CN105446331A - Railway car positioning system and method based on encoder and racks - Google Patents
Railway car positioning system and method based on encoder and racks Download PDFInfo
- Publication number
- CN105446331A CN105446331A CN201410395300.4A CN201410395300A CN105446331A CN 105446331 A CN105446331 A CN 105446331A CN 201410395300 A CN201410395300 A CN 201410395300A CN 105446331 A CN105446331 A CN 105446331A
- Authority
- CN
- China
- Prior art keywords
- railcar
- tooth bar
- plc
- scrambler
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention relates to a railway car positioning system and method based on an encoder and racks, particularly relates to a positioning system based on the encoder and the racks, and the positioning system can control a non-adjustable-speed motor to achieve high-precision positioning. The invention provides the railway car positioning system and method based on the encoder and the racks, and the system and the method are accurate in positioning and are short in positioning control time. The railway positioning system based on the encoder and the racks includes a railway, and a railway car is arranged on the railway. The structural features of the railway positioning system are that: a plurality of racks are arranged on the railway in the railway length direction; the numbers of teeth of all the racks are different; one rack is corresponding to one work target position; the railway car is provided with a gear which is engaged with the racks; the center shaft of the gear is connected to a rotatable signal input end of the encoder arranged on the railway car; and a signal output port of the encoder is connected to a signal input port of a PLC.
Description
Technical field
The present invention relates to a kind of railcar positioning system based on scrambler and tooth bar and method, be a kind of scrambler and tooth bar positioning system specifically, control non-adjustable speed motor to reach the method for hi-Fix.
Background technology
At some engineering fields, one is needed to position multiple job position by the railcar of electrical control, and how to position railcar is accurately the prerequisite that railcar can carry out accurate operation.
Analyze existing patent:
(1) patent of invention title: automatic locating device of travelling mechanism of movable trash-removing machine (application number: 201020692747.5)
This patent of invention below the frame of movable trash-removing machine, establishes proximity transducer and close to alignment sensor, the dam facing that movable trash-removing machine is installed arranges anchor point of removing contamination as required, anchor point of removing contamination can be 2 or multiple, anchor point of respectively removing contamination is established close to deceleration sensor block with close to orientation sensing block, be located at apart from anchor point 80-120 millimeters place close to deceleration sensor block, be located at anchor point place close to orientation sensing block, be electrically connected close to deceleration sensor with close to the control circuit in alignment sensor and switch board.With the braking of proximity switch reduction of speed, utilize the signal that proximity switch sends, the signal that control circuit sends according to proximity switch repeatedly crawl carrys out capturing position, by close to orientation sensing close to sending signal, come its locking by control circuit.
This patent can not the position of Real-Time Monitoring railcar.
This patent does not relate to the localization method of scrambler.
(2) utility model patent title: a kind of laser ranging positioning system (application number: 201120176926.8)
Laser scanning and ranging instrument is arranged on tracking mechanism, and tracking mechanism is connected with the motor controlled by processor.
After putting in place owing to needing dolly in this programme, next action is carried out in laser shutdown, need to open laser ranging during walking, the application of laser is subject to the restriction of environmental baseline, and outdoor open-air atmosphere should not be applied.This patent does not relate to Electromechanical Control actuating unit and controls localization method.
(3) patent of invention title: rail vehicle go and back running coding locating device and control gear (application number: 200610054590.1) thereof
Rotary coding wheel is arranged on the lower end of frame by main shaft and contacts with the non-orbiting scroll of railcar, if rail wheel skidding can affect the positioning precision of trash.
This patent does not relate to the method for tooth bar location.
(4) patent of invention title: linear running location system for electrically driven vehicle (application number 02111510.9)
Laser position detecting device is arranged on the fixture of orbit center line one end of vehicle, and console panel receives this signal and controls vehicle driving motor.
This patent does not relate to Electromechanical Control actuating unit.
(5) patent of invention title: based on rectilinear orbit car positioning system and the method (application number 201210493674.0) of laser ranging
Laser range finder sends laser when opening and is mapped on reflecting plate, be reflected back laser range finder again, the data of laser range finder are input in control by data line, and controller makes A.C. contactor close by compute distance values, thus control motor makes railcar walk by reducer casing.
In this patent, because reflecting plate is the one end being fixed on track, laser range finder and reflecting plate need on same straight line and this straight line is wanted and parallel track, and subsiding of ground can directly cause laser range finder not receive data, locates inaccurate.
By finding out existing location technology analysis, each patent has respective application background, has respective advantage.Need the operating personnel solving railcar to operate onboard in this programme, control desk is in railcar, and motor used is AC gear motor, and band-type brake power supply discharges separately.
Summary of the invention
The present invention is exactly for the problems referred to above, the railcar positioning system based on scrambler and tooth bar providing a kind of accurate positioning, positioning control time short and method.
For achieving the above object, the present invention adopts following technical scheme, the railcar positioning system that the present invention is based on scrambler and tooth bar comprises track, track is provided with railcar, its structural feature track is provided with multiple tooth bar along track length direction, the number of teeth of each tooth bar is all not identical, a corresponding operative goals position of tooth bar is arranged, railcar is provided with and described tooth bar meshed gears, central gear axis is connected with the scrambler turn signal input end be arranged in railcar, and the signal output port of scrambler is connected with PLC signal input port.
As a kind of preferred version, PLC of the present invention is arranged in railcar.
As another kind of preferred version, tooth bar of the present invention is arranged on the side of track, and gear is arranged on the side of railcar.
As another kind of preferred version, gear of the present invention is connected with scrambler turn signal input end by shaft coupling.
As another kind of preferred version, gear of the present invention adopts cylindrical gear.
Secondly, the present invention also comprises action button, Derivative limit on the left or on the right sensor, railcar left lateral walks contactor, railcar right lateral walks contactor and display screen, described PLC signal input port is connected with action button signal output port, Derivative limit on the left or on the right sensor signal output port respectively, and PLC signal output port walks contactor control signal input port with railcar left lateral respectively, railcar right lateral walks contactor input port, display screen display input port is connected; Described Derivative limit on the left or on the right sensor is separately positioned on the two ends of track.
In addition, SPC scrambler selected by scrambler of the present invention, and PLC adopts siemens PLC, and display screen adopts Smart700IE display screen, the I0.0 port of PLC is connected with code device signal output port, the I0.1 port of PLC is walked contactor controlled switch by railcar left lateral and is connected with direct current-24V power supply, the I0.2 port of PLC is walked contactor controlled switch by railcar right lateral and is connected with direct current-24V power supply, the I0.3 port of PLC is connected with direct current-24V power supply by railcar movable motor electrothermal relay controlled switch, the M port of PLC is connected with direct current+24V power supply, the Q0.0 port of PLC is walked contactor control end by railcar left lateral and is connected with civil power zero line, the Q0.1 port of PLC is walked contactor control end by railcar right lateral and is connected with civil power zero line, the L port of PLC is connected with civil power live wire, the PORT0 port of PLC is connected with display screen display input port (railcar left lateral walks contactor and railcar right lateral walks contactor for controlling the start and stop of railcar).
The present invention is based on the railcar localization method of scrambler and tooth bar, comprise the following steps:
1) position is detected
Railcar position=case puts+and microbit puts
Case is put: the different pulse number produced by the tooth bar that the number of teeth of PLC detection different work target location is different; I operative goals position is had in an engineering, when laying tooth bar, the tooth bar determination operative goals position of the different number of teeth of i root, the number of teeth of each tooth bar in advance test storage in the program of PLC, railcar passes through a complete tooth bar, the tooth bar number that the umber of pulse comparison that PLC is obtained on this tooth bar by scrambler stores, determines that its current case is put; Right lateral is just, current case puts=i ± 1, and right lateral adds, and left lateral subtracts;
Microbit is put: when railcar drives near operative goals position, and Gear Contact is to tooth bar, and PLC detects the output pulse of scrambler, and real-time microbit puts=p × X
Wherein, the umber of pulse that X is real-time, p pulse equivalency, the displacement corresponding by tooth bar, gear and scrambler determination unit pulse;
Distance representated by each pulse of p, module is M, and the gear number of teeth is Z, and the resolution of scrambler is k,
Gear compound graduation diameter of a circle d=M × Z;
Girth C=π × d=π × M × Z of gear compound graduation circle;
Resolution=π × M × the Z/k of the girth/scrambler of p=gear compound graduation circle;
Railcar is walked between two tooth bars, and PLC obtains position by travel time and average velocity,
Wherein,
represent the average velocity of railcar walking, t represents the time that railcar is walked;
Railcar right lateral, the umber of pulse that PLC obtains and the orbital position relation that garage is walked
Railcar is having the position=pX of tooth bar;
Railcar is at position=v (the t) × t without tooth bar;
(i is the position having tooth bar, and j is the position without tooth bar);
It is determined by tooth bar that microbit is put, and has nothing to do with the position without tooth bar, so
can be by
replace.
2) locate
The location of railcar of the present invention puts interval in microbit, after position is detected, adopts closed feedback loop mode to position, and Fig. 5 is railcar close-loop feedback of the present invention location block diagram;
Operative goals position relative pulse y is made in PLC
iwith actual parking relative pulse position x
icompare, if x
i>y
i, then railcar needs to continue from the walking of trend reverse direction, if x
i<y
ithen railcar needs to positive dirction walking, when
|x
i-y
i|<Δ
Wherein, Δ is positioning error, finally reaches the determination that microbit is put.
As another kind of preferred version, gear of the present invention is made up of principal and subordinate's two gears:
Module is M=3mm;
Main drive gear tooth number Z
1=40;
Gear compound graduation diameter of a circle d=M × Z
1=3 × 40=120mm;
The girth C of main drive gear reference circle
1=π × d=376.8mm;
From gear tooth number Z
2=20;
The transfer ratio i of principal and subordinate's gear
12=Z
1/ Z
2=40/20=2;
The girth C=C of the integrated gear reference circle of principal and subordinate's gear structure
1/ i
12=120/2=60mm;
The circular pitch t=π M=3 π of tooth bar;
SPC scrambler selected by scrambler, resolution k=1024;
The resolution k of the girth C/ scrambler of the hypotactic integrated gear reference circle of pulse equivalency p=that microbit is put,
P=60/1024 (mm/ pulse);
The tooth bar that the number of teeth is 56 is laid in operative goals position 1, and the tooth bar that tooth bar number is 58 is laid in operative goals position 2, and the tooth bar that the number of teeth is 60 is laid in operative goals position 3, and the tooth bar that the number of teeth is 62 is laid in operative goals position 4;
System PLC adopts siemens PLC, and port0 connects Siemens man-machine interface Smart700IE display screen;
Track laying completes, and first carries out pre-reading to the umber of pulse of each track, and write PLC demarcates case and puts;
Railcar initial position is at high order end, and railcar is by the perception of limit on the left proximity transducer, and railcar is walked from left side, it is 1 that case is put, when railcar arrives A point, i.e. wheel and rack contact, the PLC be arranged in railcar starts to carry out displacement calculating, railcar is at AA, in scope, i.e. vehicle track running 5s, the average velocity 1m/s of railcar before gear engages with No. 1 tooth bar, when railcar arrives A, during point, railcar travels 1 × 5=5m;
Gear starts to engage with No. 1 tooth bar, and scrambler starts counting, and PLC is obtained real-time microbit and put s, the umber of pulse X that scrambler produces
1=1000, then micrometric displacement is in real time
When the gear of railcar leaves No. 1 tooth bar, in PLC, record the pulse that No. 1 tooth bar returned by encoder feedback is
56*t/p＝56*3*π*1024/60＝9003；
The real-time absolute displacement of railcar
9003*p＝56*t＝56*3*π＝527.52mm；
Railcar is at BB, and travel in scope, namely case is put is 2, and gear engages front vehicle track running 4s, then 1 × 4=4m with No. 2 tooth bars;
Backgear start to engage with No. 2 tooth bars, scrambler start counting, PLC calculate microbit put.
The umber of pulse that scrambler now produces is X
2=1500, then micrometric displacement is in real time
Beneficial effect of the present invention
Tooth bar of the present invention is not be paved with whole track, reduces construction costs.
The tooth bar of the different number of teeth of the present invention is laid on the guide rail of different work target location, the pulse that tooth bar produces read by railcar scrambler, different tooth bars produces different pulses, PLC need not the absolute position of memory tracks car, as long as walking is by an operative goals position, PLC just obtains railcar case and puts.
The present invention only in pinpoint Action Target annex (microbit is put) location of needs, decreases the control time that location needs.
Tooth bar of the present invention is interrupted laying, and pinpoint Action Target annex (microbit is put) location completes in one section of continuous print guide rail, and this method does not exist continuous laying tooth bar, the location cumulative errors that tooth bar seam is introduced.
The present invention, by existing condition, controls three-phase asynchronous braking motor, reaches the automatic location of railcar.
The present invention adopts rack and pinion to engage the pulse of feeding back and positions railcar, and this pulse is produced by scrambler, and precision is high, and error is little.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.Scope is not only confined to the statement of following content.
Fig. 1 is railcar positioning system block diagram of the present invention.
Fig. 2 is gear of the present invention, tooth bar relative position schematic diagram.
Fig. 3 is that schematic diagram laid by guide rail of the present invention.
Fig. 4 is the umber of pulse that obtains of PLC of the present invention and the orbital position graph of a relation walked of garage.
Fig. 5 is railcar close-loop feedback of the present invention location block diagram.
Fig. 6 is principal and subordinate's gear structure schematic diagram of the present invention.
Fig. 7 is schematic block circuit diagram of the present invention.
Fig. 8 is control drawing of the present invention.
Fig. 9 is major loop figure of the present invention.
In Fig. 2,6,1 be tooth bar, 2 be track, 3 be wheel, 4 be gear, 5 be scrambler, 6 be railcar, 7 be driving wheel, 8 for engaged wheel.
Embodiment
As shown in the figure, the present invention is based on the railcar positioning system of tooth bar and scrambler, this positioning system is arranged in railcar, moves with railcar; It is characterized in that arranging tooth bar in orbit, railcar, the scrambler be arranged in railcar, PLC and motor etc. are in orbit set; Tooth bar is determined according to the quantity of operative goals position, and the different tooth bar of the number of teeth is inlayed in each operative goals position, and tooth bar length is determined by the inertia of railcar and the setting range of fine setting location; Positioning system is arranged on railcar sidepiece, positioning system is provided with gear, tooth bar is arranged on the either side of railcar traveling steel rail, gear connects scrambler and engages with tooth bar, gear rotates with the movement of railcar, and the shaft coupling that is rotated through of gear drives scrambler to rotate thus produces pulse signal, and pulse signal passes to PLC, by the program computation that the average velocity of this pulse signal and railcar controls wherein at PLC, railcar is accurately located.
Gear adopts cylindrical gear; Tooth bar and selected gear match, and in order to lower engineering cost, this patent method is under the condition not affecting positioning action, and tooth bar is interrupted laying at track, is only laid near operative goals position.
The tooth bar matched with the tooth pitch of gear is laid in operative goals position on guide rail, first the length of tooth bar be greater than the uncertain shift length of railcar parking, to ensure railcar when microbit puts location within the scope of tooth bar, secondly each operative goals position lay tooth bar the number of teeth also otherwise with, as shown in Figure 3.
Rack-and-pinion detent mechanism
The transform linear motion of railcar is become circular motion with the engagement of tooth bar by gear, and scrambler is connected with gear by shaft coupling, the displacement of the output pulse reflection railcar of scrambler.
Operation requirements railcar must accurate positioning operation target location, but due to the mass of system of whole railcar, moves to stopping and there is inertia; Railcar physical construction coordinates random variation; System needs exact position detection design.
Method for detecting position:
Localization method method for detecting position of the present invention be by case put location and microbit put detection and localization method realization.
Railcar position=case puts+and microbit puts
Case is put: be the different pulse number produced by the tooth bar that the number of teeth of PLC detection different work target location is different.
Suppose there be i operative goals position in an engineering, the tooth bar determination operative goals position of the different number of teeth of i root is needed when laying tooth bar, the number of teeth of each tooth bar is that whole system builds the initial stage, test in advance and be stored in the program of PLC, railcar passes through a complete tooth bar, the tooth bar number that the umber of pulse comparison that PLC is obtained on this tooth bar by scrambler stores, determine that its current case is put, such PLC just need not configuring non-volatile data-carrier store.Also to consider left and right rows simultaneously, if hypothesis right lateral is just, current
Case puts=i ± 1 (right lateral adds, and left lateral subtracts);
Microbit is put: when referring to that railcar drives near operative goals position, Gear Contact to tooth bar, PLC detect scrambler output pulse realize.Real-time microbit puts=X × p;
Wherein, the umber of pulse that X is real-time, p pulse equivalency (mm/ pulse), by tooth bar, gear and displacement mm corresponding to scrambler determination unit pulse,
Distance (mm/ pulse) representated by each pulse of p, module is M, and the gear number of teeth is Z, and the resolution of scrambler is k (pulse/turn), then
Gear compound graduation diameter of a circle d=M × Z;
Girth C=π × d=π × M × Z of gear compound graduation circle;
Resolution=π × M × the Z/k (mm/ pulse) of the girth/scrambler of p=gear compound graduation circle;
In railcar is walked between two tooth bars, PLC obtains position by travel time and average velocity
Wherein,
the average velocity of railcar walking, the time of t railcar walking.
Suppose railcar right lateral, the umber of pulse that PLC obtains and the orbital position relation that garage is walked are as Fig. 4.
Had case to put to put with microbit, PLC achieves operative goals position and detects.
Railcar is having the position=pX of tooth bar;
Railcar is at position=v (the t) × t without tooth bar;
(i is the position having tooth bar, and j is the position without tooth bar);
Due in this patent, it is determined by tooth bar that microbit is put, and has nothing to do with the position without tooth bar, so
can be by
replace.
Do not introduce case to put, the position that the umber of pulse that Continuous accumulation PLC obtains realizes track is detected, PLC realizes also can detecting operative goals position, but the counting error of the end points in each target location such as gear, tooth bar and scrambler will be added up, introducing case is put, counting error quite and before current location is cleared, and reduces counting error to greatest extent.
Localization method:
The location of railcar puts interval in microbit, and what the present invention adopted is that closed feedback loop mode positions.
Operative goals position relative pulse y is made in PLC
iwith actual parking relative pulse position x
icompare, if x
i>y
i, then railcar needs to continue from the walking of trend reverse direction, if x
i<y
ithen railcar needs to positive dirction walking, when
|x
i-y
i|<Δ
Wherein, Δ is positioning error, finally reaches the determination that microbit is put, and realizes accurately locating.
Embodiment:
Rack-and-pinion detent mechanism: gear is made up of principal and subordinate's two gears:
As shown in Figure 6, for diagram knows that the number of teeth of gear is less than the number of teeth of actual gear.Such structure, the no-load voltage ratio of gear strengthens, and can improve the detection resolution that microbit is put.
In the present embodiment:
Module is M=3mm;
Main drive gear tooth number Z
1=40;
Gear compound graduation diameter of a circle d=M × Z
1=3 × 40=120mm;
The girth C of main drive gear reference circle
1=π × d=376.8mm;
From gear tooth number Z
2=20;
The transfer ratio i of principal and subordinate's gear
12=Z
1/ Z
2=40/20=2;
The girth C=C of the integrated gear reference circle of principal and subordinate's gear structure
1/ i
12=120/2=60mm;
The circular pitch t=π M=3 π of tooth bar;
SPC scrambler (delta pulse type scrambler) selected by scrambler, resolution (pulse/turn) k=1024
The resolution k of the girth/C scrambler of the hypotactic integrated gear reference circle of pulse equivalency (mm/ pulse) p=that microbit is put,
P=60/1024 (mm/ pulse);
The present embodiment, the tooth bar that the number of teeth is 56 is laid in operative goals position 1, and the tooth bar that tooth bar number is 58 is laid in operative goals position 2, and the tooth bar that the number of teeth is 60 is laid in operative goals position 3, and the tooth bar that the number of teeth is 62 is laid in operative goals position 4, as shown in Figure 3.
System PLC adopts siemens PLC, and port0 connects Siemens man-machine interface Smart700IE display screen, shows displacement in real time.System chart, control drawing, major loop figure is as Fig. 8,9:
QM: movable motor isolating switch
KM1: railcar left lateral walks contactor
KM2: railcar right lateral walks contactor
RT: railcar movable motor electrothermal relay
M: movable motor DC+: direct current+24V power supply
DC-: direct current-24V power supply
I0.1: railcar state output terminal
I0.2: railcar state output terminal
I0.3 railcar state output terminal
I0.0: encoder pulse input end
M:PLC power supply input common port
Q0.0:PLC output terminal
Q0.1:PLC state output end
L:PLC input power
N:PLC input power
PE: power supply ground
PORT0:RS485 port
PORT1:RS485 port
DCS: dcs
Track laying completes, and first carry out pre-reading to the umber of pulse of each track, these data are constant, writes in program to have demarcated case and put.
Railcar initial position is defined in high order end, railcar is by the perception of limit on the left proximity transducer, and railcar from the graph left side starts walking, and it is 1 that case is put, when railcar arrives A point (wheel and rack contact), the PLC be arranged in railcar starts to carry out displacement calculating, railcar at AA, vehicle track running 5s in scope and before gear engages with No. 1 tooth bar, the about 1m/S of average velocity of railcar, then, when railcar arrives A, during point, railcar has approximately travelled
1×5＝5m
Gear starts to engage with No. 1 tooth bar, and scrambler starts counting, and PLC is obtained real-time microbit and put s, supposes the umber of pulse X that scrambler produces
1=1000, then micrometric displacement is in real time
When the gear of railcar leaves No. 1 tooth bar, in PLC, record the pulse that No. 1 tooth bar returned by encoder feedback is
56*t/p=56*3* π * 1024/60=9003 (pulse)
The real-time absolute displacement of railcar
9003*p＝56*t＝56*3*π＝527.52mm
Railcar is at BB, and travel in scope, it is 2 that case is put, and gear engages front vehicle track running 4s, then 1 × 4=4m with No. 2 tooth bars;
Backgear start to engage with No. 2 tooth bars, scrambler start counting, PLC calculate microbit put.
Suppose that the umber of pulse that scrambler now produces is X
2=1500, then micrometric displacement is in real time
Be understandable that, above about specific descriptions of the present invention, the technical scheme described by the embodiment of the present invention is only not limited to for illustration of the present invention, those of ordinary skill in the art is to be understood that, still can modify to the present invention or equivalent replacement, to reach identical technique effect; Needs are used, all within protection scope of the present invention as long as meet.
Claims (8)
1. based on the railcar positioning system of scrambler and tooth bar, comprise track, track is provided with railcar, it is characterized in that: track is provided with multiple tooth bar along track length direction, the number of teeth of each tooth bar is all not identical, and a corresponding operative goals position of tooth bar is arranged, and railcar is provided with and described tooth bar meshed gears, central gear axis is connected with the scrambler turn signal input end be arranged in railcar, and the signal output port of scrambler is connected with PLC signal input port.
2., according to claim 1 based on the railcar positioning system of scrambler and tooth bar, it is characterized in that: described PLC is arranged in railcar.
3., according to claim 1 based on the railcar positioning system of scrambler and tooth bar, it is characterized in that: the tooth bar of the described different number of teeth is arranged on the side of track, and gear is arranged on the side of railcar.
4., according to claim 1 based on the railcar positioning system of scrambler and tooth bar, it is characterized in that: described gear is connected with scrambler turn signal input end by shaft coupling.
5. according to claim 1 based on the railcar positioning system of scrambler and tooth bar, it is characterized in that: described gear adopts cylindrical gear.
6. according to claim 1 based on the railcar positioning system of scrambler and tooth bar, characterized by further comprising action button, Derivative limit on the left or on the right sensor, railcar left lateral walks contactor, railcar right lateral walks contactor and display screen, described PLC signal input port is connected with action button signal output port, Derivative limit on the left or on the right sensor signal output port respectively, and PLC signal output port walks contactor control signal input port with railcar left lateral respectively, railcar right lateral walks contactor input port, display screen display input port is connected; Described Derivative limit on the left or on the right sensor is separately positioned on the two ends of track.
7. according to claim 6 based on the railcar positioning system of scrambler and tooth bar, it is characterized in that SPC scrambler selected by described scrambler, PLC adopts siemens PLC, and display screen adopts Smart700IE display screen, the I0.0 port of PLC is connected with code device signal output port, the I0.1 port of PLC is walked contactor controlled switch by railcar left lateral and is connected with direct current-24V power supply, the I0.2 port of PLC is walked contactor controlled switch by railcar right lateral and is connected with direct current-24V power supply, the I0.3 port of PLC is connected with direct current-24V power supply by railcar movable motor electrothermal relay controlled switch, the M port of PLC is connected with direct current+24V power supply, the Q0.0 port of PLC is walked contactor control end by railcar left lateral and is connected with civil power zero line, the Q0.1 port of PLC is walked contactor control end by railcar right lateral and is connected with civil power zero line, the L port of PLC is connected with civil power live wire, the PORT0 port of PLC is connected with display screen display input port.
8., based on the railcar localization method of scrambler and tooth bar, it is characterized in that:
1) position is detected
Railcar position=case puts+and microbit puts
Case is put: the different pulse number produced by the tooth bar that the number of teeth of PLC detection different work target location is different; I operative goals position is had in an engineering, when laying tooth bar, the tooth bar determination operative goals position of the different number of teeth of i root, the number of teeth of each tooth bar in advance test storage in the program of PLC, railcar passes through a complete tooth bar, the tooth bar number that the umber of pulse comparison that PLC is obtained on this tooth bar by scrambler stores, determines that its current case is put; Right lateral is just, current case puts=i ± 1, and right lateral adds, and left lateral subtracts;
Microbit is put: when railcar drives near operative goals position, and Gear Contact is to tooth bar, and PLC detects the output pulse of scrambler, and real-time microbit puts=p × X;
Wherein, the umber of pulse that X is real-time, p pulse equivalency, the displacement corresponding by tooth bar, gear and scrambler determination unit pulse;
P (mm/ pulse) represents the distance of each pulse, and M represents module, and Z represents the gear number of teeth, and k (pulse/turn) represents the resolution of scrambler, then
Gear compound graduation diameter of a circle d=M × Z;
Girth C=π × d=π × M × Z of gear compound graduation circle;
Resolution=π × M × the Z/k of the girth/scrambler of p=gear compound graduation circle;
Railcar is walked between two tooth bars, and PLC obtains position by travel time and average velocity,
Wherein,
the average velocity of railcar walking, the time of t railcar walking;
Railcar right lateral, the umber of pulse that PLC obtains and the orbital position relation that garage is walked
Railcar is having the position=pX of tooth bar;
Railcar is at position=v (the t) × t without tooth bar;
(i is the position having tooth bar, and j is the position without tooth bar);
Due in this patent, it is determined by tooth bar that microbit is put, and has nothing to do with the position without tooth bar, so
can be by
replace.
2) locate
The location of railcar of the present invention puts interval in microbit, after position is detected, adopts closed feedback loop mode to position;
Operative goals position relative pulse y is made in PLC
iwith actual parking relative pulse position x
icompare, if x
i>y
i, then railcar needs to continue from the walking of trend reverse direction, if x
i<y
ithen railcar needs to positive dirction walking, when
|x
i-y
i|<Δ
Wherein, Δ is positioning error, finally reaches the determination that microbit is put.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410395300.4A CN105446331B (en) | 2014-08-12 | 2014-08-12 | Railcar alignment system and method based on encoder and rack |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410395300.4A CN105446331B (en) | 2014-08-12 | 2014-08-12 | Railcar alignment system and method based on encoder and rack |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105446331A true CN105446331A (en) | 2016-03-30 |
| CN105446331B CN105446331B (en) | 2018-04-03 |
Family
ID=55556651
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410395300.4A Expired - Fee Related CN105446331B (en) | 2014-08-12 | 2014-08-12 | Railcar alignment system and method based on encoder and rack |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105446331B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107117216A (en) * | 2017-06-22 | 2017-09-01 | 辽宁抚挖重工机械股份有限公司 | The four crawler belt synchronous walking devices and control method of dual system |
| CN108279629A (en) * | 2018-01-19 | 2018-07-13 | 山东钢铁集团日照有限公司 | A kind of movable equipment Accurate Position Control system and method |
| CN108831192A (en) * | 2018-09-07 | 2018-11-16 | 吉林大学 | Mechanical transport crossing anticollision driving trace guide line laser projection system and its control method |
| CN109143898A (en) * | 2018-07-02 | 2019-01-04 | 公安部南京警犬研究所 | A kind of anti-system of intelligent remote dog |
| CN109744897A (en) * | 2019-03-05 | 2019-05-14 | 青岛汉尚电器有限公司 | A kind of cook's machine and its gear and time adjustment method |
| CN111155491A (en) * | 2019-12-24 | 2020-05-15 | 国网浙江省电力有限公司紧水滩水力发电厂 | Dam crest portal crane auxiliary parking landing door system and control method |
| CN113581777A (en) * | 2021-07-30 | 2021-11-02 | 合肥君信电子科技有限公司 | Cable-free rail car capable of automatically preventing derailing and hanger rail motion platform thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101367174A (en) * | 2008-09-05 | 2009-02-18 | 济南二机床集团有限公司 | Table stroke control apparatus and control method |
| CN201545484U (en) * | 2009-10-14 | 2010-08-11 | 江苏天奇物流系统工程股份有限公司 | Position detect unit on moving device |
| CN103019256A (en) * | 2012-11-28 | 2013-04-03 | 沈阳工业大学 | System and method for positioning linear rail car based on laser ranging |
| CN103019109A (en) * | 2012-08-10 | 2013-04-03 | 宝钢集团新疆八一钢铁有限公司 | Control method for realizing long-distance position detection by combination of encoder and limit |
| CN103563002A (en) * | 2011-03-04 | 2014-02-05 | 创业有限公司 | A transmission apparatus |
-
2014
- 2014-08-12 CN CN201410395300.4A patent/CN105446331B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101367174A (en) * | 2008-09-05 | 2009-02-18 | 济南二机床集团有限公司 | Table stroke control apparatus and control method |
| CN201545484U (en) * | 2009-10-14 | 2010-08-11 | 江苏天奇物流系统工程股份有限公司 | Position detect unit on moving device |
| CN103563002A (en) * | 2011-03-04 | 2014-02-05 | 创业有限公司 | A transmission apparatus |
| CN103019109A (en) * | 2012-08-10 | 2013-04-03 | 宝钢集团新疆八一钢铁有限公司 | Control method for realizing long-distance position detection by combination of encoder and limit |
| CN103019256A (en) * | 2012-11-28 | 2013-04-03 | 沈阳工业大学 | System and method for positioning linear rail car based on laser ranging |
Non-Patent Citations (1)
| Title |
|---|
| 刘权: "基于齿轮啮合的焦炉四大车定位系统", 《2005中国钢铁年会论文集》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107117216A (en) * | 2017-06-22 | 2017-09-01 | 辽宁抚挖重工机械股份有限公司 | The four crawler belt synchronous walking devices and control method of dual system |
| CN108279629A (en) * | 2018-01-19 | 2018-07-13 | 山东钢铁集团日照有限公司 | A kind of movable equipment Accurate Position Control system and method |
| CN109143898A (en) * | 2018-07-02 | 2019-01-04 | 公安部南京警犬研究所 | A kind of anti-system of intelligent remote dog |
| CN108831192A (en) * | 2018-09-07 | 2018-11-16 | 吉林大学 | Mechanical transport crossing anticollision driving trace guide line laser projection system and its control method |
| CN108831192B (en) * | 2018-09-07 | 2023-09-22 | 吉林大学 | Laser projection system for anti-collision driving track guide line of automobile traffic intersection and control method thereof |
| CN109744897A (en) * | 2019-03-05 | 2019-05-14 | 青岛汉尚电器有限公司 | A kind of cook's machine and its gear and time adjustment method |
| CN111155491A (en) * | 2019-12-24 | 2020-05-15 | 国网浙江省电力有限公司紧水滩水力发电厂 | Dam crest portal crane auxiliary parking landing door system and control method |
| CN113581777A (en) * | 2021-07-30 | 2021-11-02 | 合肥君信电子科技有限公司 | Cable-free rail car capable of automatically preventing derailing and hanger rail motion platform thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105446331B (en) | 2018-04-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105446331A (en) | Railway car positioning system and method based on encoder and racks | |
| CN105631616A (en) | Intelligent positioning system and positioning method for warehousing logistics | |
| CN102149944B (en) | Rectilinear motion device | |
| CN102331781B (en) | Trolley left-right linear synchronous travelling control circuit, control method and detection device | |
| CN103019256A (en) | System and method for positioning linear rail car based on laser ranging | |
| CN103964154B (en) | Control method of combined positioning control system | |
| CN103411543A (en) | Lead screw lead accuracy detection device and detection head device thereof | |
| CN112284234B (en) | Magnetic force adsorbs formula steel bridge coating thickness detection device | |
| CN102607503A (en) | Tilt sensor based straightness measuring instrument and method | |
| CN102221335B (en) | Positioning system and method for engineering machine | |
| CN202156835U (en) | Rubber-covered optical cable repairing and rewinding machine capable of accurately metering | |
| CN103471569A (en) | Automatic guide measuring target and measuring system for shield machine | |
| CN202139537U (en) | Control circuit and detecting device for left and right linear synchronous walking of trolleys | |
| CN105157583B (en) | A kind of axle journal length measuring system | |
| CN213147769U (en) | Detection platform for detecting displacement sensor | |
| CN103163795A (en) | Traction control system and method for positioning, calculating and correcting traction position | |
| CN104535023A (en) | Intelligent vehicle for pipeline detection | |
| CN202255344U (en) | Meshing line large-specification gear measuring center | |
| CN202033006U (en) | Location system of engineering machinery | |
| CN109520444A (en) | A kind of large-size horizontal tensile testing machine parallelism of machine body measuring device and its measurement method | |
| CN100535589C (en) | Automatic detecting method for lining section thickness and tunnel forming machine for realizing the same method | |
| CN105812657A (en) | Positioning type guide rail camera and its application method | |
| CN102540928B (en) | Method for controlling servo controller of servo control device for three-dimensional security doors | |
| Xu et al. | Automatic Locating System of Clean-Up Locomotive Based on PLC | |
| CN202630957U (en) | Automatic guide measuring target and measuring system for shield machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180403 Termination date: 20180812 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |