CN102849625A - Spreader anti-sway controlling method of overhead traveling crane - Google Patents
Spreader anti-sway controlling method of overhead traveling crane Download PDFInfo
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Abstract
The invention relates to a spreader anti-sway controlling method of an overhead traveling crane. The spreader has 5 measuring parameters: a trolley position of a supporting spreader, a spreader cable length, a spreader cable swing angle, a trolley speed, and a spreader elevation speed. The 5 measuring parameters are respectively measured by 2 absolute encoders, a video camera system, and an incremental encoder. The trolley speed and the spreader elevation speed serve as input signals and act upon an AC servo motor driven by the trolley and the spreader through a frequency converter, such that the entire spreader system can work harmonically. A controlling strategy and the treatment upon the collected signals are realized by a whole PLC processor. A controlling method and a controlling strategy are provided. With the video camera system, through spreader real-time monitoring, spreader swing angle which is the position and the cable length are obtained. Trolley position information and cable length information are obtained by using the encoders. The signals are read by using the absolute encoders. Feedback signals are acquired by the incremental encoder. The controlling method provide by the invention has the advantages of higher controlling precision and higher data processing speed.
Description
Technical field
The present invention relates to the anti-control method of shaking of a kind of suspender of crane in bridge type.
Background technology
Along with socioeconomic development, " anti-shaking " mode of crane in bridge type, experienced manually mode, machinery separate dolly mode, multifunction hydraulic mode, with the electronics mode of suspender angle monitor sensor etc., they mostly too many because of external equipment, cost is too high, complex structure, poor reliability, maintenance is inconvenient, the maintenance amount is large and expensive, progressively eliminate.
Develop rapidly along with socioeconomic, labor cost is more and more higher, and cargo handling capacity increases severely, each harbour bridge-type grab ship unloader, the dolly that shore container crane is used, its speed reaches 240m/min, 60 tons of the rated loads that hoists, lifting velocity 60m/min～80m/min, outreach reach 55 meters.Must develop the anti-technology of shaking to it, can adapting to normal high-speed cruising, and can reduce cost, enhance productivity.
The main anti-control method of shaking that adopts has at present: simple open loop prevents shaking control, and feedforward is anti-shakes control algorithm, self-adaptation control method, fuzzy control method etc.;
1. simply anti-shaking control method frequency converter is anti-to shake address card in order to adopt, is not very high owing to not having feedback signal, control accuracy, and car load rocks very greatly, controls simple and convenient.
2. the anti-basic thought that shakes control algorithm (Fig. 1) of feedforward is: construct an Optimal Regulator and obtain dolly reference velocity pattern as the feedforward link, to realize the anti-purpose of shaking of system's suspender.For adopting suspender single oscillation states model, set up Analysis on Mechanics Model.
Determine state variable:
Thereby, can get equation of state:
In the formula: u is the dolly reference velocity, introduces cost function J:
According to the LQ control theory, obtain optimal control law and be: u=-R
-1B
TPx=Kx, in the formula:
P is the solution of Riccati equation.
On this basis, add other constraint condition, determine operation suspender running orbit.
3. the anti-basic thought that shakes control method of self adaptation is: taking into account system is a time-varying process, and the building process equation of state utilizes the quadratic form cost function to obtain optimal control law, to realize the anti-purpose of shaking control of system's suspender.
4. based on the fuzzy anti-basic thought that shakes control policy be: in the lifting process, have many uncertain factors, utilize fuzzy controller to solve model mismatch problem in the control system.If any report: there are two fuzzy controllers in the bridge crane control system based on fuzzy control, one is the ambiguous location controller, another prevents shaking controller for fuzzy, to reach the swing of little truck position and load is controlled simultaneously, adopts this control ratio control method performance in the past better.
" utilize SIMULINK that anti-the shaking of crane in bridge type carried out modeling and simulation ", set up the suspender nonlinear mechanical model, under the SIMULINK of MATLAB environment, this model has been carried out dynamic simulation research, for the design of crane swing-proof control system provides efficient emulation tool, for research and development save time and cost.
The core of existing Siemens System HIPAC is the TOUCHMATIC controller, its radical function is for carrying out data acquisition, the conversion of numeral I/O control and visual signal, in whole control system, to use as the functional module among the Siemens Simatic PLC-417-DP, it carries out communication by local bus profibus-OP and CPU in master station 417-DP Communication processing data, VS710 and touch-screen, thereby transmits measurement signal and control signal, to finish the control to whole system.
System according to HIPAC is described, and its control policy adopts stepping rate moulding pattern, and whole track is divided into four parts, and first three part adopts time optimal control, and last part adopts the non-linear anti-control of shaking.
Summary of the invention
The present invention seeks to: propose that a kind of suspender is anti-to shake that closed loop electric control method, especially crane in bridge type are anti-to shake control, some adopts open loop electrical control poor effect in the past, realizes the shortcomings such as control accuracy is less demanding; The present invention is that the equipment of place in operation was conveniently transformed in the past, reduce a staff the retrofit work time, can not affect shipbuilding period is purpose, increase work efficiency, save workman's labour cost, be aim etc. for enterprise brings very large economic benefit, manufactured improvement and optimization process than transforming front electric-controlled after transforming.
Technical solution of the present invention is: the anti-control method (being the anti-closed loop electric control method that shakes of suspender) of shaking of the suspender of crane in bridge type, suspender has 5 measurands: little truck position, suspender rope length, the pivot angle of suspender rope, little vehicle speed and the suspender hoisting speed of supporting suspender, and these five measurands are measured by 2 absolute encoders, camera system and incremental encoder respectively; Little vehicle speed and suspender hoisting speed act on the AC servo motor of dolly and suspender driving as incoming signal by frequency converter, thereby reach the work of whole sling system harmony ground.
The processing of control policy and the measurement signal that collects is then realized by whole PLC treater.
Control method and control policy; Camera system, by the suspender Real Time Monitoring, the pivot angle (position) and the rope that obtain suspender are long, utilize coder to obtain dolly location information and rope long message (use the absolute encoder read signal, utilize incremental encoder to obtain feedback signal).The little truck position (position measurement sensor) of supporting suspender, suspender rope long (length measuring sensor), the pivot angle (angle measuring sensor) of suspender rope, little vehicle speed (velocity measurement sensor) and suspender hoisting speed (velocity measurement sensor),
Control policy and control method realize in PLC, so vision signal is processed in PLC automatically, all digital quantity I/O controls can be finished by PLC fully,
PLC processor high speed calculation process, to suspender hoist and the control of the speed of carriage walking by in addition optimal control of frequency converter, to realize anti-shake control, path planning: suspender, is reached maximum suspender hoisting speed Vmax at the B point and promotes to safe altitude B point by A point vertical uplift; At route segment B-C, dolly accelerates, and the little vehicle speed of C point reaches maximum Vcmax speed operation; At the C-D horizontal segment, dolly moves with maximum speed Vcmax; In the D-E descent stage, dolly is descended by speed Vcmax, drops to maxim in the E spot speed; At last, suspender further drops to a F, hangs thing under the automatic releasing; In whole path planning, adopt time optimal control (Bang-Bang control) from the B point to the E point, adopt from an E to a F and prevent shaking control algorithm (such as nonlinear Control (feedback linearization)+change structure control etc.).
Bang-Bang control, feedback linearization)+become structure control can adopt now methodical combination.In field of engineering technology, Bang-Bang control is the most common a kind of Comprehensive Control form.Becoming structure control is a kind of control system design method, is applicable to the line linearity and reaches
Nonlinear systemComprise the adjusting of control system, follow the tracks of, self adaptation and the system such as uncertain.
Siemens Simatic PLC-400, adopt hardware (the camera system VS710 of Siemens Company, touch-screen, industrial computer) sets up sensor-based system (spreader position information) and PMS, utilize coder obtain the dolly location information and the rope long message (in experiment, use the absolute encoder read signal, utilize incremental encoder to obtain feedback signal), in order to realize the commonality of controller, and save and research and develop and complete electrical control cost, the controller of whole project adopts Siemens Simatic PLC-400 system, control policy and control method realize in PLC (being SIMATIC S7), the VS710 system can by the Profibus-DP fieldbus directly and SIMATIC S7 carry out communication, so vision signal can be processed in PLC automatically, all digital quantity I/O controls can be finished by PLC fully, development and application along with the PLC technology, function is constantly improved and is strengthened, so the data that collect can be finished by the PLC inter-process, realize electric optimal control purpose, control accuracy is higher, and data are processed faster.
Improvement of the present invention is: the VS710 that provides belongs to OEM type vision system, needs the OEM software development kit of Siemens to support.The DLL library file that its configuration system calls Siemens under Visual C++ programmed environment provide carries out configuration.The library file that Siemens provides relates generally to video functions, image processing function and communication function.After configuration is finished, can with PLC and touch-screen, and the equipment such as upper computer carries out Profibus – DP and RS232 data or Internet communication.
The invention has the beneficial effects as follows: all digital quantity I/O controls can be finished by PLC fully, development and application along with the PLC technology, function is constantly improved and is strengthened, so the data that collect can be finished by the PLC inter-process, realize electric optimal control purpose, good reliability is controlled more steady, control accuracy is higher, and data are processed faster.
Description of drawings:
Fig. 1 feedovers and prevents shaking control algorithm.
Fig. 2 experimental installation.
Fig. 3 controls flow scheme.
Four kinds of carriage walking kinematic velocity figure under various boundary conditions of Fig. 4 (a)-(d).
Fig. 5 is the speed control chart of Siemens HIPAC.
Specific implementation method
Fig. 1 anti-control algorithm that shakes that feedovers is the basis.
Figure 2 shows that set-up diagram, dolly 1, suspender 2, rope 3, pick up camera mark 4, pick up camera 5, frequency converter 6, dolly position probing 7, the long detection 8 of rope, pivot angle detect 9.Employing standard shop traveller is done experiment, long 23.5 meters of track, high 9 meters, system has 5 measurands: little truck position, rope length, pivot angle, little vehicle speed and hoisting speed, these five measurands take the photograph phase system by 2 absolute encoders, VS710 respectively and incremental encoder is measured.The frequency converter of the ginseng speed of dolly and lifting control by ABB acts on AC servo motor and goes to drive whole system, works thereby reach whole system harmony ground.The processing of control policy and the measurement signal that collects is then realized by whole PLC treater.In the various control methods of this device test, on the basis by experiment, determine one comparatively the actv. control method as the control policy of later whole project, utilize coder obtain the dolly location information and the rope long message (in example, use the absolute encoder read signal, utilize incremental encoder to obtain feedback signal).The little truck position (position measurement sensor) of supporting suspender, suspender rope long (length measuring sensor), the pivot angle (angle measuring sensor) of suspender rope, little vehicle speed (velocity measurement sensor) and suspender hoisting speed (velocity measurement sensor),
In order to reach the commonality of controller, the controller of whole project adopts Siemens Simatic PLC-400 system, and control policy and control method realize in PLC.
1. the .VS710 system forms as shown in Figure 3, it can by the Profibus-DP fieldbus directly and SIMATIC S7 carry out communication, so vision signal can be processed in PLC automatically.
2.. all digital quantity I/O controls can be finished by PLC fully.
3.. along with the development and application of PLC technology, function is constantly improved and is strengthened, so the data that collect can be finished by the PLC inter-process, realizes the control purpose.
Among Fig. 4: (a) under the perfect condition, dolly and suspender walking all are to add (subtracting) operation with a constant acceleration/accel synchronously, reach maximum (minimum) rate process.(b) because suspender running velocity hysteresis quality so adopt multi-section time to accelerate, is eliminated the swing of suspender.(c) because suspender running velocity hysteresis quality, so adopt multi-section time to accelerate, because suspender operational process and vertical direction produce an angle, produce a horizontal component of force, in order to eliminate the swing of suspender, when pivot angle during greater than certain angle, PLC collects to get the information processing computing, and control carriage walking speed is because horizontal reverse is to accelerating existence, dolly moment generation is run slowly, when pivot angle during less than certain angle, PLC collects the information processing computing, again gives the acceleration/accel of a forward of dolly, the dolly Accelerating running reaches the anti-swing function of suspender.(d) because suspender running velocity hysteresis quality, suspender and steel rope produce an angle, when pivot angle during greater than certain numerical value, wire rope of sling produces a horizontal component of force to suspender, direction is consistent with the trolley travelling direction, this brief acceleration of suspender will be realized anti-shaking greater than the acceleration/accel of trolley travelling, must give the acceleration/accel that strengthens dolly.
Make whole device systems can move better target as whole project: PMS---touch-screen and industrial computer (Siemens's configuration software);
The suspender swash angle position is obtained system---Siemens VS710 camera system;
Industrial computer and touch-screen configuration have three kinds of schemes:
Scheme one: the touch-screen and inner Wincc 5.0 configuration softwares that provide by Siemens carry out the exploitation of monitored control system.In the process configuration, call Wincc 5.0 subsidiary script function and carry out secondary development (C Programming with Pascal Language), to work out out monitoring interface and the power function that is fit to this project system.
Scheme two: by Siemens Wincc 6.0, carry out configuration at touch-screen and panel computer, take full advantage of Visual Basic and carry out the configuration secondary development, to develop the man-machine interface that is fit to operation and superior performance.
Scheme three: by Wincc 7.0, carry out configuration at touch-screen and panel computer, all language of version before supporting, with better function, the WinCC server that redundancy feature at most can 12 of configurations be arranged, each server at most can 32 WinCC client computer of configuration, Web server on the Web technology WinCC client computer that strengthens is as data concentrator, safety is higher, and script VBScript was by OPC A﹠amp when new open standard realized that the VBA of configuration automation is simple and easy to the operation of usefulness; The message of E is accessed the WinCC data bank by OPC HDA access filing data by OLE-DB, to develop the man-machine interface that is fit to operation and superior performance.
VS710 camera system configuration: VS710 belongs to OEM type vision system, and the OEM software development kit of Siemens is supported.The DLL library file that its configuration system calls Siemens under Visual C++ programmed environment provide carries out configuration.The library file that Siemens provides relates generally to video functions, image processing function and communication function.After configuration is finished, can with PLC and touch-screen, and the equipment such as upper computer carries out Profibus – DP and RS232 data or Internet communication.
The anti-processing route that shakes is planned description: suspender, is reached maximum hoisting speed Vmax at the B point and promotes to safe altitude B point by A point vertical uplift; At route segment B-C, dolly accelerates, and the little vehicle speed of C point reaches maximum Vcmax and promotes; In the C-D section, dolly moves with maximum speed; In the D-E section, dolly is promoted by speed Vcmax and descends, and reaches maximum at E point descending speed; At last, suspender further drops to a F, hangs thing under the automatic releasing.
In whole path planning, adopt time optimal control (Bang-Bang control) from the B point to the E point, adopt from an E to a F and prevent shaking control algorithm (such as nonlinear Control (feedback linearization)+change structure control etc.).
Under different constraint condition, desirable dolly speed track has four kinds of patterns: these four kinds of velocity modes are specially adapted in the speed moulding input control:
In above-mentioned velocity mode, the determining of most important each speed split time, a rational velocity mode need be considered several factors, and after will in experiment, being verified could for the production of in.
Can find out from the velocity diagram of Siemens HIPAC its velocity diagram of system that HIPAC adopts similar with speed moulding pattern Fig. 4 (b).The velocity diagram that Siemens HIPAC system adopts as shown in Figure 5.
One, in order to realize the commonality of controller, and save and research and develop and complete electrical control cost, the controller of whole project adopts Siemens Simatic PLC-400 system, control policy and control method realize in PLC, the VS710 system can by the Profibus-DP fieldbus directly and SIMATIC S7 carry out communication, so vision signal can be processed in PLC automatically, all digital quantity I/O controls can be finished by PLC fully, development and application along with the PLC technology, function is constantly improved and is strengthened, so the data that collect can be finished by the PLC inter-process, realize electric optimal control purpose, control accuracy is higher, and data are processed faster.
Two, VS710 belongs to OEM type vision system, needs the OEM software development kit of Siemens to support.
The DLL library file that its configuration system calls Siemens under Visual C++ programmed environment provide carries out configuration.The library file that Siemens provides relates generally to video functions, image processing function and communication function.After configuration is finished, can with PLC and touch-screen, and the equipment such as upper computer carries out Profibus – DP and RS232 data or Internet communication.
Three, all digital quantity I/O control can be finished by PLC fully, and along with the development and application of PLC technology, function is constantly improved and strengthened, so the data that collect can be finished by the PLC inter-process, realize electric optimal control purpose, control accuracy is higher, and data are processed faster.
Four, by PLC processor high speed calculation process, in addition optimal control of the ABB frequency converter speed that suspender is hoisted and walks is to realize anti-purpose of shaking control.
Five, by the rational speed of control suspender, shake electrical control thereby reach anti-, for enterprise increases work efficiency, the labor savings cost improves the competitive power of enterprise, more can adapt to the needs of current social development.
Claims (3)
1. the suspender of crane in bridge type prevents shaking control method, it is characterized in that suspender has 5 measurands: little truck position, suspender rope length, the pivot angle of suspender rope, little vehicle speed and the suspender hoisting speed of supporting suspender, these five measurands are measured by 2 absolute encoders, camera system and incremental encoder respectively; Little vehicle speed and suspender hoisting speed act on the AC servo motor of dolly and suspender driving as incoming signal by frequency converter, thereby reach the work of whole sling system harmony ground;
The processing of control policy and the measurement signal that collects is then realized by whole PLC treater;
Control method and control policy; Camera system, by the suspender Real Time Monitoring, the pivot angle that obtains suspender is that position and rope are long, utilizes coder to obtain dolly location information and rope long message, uses the absolute encoder read signal, utilizes incremental encoder to obtain feedback signal;
Control policy and control method realize in PLC, so vision signal is processed in PLC automatically, all digital quantity I/O controls can be finished by PLC fully;
PLC processor high speed calculation process, to suspender hoist and the control of the speed of carriage walking by in addition optimal control of frequency converter, to realize anti-shake control, path planning: suspender, is reached maximum suspender hoisting speed Vmax at the B point and promotes to safe altitude B point by A point vertical uplift; At route segment B-C, dolly accelerates, and the little vehicle speed of C point reaches maximum Vcmax speed operation; At the C-D horizontal segment, dolly moves with maximum speed Vcmax; In the D-E descent stage, dolly is descended by speed Vcmax, drops to maximum in the E spot speed; At last, suspender further drops to a F, hangs thing under the automatic releasing; In whole path planning, adopt time optimal control from the B point to the E point, adopt the anti-control algorithm that shakes from an E to a F.
2. the suspender of crane in bridge type according to claim 1 is anti-shakes control method, it is characterized in that adopting Siemens's VS710 camera system to obtain suspender swash angle position system.
3. the suspender of crane in bridge type according to claim 1 prevents shaking control method, it is characterized in that controller adopts Siemens Simatic PLC-400 system, control policy and control method realize in PLC (being SIMATIC S7), the VS710 system can by the Profibus-DP fieldbus directly and SIMATIC S7 carry out communication, vision signal can be processed in PLC automatically, and all digital quantity I/O controls can be finished by PLC fully.
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| CN103723629A (en) * | 2013-12-31 | 2014-04-16 | 珠海三一港口机械有限公司 | Crane and anti-swing control method for steel wire rope of crane |
| CN104495617A (en) * | 2014-12-18 | 2015-04-08 | 合肥工业大学 | Stability-regulating operating system and stability-regulating method for crane grab |
| CN104828704A (en) * | 2015-03-30 | 2015-08-12 | 中南大学 | Bridge crane cart walking minimum time control method |
| CN104909273B (en) * | 2015-06-12 | 2016-08-24 | 华电重工股份有限公司 | Grab bucket ship unloader and driving method thereof and device |
| CN105967070A (en) * | 2016-07-10 | 2016-09-28 | 大连宝信起重技术有限公司 | Automatic handling equipment for cold rolling mills |
| CN106829740A (en) * | 2016-12-30 | 2017-06-13 | 三海洋重工有限公司 | A kind of crane is anti-to shake control method and system |
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| CN112429640A (en) * | 2020-06-29 | 2021-03-02 | 邯郸钢铁集团有限责任公司 | Method for controlling anti-swing of crown block |
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| CN112850500A (en) * | 2021-02-22 | 2021-05-28 | 博大视野(厦门)科技有限公司 | Vision anti-swing system and method for lifting appliance |
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| CN113896111A (en) * | 2021-09-28 | 2022-01-07 | 中国人民解放军火箭军工程大学 | Control system and method for under-actuated hoisting equipment |
| CN113896111B (en) * | 2021-09-28 | 2022-07-29 | 中国人民解放军火箭军工程大学 | Control system and method for under-actuated hoisting equipment |
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