ 2 walks the initial velocity of topworks for right lateral, and maximum angle: a=arccos (l/d) °, d is the distance between the left and right walking topworks; Maximum displacement is poor: s=
m, and 1 ° of pairing velocity contrast of angle is:
Δυ'=s/( a×t) m/s；
Walk the positive and negative and big or small computing velocity value that topworks and right lateral are walked the angle delta a that departs from initial position of topworks according to the dolly left lateral in the said step 302:
When dolly advances, as | Δ a|>m and Δ a>0, right dolly is described faster than left dolly, then the leading right little vehicle speed in position is constant, and left dolly is made linear uniform motion with speed υ 1'=υ 1+ Δ υ ' * Δ a; Up to | Δ a | < during m, left dolly reverts to initial velocity υ 1;
As | Δ a |>m and Δ a 0, and left dolly is described faster than right dolly, then the leading left little vehicle speed in position is constant, and right dolly is made linear uniform motion with speed υ 2'=υ 2+ Δ υ ' * Δ a; Up to | < during m, right dolly reverts to initial velocity υ 2 to Δ a|;
When dolly is retreated, | Δ a | m and Δ a>0, left dolly is described faster than right dolly, then the leading left little vehicle speed in position is constant, and right dolly is made linear uniform motion with speed υ 2'=υ 2+ Δ υ ' * Δ a; Up to | Δ a | < during m, right dolly reverts to initial velocity υ 2;
As | Δ a|>m and Δ a 0, and right dolly is described faster than left dolly, then the leading right little vehicle speed in position is constant, and left dolly is made linear uniform motion with speed υ 1'=υ 1+ Δ υ ' * Δ a; Up to | Δ a | < during m, left dolly reverts to initial velocity υ 1.
Preferably, said setting value m is 0.1 °.
A kind of dolly left and right sides straight line synchronous walking pick-up unit comprises pivoting support and scrambler; The left lateral of said dolly is walked topworks and is walked to have the bottom that is connected with pivoting support in the topworks respectively with right lateral; Said scrambler and pivoting support concentric are installed, and have the relation of being in transmission connection.
Preferably, said left lateral is walked topworks and right lateral and is walked the bottom of topworks and be welded on the said pivoting support.
In sum, owing to adopted technique scheme, the invention has the beneficial effects as follows:
1, dolly left and right sides straight line synchronous walking control circuit of the present invention and method have the advantage that operation is simple and easy, reliable, automaticity is high;
2, dolly of the present invention left and right sides straight line synchronous walking pick-up unit can detect the relative displacement of both sides travel mechanism in real time;
3, dolly left and right sides straight line synchronous walking control circuit of the present invention and method can be used for the system strict to the straight line synchronous walking, and wiring is simple, strong interference immunity;
4, dolly left and right sides straight line synchronous walking control circuit of the present invention and method; Solved the phenomenon that conventional open-loop control or half-closed loop control cause dolly card rail and derailing; Control accuracy is high; Safe and reliable, greatly reduce labor intensity of operating personnel and psychological pressure, and guaranteed the security of going.
Description of drawings
The present invention will explain through example and with reference to the mode of accompanying drawing, wherein:
Fig. 1 is the schematic diagram of straight line synchronous walking control circuit in the dolly left and right sides among the present invention.
Fig. 2 is the process flow diagram of straight line synchronous walking control method in the dolly left and right sides among the present invention.
Fig. 3 is a dolly left and right sides straight line synchronous walking pick-up unit structural drawing among the present invention.
Fig. 4 is a pivoting support position enlarged drawing among Fig. 3.
Fig. 5 departs from initial position angle synoptic diagram for walking topworks about among the present invention.
Mark among the figure: the bottom of the travelling wheel 3 CD-ROM drive motors 4 pivoting supports 5 scramblers 6 analog brackets 7 walking topworkies of 1 guide rail, 2 walking topworkies.
Embodiment
Disclosed all characteristics in this instructions, or the step in disclosed all methods or the process except mutually exclusive characteristic and/or the step, all can make up by any way.
Disclosed arbitrary characteristic in this instructions (comprising any accessory claim, summary and accompanying drawing) is only if special narration all can be replaced by other equivalences or the alternative features with similar purpose.That is, only if special narration, each characteristic is an example in a series of equivalences or the similar characteristics.
Like Fig. 1, dolly of the present invention left and right sides straight line synchronous walking control circuit comprises that scrambler, controller, driver element, left lateral are walked topworks and right lateral is walked topworks; Said scrambler is used to detect the relative angle of dolly left and right walking topworks; Controller is used for the angle information of received code device output, and carries out logic determines and computing according to angle information, and to the driver element output drive signal, driver element is used for moving according to the left and right walking of said drive topworks.
Wherein scrambler is absolute value encoder or incremental encoder, can realize the CANOPEN bus communication, and scrambler can be in arbitrarily angled zero clearing.
Said controller is for realizing the PLC or the single-chip microcomputer of CANOPEN communication.Controller and scrambler are through the CANOPEN communication.
Driver element is frequency converter or electric current, VRM Voltage Regulator Module etc.
Left and right walking topworks is respectively gear case.
In the operation cabinet that said scrambler, controller, driver element etc. can be integrated in one.
Scrambler, controller, driver element, left lateral walk topworks and right lateral is walked topworks's formation dolly left and right sides straight line synchronous walking close-loop control scheme; Detect the angle of rotating mechanism with scrambler, walk about the being exactly relative displacement of topworks that essence detects, scrambler and the coaxial installation of the rotating mechanism of pivoting support; The two becomes the angle ratio of 1:1; Precision can (accuracy of detection of scrambler depends on the resolution of self, and resolution is big more, and accuracy of detection is high more up to 0.08 degree; Synchronous effect is good more, and the encoder resolution that in this system, adopts is 2
12）。Scrambler can carry out exchanges data through fieldbus and controller; Controller (is no more than 50ms) at program scanning in the cycle; Read the angle number of scrambler; Through logic determines and arithmetical operation, the speed of walking topworks is made timely adjustment, reach good straight line synchronous operation effect.
Come to detect in real time through scrambler; Do not receive the restriction of other workpieces, reduced median error when improving accuracy of detection, can be in the left and right sides when little deviation appears in the travel mechanism relative displacement; Automatically the speed of walking topworks is made instant adjustment, to reach the straight line synchronous effect of expectation.
Like Fig. 3, dolly left and right sides straight line synchronous walking pick-up unit comprises pivoting support 4 and scrambler 5 among the present invention; The left lateral of said dolly is walked topworks and is walked to have the bottom 7 that is connected with pivoting support in the topworks respectively with right lateral; Said scrambler 5 is installed with pivoting support 4 concentrics, and said left lateral is walked topworks and right lateral and walked the bottom 7 of topworks and be welded on the said pivoting support.
CD-ROM drive motor 3 is through gear reduction box, drives left and right walking topworks and moves, and inspection trolley is advanced or retreats; Scrambler 5 is installed with pivoting support 4 concentrics; Scrambler 5 shells are connected, fix through bolt by a carriage 2; The axle sleeve of scrambler 5 in pivoting support 4 turning axles, the big 0.1-0.2 millimeter of radius ratio scrambler radius of turning axle, the flat mouthful side of scrambler; Hold out against with screw, it can be rotated with turning axle synchronously.
Left and right walking topworks drags carriage walking; When the walking topworks relative position of the left and right sides changes; Pivoting support 4 will rotating certain angle; Thereby drive scrambler 5 is followed pivoting support 4 and is rotated synchronously, and controller detects the angle that pivoting support turns over through the angle of real-time read-out encoder.
Below introduce dolly of the present invention left and right sides straight line synchronous walking control method:
1. known conditions analysis:
The left and right walking topworks of dolly all makes linear uniform motion in orbit; If track space is a l rice, the maximum spacing of left and right walking topworks is a d rice, and the speed of travel that left lateral is walked topworks is υ 1 m/s; The speed of travel that right lateral is walked topworks is υ 2 m/s; Elapsed time t is after second, and the position of left and right walking topworks and the angle of initial position reach maximum a °, and left and right walking topworks air line distance differs s m.(generally when initial launch, making υ 1=υ 2).Can draw following data (see figure 4) through Theoretical Calculation:
Maximum angle: a=arccos (l/d) °
Maximum displacement is poor: s=
m
If when reaching initial launch, the relative position that two dollies keep, then the velocity contrast of left and right sides dolly is: Δ υ=s/t m/s
1 ° of pairing velocity contrast of angle is: the Δ υ '=s/ (m/s of a * t).
2. angle is judged:
When the reference position of left and right walking topworks is on same horizontal line; The initial angle of scrambler is a1; Press the encoder tanks button on the control panel, this position as the relative 0 degree position of scrambler (can scrambler arbitrarily angled be set at relative 0 the degree).In operational process, if two walking topworkies displacement difference occurs in orbital direction, rotating mechanism will drive the scrambler rotation, form certain included angle.This moment the controller read-out encoder angle a2; Judge the order of magnitude of angle Δ a (Δ a=a2-a1); Whether surpass minimum angles 0.1 degree of setting; If greater than 0.1 degree then adjust the speed of two walking topworkies, thereby change the angle that left and right walking topworks departs from initial position, make it to level off within the angular error scope of setting.
3. situation analysis: controller (is generally 50 milliseconds) at program scanning in the time, carries out the speed adjustment according to size and the positive and negative relation of Δ a.
When (1) dolly advances, as | Δ a|>0.1 degree and Δ a>0, right dolly is described faster than left dolly, then the leading right little vehicle speed in position is constant, and left dolly is made linear uniform motion with speed υ 1'=υ 1+ Δ υ ' * Δ a, when
| Δ a | < 0.1 when spending, and left dolly reverts to initial velocity υ 1.As | Δ a |>0.1 degree and Δ a 0, and left dolly is described faster than right dolly, then the leading left little vehicle speed in position is constant, and right dolly is made linear uniform motion with speed υ 2'=υ 2+ Δ υ ' * Δ a, and < 0.1 when spending, and right dolly reverts to initial velocity υ 2 as | Δ a|.
When (2) dolly is retreated, | Δ a | 0.1 degree and Δ a>0, left dolly is described faster than right dolly, then the leading left little vehicle speed in position is constant, and right dolly is made linear uniform motion with speed υ 2'=υ 2+ Δ υ ' * Δ a, when
| Δ a | < 0.1 when spending, and right dolly reverts to initial velocity υ 2.As | Δ a|>0.1 degree and Δ a 0, and right dolly is described faster than left dolly, then the leading right little vehicle speed in position is constant, and left dolly is made linear uniform motion with speed υ 1'=υ 1+ Δ υ ' * Δ a, as | Δ a | < 0.1 when spending, and left dolly reverts to initial velocity υ 1.See Fig. 2 for details.
Through angular detection and speed adjustment; The dolly that the position lags behind can be when very little angular error; Constantly speed governing removes to catch up with the leading dolly in position in the very short time, makes | Δ a | and be reduced within the error range of permission, thereby realize the good synchronous operation effect of both sides travel mechanism.
The present invention is not limited to aforesaid embodiment.The present invention expands to any new feature or any new combination that discloses in this manual, and the arbitrary new method that discloses or step or any new combination of process.
Claims (7)
1. a dolly left and right sides straight line synchronous walking control circuit is characterized in that, comprises that scrambler, controller, driver element, left lateral are walked topworks and right lateral is walked topworks; Said scrambler is used to detect the relative angle of dolly left and right walking topworks; Controller is used for the angle information of received code device output, and carries out logic determines and computing according to angle information, and to the driver element output drive signal, driver element is used for moving according to the left and right walking of said drive topworks.
2. a kind of dolly according to claim 1 left and right sides straight line synchronous walking control circuit is characterized in that, is connected through the CANOPEN communication between said scrambler and the controller.
3. a dolly left and right sides straight line synchronous walking control method is characterized in that, may further comprise the steps:
Step 301: whether the angle delta a that departs from initial position that the left and right walking of detection dolly topworks produces because of straight-line displacement is inconsistent surpasses setting value m: then do not adjust if surpass, repeat this step 301; If surpass setting value, then execution in step 302;
Step 302: walk the speed that topworks and right lateral are walked topworks according to the value counting of carriers left lateral of said angle;
Step 303: control dolly left lateral walks topworks and right lateral is walked the speed walking that topworks is calculated according to step 302, and topworks returns to initial position up to the left and right walking of dolly;
Step 304: the left and right walking of dolly topworks walks according to initial velocity again.
4. a kind of dolly according to claim 3 left and right sides straight line synchronous walking control method; It is characterized in that; Said angle delta a is defined as the dolly left lateral and walks topworks and right lateral and walk the current angle of topworks and deduct initial angle; υ 1 walks the initial velocity of topworks for left lateral; υ 2 walks the initial velocity of topworks for right lateral, and maximum angle: a=arccos (l/d) °, d is the distance between the left and right walking topworks; Maximum displacement is poor: s=
m, and 1 ° of pairing velocity contrast of angle is:
Δυ'=s/( a×t) m/s；
Walk the positive and negative and big or small computing velocity value that topworks and right lateral are walked the angle delta a that departs from initial position of topworks according to the dolly left lateral in the said step 302:
When dolly advances, as | Δ a|>m and Δ a>0, right dolly is described faster than left dolly, then the leading right little vehicle speed in position is constant, and left dolly is made linear uniform motion with speed υ 1'=υ 1+ Δ υ ' * Δ a; Up to | Δ a | < during m, left dolly reverts to initial velocity υ 1;
As | Δ a |>m and Δ a 0, and left dolly is described faster than right dolly, then the leading left little vehicle speed in position is constant, and right dolly is made linear uniform motion with speed υ 2'=υ 2+ Δ υ ' * Δ a; Up to | < during m, right dolly reverts to initial velocity υ 2 to Δ a|;
When dolly is retreated, | Δ a | m and Δ a>0, left dolly is described faster than right dolly, then the leading left little vehicle speed in position is constant, and right dolly is made linear uniform motion with speed υ 2'=υ 2+ Δ υ ' * Δ a; Up to | Δ a | < during m, right dolly reverts to initial velocity υ 2;
As | Δ a|>m and Δ a 0, and right dolly is described faster than left dolly, then the leading right little vehicle speed in position is constant, and left dolly is made linear uniform motion with speed υ 1'=υ 1+ Δ υ ' * Δ a; Up to | Δ a | < during m, left dolly reverts to initial velocity υ 1.
5. according to claim 3 or 4 described a kind of dolly left and right sides straight line synchronous walking control methods, it is characterized in that said setting value m is 0.1 °.
6. a dolly left and right sides straight line synchronous walking pick-up unit is characterized in that, comprises pivoting support and scrambler; The left lateral of said dolly is walked topworks and is walked to have the bottom that is connected with pivoting support in the topworks respectively with right lateral; Said scrambler and pivoting support concentric are installed, and have the relation of being in transmission connection.
7. a kind of dolly according to claim 6 left and right sides straight line synchronous walking pick-up unit is characterized in that, said left lateral is walked topworks and right lateral and walked the bottom of topworks and be welded on the said pivoting support.
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| CN110377023A (en) * | 2018-12-04 | 2019-10-25 | 天津京东深拓机器人科技有限公司 | A kind of method and system that realization device moves synchronously |
| CN111240266A (en) * | 2020-01-16 | 2020-06-05 | 湖南格兰博智能科技有限责任公司 | Two-wheel speed irregularity optimization algorithm applied to sweeping robot |
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