CN102331781B - 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 PDF

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Publication number
CN102331781B
CN102331781B CN201110173091.5A CN201110173091A CN102331781B CN 102331781 B CN102331781 B CN 102331781B CN 201110173091 A CN201110173091 A CN 201110173091A CN 102331781 B CN102331781 B CN 102331781B
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China
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topworks
lateral
dolly
walked
walking
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CN201110173091.5A
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Chinese (zh)
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CN102331781A (en
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姚叶锋
杨兵
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成都市新筑路桥机械股份有限公司
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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

Trolley left-right linear synchronous travelling control circuit, control method and pick-up unit
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 trolley left-right linear synchronous travelling control circuit, control method and left and right straight line synchronous walking pick-up unit.
Background technology
The outer inspection trolley of steel case beam is to walk on a kind of girder steel rectilinear orbit adopting joist steel or H type to make, for making regular check on and safeguard a kind of practical equipment of bridge.The travel mechanism of dolly is a set of gear reduction box by asynchronous motor or fluid motor-driven.
In the control of traditional line synchronous walking, mainly adopt variable frequency regulating speed control to control in conjunction with analog quantity, with open loop or semiclosed loop mode, realize the synchronous walking of dolly.Detect and adopt travel switch, approach switch or speed pickup, owing to being subject to mechanical fitting scale error, rigging error, and the impact of all many factors such as left and right carriage walking parallel track degree, friction factor, seam crossing resistance, inspection trolley can form larger cumulative errors in the process of walking, and it is large that relative displacement becomes, and easily causes dolly one checkpost rail,, there is very large 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, make operator in start the process of dolly gingerly, as though treading on thin ice.So the control of straight line synchronous walking has been become to the function that the outer inspection trolley of steel case beam is paid close attention to by user side relatively.
Traditional solution adopts more:
1, by manually adjusting, in the process of moving, the steel case beam of take is object of reference, whether observe left and right dolly at straight line, then manually adjust certain position of travel mechanism on one side, make it point-blank, complex operation, had both wasted the repair time, had increased again people's error in judgement.
2, at a certain angle with two travel switch shapes, the block of a triggering use is installed on rotating mechanism, when relative displacement appears in dolly, gear driven rotating mechanism rotates, run into travel switch, by procedure control unit, start left and right travel mechanism to carry out speed governing, the time of speed governing is set by 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 high to the installation site of electromechanical stop and self requirement on machining accuracy, is difficult for realizing, and synchronous effect is poor.
3, adopt speed pickup to make half-closed loop control, although the speed of left and right travel mechanism is consistent in the cycle at program scanning, but because steel case beam left and right track is in actual installation and use procedure, 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 both sides travel mechanism in same time, straight-line displacement is different, occurs the tandem phenomenon in left and right.
Summary of the invention
The object of the invention is the problem existing for prior art, 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.
The technical solution used in the present invention is such: a kind of trolley left-right linear synchronous travelling control circuit, comprises that scrambler, controller, driver element, left lateral are walked topworks and right lateral is walked topworks; Described scrambler is for detection of the relative angle of dolly left and right walking topworks; The angle information that controller is exported for received code device, and carry out logic judgement and computing according to angle information, to driver element output drive signal, driver element is for moving according to the left and right walking of described drive topworks.
Preferably, between described scrambler and controller, by CANOPEN communication, be connected.
A dolly left and right straight line synchronous walking control method, is characterized in that, comprises the following 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 straight-line displacement is inconsistent surpasses setting value m: if do not surpass and do not adjust, repeat this step 301; If surpass setting value, perform 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 described 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, until the left and right walking of dolly topworks returns to initial position;
Step 304: the left and right walking of dolly topworks walks according to initial velocity again.
Preferably, described angle delta a is defined as 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, maximum angle: a=arccos (l/d) °, d is left and right distance of walking between topworks, and maximum displacement is poor: s= m, 1 ° of corresponding velocity contrast of angle is:
Δυ'=s/(?a×t)?m/s;
In described step 302, according to dolly left lateral, 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:
When dolly advances, when | Δ a|>m and Δ a >0, illustrate that right dolly is faster than left dolly, the leading little vehicle speed in the right side in position is constant, and left dolly is made linear uniform motion with speed υ 1'=υ 1+ Δ υ ' * Δ a; Until | Δ a | during <m, left dolly reverts to initial velocity υ 1;
As | Δ a | >m and Δ a <0, illustrate that left dolly is faster than right dolly, the leading little vehicle speed in a left side in position is constant, and right dolly is made linear uniform motion with speed υ 2'=υ 2+ Δ υ ' * Δ a; Until | during Δ a|<m, right dolly reverts to initial velocity υ 2;
When dolly retreats, | Δ a | >m and Δ a >0, illustrate that left dolly is faster than right dolly, the leading little vehicle speed in a left side in position is constant, and right dolly is made linear uniform motion with speed υ 2'=υ 2+ Δ υ ' * Δ a; Until | Δ a | during <m, right dolly reverts to initial velocity υ 2;
When | Δ a|>m and Δ a<0, illustrate that right dolly is faster than left dolly, the leading little vehicle speed in the right side in position is constant, and left dolly is made linear uniform motion with speed υ 1'=υ 1+ Δ υ ' * Δ a; Until | Δ a | during <m, left dolly reverts to initial velocity υ 1.
Preferably, described setting value m is 0.1 °.
A dolly left and right straight line synchronous walking pick-up unit, comprises pivoting support and scrambler; The left lateral of described dolly is walked topworks and right lateral and is walked in topworks, to have respectively the bottom being connected with pivoting support; Described scrambler and pivoting support concentric are installed, and have the relation of being in transmission connection.
Preferably, described left lateral is walked topworks and right lateral and is walked the bottom of topworks and be welded on described pivoting support.
In sum, owing to having adopted technique scheme, the invention has the beneficial effects as follows:
1, trolley left-right linear synchronous travelling control circuit of the present invention and method, have advantages of that operation is simple and easy, reliable, automaticity is high;
2, straight line synchronous walking pick-up unit in dolly of the present invention left and right can detect the relative displacement of both sides travel mechanism in real time;
3, trolley left-right linear synchronous travelling control circuit of the present invention and method, can be for straight line synchronous walking is required in strict system, and wiring is simple, strong interference immunity;
4, trolley left-right linear synchronous travelling 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 operating personnel's labour intensity and psychological pressure, and guaranteed the security of travelling.
Accompanying drawing explanation
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein:
Fig. 1 is the schematic diagram of trolley left-right linear synchronous travelling control circuit in the present invention.
Fig. 2 is the process flow diagram of straight line synchronous walking control method in dolly left and right in the present invention.
Fig. 3 is dolly left and right straight line synchronous walking structure of the detecting device figure in the present invention.
Fig. 4 is pivoting support position enlarged drawing in Fig. 3.
Fig. 5 is that in the present invention, walking topworks in left and right departs from initial position angle schematic diagram.
Mark in figure: the bottom of the travelling wheel 3 CD-ROM drive motor 4 pivoting support 5 scrambler 6 analog bracket 7 walking topworkies of 1 guide rail 2 walking topworkies.
Embodiment
Disclosed all features in this instructions, or the step in disclosed all methods or process, except mutually exclusive feature and/or step, all can combine by any way.
Disclosed arbitrary feature in this instructions (comprising any accessory claim, summary and accompanying drawing), unless narration especially all can be replaced by other equivalences or the alternative features with similar object.That is,, unless narration especially, each feature is an example in a series of equivalences or similar characteristics.
As Fig. 1, trolley left-right linear synchronous travelling control circuit of the present invention comprises that scrambler, controller, driver element, left lateral are walked topworks and right lateral is walked topworks; Described scrambler is for detection of the relative angle of dolly left and right walking topworks; The angle information that controller is exported for received code device, and carry out logic judgement and computing according to angle information, to driver element output drive signal, driver element is for moving according to the left and right walking of described drive topworks.
Wherein scrambler is absolute value encoder or incremental encoder, can realize CANOPEN bus communication, and scrambler can be in arbitrarily angled zero clearing.
Described controller is for realizing PLC or the single-chip microcomputer of CANOPEN communication.Controller and scrambler are by CANOPEN communication.
Driver element is frequency converter or electric current, Voltage Regulator Module etc.
Left and right walking topworks is respectively gear case.
In the operation cabinet that described 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 straight line synchronous walking close-loop control scheme, with scrambler, detect the angle of rotating mechanism, what essence detected is exactly the relative displacement of left and right walking topworks, the rotating mechanism of scrambler and pivoting support is coaxially installed, the two becomes the angle ratio of 1:1, precision can up to 0.08 degree, (accuracy of detection of scrambler depends on the resolution of self, resolution is larger, accuracy of detection is higher, synchronous effect is better, and the encoder resolution adopting in this system is 2 12.)。Scrambler can carry out exchanges data by fieldbus and controller, controller (is no more than 50ms) at program scanning in the cycle, read the angle number of scrambler, by logic, judge and arithmetical operation, speed to walking topworks is made timely adjustment, reaches good straight line synchronous operation effect.
By scrambler, detect in real time, be not subject to the restriction of other workpieces, when improving accuracy of detection, reduced median error, can be when there is little deviation in left and right travel mechanism relative displacement, automatically the speed of walking topworks is made to instant adjustment, to reach the straight line synchronous effect of expectation.
As Fig. 3, in the present invention, dolly left and right straight line synchronous walking pick-up unit comprises pivoting support 4 and scrambler 5; The left lateral of described dolly is walked topworks and right lateral and is walked in topworks, to have respectively the bottom 7 being connected with pivoting support; Described scrambler 5 is installed with pivoting support 4 concentrics, and described left lateral is walked topworks and right lateral and walked the bottom 7 of topworks and be welded on described pivoting support.
CD-ROM drive motor 3 is by gear reduction box, drives left and right walking topworks to move, and inspection trolley advanced or retreat; Scrambler 5 is installed with pivoting support 4 concentrics, scrambler 5 shells are bolted, are fixed by a bracket 2, the axle sleeve of scrambler 5 is in pivoting support 4 turning axles, the large 0.1-0.2 millimeter of radius ratio scrambler radius of turning axle, a flat mouthful of side of scrambler, with screw, hold out against, make it synchronize and to rotate with turning axle.
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 rotate certain angle, thereby drive scrambler 5 to follow pivoting support 4, synchronously rotate, controller detects by the angle of real-time read-out encoder the angle that pivoting support turns over.
Below introduce dolly of the present invention left and right 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 l rice, left and right maximum spacing of walking topworks is d rice, 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 left and right walking position of 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).By theory, calculate and can draw following data (see figure 4):
Maximum angle: a=arccos (l/d) °
Maximum displacement is poor: s= m
If while reaching initial launch, the relative position that two dollies keep, the velocity contrast of left and right dolly is: Δ υ=s/t m/s
1 ° of corresponding velocity contrast of angle is: Δ υ '=s/ (a * t) m/s.
2. angle judgement:
When the reference position of left and right walking topworks is in the same horizontal line time, the initial angle of scrambler is a1, press the encoder tanks button on control panel, using this position as scrambler relative 0 degree position (can scrambler arbitrarily angled be set as relative 0 degree).In operational process, if two walking topworkies occur displacement difference in orbital direction, rotating mechanism will drive scrambler rotation, and shape is at a certain angle.The angle a2 of this Time Controller read-out encoder, the order of magnitude of judgement angle Δ a (Δ a=a2-a1), whether surpass minimum angles 0.1 degree of setting, if be greater than 0.1 degree, adjust the speed of two walking topworkies, thereby change the angle that the left and right topworks of walking departs from initial position, within making it to level off to the angular error scope of setting.
3. situation analysis: controller (is generally 50 milliseconds) at program scanning in the time, carries out speed adjustment according to size and the positive and negative relation of Δ a.
(1) when dolly advances, when | Δ a|>0.1 degree and Δ a >0, illustrate that right dolly is faster than left dolly, the leading little vehicle speed in the right side in position is constant, left dolly is made linear uniform motion with speed υ 1'=υ 1+ Δ υ ' * Δ a, when
| Δ a | when <0.1 spends, left dolly reverts to initial velocity υ 1.When | Δ a | >0.1 degree and Δ a <0, illustrate that left dolly is faster than right dolly, the leading little vehicle speed in a left side in position is constant, right dolly is made linear uniform motion with speed υ 2'=υ 2+ Δ υ ' * Δ a, when | when Δ a|<0.1 spends, right dolly reverts to initial velocity υ 2.
(2) when dolly retreats, | Δ a | >0.1 degree and Δ a >0, illustrate that left dolly is faster than right dolly, the leading little vehicle speed in a left side in position is constant, right dolly is made linear uniform motion with speed υ 2'=υ 2+ Δ υ ' * Δ a, when
| Δ a | when <0.1 spends, right dolly reverts to initial velocity υ 2.When | Δ a|>0.1 degree and Δ a<0, illustrate that right dolly is faster than left dolly, the leading little vehicle speed in the right side in position is constant, left dolly is made linear uniform motion with speed υ 1'=υ 1+ Δ υ ' * Δ a, when | Δ a | when <0.1 spends, left dolly reverts to initial velocity υ 1.Refer to Fig. 2.
By angle, detect with speed and adjust, the dolly of position lag can be when very little angular error, within the very short time, constantly speed governing removes to catch up with the leading dolly in position, makes | Δ a | within being reduced to 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 disclosing in this manual, and the arbitrary new method disclosing or step or any new combination of process.

Claims (2)

1. a dolly left and right straight line synchronous walking control method, is characterized in that, comprises the following 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 straight-line displacement is inconsistent surpasses setting value m: if do not surpass and do not adjust, repeat this step 301; If surpass setting value, perform 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 described 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, until the left and right walking of dolly topworks returns to initial position;
Step 304: the left and right walking of dolly topworks walks according to initial velocity again;
Described angle delta a is defined as 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, maximum angle: a=arccos (l/d), d is left and right distance of walking between topworks, and maximum displacement is poor: 1 ° of corresponding velocity contrast of angle is:
Δυ'=s/(a×t);
In described step 302, according to dolly left lateral, 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:
When dolly advances, when | Δ a|>m and Δ a>0, illustrate that right lateral walks topworks and walk topworks faster than left lateral, to walk topworks's speed constant for the leading right lateral in position, and left lateral is walked topworks and made linear uniform motion with speed υ 1'=υ 1+ Δ υ ' * Δ a; Until | during Δ a|<m, left lateral is walked topworks and is reverted to initial velocity υ 1;
When | Δ a|>m and Δ a<0, illustrate that left lateral walks topworks and walk topworks faster than right lateral, to walk topworks's speed constant for the leading left lateral in position, and right lateral is walked topworks and made linear uniform motion with speed υ 2'=υ 2+ Δ υ ' * Δ a; Until | during Δ a|<m, right lateral is walked topworks and is reverted to initial velocity υ 2;
When dolly retreats, | Δ a|>m and Δ a>0, illustrate that left lateral walks topworks and walk topworks faster than right lateral, to walk topworks's speed constant for the leading left lateral in position, and right lateral is walked topworks and made linear uniform motion with speed υ 2'=υ 2+ Δ υ ' * Δ a; Until | during Δ a|<m, right lateral is walked topworks and is reverted to initial velocity υ 2;
When | Δ a|>m and Δ a<0, illustrate that right lateral walks topworks and walk topworks faster than left lateral, to walk topworks's speed constant for the leading right lateral in position, and left lateral is walked topworks and made linear uniform motion with speed υ 1'=υ 1+ Δ υ ' * Δ a; Until | during Δ a|<m, left lateral is walked topworks and is reverted to initial velocity υ 1.
2. a kind of dolly according to claim 1 left and right straight line synchronous walking control method, is characterized in that, described setting value m is 0.1 °.
CN201110173091.5A 2011-06-24 2011-06-24 Trolley left-right linear synchronous travelling control circuit, control method and detection device CN102331781B (en)

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CN103268084B (en) * 2013-01-21 2015-09-09 成都市新筑路桥机械股份有限公司 The control method of rotary rail change of bridge inspection vehicle for outside of steel girder box
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