CN103163795A - Traction control system and method for positioning, calculating and correcting traction position - Google Patents
Traction control system and method for positioning, calculating and correcting traction position Download PDFInfo
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- CN103163795A CN103163795A CN2013101123023A CN201310112302A CN103163795A CN 103163795 A CN103163795 A CN 103163795A CN 2013101123023 A CN2013101123023 A CN 2013101123023A CN 201310112302 A CN201310112302 A CN 201310112302A CN 103163795 A CN103163795 A CN 103163795A
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Abstract
The invention discloses a traction control system and a method for positioning, calculating and correcting a traction position. The system comprises a steel wire rope rotation wheel transmission system, a rail reciprocating vehicle and rotary encoders which are used for detecting the rotation positions of the steel wire rope rotation wheels; the rail reciprocating vehicle is provided with a permanent magnet; magnetic limit switches for sensing the permanent magnet are arranged on one side of a rail where the rail reciprocating vehicle runs; the rotary encoders and the magnetic limit switches output detection signals to a controller; and the controller is used for calculating the traction position according to the detection signals fed back by the rotary encoders, judging the running interval of the rail reciprocating vehicle according to the detection signals fed back by the magnetic limit switches and calculating and correcting the traction position to generate the current position of the rail reciprocating vehicle. By a double positioning detection mode that the rotary encoders are matched with the limit switches, the running position of the rail reciprocating vehicle is corrected and calculated, so that high positioning accuracy and strong reliability can be guaranteed, the structural design is simple, cost is low, and fault links are few.
Description
Technical field
The invention belongs to the trailer system technical field, specifically, relate to a kind ofly utilize automatic control system that wire rope runner kinematic train traction track reciprocal garage walks and based on the bearing calibration of the reciprocal car distracted position of the track of this Control System Design location Calculation.
Background technology
In recent years, in some special application scenario, the large-tonnage article need to be dragged rapidly, and need when dragging the residing position of article automatically to control, the article automatic conveying is to the good position of planning the most at last.Conveying for the large-tonnage article, the mode that generally adopts at present the reciprocal car of wire rope runner kinematic train traction track back and forth to walk is in orbit drawn and is dragged, and coordinate pull-in control system that the walking position of reciprocal car is detected in real time, and then set the duty of reciprocal car according to the walking position of reciprocal car, then adjust the duty of frequency converter according to the reciprocal duty of car.The duty of frequency converter is divided into: Acceleration of starting, steadily drag, slowing down stops three kinds of states, by the motor in transducer drive wire rope runner kinematic train rotation, and then drives the wire rope runner and rotates, realize the traction of the reciprocal car of track is dragged.
Specifically, when track reciprocal parking stall during in reference position, at first link up with operation, then start and Accelerating running by the reciprocal car of Frequency Converter Control kinematic train traction track, enter the stage that steadily drags after accelerating to start, run slowly and stop in the final position until control the reciprocal car of track during near terminal point, the whole course of conveying that drags of article is completed in the operation of breaking off relations thus.
Adjustment to the frequency converter duty can be completed according to the real-time walking position of the reciprocal car of track automatically by pull-in control system.Pull-in control system is an automation control system that utilizes converter technique, PLC technology, drive technology, database technology, the communication technology, automatic control technology, New Sensing Technology to consist of.This system is take programmable logic controller (PLC) PLC as control core, utilize rotary encoder to detect the turned position of wire rope runner, and then converse the walking position of the reciprocal car of track, then set the duty of reciprocal car according to the walking position of the reciprocal car of track, and then adjust the duty of frequency converter according to the duty of reciprocal car, realize the location of article is carried.
This distracted position detection mode is owing to only determining by the rotary encoder detection computations that is arranged in kinematic train, therefore the probability that measuring error occurs is higher, tend to occur to cause because position probing is inaccurate the frequency converter duty to adjust the problems such as untimely, affect thereby the safety and precise of article is carried, have certain potential safety hazard.
Summary of the invention
The object of the present invention is to provide a kind of pull-in control system, adopt rotary encoder to coordinate the Dual positioning detection mode of limit switch, for the accurate location of the reciprocal car distracted position of track provides the support on hardware.
For solving the problems of the technologies described above, the present invention is achieved by the following technical solutions:
A kind of pull-in control system comprises wire rope runner kinematic train and the reciprocal car of track that is dragged by described kinematic train traction; Be provided with the rotary encoder for detection of wire rope runner turned position in described pull-in control system, on the reciprocal car of described track, permanent magnet is installed, a side of the track of walking in track reciprocal garage is equipped be used to the magnetic limit switch of responding to described permanent magnet; Described rotary encoder and magnetic limit switch output detection signal are to controller, described controller calculates distracted position according to the detection signal of rotary encoder feedback, utilize the detection signal of magnetic limit switch feedback judge the walking interval of the reciprocal car of track and described distracted position is proofreaied and correct, to calculate the current location of the reciprocal car of track.
Further, also be provided with speed reduction unit, motor and frequency converter in described pull-in control system, described controller generates control signal according to the current location of the reciprocal car of track that calculates, and exports frequency converter to, controls the rotating speed of motor by the output frequency of regulating frequency converter; Described motor connection reducer drives the wire rope runner by speed reduction unit and rotates, and then via the reciprocal car of rope traction track that is wound around on the wire rope runner back and forth walking on described track.
Preferably, described rotary encoder is preferably fixed with the coaxial installation of the driving wheel of kinematic train, perhaps is arranged on described wire rope runner.
For the consideration to the reciprocal car bearing accuracy of track, the value principle of the laying number N of described rotary encoder is preferably:
Further, preferably N described magnetic limit switch equidistantly laid, and evenly distributed along whole track.
Preferably, the spacing of adjacent two magnetic limit switchs is preferably designed for 10 meters.
Further, a side at described track is provided with the support that is parallel to described track, described magnetic limit switch is arranged on described support, and magnetic limit switch is consistent apart from the setting height(from bottom) on ground with permanent magnet apart from the setting height(from bottom) on ground, to guarantee that magnetic limit switch is to the accurate induction of permanent magnet.
On the basis of the hardware platform that above-mentioned pull-in control system provides, the invention allows for the bearing calibration of a kind of distracted position location Calculation, to improve the detection computations precision of distracted position, comprise following process:
Utilize the current distracted position x of the reciprocal car of detection signal calculating track of rotary encoder feedback;
Determine that according to the detection signal of magnetic limit switch feedback the reciprocal car of track finally by a magnetic limit switch of crossing, is designated as i magnetic limit switch;
Utilize following formula to calculate the current location of the reciprocal car of track:
Wherein,
For rotary encoder at the reciprocal car of track the position sampling value during through i magnetic limit switch;
Positional increment for the reciprocal car of track after through i magnetic limit switch;
Further, described rotary encoder is multiple circles absolute value rotary encoder, the following formula of count value n substitution of multiple circles absolute value rotary encoder output is generated the current distracted position x of the reciprocal car of track:
Wherein, A is conversion coefficient;
c
0Initial count value when initially installing for multiple circles absolute value rotary encoder.
Further, at the initial installation phase of pull-in control system, utilize the grating encoding chi to measure the corresponding accurate location value of each magnetic limit switch, writing controller is to be used for follow-up position location computation.
Compared with prior art, advantage of the present invention and good effect are: pull-in control system of the present invention adopts and in wire rope runner kinematic train, rotary encoder is installed, and lay the mode of magnetic limit switch on the track that track reciprocal garage is walked, calculate the walking position with the reciprocal car of correcting track, not only bearing accuracy is high, reliability is strong, and structural design is simple, cost is low, failsafe link is few, especially be fit to be applied in the high speed traction and drag in positioning control system, carrying for the accurate location of article provides strong assurance.
After reading by reference to the accompanying drawings the detailed description of embodiment of the present invention, it is clearer that the other features and advantages of the invention will become.
Description of drawings
Fig. 1 is the system architecture schematic diagram of a kind of embodiment of pull-in control system proposed by the invention;
Fig. 2 is the mounting structure schematic diagram of rotary encoder;
Fig. 3 is the installation position schematic diagram of magnetic limit switch;
Fig. 4 is the design flow diagram of distracted position location Calculation bearing calibration proposed by the invention.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.
The pull-in control system of the present embodiment is mainly by kinematic train, track and reciprocal truck system and electrical haulage composition of the control system, and is shown in Figure 1.Wherein, kinematic train mainly partly is comprised of wire rope runner 6, steel wire tensioning regulating system, speed reduction unit 7 and brake system etc.; Preferably be provided with two wire rope runners 6 in kinematic train, each wire rope runner 6 connects respectively an independently speed reduction unit 7.Track mainly partly is comprised of track 1, support wheel 5, the reciprocal car 2 of track, draft arm 4 and detacher etc. with reciprocal truck system.The electrical haulage control system mainly partly is comprised of motor 8, frequency converter, controller, sensor and cable etc., described motor 8 comprises two, respectively with kinematic train in two speed reduction units 7 connect one to one, drive two synchronized rotations of wire rope runner 6 by speed reduction unit 7, and then control the wire rope 9 that is wrapped between wire rope runner 6 and support wheel 5 and can back and forth walk on track 1 by the reciprocal car 2 of traction track, conveying articles.
For the walking position of the reciprocal car 2 of track on track 1 located in real time, the present embodiment preferably adopts rotary encoder to coordinate the mode of magnetic limit switch double check to calculate the walking position of the reciprocal car 2 of track, to improve the accuracy of position probing.
Specifically, at first the present embodiment installs rotary encoder in kinematic train, utilizes rotary encoder to detect the rotation number of turns and the turned position of wire rope runner, and then indirectly calculates the distracted position of the reciprocal car of track; Then, utilize the reciprocal car of the magnetic limit switch induction track walking in orbit of installing in orbit interval, and then the distracted position that calculates is proofreaied and correct, with proofreading and correct the current location of result as the reciprocal car of track, be used for the foundation that state is made in the reciprocal turner of follow-up adjustment track.
A kind of preferred design as the present embodiment, described rotary encoder 10 is preferably fixed with the coaxial installation of the driving wheel of kinematic train by fixed support 11, shaft coupling 12, for example fix with the coaxial installation of the output shaft of speed reduction unit 7, as shown in Figure 2, perhaps rotary encoder 10 is arranged on wire rope runner 6, with wire rope runner 6 synchronous rotaries, to detect the turned position of wire rope runner 6.Described rotary encoder 10 can adopt individual pen formula absolute value rotary encoder or multiple circles absolute value rotary encoder to be laid in kinematic train, detects the rotation situation of speed reduction unit 7 or wire rope runner 6.When adopting individual pen formula absolute value rotary encoder, because such rotary encoder can only generate unique coding for different turned positions in the rotary course of 360 degree; And when rotate surpassing 360 when spending, coding can be got back to again initial point, is therefore carrying out distracted position when converting, and needs the rotation number of turns of record coding device, and then the coding comprehensive of matching coding device output calculates distracted position.And when adopting multiple circles absolute value rotary encoder, because multiple circles absolute value rotary encoder has increased number of turns coding on the basis of individual pen formula absolute value rotary encoder, 360 degree have been surpassed even therefore rotate, also can generate different codings for the diverse location of difference circle, being that the coding of each position is unique does not repeat, therefore need not to remember rotating the number of turns, can facilitate follow-up computation process.Because multiple circles absolute value rotary encoder measurement range is large, actual use often rich morely, therefore hard small change point when mounted, get final product a certain centre position as starting point, just can greatly simplify thus the Installation and Debugging difficulty of rotary encoder.Based on this, the present embodiment preferably adopts multiple circles absolute value rotary encoder to be arranged in kinematic train, utilizes the distracted position of the reciprocal car of coding calculating track of multiple circles absolute value rotary encoder output.
Wherein, M is the total length of track 1.
In addition, in order further to improve bearing accuracy, when laying N magnetic limit switch 13, preferably a described N magnetic limit switch 13 is evenly laid along whole track 1, as shown in Figure 3, namely spread all over whole track 1 as far as possible, rather than only concentrate in some zones of track 1, and the distance between adjacent two magnetic limit switchs 13 is preferably consistent, and namely adjacent two magnetic limit switchs 13 are equidistant, with convenient follow-up calculating.
As a kind of decision design mode of the present embodiment, preferably take 10 meters as spacing, lay
Individual magnetic limit switch 13 is to improve the precision of detection and localization; Wherein, [] namely gets for rounding symbol
Round values.
For when the reciprocal car 2 of track passes through each magnetic limit switch 13, magnetic limit switch 13 can be sensed the permanent magnet 3 that is arranged on the reciprocal car 2 of track exactly, the present embodiment is preferably at a side mounting bracket 14 of track 1, described support 14 preferably is parallel to track 1, and extend to the terminal point of track 1 from the starting point of track 1, as shown in Figure 3.Described magnetic limit switch 13 is arranged on support 14, and it is basically identical apart from the setting height(from bottom) on ground apart from setting height(from bottom) and the permanent magnet 3 on ground to adjust magnetic limit switch 13, can guarantee that so the reciprocal car 2 of track is through magnetic limit switch 13 time, permanent magnet 3 can just approach the magnetic limit switch that is laid in this position, thereby realizes the accurate induction of 13 pairs of permanent magnets 3 of magnetic limit switch.
In the present embodiment, at the initial installation phase of pull-in control system, preferred position of using the grating encoding chi first accurately to measure each magnetic limit switch 13, for example each magnetic limit switch 13 is apart from the position of track 1 starting point, then with the position of each magnetic limit switch 13
Writing controller is to participate in the correction calculation of reciprocal car 2 walking positions of track.
After laying good described rotary encoder 10 and magnetic limit switch 13, below in conjunction with Fig. 4, the correction calculation process of reciprocal car 2 distracted position of track is carried out concrete description.
In the process of reciprocal car 2 work of track, at first receive the detection signal of rotary encoder 10 and magnetic limit switch 13 feedbacks by controller, and the coded signal that utilizes rotary encoder 10 feedback calculates the current distracted position of the reciprocal car of track, is designated as x, that is:
Wherein, A is conversion coefficient;
c
0Initial count value when installing for multiple circles absolute value rotary encoder 10 is initial;
N is the count value n of multiple circles absolute value rotary encoder 10 outputs, i.e. the coded signal of rotary encoder 10 feedbacks.
Utilize the switching value signal of magnetic limit switch 13 feedbacks to determine the reciprocal car 2 of track magnetic limit switch finally by mistake in current one way operational process, be assumed to be i magnetic limit switch, at first calculate the position sampling value of the reciprocal car 2 of track through i magnetic limit switch the time
Described position sampling value
Can adopt the mode of the above-mentioned formula of count value substitution (1) that rotary encoder 10 is produced during through i magnetic limit switch at the reciprocal car 2 of track to generate.Then, transfer i the corresponding accurate location value of magnetic limit switch
,
Writing controller, can directly transfer use in advance.
Utilize following formula (2) that the current distracted position x of the reciprocal car 2 of the track that calculates by rotary encoder 10 is proofreaied and correct, to generate the current location y of the reciprocal car 2 of track after proofreading and correct, that is:
Wherein,
Positional increment for the reciprocal car of track after through i magnetic limit switch is utilized i the corresponding accurate location value of magnetic limit switch
Replace the position sampling value of the reciprocal car 2 of track through i magnetic limit switch the time
, the current distracted position x that calculates by rotary encoder 10 is proofreaied and correct, namely
Thereby, can improve the bearing accuracy of the reciprocal car 2 of track.
Utilize the current location y of the reciprocal car 2 of the track that generates after correction calculation, controller just can be set the duty of the reciprocal car 2 of errant exactly, then generate corresponding control signal and export frequency converter to, adjust the duty of frequency converter, be Acceleration of starting, steadily drag or slow down and the duty such as stop, and the output frequency that passes through the adjusting frequency converter is controlled the rotating speed of motor 8, and then pass through the rotating speed that speed reduction unit 7 is regulated wire rope runners 6, via the wire rope 9 reciprocal cars 2 of traction track that are wound around on wire rope runner 6 back and forth walking on track 1.
No matter the reciprocal car 2 of track runs to the terminal point of track 1 from the starting point of track 1, or the starting point from the terminal point return trajectory 1 of track 1, can utilize the current location y of the reciprocal car 2 of formula (2) correction calculation errant, controller only needs the duty of car 2 reciprocal according to track, drive wire rope runner 6 forwards or counter-rotating by Frequency Converter Control motor 8, can the back and forth walking on track 1 of the reciprocal car 2 of traction track.
Certainly, the above is only a kind of preferred implementation of the present invention, should be understood that; for those skilled in the art; under the prerequisite that does not break away from the principle of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. pull-in control system, comprise wire rope runner kinematic train and the reciprocal car of track that is dragged by described kinematic train traction, it is characterized in that: be provided with the rotary encoder for detection of wire rope runner turned position in described pull-in control system, on the reciprocal car of described track, permanent magnet is installed, a side of the track of walking in track reciprocal garage is equipped be used to the magnetic limit switch of responding to described permanent magnet; Described rotary encoder and magnetic limit switch output detection signal are to controller, described controller calculates distracted position according to the detection signal of rotary encoder feedback, utilize the detection signal of magnetic limit switch feedback judge the walking interval of the reciprocal car of track and described distracted position is proofreaied and correct, to calculate the current location of the reciprocal car of track.
2. pull-in control system according to claim 1, it is characterized in that: also be provided with speed reduction unit, motor and frequency converter in described pull-in control system, described controller generates control signal according to the current location of the reciprocal car of track that calculates, export frequency converter to, control the rotating speed of motor by the output frequency of regulating frequency converter; Described motor connection reducer drives the wire rope runner by speed reduction unit and rotates, and then via the reciprocal car of rope traction track that is wound around on the wire rope runner back and forth walking on described track.
3. pull-in control system according to claim 2, it is characterized in that: described rotary encoder is fixed with the coaxial installation of the driving wheel of kinematic train, perhaps is arranged on described wire rope runner.
4. the described pull-in control system of any one according to claim 1 to 3 is characterized in that: the value principle that described rotary encoder is laid number N is:
Wherein, M is the total length of track.
5. pull-in control system according to claim 4 is characterized in that: N described magnetic limit switch equidistantly laid, and evenly distributes along whole track.
6. pull-in control system according to claim 5, it is characterized in that: the spacing of adjacent two magnetic limit switchs is 10 meters.
7. pull-in control system according to claim 4, it is characterized in that: the side at described track is provided with the support that is parallel to described track, described magnetic limit switch is arranged on described support, and magnetic limit switch is consistent apart from the setting height(from bottom) on ground with permanent magnet apart from the setting height(from bottom) on ground.
8. distracted position location Calculation bearing calibration based on the described pull-in control system of any one in claim 1 to 7 is characterized in that:
Utilize the current distracted position x of the reciprocal car of detection signal calculating track of rotary encoder feedback;
Determine that according to the detection signal of magnetic limit switch feedback the reciprocal car of track finally by a magnetic limit switch of crossing, is designated as i magnetic limit switch;
Utilize following formula to calculate the current location of the reciprocal car of track:
；
Wherein,
For rotary encoder at the reciprocal car of track the position sampling value during through i magnetic limit switch;
9. distracted position location Calculation according to claim 8 bearing calibration, it is characterized in that: described rotary encoder is multiple circles absolute value rotary encoder, the following formula of count value n substitution of multiple circles absolute value rotary encoder output is generated the current distracted position x of the reciprocal car of track:
Wherein, A is conversion coefficient;
c
0Initial count value when initially installing for multiple circles absolute value rotary encoder.
10. according to claim 8 or 9 described distracted position location Calculation bearing calibrations is characterized in that: at the initial installation phase of pull-in control system, utilize the grating encoding chi to measure the corresponding accurate location value of each magnetic limit switch, writing controller.
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| CN104122371A (en) * | 2014-07-14 | 2014-10-29 | 上海创塔电子科技有限公司 | Calibrating device, calibrating method, and monitoring system |
| CN104670773A (en) * | 2015-01-07 | 2015-06-03 | 南京音飞储存设备股份有限公司 | Shuttle vehicle automatic walking position measuring method |
| CN105404283A (en) * | 2015-12-11 | 2016-03-16 | 马鞍山钢铁股份有限公司 | Control system and method for reducing hybrid encoder failure rate |
| CN105438054A (en) * | 2015-11-02 | 2016-03-30 | 湖南汽车制造有限责任公司 | Position monitoring system and method for vehicle canopy and transport vehicle |
| CN113494886A (en) * | 2021-08-05 | 2021-10-12 | 唐山市宝凯科技有限公司 | Coke oven cart positioning system and method based on visual camera and rotary encoder |
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| CN113494886A (en) * | 2021-08-05 | 2021-10-12 | 唐山市宝凯科技有限公司 | Coke oven cart positioning system and method based on visual camera and rotary encoder |
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