CN102621991A - Device, system and method for positioning control of movement mechanism and engineering machinery - Google Patents
Device, system and method for positioning control of movement mechanism and engineering machinery Download PDFInfo
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- CN102621991A CN102621991A CN2012100849438A CN201210084943A CN102621991A CN 102621991 A CN102621991 A CN 102621991A CN 2012100849438 A CN2012100849438 A CN 2012100849438A CN 201210084943 A CN201210084943 A CN 201210084943A CN 102621991 A CN102621991 A CN 102621991A
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Abstract
The invention provides a device, a system and a method for positioning control of a movement mechanism and engineering machinery. The positioning control device comprises a control unit which is used for acquiring current movement position of the movement mechanism and indicating a first signal of the movement mechanism moving to a target position. When a difference value between the current movement position and the target position is larger than a set value, the control unit controls the movement mechanism to move at a first speed, otherwise, the control unit controls the movement mechanism to move at a second speed lower than the first speed, and the control unit controls the movement mechanism to stop when receiving the first signal. A real-time position detection position is used for detecting current position of the movement mechanism in real time, the movement mechanism can be controlled to move to the target position at the lower second speed and finally positioned through the first signal sent out by a target position detecting unit, higher positioning precision can be achieved, and mechanical parts or hydraulic parts of the engineering machinery can be protected from damage.
Description
Technical field
The present invention relates to engineering machinery field, more specifically, relate to a kind of position control device, system, method and engineering machinery of motion.
Background technology
Can use various motions in the engineering machinery, these motions can moving linearly, also can move along a curved path, and during use, need control and locatees the motion of motion.For example, have in the engineering machinery of slew gear at crane, pump truck, high empty wagons, high-altitude fire truck etc., after operation is accomplished, have only through slew gear to jib centering after, the operation that just can receive arm.This is because jib must rotate to the on all four direction in axis, chassis and just can put down, otherwise might damage mechanical part, even causes serious security incident.
Fig. 1 shows a kind of schematic diagram that is used to control the position control device of slew gear of the prior art.As shown in Figure 1; General in the prior art through control module (for example PLC controller); Be rotated through topworks's (for example proportioning valve, reversal valve etc.) control slew gear with manual or automated manner, and rely on angular transducer or travel switch whether to detect centering.When detecting certain threshold values of angular transducer or travel switch arrival, finish centering; Otherwise continue the revolution of control slew gear.
When only adopting angular transducer to detect, generally all there is the phenomenon (being that deviation appears in the centering angle) of zero drift, this can cause the insecure problem of testing result.In addition, because the precision of angular transducer is limited, the centering result is unsatisfactory.If rely on this result to put down jib for a long time, then damage chassis overhang or associated components easily, even security incident occurs.Further, when zero drift appears in angular transducer, can't automatically demarcate, need often carry out manual work and demarcate, have the shortcoming that wastes time and energy.
When only adopting travel switch to detect; Though can more accurately realize centering; But therefore the angle of accurately perception current arm support in real time can't control the speed of gyration of slew gear, effectively easily because reasons such as inertia cause the phenomenon of " crossing centering ".
Summary of the invention
The present invention aims to provide a kind of position control device, system, method and engineering machinery of motion, to solve in the prior art problem that can't accurately locate the motion of motion.
For solving the problems of the technologies described above; According to a first aspect of the invention; A kind of position control device of motion is provided, has comprised: control module, obtain the current movement position of motion and be used to indicate motion to move to first signal of target location; When the difference between current movement position and the target location during greater than setting value, control module controlled motion mechanism is with first speeds; Otherwise control module controlled motion mechanism moves with the second speed less than first speed, and when control module receives first signal, the stop motion of controlled motion mechanism.
Further, motion is a slew gear.
Further, after the difference between current movement position and the target location equaled setting value, the angle that motion turns over was first angle; When if first angle has surpassed setting value, control module is not still received first signal, and then control module judges that the target position detection unit be used to produce first signal breaks down.
Further, the pairing value of obtaining when motion navigates to the target location of current movement position is the target location value, and control module is demarcated the real time position detecting unit that is used to detect current movement position according to the target location value.
According to a second aspect of the invention, a kind of positioning control system of motion is provided, has comprised: the real time position detecting unit is used to detect the current movement position of motion; Target position detection unit is used to detect the whether arrival target location of motion, and when motion reached the target location, target position detection unit was sent first signal; Position control device, position control device are above-mentioned position control devices.
According to a third aspect of the present invention, a kind of engineering machinery is provided, has comprised motion and the positioning control system that is used for the motion of motion is controlled, this positioning control system is above-mentioned positioning control system.
According to a fourth aspect of the present invention, a kind of position control method of motion is provided, has comprised: obtained the current movement position of motion and be used to indicate motion to move to first signal of target location; When the difference between current movement position and the target location during greater than setting value, controlled motion mechanism is with first speeds; Otherwise controlled motion mechanism moves with the second speed less than first speed, and when detecting first signal, the stop motion of controlled motion mechanism.
Further, the motion of motion is gyration.
Further, after the difference between current movement position and the target location equaled setting value, the angle that motion turns over was first angle; When if first angle has surpassed setting value, still do not receive first signal, judge that then the target position detection unit be used to produce first signal breaks down.
Further, the pairing value of obtaining when motion navigates to the target location of current movement position is the target location value, according to the target location value real time position detecting unit that is used to detect current movement position is demarcated.
Position control device among the present invention is owing to adopted the real time position detecting unit that the current location of motion is detected in real time; Thereby the may command motion arrives target location with lower second speed motion; And first signal that finally sends through target position detection unit is realized the location to motion; Can reach high orientation precision, prevent the mechanical part or the hydraulic unit of spoiled work machinery.
Description of drawings
The accompanying drawing that constitutes the application's a part is used to provide further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used to explain the present invention, do not constitute improper qualification of the present invention.In the accompanying drawings:
Fig. 1 has schematically shown a kind of schematic diagram that is used to control the position control device of slew gear of the prior art;
Fig. 2 has schematically shown the schematic diagram of the position control device in the embodiment of the invention; And
Fig. 3 has schematically shown the control flow chart of the position control device in the embodiment of the invention.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated, but the multitude of different ways that the present invention can be defined by the claims and cover is implemented.
As first aspect of the present invention, a kind of position control device of motion is provided.As shown in Figure 2, position control device comprises: control module (for example microcontroller, PLC controller etc.), obtain the current movement position of motion and be used to indicate motion to move to first signal of target location; When the difference between current movement position and the target location during greater than setting value, control module controlled motion mechanism is with first speeds; Otherwise control module controlled motion mechanism moves with the second speed less than first speed, and when control module receives first signal, the stop motion of controlled motion mechanism.
Need to prove that motion can moving linearly, (for example gyration etc.) also can move along a curved path.Position control device among the present invention can make motion finally navigate to target location through the motion control to motion.
Be example below with the slew gear, the course of work of the position control device among the present invention is described.
Please refer to Fig. 2; Can detect through the current movement position of real time position detecting unit motion; Its detected positional information sends to control module; When control module detects motion from the target location when also having larger distance (difference between current movement position and the target location is greater than setting value), control module can control executing mechanism with higher speeds, thereby drive movement mechanism is with first speeds.Otherwise; When control module detects motion near the target location (difference between current movement position and the target location is less than or equal to setting value); At this moment, need to reduce the speed of motion, make its with second speed lentamente near the target location.Preferably, when the difference between current movement position and the target location equals setting value, the direction of motion of control module record motion, and controlled motion mechanism continues to move along this direction of motion, and finally arrive at the target location.
In the process near the target location lentamente, whether the control module detection at any time has first signal that can indicate motion to move to the target location.That is to say,, just show that motion has arrived the target location if receive first signal.At this moment, control module gets final product control executing mechanism (for example proportioning valve, reversal valve, motor etc.) stop motion, thereby makes motion navigate to target location exactly.
Position control device among the present invention is owing to can obtain the current movement position of motion and be used to indicate the motion motion to reach first signal of target location in real time; Thereby the may command motion arrives target location with lower second speed motion; And final location of realizing to motion; Can reach high orientation precision, prevent the mechanical part or the hydraulic unit of spoiled work machinery.In addition, in location process, motion arrives the target location with lower speed, therefore, can avoid the inaccurate problem in location that causes owing to reasons such as inertia.
In a preferred embodiment, motion is a slew gear.In the present embodiment, after the difference between current movement position and the target location equaled setting value, the angle that motion turns over was first angle; When if first angle has surpassed setting value, control module is not still received first signal, and then control module judges that the target position detection unit be used to produce first signal breaks down.Because target position detection unit after long-term work, may be damaged, and therefore, by the way, just can detect the state of target position detection unit.Further; Position control device among the present invention can also comprise alarm unit, and alarm unit is electrically connected with control module, when control module is judged target position detection unit and broken down; Control module control alarm unit gives the alarm, and notes to remind operating personnel.
For example, for slew gear, slew gear can move in the both sides of target location.Slew gear both can move to the target location from the left side of target location, can also move to the target location from the right side of target location.The angle value of hypothetical target position is 0, and the angle value in target location left side is a negative value, and the angle value on right side, target location be to be 5 to spend on the occasion of, setting value.Like this, when the difference of the current movement position of motion and target location was beyond the scope of ± 5 degree, control module controlled motion mechanism moved to the target location with first speed, thereby can raise the efficiency, save time.When motion be positioned at the target location ± scope of 5 degree in the time, control module controlled motion mechanism moves to the target location with second speed motion lentamente.When target position detection unit is in proper working order; If motion arrives the target location; Target position detection unit will be sent first signal, and control module makes the motion stop motion according to first signal that it receives then, and is positioned at target location.Yet if target position detection unit breaks down, after motion surpassed the target location, control module can not receive first signal so, and motion can continue to move and can not stop along rotating direction.At this moment, as long as the transhipment angle of motion is judged whether can judge target position detection unit breaks down.
Preferably, the pairing value of obtaining when motion navigates to the target location of current movement position is the target location value, and control module is demarcated the real time position detecting unit that is used to detect current movement position according to the target location value.For example, when zero point drift did not take place, the target location value was A; After zero point drift took place, the target location value was B, and so, control module can be demarcated the target location value according to B, that is to say, when the pairing value of current movement position that gets access to is B, promptly shows to have arrived the target location.Therefore, can carry out real-time calibration, need often carry out artificial problem of demarcating thereby overcome owing to zero drift occurs to the real time position detecting unit.
Below in conjunction with Fig. 3 the control flow of the position control device among the present invention is elaborated.
Step 1, control module controlled motion mechanism moves with first speed;
Step 2, control module are obtained the current movement position of motion, and whether the difference between more current movement position and the target location is less than setting value; If less than setting value, then execution in step 3, otherwise continue execution in step 1;
Step 3, control module controlled motion mechanism moves with second speed;
Step 4, control module detects whether receive first signal from target position detection unit, if do not receive, then continues execution in step 3, otherwise execution in step 5;
Step 5, the stop motion of control module controlled motion mechanism;
The current movement position that obtains when step 6, control module navigate to the target location according to motion is demarcated the real time position detecting unit.
Step 7 finishes this control flow.
As second aspect of the present invention, a kind of positioning control system of motion is provided, comprising: the real time position detecting unit is used to detect the current movement position of motion; Target position detection unit is used to detect the whether arrival target location of motion, and when motion reached the target location, target position detection unit was sent first signal; Position control device, this position control device are the position control devices among above-mentioned each embodiment.
Preferably, the real time position detecting unit can be the sensor (for example angular transducer etc.) that scrambler (for example angular encoder, backguy scrambler etc.) and other can detect the position; Target position detection unit can be travel switch, limit switch, near switch etc.Target position detection unit is installed to and corresponding position, target location, when motion moves to the target location, triggers target position detection unit and sends first signal, moves to the target location to show.
Owing to adopted real time position detecting unit and target position detection unit, therefore realized the redundancy of feedback signal, thereby improved availability, the reliability of system.In addition, the present invention only relies on real time position detecting unit (for example angular encoder) and realizes coarse adjustment, and is therefore not high to the accuracy requirement of real time position detecting unit, thereby reduced cost; Further, also realize fine setting through target position detection unit, thus can realize disposable fast, high reliability, high-precision location.
As the third aspect of the invention, a kind of engineering machinery is provided, comprise motion and the positioning control system that is used for the motion of motion is controlled, this positioning control system is the positioning control system among above-mentioned each embodiment.Preferably, engineering machinery is crane, pump truck, high empty wagons, high-altitude fire truck.
On the basis of the foregoing description,, a kind of position control method of motion is provided as fourth aspect of the present invention.Please combine Fig. 2 and Fig. 3, this position control method comprises: obtain the current movement position of said motion and be used to indicate said motion to move to first signal of target location; When the difference between current movement position and the target location during greater than setting value, controlled motion mechanism is with first speeds; Otherwise controlled motion mechanism moves with the second speed less than first speed, and when detecting first signal, the stop motion of controlled motion mechanism.Preferably, when the difference between current movement position and the target location equals setting value, the direction of motion of record motion, and controlled motion mechanism continues to move along this direction of motion.
Need to prove that motion can be a rectilinear motion, also can be curvilinear motion (for example gyration etc.).Position control method among the present invention can make motion finally navigate to target location through the motion control to motion.Preferably, can adopt scrambler (for example angular encoder, backguy scrambler etc.) and other can the sensor (for example angular transducer etc.) that the position is detected be detected current movement position; Simultaneously, can adopt travel switch, limit switch, near target position detection unit such as switches the target location is detected.Target position detection unit is installed to and corresponding position, target location, when motion moves to the target location, triggers target position detection unit and sends first signal, moves to the target location to show.
Position control method among the present invention is owing to the current location to motion detects in real time; Thereby the may command motion arrives target location with lower second speed; And realize location to motion through first signal that when motion arrives the target location, sends; Can reach high orientation precision, prevent the mechanical part or the hydraulic unit of spoiled work machinery.In addition, in location process, motion is that lower speed arrives the target location, therefore, can avoid the inaccurate problem in location that causes owing to reasons such as inertia.
Preferably, the motion of motion is gyration.In the present embodiment, after the difference between current movement position and the target location equaled setting value, the angle that motion turns over was first angle; If (when for example surpassing the twice of setting value) still do not received first signal when first angle had surpassed setting value, judge that then the target position detection unit that is used to produce first signal breaks down.Because target position detection unit after long-term work, may be damaged, and therefore, by the way, just can detect the state of this detecting unit.Further, the position control method among the present invention also comprises: when judging this detecting unit and break down, give the alarm, note to remind operating personnel.
Preferably, the pairing value of obtaining when motion navigates to the target location of current movement position is the target location value, according to the target location value real time position detecting unit that is used to detect current movement position is demarcated.Like this, can carry out real-time calibration, need often carry out artificial problem of demarcating thereby overcome owing to zero drift occurs to the real time position detecting unit that is used to detect current movement position.
The above is merely the preferred embodiments of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. the position control device of a motion is characterized in that, comprising:
Control module; Obtain the current movement position of said motion and be used to indicate said motion to move to first signal of target location; When the difference between said current movement position and the said target location during greater than setting value, said control module is controlled said motion with first speeds; Otherwise said control module is controlled said motion with less than the motion of the second speed of said first speed, and when said control module receives said first signal, controls said motion stop motion.
2. position control device according to claim 1 is characterized in that said motion is a slew gear.
3. position control device according to claim 2 is characterized in that, after the difference between said current movement position and the said target location equaled said setting value, the angle that said motion turns over was first angle; If when said first angle had surpassed said setting value, said control module was not still received said first signal, then said control module judges that the target position detection unit that is used to produce said first signal breaks down.
4. according to each described position control device among the claim 1-3; It is characterized in that; The pairing value of said current movement position that said motion obtains when navigating to said target location is the target location value, and said control module is demarcated the real time position detecting unit that is used to detect said current movement position according to said target location value.
5. the positioning control system of a motion is characterized in that, comprising:
The real time position detecting unit is used to detect the current movement position of said motion;
Target position detection unit is used to detect the whether arrival target location of said motion, and when said motion reached said target location, said target position detection unit was sent first signal;
Position control device, said position control device are each described position control devices among the claim 1-4.
6. an engineering machinery comprises motion and the positioning control system that is used for the motion of said motion is controlled, and it is characterized in that said positioning control system is the described positioning control system of claim 5.
7. the position control method of a motion is characterized in that, comprising:
Obtain the current movement position of said motion and be used to indicate said motion to move to first signal of target location;
When the difference between said current movement position and the said target location during, control said motion with first speeds greater than setting value; Otherwise, control said motion with less than the motion of the second speed of said first speed, and when detecting said first signal, control said motion stop motion.
8. position control method according to claim 7 is characterized in that the motion of said motion is gyration.
9. position control method according to claim 8 is characterized in that, after the difference between said current movement position and the said target location equaled said setting value, the angle that said motion turns over was first angle; If when said first angle has surpassed said setting value, still do not receive said first signal, judge that then the target position detection unit that is used to produce said first signal breaks down.
10. according to each described position control method among the claim 7-9; It is characterized in that; The pairing value of said current movement position that said motion obtains when navigating to said target location is the target location value, according to said target location value the real time position detecting unit that is used to detect said current movement position is demarcated.
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| CN111285253A (en) * | 2020-01-22 | 2020-06-16 | 湖南中联重科建筑起重机械有限责任公司 | Engineering machinery control method and control device |
| WO2021147833A1 (en) * | 2020-01-22 | 2021-07-29 | 中联重科建筑起重机械有限责任公司 | Engineering machine control method and engineering machine control device |
| CN111285253B (en) * | 2020-01-22 | 2022-02-11 | 中联重科建筑起重机械有限责任公司 | Engineering machinery control method and control device |
| CN112564585A (en) * | 2020-11-12 | 2021-03-26 | 华帝股份有限公司 | Control method of disinfection cabinet and disinfection cabinet applying control method |
| CN112564585B (en) * | 2020-11-12 | 2023-05-09 | 华帝股份有限公司 | Control method of disinfection cabinet and disinfection cabinet using same |
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