CN103466452B - Crane operation control method and system - Google Patents
Crane operation control method and system Download PDFInfo
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- CN103466452B CN103466452B CN201310372761.5A CN201310372761A CN103466452B CN 103466452 B CN103466452 B CN 103466452B CN 201310372761 A CN201310372761 A CN 201310372761A CN 103466452 B CN103466452 B CN 103466452B
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Abstract
A crane operation control method comprises the following steps: setting the acceleration and deceleration of a crane as well as the distance between the crane and an object through a frequency converter; calculating the lengths of the first acceleration stage, the second constant velocity stage and the third deceleration stage; acquiring the real-time position of the crane through a sensor connected with the crane; outputting the acceleration to a motor at the first acceleration stage, stopping outputting the acceleration to the motor at the second constant velocity stage, and outputting the deceleration to the motor at the third deceleration stage; meanwhile, calculating compensated acceleration according to the real-time position of the crane, and outputting the compensated acceleration to the motor. The invention further discloses a crane operation control system. The crane operation control method and system provided by the invention can improve the operating efficiency of the crane and reduce the operation complexity of the crane.
Description
Technical field
The present invention relates to crane control field, more particularly, relate to a kind of hoisting crane progress control method and hoisting crane operation control system.
Background technology
In the stop operation of hoisting crane, conventional method is in the time that hoisting crane approaches target location, it to be slowed down step by step, until hoisting crane is accommodated to target location.This method need to be carried out repeatedly deceleration-operation to hoisting crane, and uses the lower speed of creeping to travel the long period, so efficiency is lower, berthing time is longer; And, needing constantly to adjust accekeration because slow down step by step, need repeatedly operate control convenience, increase the debugging difficulty of equipment, stop efficiently, efficiently operation thereby cannot realize.
Summary of the invention
The technical problem to be solved in the present invention is, uses the problem of the aspects such as the efficiency that retarding method is stopped is step by step low, debugging is complicated for hoisting crane, and a kind of hoisting crane progress control method and hoisting crane operation control system are provided.
One of the technical solution adopted for the present invention to solve the technical problems is: a kind of hoisting crane progress control method is provided, comprise the following steps: S1: frequency converter is set the distance of acceleration acceleration/accel, deceleration acceleration/accel and described hoisting crane and the described target location of described hoisting crane, and the distance of described hoisting crane and described target location is divided into the first stage that accelerates, the at the uniform velocity subordinate phase of advancing and the phase III of slowing down; S2: in the time that described hoisting crane is positioned at described first stage, export described acceleration acceleration/accel to described motor; In the time that described hoisting crane is positioned at described subordinate phase, stop exporting described acceleration acceleration/accel to described motor, in the time that described hoisting crane is positioned at the described phase III, export described deceleration acceleration/accel to described motor; And in the time that described hoisting crane is arranged in any one stage of described first to phase III, detect in real time the real time position of described hoisting crane, and calculate compensated acceleration according to described real time position, and export described compensated acceleration to described motor.
Hoisting crane progress control method of the present invention, described step S1 also comprises: described frequency converter judges according to described acceleration acceleration/accel, described deceleration acceleration/accel and described target range whether described hoisting crane can reach predetermined maximum rate, in the time can not reaching described maximum rate, the distance of determining described subordinate phase is zero; In described step S2: if determine in described step S1, the distance of described subordinate phase is zero, directly enters the described phase III after described first stage finishes.
Hoisting crane progress control method of the present invention, in described step S2, calculating described compensated acceleration according to described real time position specifically comprises: S21: the speed while end according to described acceleration acceleration/accel, described deceleration acceleration/accel and the distance of current generation calculating current generation, and calculate the Distance Remaining of described current generation according to described real time position; S22: calculate described motor at the required desirable acceleration/accel of described real time position according to described speed and described Distance Remaining, described desirable acceleration/accel and current generation are defined as to described compensated acceleration to the described acceleration acceleration/accel of described motor output or the difference of described deceleration acceleration/accel.
Hoisting crane progress control method of the present invention, the value opposite number each other of the value of described acceleration acceleration/accel and described deceleration acceleration/accel.
Two of the technical solution adopted for the present invention to solve the technical problems is: a kind of hoisting crane operation control system is provided, comprise frequency converter for controlling hoisting crane operation, motor and for detecting the sensor of described hoisting crane real time position, wherein, described real time position refers to that described hoisting crane leaves the range ability after reference position, described frequency converter also comprises: acquisition module, for obtaining described real time position from described sensor; Computing module, for setting the distance of acceleration acceleration/accel, deceleration acceleration/accel and described hoisting crane and described target location of described hoisting crane, and the distance of described hoisting crane and described target location is divided into the first stage that accelerates, the at the uniform velocity subordinate phase of advancing and the phase III of slowing down; Output module: according to described real time position, in the time that described hoisting crane is positioned at described first stage, for export described acceleration acceleration/accel to described motor; In the time that described hoisting crane is positioned at described subordinate phase, export described acceleration acceleration/accel for stopping to described motor, in the time that described hoisting crane is positioned at the described phase III, for export described deceleration acceleration/accel to described motor; Wherein, described computing module is also for calculating compensated acceleration according to described real time position, and described output module is also for exporting described compensated acceleration to described motor.
Hoisting crane operation control system of the present invention, described computing module is also for judging according to described acceleration acceleration/accel, described deceleration acceleration/accel and described target range whether described hoisting crane can reach predetermined maximum rate, in the time can not reaching described maximum rate, the distance of determining described subordinate phase is zero; Described output module is 1 o'clock in described subordinate phase distance, after described first stage finishes, directly enters the described phase III.
Hoisting crane operation control system of the present invention, described computing module is determined compensated acceleration in the following manner: according to described acceleration acceleration/accel, speed when described deceleration acceleration/accel and the distance of current generation calculating current generation finish, calculate the Distance Remaining of described current generation according to described real time position, and calculate described motor at the required desirable acceleration/accel of described real time position according to described speed and described Distance Remaining, and described desirable acceleration/accel and current generation are defined as to described compensated acceleration to the described acceleration acceleration/accel of described motor output or the difference of described deceleration acceleration/accel.
Hoisting crane operation control system of the present invention, described computing module is also for setting the value of described acceleration acceleration/accel and the value opposite number each other of described deceleration acceleration/accel.
Implement technical scheme of the present invention, there is following beneficial effect: can reduce the berthing time of hoisting crane, improve hoisting crane operation control efficiency and reduce debugging difficulty.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the schematic diagram of hoisting crane operation control system embodiment in the present invention.
Fig. 2 is the schematic diagram of hoisting crane progress control method embodiment in the present invention.
Fig. 3 is hoisting crane progress control method one embodiment medium velocity of the present invention and the functional relation schematic diagram of time.
Fig. 4 is another embodiment medium velocity of hoisting crane progress control method of the present invention and the functional relation schematic diagram of time.
Fig. 5 is the schematic diagram that calculates compensated acceleration in hoisting crane progress control method of the present invention.
Fig. 6 is another schematic diagram that calculates compensated acceleration in hoisting crane progress control method of the present invention.
Fig. 7 is the functional block diagram of frequency converter one embodiment in hoisting crane operation control system of the present invention.
Detailed description of the invention
Understand for technical characterictic of the present invention, object and effect being had more clearly, now contrast accompanying drawing and describe the specific embodiment of the present invention in detail.
Fig. 1 is the schematic diagram of hoisting crane operation control system embodiment in the present invention, as shown in Figure 1, hoisting crane operation control system comprise for hoisting crane is moved the frequency converter 100 controlled, for detect hoisting crane real time position sensor 200 and for driving the motor 300 of hoisting crane.
At the beginning of hoisting crane operation, frequency converter 100 according to the setting parameter of input for the acceleration acceleration/accel that accelerates and the deceleration acceleration/accel for slowing down.In hoisting crane traveling process, motor 300 is exported in the acceleration/accel adjustment order setting by frequency converter 100, motor 300 receives the acceleration/accel adjustment order of frequency converter 100 and adjusts horsepower output according to this acceleration/accel adjustment order, thereby controls the acceleration operation of hoisting crane to set.
The real time position that sensor 200 is detected refers to the distance of advancing after hoisting crane brings into operation, sensor 200 sends the real time position detecting to frequency converter 100, thereby the real time position that frequency converter 100 can provide according to sensor 200 judges current position and determines the current acceleration/accel that should export to motor 300.In one embodiment of the present invention, frequency converter adopts programmable logic controller (PLC) (Programmable Logic Controller) to complete control action.
As shown in Figure 2, be the schematic diagram of hoisting crane progress control method embodiment of the present invention, the method is used for controlling hoisting crane and rests in target location, and it comprises the following steps:
S1: frequency converter 100 is set the distance of acceleration acceleration/accel, deceleration acceleration/accel and hoisting crane and the target location of described hoisting crane, and the distance of hoisting crane and described target location is divided into the first stage that accelerates, the at the uniform velocity subordinate phase of advancing and the phase III of slowing down.Concrete, the distance (starting point is as the initial position of hoisting crane) that the distance of first stage is moved taking the acceleration acceleration/accel of setting for hoisting crane from zero run to flank speed; The distance (its terminal is target location) that the distance of phase III is moved taking deceleration acceleration/accel from flank speed to zero for hoisting crane; Subordinate phase is between first stage and subordinate phase.
S2: in the time that frequency converter 100 bases determine that from the real time position of sensor 200 hoisting crane is positioned at first stage, accelerate acceleration/accel (export acceleration/accel to motor 300 and adjust instruction, comprise the acceleration acceleration/accel of setting in step S1 in this instruction) to motor 300 outputs of hoisting crane; In the time that frequency converter 100 bases determine that from the real time position of sensor 200 hoisting crane is positioned at subordinate phase, stop accelerating acceleration/accels to motor 300 outputs; In the time that frequency converter 100 bases determine that from the real time position of sensor 200 hoisting crane is positioned at the phase III, export deceleration acceleration/accel (export acceleration/accel to motor 300 and adjust instruction, comprise the deceleration acceleration/accel of setting in step S1 in this instruction) to motor 300.
In above-mentioned steps S2, frequency converter 100 is in the time that hoisting crane is arranged in any one stage of first to phase III, all detect in real time the real time position of hoisting crane by sensor 200, and calculate compensated acceleration according to real time position, and export compensated acceleration to motor 300.
In concrete application, can use pick-up time to substitute acceleration/accel and use to describe the state that Frequency Converter Control hoisting crane accelerates.
Shown in Fig. 3, above-mentioned hoisting crane progress control method is in the time of specific implementation, first, frequency converter 100 is set and is accelerated acceleration/accel, deceleration acceleration/accel and the target range of hoisting crane from reference position to target location, thereby determines acceleration phase, decelerating phase and the stage of traveling at the uniform speed.Then, frequency converter 100 is controlled as follows:
In 0-t1 stage, be acceleration phase, frequency converter 100 outputs are accelerated acceleration/accel to motor, and hoisting crane reaches the default maximum rate Vmax of hoisting crane in the time of t1, wherein, maximum rate Vmax is that the predefined hoisting crane of frequency converter 100 is in operation and allows the maximum rate that reaches.
In t1-t3 stage, be stage at the uniform velocity, frequency converter 100 stops output and accelerates acceleration/accel to motor 300, and hoisting crane keeps maximum rate Vmax operation.
In t3-t6 stage, frequency converter 100 is exported deceleration acceleration/accel to motor 300, and hoisting crane is decelerated to quiescence gradually.
Because the distance sum that 0-t1, t1-t3 and t3-t6 three phases move equals target range, so hoisting crane can accurately rest in target location in the time of t6.
Compare the hoisting crane progress control method of present embodiment, conventional hoist progress control method adopts the method for slowing down step by step, as shown in Figure 3, in the time of t2, reduce speed now, and in the t4-t7 stage with low speed jerking motion a period of time, in the time of t7, again slow down, and finally in the time of t8, rest in target location.Can see, while giving it the gun with same acceleration acceleration/accel at the beginning of operation, the method that present embodiment discloses can make hoisting crane in the time of t6, just complete stop, just it is more efficient to complete stop than orthodox method when the t8, and without repeatedly carrying out setting parameter in order to slow down step by step.
In yet another embodiment of the present invention, frequency converter 100 can only reach lower speed V1 during according to accelerating to draw after acceleration/accel, deceleration acceleration/accel and target range are calculated hoisting crane to be difficult to reach maximum rate Vmax, 100 of frequency converters are set acceleration phase and decelerating phase, the distance in stage is at the uniform velocity set as to zero, and controls as follows (as shown in Figure 4):
In 0-t10 stage, frequency converter 100 outputs are accelerated acceleration/accel to motor 300, and hoisting crane reaches speed V1 in the time of t10.
In t10-t13 stage, frequency converter 100 is exported deceleration acceleration/accel to motor 300, and hoisting crane is decelerated to static gradually.
Because the distance sum that 0-t10 and t10-t13 two stages are moved equals target range, so hoisting crane can accurately rest in target location in the time of t13.Equally, tradition is wherein in hoisting crane progress control method, if target range is shorter and slow down and stop step by step, hoisting crane need start to slow down at t9 place, and carry out low speed jerking motion in t11-t14 stage, finally in the time of t15, rest in target location, compare present embodiment, its berthing time is long and parameters is more.
As a further improvement on the present invention, frequency converter 100 is set the value of accelerating acceleration/accels equal the to slow down value of acceleration/accel, thereby in Fig. 3,0-t1 stage equates with the distance in t3-t6 stage, 0-t10 stage equates with the distance in t10-t13 stage in Fig. 4, frequency converter 100 is when in the mode shown in Fig. 3, Distance Remaining equals the distance of acceleration phase, or can slow down when in the mode shown in Fig. 4, the distance of acceleration phase equals the distance in decelerating phase, the calculation process of having simplified frequency converter 100, has improved operation efficiency.
Mode shown in Fig. 3 is the hoisting crane progress control method of carrying out the in the situation that frequency converter 100 existing signal delay and friction force ignoring, consider the situation of signal delay and the friction force of frequency converter 100, frequency converter 100 also need to be exported some compensated accelerations outside the above-mentioned acceleration acceleration/accel of output and deceleration acceleration/accel, thereby the situation of hoisting crane real-world operation is adapted to velocity curve as shown in Figure 3 and Figure 4.Refer to Fig. 5, Fig. 5 shows acceleration accelerating curve a1, the deceleration accelerating curve a3 of perfect condition low-converter output, and actual acceleration accelerating curve a2, the deceleration accelerating curve a4 of frequency converter hoisting crane while not exporting compensated acceleration.As can be seen from Figure 5, there is different variations because of the factor such as delay and friction force of frequency converter 100 output signals in the accelerating curve that a1 should overlap with a4 from a2, a3 originally, the object that frequency converter 100 is exported compensated acceleration is that the accelerating curve in order to realize after compensation can reach the effect that under perfect condition, accelerating curve produces, and ensures the accurate stop of hoisting crane.
Below will describe compensation way as an example of 0-t10 stage in Fig. 3 example.The real time position that frequency converter 100 provides according to sensor 200 judged in the time of 0-t10 stage, exported predetermined acceleration acceleration/accel to motor; Now, the speed V1 that frequency converter 100 also needs to calculate 0-t10 stage hoisting crane should reach while finishing, and calculate the Distance Remaining in t0-t10 stage according to real time position.Frequency converter 100 calculates motor 300 at the required desirable acceleration/accel of real time position according to speed V1, Distance Remaining, the acceleration acceleration/accel that desirable acceleration/accel and current generation are exported to motor 300 or the difference of deceleration acceleration/accel are defined as compensated acceleration, compensated acceleration is exported to motor 300 by frequency converter 100, wherein, above-mentioned desirable acceleration/accel refers to that hoisting crane affects the acceleration/accel that should possess under state in factors such as not having frequency converter 100 output signals delays and friction force; Now, motor 300 has obtained predetermined acceleration acceleration/accel and a compensated acceleration of current generation simultaneously, and these two coefficient results of acceleration/accel can make the curve approximation shown in speed and time curve and Fig. 3 of hoisting crane.As shown in Figure 6, shown curve is speed and the time changing curve of revised hoisting crane, straight line is speed and time changing curve under perfect condition, can find out, under revised speed and time changing curve and perfect condition, speed and time change bent approximate, compensated acceleration is calculated and exported to Distance Remaining and speed by the real-time monitoring current generation, can make hoisting crane realize and in the time of t10, cover the distance of current generation and reach set rate V3, thereby and in the time of t13, to cover target range and speed is lowered be 0 to realize accurately and stopping.
Hoisting crane progress control method of the present invention long apart from time set acceleration phase, at the uniform velocity stage and decelerating phase, in the time of short range, the distance in stage is at the uniform velocity set as to zero, and in the stage fixing acceleration/accel of output and the compensated acceleration that set, can make hoisting crane rest in quickly and accurately assigned address by these two acceleration/accel sums.
Fig. 7 is the functional block diagram of frequency converter 100 1 embodiments in the operation control system of hoisting crane shown in Fig. 1.Below with reference to Fig. 1-6, couple Fig. 7 is illustrated.
Frequency converter 100 can adopt programmable logic controller (PLC) (Programmable Logic Controller) to complete control action, wherein, frequency converter 100 comprises acquisition module 1010, computing module 1020, output module 1030, memory module 1040 and treater 1050.Acquisition module 1010 is for obtaining real time position from sensor 200.Computing module 1020 accelerates acceleration/accel, deceleration acceleration/accel and target range for setting, and the distance of hoisting crane and target location is divided into the distance of the first stage that accelerates, the at the uniform velocity subordinate phase of advancing and phase III of slowing down, wherein, the distance sum of first stage, subordinate phase and phase III equals target range.Output module 1030, according to the real time position of hoisting crane, accelerates acceleration/accel, stops accelerating acceleration/accel and exporting deceleration acceleration/accel in the phase III to motor 300 to motor 300 outputs in subordinate phase to motor 300 outputs at first stage.In addition, computing module 1020 is also for calculating compensated acceleration according to described real time position, and output module 1030 is also for exporting compensated acceleration to motor 300.Described memory module 1040 is for storing executable program and other data of frequency converter 100.Described treater 1050 is for carrying out the executable program of acquisition module 1010, computing module 1020, output module 1030, to realize its function.
As a further improvement on the present invention, computing module 1020 is also for judging according to accelerating acceleration/accel, deceleration acceleration/accel and target range whether hoisting crane can reach default maximum rate Vmax, in the time can not reaching Vmax, the distance of determining subordinate phase is zero; Output module 1030 accelerates acceleration/accel and after first stage finishes, enters the phase III of slowing down and export deceleration acceleration/accel to motor 300 to motor 300 outputs at first stage, wherein, computing module 1020 is also for calculating compensated acceleration according to real time position, and output module 1030 is also for exporting compensated acceleration to described motor 300.
As a further improvement on the present invention, computing module 1020 is also for calculating the speed of current generation while finishing according to the distance of accelerating acceleration/accel, deceleration acceleration/accel and current generation, calculate the Distance Remaining of current generation according to real time position, and calculate desirable acceleration/accel according to speed and Distance Remaining, and desirable acceleration/accel and the difference of accelerating acceleration/accel or deceleration acceleration/accel are defined as to compensated acceleration, wherein, the current generation refers to t0-t1 stage of accelerating as shown in Figure 2, the t1-t3 stage traveling at the uniform speed and t3-t6 stage of slowing down.Output module 1030 is also for exporting compensated acceleration to described motor 300 according to the result of calculation of computing module 1020.
As a further improvement on the present invention, the value of computing module 1020 setting acceleration acceleration/accels equals the value of described deceleration acceleration/accel, output module 1030 is when in the mode shown in Fig. 2, Distance Remaining equals the distance of acceleration phase, or exportable acceleration acceleration/accel when the distance of acceleration phase equals the distance in decelerating phase in the mode shown in Fig. 3, thereby the calculation process of having simplified computing module 1020, has improved operation efficiency.
Above-mentioned hoisting crane progress control method and hoisting crane operation control system can high efficiencyly rest in target location, and reduce the setting complexity of frequency converter 100.
By reference to the accompanying drawings embodiments of the invention are described above; but the present invention is not limited to above-mentioned detailed description of the invention; above-mentioned detailed description of the invention is only schematic; instead of restrictive; those of ordinary skill in the art is under enlightenment of the present invention; not departing from the scope situation that aim of the present invention and claim protect, also can make a lot of forms, within these all belong to protection of the present invention.
Claims (8)
1. a hoisting crane progress control method, rests in target location for controlling hoisting crane, it is characterized in that, said method comprising the steps of:
S1: frequency converter is set the distance of acceleration acceleration/accel, deceleration acceleration/accel and described hoisting crane and the described target location of described hoisting crane, and the distance of described hoisting crane and described target location is divided into the first stage that accelerates, the at the uniform velocity subordinate phase of advancing and the phase III of slowing down;
S2: in the time that described hoisting crane is positioned at described first stage, export described acceleration acceleration/accel to the motor of described hoisting crane; In the time that described hoisting crane is positioned at described subordinate phase, stop exporting described acceleration acceleration/accel to described motor, in the time that described hoisting crane is positioned at the described phase III, export described deceleration acceleration/accel to described motor; And in the time that described hoisting crane is arranged in any one stage of described first to phase III, detect in real time the real time position of described hoisting crane, and calculate compensated acceleration according to described real time position, and export described compensated acceleration to described motor.
2. hoisting crane progress control method as claimed in claim 1, is characterized in that,
Described step S1 also comprises: described frequency converter judges according to described acceleration acceleration/accel, described deceleration acceleration/accel and described target range whether described hoisting crane can reach predetermined maximum rate, in the time can not reaching described maximum rate, the distance of determining described subordinate phase is zero;
In described step S2: if determine in described step S1, the distance of described subordinate phase is zero, directly enters the described phase III after described first stage finishes.
3. hoisting crane progress control method as claimed in claim 1, is characterized in that, in described step S2, calculates described compensated acceleration comprise according to described real time position:
S21: the speed while end according to described acceleration acceleration/accel, described deceleration acceleration/accel and the distance of current generation calculating current generation, and calculate the Distance Remaining of described current generation according to described real time position;
S22: calculate described motor at the required desirable acceleration/accel of described real time position according to described speed and described Distance Remaining, described desirable acceleration/accel and current generation are defined as to described compensated acceleration to the described acceleration acceleration/accel of described motor output or the difference of described deceleration acceleration/accel.
4. hoisting crane progress control method as claimed in claim 3, is characterized in that, the value opposite number each other of the value of described acceleration acceleration/accel and described deceleration acceleration/accel.
5. a hoisting crane operation control system, comprise frequency converter and motor for controlling hoisting crane operation, it is characterized in that, described hoisting crane operation control system also comprises the sensor for detecting described hoisting crane real time position, wherein, described real time position refers to that described hoisting crane leaves the range ability after reference position; Described frequency converter also comprises:
Acquisition module, for obtaining described real time position from described sensor;
Computing module, for setting the distance of acceleration acceleration/accel, deceleration acceleration/accel and described hoisting crane and described target location of described hoisting crane, and the distance of described hoisting crane and described target location is divided into the first stage that accelerates, the at the uniform velocity subordinate phase of advancing and the phase III of slowing down;
Output module: according to described real time position, in the time that described hoisting crane is positioned at described first stage, for export described acceleration acceleration/accel to described motor; In the time that described hoisting crane is positioned at described subordinate phase, export described acceleration acceleration/accel for stopping to described motor, in the time that described hoisting crane is positioned at the described phase III, for export described deceleration acceleration/accel to described motor;
Wherein, described computing module is also for calculating compensated acceleration according to described real time position, and described output module is also for exporting described compensated acceleration to described motor.
6. hoisting crane operation control system as claimed in claim 5, it is characterized in that, described computing module is in the time judging that according to described acceleration acceleration/accel, described deceleration acceleration/accel and described target range described hoisting crane can not reach predetermined maximum rate, and the distance of determining described subordinate phase is zero; Described output module is 1 o'clock in described subordinate phase distance, after described first stage finishes, directly enters the described phase III.
7. hoisting crane operation control system as claimed in claim 5, it is characterized in that, described computing module is determined compensated acceleration in the following manner: according to described acceleration acceleration/accel, speed when described deceleration acceleration/accel and the distance of current generation calculating current generation finish, and calculate the Distance Remaining of described current generation according to described real time position, and calculate described motor at the required desirable acceleration/accel of described real time position according to described speed and described Distance Remaining, and described desirable acceleration/accel and current generation are defined as to described compensated acceleration to the described acceleration acceleration/accel of described motor output or the difference of described deceleration acceleration/accel.
8. hoisting crane operation control system as claimed in claim 7, is characterized in that, described computing module is also for setting the value of described acceleration acceleration/accel and the value opposite number each other of described deceleration acceleration/accel.
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