CN105446331B - Railcar alignment system and method based on encoder and rack - Google Patents
Railcar alignment system and method based on encoder and rack Download PDFInfo
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- CN105446331B CN105446331B CN201410395300.4A CN201410395300A CN105446331B CN 105446331 B CN105446331 B CN 105446331B CN 201410395300 A CN201410395300 A CN 201410395300A CN 105446331 B CN105446331 B CN 105446331B
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Abstract
Railcar alignment system and method based on encoder and rack are related to a kind of railcar alignment system and method based on encoder and rack, specifically a kind of encoder and rack alignment system, control can not buncher to reach the method for high accuracy positioning.The present invention provides a kind of accurate positioning, location control time short railcar alignment system and method based on encoder and rack.Railcar alignment system of the invention based on encoder and rack includes track, railcar is provided with track, track length direction is provided with multiple racks on its structural feature track, the number of teeth of each rack differs, the corresponding operative goals position of one rack is set, it is provided with railcar and is connected with the rack meshed gears, central gear axis with the encoder turn signal input being arranged in railcar, the signal output port of encoder is connected with PLC signal input ports.
Description
Technical Field
The invention relates to a railcar positioning system and method based on an encoder and a rack, in particular to a method for controlling a non-adjustable-speed motor to achieve high-precision positioning by using the encoder and the rack positioning system.
Background
In some engineering fields, an electrically controlled rail car needs to position a plurality of operation positions, and how to accurately position the rail car is a precondition that the rail car can perform accurate operation.
Analysis of existing patents:
(1) the invention has the patent name: automatic positioning device of traveling mechanism of mobile trash remover (application number: 201020692747.5)
The invention discloses a method for controlling a mobile trash cleaning machine, which is characterized in that a proximity sensor and a proximity positioning sensor are arranged below a frame of the mobile trash cleaning machine, trash cleaning positioning points are arranged on a dam surface installed on the mobile trash cleaning machine according to requirements, the number of the trash cleaning positioning points can be 2 or more, a proximity deceleration sensing block and a proximity positioning sensing block are arranged on each trash cleaning positioning point, the proximity deceleration sensing block is arranged at a position 80-120 mm away from the positioning points, the proximity positioning sensing block is arranged at the positioning points, and the proximity deceleration sensor and the proximity positioning sensor are electrically connected with a control circuit in a control cabinet. The proximity switch is used for decelerating and braking, the control circuit repeatedly clicks to find the position according to the signal sent by the proximity switch by utilizing the signal sent by the proximity switch, the proximity positioning sensor sends a signal in a proximity mode, and the proximity positioning sensor is locked by the control circuit.
This patent does not enable real-time monitoring of the position of the rail car.
This patent does not relate to the method of positioning the encoder.
(2) Utility model patent name: laser ranging positioning system (application number: 201120176926.8)
The laser scanning range finder is arranged on the following mechanism, and the following mechanism is connected with a motor controlled by the processor.
Because the laser is closed to carry out the next action after the trolley is in place in the scheme, the laser ranging is opened when the trolley needs to walk, the application of the laser is limited by environmental conditions, and the trolley is not suitable for being applied in outdoor and open-air environments. This patent does not relate to an electromechanical control actuator and control positioning method.
(3) The invention has the patent name: coding positioning device for rail car back and forth travel and control mechanism thereof (application number: 200610054590.1)
The rotary coding wheel is arranged at the lower end of the frame through the main shaft and is in rolling contact with a rail of a rail car, and if the wheels of the rail skid, the positioning precision of the trash remover can be influenced.
This patent does not relate to a method of rack positioning.
(4) The invention has the patent name: linear motion positioning system of electric drive vehicle (application number 02111510.9)
The laser position detector is arranged on a fixed object at one end of the central line of the running track of the vehicle, and the control panel receives the signal and controls the driving motor of the vehicle.
This patent does not relate to electromechanical control actuators.
(5) The invention has the patent name: linear rail car positioning system and method based on laser ranging (application number 201210493674.0)
The laser range finder sends laser and shoots on the reflecting plate when opening, reflects back laser range finder again, and the data of laser range finder passes through data transmission line input to the control in, and the controller makes ac contactor closed through calculating the distance value to the control motor makes the railcar walking through the reducing gear box.
In this patent, because the reflecting plate is fixed in orbital one end, laser range finder and reflecting plate need be on same straight line and this straight line will be parallel with the track, and the collapse on ground can directly lead to laser range finder not to receive data, and the location is inaccurate.
As can be seen from the analysis of the existing positioning technology, each patent has respective application background and respective advantages. In the scheme, an operator of the rail car needs to operate on the car, the control console is arranged on the rail car, the used motor is an alternating current speed reducing motor, and the band-type brake power supply is released independently.
Disclosure of Invention
The invention aims at the problems and provides a rail car positioning system and a rail car positioning method based on an encoder and a rack, which are accurate in positioning and short in positioning control time.
In order to achieve the purpose, the invention adopts the following technical scheme that the rail car positioning system based on the encoder and the racks comprises a rail, a rail car is arranged on the rail, and the rail car positioning system is structurally characterized in that a plurality of racks are arranged on the rail along the length direction of the rail, the number of teeth of each rack is different, one rack is arranged corresponding to one operation target position, a gear meshed with the rack is arranged on the rail car, the central shaft of the gear is connected with the rotating signal input end of the encoder arranged on the rail car, and the signal output port of the encoder is connected with the signal input port of the PLC.
As a preferable scheme, the PLC is arranged on a rail car.
In another preferred embodiment, the rack is disposed on a side of the rail, and the gear is disposed on a side of the rail car.
As another preferred scheme, the gear is connected with the rotary signal input end of the encoder through a coupler.
As another preferable scheme, the gear is a cylindrical gear.
Secondly, the invention also comprises an operation button, a left limit sensor, a right limit sensor, a rail car left walking contactor, a rail car right walking contactor and a display screen, wherein the PLC signal input port is respectively connected with the operation button signal output port and the left limit sensor signal output port and the right limit sensor signal output port; the left limit sensor and the right limit sensor are respectively arranged at two ends of the track.
In addition, the encoder of the invention adopts an SPC encoder, the PLC adopts Siemens S7-200, and the display screen adopts a Smart700IE display screen; an I0.0 PORT of the PLC is connected with a signal output PORT of the encoder, an I0.1 PORT of the PLC is connected with a direct current-24V power supply through a controlled switch of a left-side traveling contactor of a rail car, an I0.2 PORT of the PLC is connected with the direct current-24V power supply through a controlled switch of a right-side traveling contactor of the rail car, an I0.3 PORT of the PLC is connected with the direct current-24V power supply through a controlled switch of a thermal relay of a traveling motor of the rail car, an M PORT of the PLC is connected with a direct current +24V power supply, a Q0.0 PORT of the PLC is connected with a commercial power zero line through a control end of the left-side traveling contactor of the rail car, a Q0.1 PORT of the PLC is connected with the commercial power zero line through a control end of the right-side traveling contactor of the rail car, an L PORT of the PLC is connected with a commercial power live wire, and PORT0 PORTs of the PLC are connected with display signal input PORTs.
The invention relates to a rail car positioning method based on an encoder and a rack, which comprises the following steps:
1) position detection
Railcar position-grid position + micro position
Grid position: detecting different pulse numbers generated by racks with different tooth numbers at different operation target positions by the PLC; the method comprises the following steps that i operation target positions exist in one project, when racks are laid, the operation target positions are determined by the i racks with different tooth numbers, the tooth number of each rack is tested in advance and stored in a program of a PLC, a rail car passes through one complete rack, and a PLC controller compares the number of pulses obtained by an encoder on the rack with the number of the stored racks to determine the current grid position of the PLC controller; the right row is positive, the current grid position is i +/-1, the right row is increased, and the left row is decreased;
micro-position: when the rail car runs to the position near the operation target position, the gear is contacted with the rack, the PLC detects the output pulse of the encoder, and the real-time micro position is p multiplied by X
The real-time pulse number of X, the equivalent of p pulse, and the displacement corresponding to the unit pulse are determined by a rack, a gear and an encoder;
p distance represented by each pulse, gear module M, gear tooth number Z, encoder resolution k,
the diameter d of the gear reference circle is M multiplied by Z;
the circumference C of the gear reference circle is pi multiplied by d pi multiplied by M multiplied by Z;
p is the circumference of the gear reference circle/resolution of the encoder pi x M x Z/k;
the rail car travels between the two racks, the PLC obtains the position through the traveling time and the average speed,
wherein,the average speed of the rail vehicle is represented, and t represents the time of the rail vehicle;
the track car moves right, the relationship between the pulse number obtained by the PLC controller and the track position of the car walking
The rail car is located at a position with a rack (pX);
the position of the rail car without the rack is v (t) x t;
(i is the position with the rack, j is the position without the rack);
the micro-position is determined by the rack, independently of the non-rack position, soCan be prepared fromInstead.
2) Positioning
The positioning of the railcar of the present invention is performed in a micro-position interval after position detection by using a closed loop feedback loop, and fig. 5 is a block diagram of the closed loop feedback positioning of the railcar of the present invention;
operating target position is set to pulse y in PLC controlleriPulse position x relative to actual parkingiBy comparison, if xi>yiIf x is greater than x, the rail car will need to continue to move in the reverse direction automaticallyi<yiThe rail car needs to walk in the positive direction when
|xi-yi|<Δ
Wherein, delta is the positioning error, and finally the micro-position is determined.
As another preferable scheme, the gear of the invention consists of a main gear and a driven gear:
the gear module is M-3 mm;
number of main gear teeth Z1＝40；
Diameter d of gear reference circle is M multiplied by Z1＝3×40＝120mm；
Circumference C of master gear reference circle1＝π×d＝376.8mm；
Number of slave gear teeth Z2＝20；
Transmission ratio of the master and slave gears i12＝Z1/Z2＝40/20＝2；
Circumference C ═ C of the reference circle of the composite gear of the master-slave gear structure1/i12＝120/2＝60mm；
The circumferential section t of the rack is pi M3 pi;
the encoder selects an SPC encoder, and the resolution k is 1024;
the pulse equivalent p of the micro position is equal to the perimeter C of the reference circle of the integrated gear of the master-slave structure/resolution k of the encoder,
p 60/1024 (mm/pulse);
a rack with 56 teeth is laid at the working target position 1, a rack with 58 teeth is laid at the working target position 2, a rack with 60 teeth is laid at the working target position 3, and a rack with 62 teeth is laid at the working target position 4;
the system PLC controller adopts Siemens S7-200, and a port0 is connected with a Siemens human-computer interface Smart700IE display screen;
after the tracks are laid, firstly, the pulse number of each track is read in advance and written into a PLC (programmable logic controller) calibration grid position;
the initial position of the rail car is at the leftmost end, the rail car is sensed by a left limit proximity sensor, the rail car starts to travel from the left side, the grid position is 1, when the rail car reaches the point A, namely a gear is in contact with a rack, a PLC (programmable logic controller) installed on the rail car starts to perform displacement calculation, the rail car runs for 5s before the gear is meshed with a No. 1 rack within the range of AA, the average speed of the rail car is 1m/s, and when the rail car reaches the point A, the rail car runs for 1 x 5 which is 5 m;
the gear is engaged with the No. 1 rack, the encoder starts to count, the PLC controller calculates the real-time micro position s and the pulse number X generated by the encoder11000, then the real-time micro-displacement is
When the gear of the rail car leaves the No. 1 rack, the pulse fed back by the No. 1 rack through the encoder is recorded in the PLC controller
56*t/p＝56*3*π*1024/60＝9003；
Real-time absolute displacement of rail car
9003*p＝56*t＝56*3*π＝527.52mm；
The rail car runs in the BB range, namely the grid position is 2, the rail car runs for 4s before the gear is meshed with the No. 2 rack, and 1 × 4 is equal to 4 m;
then the gear starts to be meshed with the No. 2 rack, the encoder starts to count, and the PLC calculates the micro position.
The number of pulses generated by the encoder at this time is X21500, then the real-time micro-shift is
The invention has the beneficial effects
The rack of the invention is not paved on the whole track, thus reducing the construction cost.
The racks with different tooth numbers are laid on the guide rails at different operation target positions, the rail car encoder reads pulses generated by the racks, different racks generate different pulses, the PLC does not need to memorize the absolute position of the rail car, and the PLC can obtain the rail car grid position as long as the PLC walks through one operation target position.
The invention only positions the operation target accessory (micro position) needing accurate positioning, thereby reducing the control time required by positioning.
The rack is laid intermittently, and the positioning of the accurately positioned operation target accessory (micro position) is completed in a section of continuous guide rail.
The invention controls the three-phase asynchronous brake motor through the existing conditions, thereby achieving the automatic positioning of the rail car.
The invention adopts the pulse fed back by the meshing of the rack and the gear to position the rail car, the pulse is generated by the encoder, the precision is high, and the error is small.
Drawings
The invention is further described with reference to the following figures and detailed description. The scope of the invention is not limited to the following expressions.
FIG. 1 is a block diagram of a railcar positioning system of the present invention.
Fig. 2 is a schematic diagram of the relative positions of the gear and the rack of the invention.
Fig. 3 is a schematic view of the track laying of the present invention.
FIG. 4 is a graph showing the relationship between the number of pulses obtained by the PLC controller and the track position on which the vehicle travels.
Fig. 5 is a block diagram of the closed loop feedback positioning of the railcar of the present invention.
FIG. 6 is a schematic view of the principal and subordinate gear configuration of the present invention.
Fig. 7 is a schematic block diagram of the circuit of the present invention.
Fig. 8 is a control loop diagram of the present invention.
Fig. 9 is a main loop diagram of the present invention.
In fig. 2 and 6, 1 is a rack, 2 is a rail, 3 is a wheel, 4 is a gear, 5 is an encoder, 6 is a rail car, 7 is a driving wheel, and 8 is a driven wheel.
Detailed Description
As shown in the figure, the rail car positioning system based on the rack and the encoder is arranged on a rail car and moves along with the rail car; the device is characterized by comprising a rack arranged on a track, a rail car arranged on the track, an encoder arranged on the rail car, a PLC (programmable logic controller), a motor and the like; the racks are determined according to the number of the operation target positions, the racks with different tooth numbers are embedded in each operation target position, and the length of each rack is determined by the inertia of the rail car and the adjustment range of fine adjustment positioning; the positioning system is arranged on the side of the rail car, the gear is arranged on the positioning system, the rack is arranged on any side of a rail where the rail car runs, the gear is connected with the encoder and meshed with the rack, the gear rotates along with the movement of the rail car, the rotation of the gear drives the encoder to rotate through the coupler so as to generate a pulse signal, the pulse signal is transmitted to the PLC, and the rail car is accurately positioned by the pulse signal and program calculation of the average speed of the rail car in the PLC.
The gear is a cylindrical gear; the rack is matched with the selected gear, and in order to reduce the engineering cost, the rack is intermittently laid on the track and only laid near the operation target position under the condition of not influencing the positioning operation.
The length of the rack is firstly larger than the uncertain displacement length of the rail car during parking so as to ensure that the rail car is in the range of the rack when in micro-position positioning, and secondly, the number of the teeth of the rack laid at each operation target position is also different, as shown in figure 3.
Gear rack positioning mechanism
The linear motion of the rail car is converted into circular motion by the meshing of the gear and the rack, the encoder is connected with the gear through the coupler, and the output pulse of the encoder reflects the displacement of the rail car.
The operation requires that the rail car must accurately position the operation target position, but due to the system mass of the whole rail car, inertia exists when the rail car moves to a stop; the mechanical structure of the rail car is matched with random variation; the system is designed for accurate position sensing.
The position detection method comprises the following steps:
the positioning method of the invention is realized by a method of grid position positioning and micro position positioning detection.
Railcar position-grid position + micro position
Grid position: the PLC detects different pulse numbers generated by racks with different tooth numbers at different operation target positions.
Assuming that i operation target positions exist in a project, i racks with different tooth numbers are needed to determine the operation target positions when the racks are laid, the tooth number of each rack is the initial stage of building the whole system, the racks are tested in advance and stored in a program of a PLC, a rail car passes through one complete rack, a PLC controller compares the number of pulses obtained by an encoder on the rack with the number of the stored racks to determine the current grid position of the rack, and therefore the PLC does not need to be configured with a nonvolatile data memory. Also consider left and right rows, e.g. assuming right row is positive, current
Grid position i ± 1 (right row plus, left row minus);
micro-position: when the rail car runs to the position near the operation target position, the gear contacts the rack, and the PLC detects the output pulse of the encoder. Real-time micro-position X × p;
wherein, the real-time pulse number of X, the equivalent of p pulse (mm/pulse), the displacement mm corresponding to the unit pulse is determined by a rack, a gear and an encoder,
p distance (mm/pulse) represented by each pulse, gear module M, gear tooth number Z, resolution of encoder k (pulse/revolution), and
the diameter d of the gear reference circle is M multiplied by Z;
the circumference C of the gear reference circle is pi multiplied by d pi multiplied by M multiplied by Z;
p is the circumference of the gear reference circle/resolution of the encoder pi × M × Z/k (mm/pulse);
when the rail car travels between the two racks, the PLC obtains the position through the travel time and the average speed
Wherein,average speed of the rail vehicle walking, t time of the rail vehicle walking.
Assuming that the rail car moves to the right, the relationship between the pulse number obtained by the PLC controller and the position of the rail where the car moves is shown in FIG. 4.
With the grid position and the micro position, the PLC realizes the detection of the operation target position.
The rail car is located at a position with a rack (pX);
the position of the rail car without the rack is v (t) x t;
(i is the position with the rack, j is the position without the rack);
since in this patent the micro-position is determined by the rack, independent of the non-rack position, the micro-position is determined by the rackCan be prepared fromInstead.
The method has the advantages that the grid position is not introduced, the pulse number obtained by the PLC is continuously accumulated to realize the position detection of the track, the PLC can also realize the operation target position detection, but the counting errors of the gear, the rack, the encoder and the like at the end point of each target position are accumulated, the grid position is introduced, the counting errors which are equivalent to those before the current position are reset, and the counting errors are reduced to the maximum extent.
The positioning method comprises the following steps:
the positioning of the rail car is in a micro-position interval, and the invention adopts a closed loop feedback loop mode to carry out the positioning.
Operating target position is set to pulse y in PLC controlleriPulse position x relative to actual parkingiBy comparison, if xi>yiIf x is greater than x, the rail car will need to continue to move in the reverse direction automaticallyi<yiThen the rail carNeed to walk in the forward direction when
|xi-yi|<Δ
Wherein, delta is a positioning error, and finally the micro-position is determined, so that accurate positioning is realized.
Example (b):
gear rack positioning mechanism: the gear consists of a main gear and a driven gear:
as shown in fig. 6, the number of teeth of the gear is less than the number of teeth of the actual gear for clarity of illustration. With such a configuration, the gear ratio is increased, and the detection resolution of the micro-position can be improved.
In this embodiment:
the gear module is M-3 mm;
number of main gear teeth Z1＝40；
Diameter d of gear reference circle is M multiplied by Z1＝3×40＝120mm；
Circumference C of master gear reference circle1＝π×d＝376.8mm；
Number of slave gear teeth Z2＝20；
Transmission ratio of the master and slave gears i12＝Z1/Z2＝40/20＝2；
Circumference C ═ C of the reference circle of the composite gear of the master-slave gear structure1/i12＝120/2＝60mm；
The circumferential section t of the rack is pi M3 pi;
the encoder is an SPC (incremental pulse encoder) with resolution (pulse/rotation) k 1024
The pulse equivalent (mm/pulse) p of the micro-position is equal to the circumference of the integrated gear reference circle of the master-slave structure/resolution k of the C encoder,
p 60/1024 (mm/pulse);
in the present embodiment, the work target position 1 is laid with the rack having the number of teeth of 56, the work target position 2 is laid with the rack having the number of teeth of 58, the work target position 3 is laid with the rack having the number of teeth of 60, and the work target position 4 is laid with the rack having the number of teeth of 62, as shown in fig. 3.
The system PLC controller adopts Siemens S7-200, and a port0 is connected with a Siemens human-computer interface Smart700IE display screen to display displacement in real time. The system block diagram, the control circuit diagram, the main circuit diagram is as shown in fig. 8 and 9:
QM: walking motor circuit breaker
KM 1: left-side walking contactor of rail car
KM 2: contactor for right walking of rail car
RT: thermal relay for rail car traveling motor
M: walking motor DC +: DC +24V power supply
DC-24V power supply
I0.1: railcar condition input
I0.2: railcar condition input
I0.3 railcar State input
I0.0: encoder pulse input
M is PLC power input common terminal
Q0.0: PLC output terminal
Q0.1 PLC State output
L is PLC input power supply
N: PLC input power supply
PE power ground
PORT 0: RS485 port
PORT 1: RS485 port
DCS: distributed control system
The track laying is completed by first pre-reading the number of pulses for each track, which are constant and written to the program to calibrate the grid position.
The initial position of the rail car is defined at the leftmost end, the rail car is sensed by a left limit proximity sensor, the rail car starts to travel from the left side of the upper drawing, the grid position is 1, when the rail car reaches the point A (the gear is in contact with the rack), a PLC (programmable logic controller) installed on the rail car starts to perform displacement calculation, the rail car is in the range of AA, the rail car runs for 5S before the gear is meshed with the No. 1 rack, the average speed of the rail car is about 1m/S, and then when the rail car reaches the point A, the rail car approximately runs
1×5＝5m
The gear is engaged with the No. 1 rack, the encoder starts to count, the PLC controller calculates the real-time micro position s, and the pulse number X generated by the encoder is assumed11000, then the real-time micro-displacement is
When the gear of the rail car leaves the No. 1 rack, the pulse fed back by the No. 1 rack through the encoder is recorded in the PLC controller
56 × t/p × 56 × 3 × pi 1024/60 ═ 9003 (pulse)
Real-time absolute displacement of rail car
9003*p＝56*t＝56*3*π＝527.52mm
The rail car runs in the range of BB, the grid position is 2, the rail car runs for 4s before a gear is meshed with the No. 2 rack, and 1 × 4 is equal to 4 m;
then the gear starts to be meshed with the No. 2 rack, the encoder starts to count, and the PLC calculates the micro position.
Suppose the number of pulses generated by the encoder at this time is X21500, then the real-time micro-shift is
It should be understood that the detailed description of the present invention is only for illustrating the present invention and is not limited by the technical solutions described in the embodiments of the present invention, and those skilled in the art should understand that the present invention can be modified or substituted equally to achieve the same technical effects; as long as the use requirements are met, the method is within the protection scope of the invention.
Claims (1)
1. The rail car positioning system comprises a rail, wherein a rail car is arranged on the rail, a plurality of racks are arranged on the rail along the length direction of the rail, the number of teeth of each rack is different, one rack is arranged corresponding to one operation target position, a gear meshed with the rack is arranged on the rail car, a central shaft of the gear is connected with a rotary signal input end of an encoder arranged on the rail car, and a signal output port of the encoder is connected with a signal input port of a PLC (programmable logic controller);
the PLC is arranged on the rail car;
the racks with different tooth numbers are arranged on the side of the track, and the gear is arranged on the side of the rail car;
the gear is connected with a rotary signal input end of the encoder through a coupler;
the gear is a cylindrical gear;
the PLC signal input port is respectively connected with the signal output port of the operation button and the signal output ports of the left limit sensor and the right limit sensor, and the PLC signal output port is respectively connected with the control signal input port of the left running contactor of the rail car, the input port of the right running contactor of the rail car and the display signal input port of the display screen; the left limit sensor and the right limit sensor are respectively arranged at two ends of the track;
the encoder adopts an SPC encoder, the PLC adopts Siemens S7-200, and the display screen adopts a Smart700IE display screen; an I0.0 PORT of the PLC is connected with a signal output PORT of the encoder, an I0.1 PORT of the PLC is connected with a direct current-24V power supply through a controlled switch of a left walking contactor of a rail car, an I0.2 PORT of the PLC is connected with the direct current-24V power supply through a controlled switch of a right walking contactor of the rail car, an I0.3 PORT of the PLC is connected with the direct current-24V power supply through a controlled switch of a thermal relay of a walking motor of the rail car, an M PORT of the PLC is connected with a direct current +24V power supply, a Q0.0 PORT of the PLC is connected with a commercial power zero line through a control end of the left walking contactor of the rail car, a Q0.1 PORT of the PLC is connected with the commercial power zero line through a control end of the right walking contactor of the rail car, an L PORT of the PLC is connected with a commercial power live wire, and a PORT;
the method is characterized in that the positioning method of the rail car positioning system based on the encoder and the rack comprises the following steps:
1) position detection
Railcar position-grid position + micro position
Grid position: detecting different pulse numbers generated by racks with different tooth numbers at different operation target positions by the PLC; the method comprises the following steps that i operation target positions exist in one project, when racks are laid, the operation target positions are determined by the i racks with different tooth numbers, the tooth number of each rack is tested in advance and stored in a program of a PLC, a rail car passes through one complete rack, and a PLC controller compares the number of pulses obtained by an encoder on the rack with the number of the stored racks to determine the current grid position of the PLC controller; the right row is positive, the current grid position is i +/-1, the right row is increased, and the left row is decreased;
micro-position: when the rail car runs to the position near the operation target position, the gear is in contact with the rack, the PLC detects the output pulse of the encoder, and the real-time micro position is p multiplied by X;
the real-time pulse number of X, the equivalent of p pulse, and the displacement corresponding to the unit pulse are determined by a rack, a gear and an encoder;
p (mm/pulse) represents the distance of each pulse, M represents the gear module, Z represents the gear tooth number, and k (pulse/revolution) represents the resolution of the encoder, then
The diameter d of the gear reference circle is M multiplied by Z;
the circumference C of the gear reference circle is pi multiplied by d pi multiplied by M multiplied by Z;
p is the circumference of the gear reference circle/resolution of the encoder pi x M x Z/k;
the rail car travels between the two racks, the PLC obtains the position through the traveling time and the average speed,
wherein,the average speed of the rail car, t the time of the rail car;
the track car moves right, the relationship between the pulse number obtained by the PLC controller and the track position of the car walking
P X when the rail car is in the position with the rack;
the position of the rail car without the rack is v (t) x t;
of rail vehiclesi is the position with a rack, j is the position without a rack;
since the micro-position is openOver-rack determination is independent of the non-rack position, soCan be prepared fromReplacing;
2) positioning
The positioning of the rail car is in a micro-position interval, and after the position detection, the positioning is carried out by adopting a closed loop feedback loop mode;
operating target position is set to pulse y in PLC controlleriPulse position x relative to actual parkingiBy comparison, if xi>yiIf x is greater than x, the rail car will need to continue to move in the reverse direction automaticallyi<yiThe rail car needs to walk in the positive direction when
|xi-yi|<Δ
Wherein, delta is the positioning error, and finally the micro-position is determined.
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