CN106185625A - A kind of based on converter anti-shake equipment and control method - Google Patents
A kind of based on converter anti-shake equipment and control method Download PDFInfo
- Publication number
- CN106185625A CN106185625A CN201610785968.9A CN201610785968A CN106185625A CN 106185625 A CN106185625 A CN 106185625A CN 201610785968 A CN201610785968 A CN 201610785968A CN 106185625 A CN106185625 A CN 106185625A
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- equipment
- converter
- crane
- cpu
- acceleration
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
- B66C2700/085—Control actuators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
A kind of based on converter anti-shaking equipment and control method, anti-for Crane Automation shakes control.This anti-equipment that shakes includes CPU, converter, location equipment and drives motor；Converter, location equipment are connected with data/address bus form with CPU；Motor is driven to be connected with converter；Location equipment includes Z coordinate location equipment (height measuring equipment), X-coordinate location equipment (dolly position measurement apparatus), and Y coordinate location equipment (cart position measurement apparatus) is connected with CPU.Assembly of the invention is combined with the control system of crane, CPU uses the host CPU of crane, the converter that driving equipment uses crane original realizes, owing to the most additionally increasing equipment, only increase the anti-algorithm that shakes to realize preventing shaking control on automation equipment basis, cost is greatly lowered, and service behaviour can be guaranteed, and not affects the safety and stability of former crane.
Description
Technical field
The invention belongs to technical field of automatic control, relate to a kind of based on converter anti-shaking equipment and control method.
Background technology
The nearly 2 years domestic upsurges just starting an automatic improving, main human cost at present is more and more higher, safe thing
Therefore the loss that brings is more and more higher, and especially true at steel industry.Automaticity is the highest, and the personnel of outfit are the fewest, very
To realizing manless production.Popularizing automatic improving at present inside Baosteel, Crane Automation transformation is at first
Require the transformation project carried out.And Crane Automation transformation, it be unable to do without anti-sway control equipment, have the situation of human users
, the load of crane is waved can have operative employee to be waved by the operation elimination of operation crane, but when unmanned work,
Just can only rely on and prevent shaking equipment to prevent load from waving.But electronic anti-swinging equipment is the most all by abroad providing at present, state
The most also have and prevent on a small quantity shaking product, but capital equipment and technological core still rest in foreign vendor's hands, thus have impact on
The implementation cost of heavy-duty machine integrated automation.External product is mainly characterized by technology maturation at present, is widely used, and anti-precision of shaking is high,
Use closed loop control especially, it is possible to achieve actively subtract and shake function, subtract the degree of shaking even more quick and stable than manual operation, but
Cost but remains high.In actual application, the technique of a lot of automatizatioies driving is simple, and positioning precision is the highest, electrical equipment own
Cost is the lowest, in order to save human cost, it is also desirable to realize automated job, but the anti-equipment that shakes of import becomes mainly
Restriction condition.
Present stage, the external anti-equipment that shakes is all that sampling separate CPU realizes preventing shaking control, but is finally also intended to control
The speed of converter and acceleration complete the anti-control shaken.Shake owing to needs high accuracy is anti-, also have beyond control simultaneously
Waving and carry out subtracting shaking control, so being required on suspender increasing active refelction plate, at cart base plate, high-definition camera being installed.Nothing
Doubtful effect is the best, but cost is the highest, is not required to such high accuracy in many occasions and controls, meanwhile, and Hen Duoqi
Heavy-duty machine cannot install active reflecting plate on suspender again, and these all will become the extensive universal obstacle of automatization's driving.
The present invention breaks through these and limits, it is not necessary to active refelction plate, with single pendulum as model, with converter for driving core, logical
Cross that CPU calculates the speed of service of converter, acceleration realizes anti-shaking control.
Summary of the invention
In order to solve the problems referred to above, the present invention provides a kind of and based on converter anti-shakes equipment, for Crane Automation
Anti-shake control.Preventing that shaking equipment is combined with the control system of crane, CPU uses the host CPU of crane, and the equipment of driving uses
The converter realization that heavy-duty machine is original, owing to the most additionally increasing equipment, only increases anti-method of shaking and realizes preventing on automation equipment basis
Shaking control, so cost is greatly lowered, and service behaviour can be guaranteed, and to the safety of former crane and steady
Qualitative the most do not produce impact.
Technical scheme:
A kind of based on converter anti-shaking equipment, this anti-equipment that shakes includes CPU, converter, location equipment and drives electricity
Machine；CPU uses the host CPU of crane, drives the converter that equipment employing crane is original, and location equipment is total with data with CPU
Linear formula is connected, and drives motor to be connected with converter；Location equipment include for elevation carrection Z coordinate position equipment, for
The X-coordinate of dolly position measurement positions equipment and the Y coordinate location equipment for cart position measurement.
Crane includes lifting mechanism, trolley body and big mechanism of car, also include chopper, transformator, power module and
Auxiliary reclay, is conventional configuration.Lifting mechanism includes converter and drives motor, and trolley body includes converter and driving
Motor, big mechanism of car includes converter and two driving motors；Each converter can control the basic anti-of crane and shake.
Should the anti-control method shaking equipment based on converter as follows:
(1) after CPU receives automatic operating instruction, according to dolly target location (X-coordinate) and cart target location (Y
Coordinate), the position (Z coordinate) hoisted calculates cart and the acceleration of dolly converter, maximal rate in whole stroke,
By communication modes, acceleration information and speed of service data are sent to converter again；
(2) converter brings into operation according to these data, and CPU uses cart and little truck position in running in real time
Information, then adjust acceleration and the speed of inverter, ensure do not wave in the case of, it is ensured that positioning precision is not by shadow
Ring；
(3) using the load of crane as pendulum, lifting mechanism, as pendulum length, is regarded as a single pendulum mould by lifting altitude
Type, calculates according to the physical characteristic of Pendulum Model and swings angle and swing speed, the mathematics between calculating the speed of service and swinging
Relation, obtains the speed of service and the acceleration of anti-sway needs, thus controls converter according to the speed formulated and acceleration operation,
Realize anti-sway operation.
Although dolly and cart are Liang Ge mechanism, but can simplify decomposition operation independent, requiring it is not the highest field
Conjunction can quickly run, and reaches ideal effect.
The invention has the beneficial effects as follows that achieving the most anti-of automatization's driving shakes control, the highest in most precision prescribeies
Occasion can substitute for the import of costliness and prevents shaking equipment, and equipment cost is greatly lowered, for the widespread adoption wound of automatization's driving
Make advantage.
Accompanying drawing explanation
Fig. 1 is electrical systematic drawing of the present invention.
Fig. 2 is that crane three-dimensional runs schematic diagram.
Fig. 3 is that Crane Load waves schematic diagram at X/Y plane.
Fig. 4 is crane horizontal operation curve Fig. 1.
Fig. 5 is Crane Load swing curve figure.
Fig. 6 is crane horizontal operation curve Fig. 2.
Detailed description of the invention
The detailed description of the invention of the present invention is described in detail below in conjunction with technical scheme and accompanying drawing.
Embodiment:
Fig. 1 is electrical systematic drawing of the present invention.U1 is lifting mechanism converter, and M01 is lifting mechanism motor.U2 is dolly
Mechanism's converter, M02 is trolley body motor.U3 is mechanism's converter originally, M03 and M04 is mechanism motors originally, by
In crane span typically at 30～40 meters, long, so generally using two motors to drive, to prevent deflection.
A12 is the CPU of PLC system, and Z coordinate detection, X-coordinate detection, Y coordinate detection are detection and localization equipment, and the present embodiment is not single
Solely enumerating concrete model, detection and localization equipment is various in style, and different operating modes have different application, is finally provided to realize position inspection
Brake.
In Fig. 1, other equipment are crane universal control devices, illustrate the most one by one.
In Fig. 1, three location equipment fortune of U1, U2, U3 machine are connected by communication bus with CPU.CPU be responsible for the speed of service and
The operation of acceleration, and the technology controlling and process of crane.U1, U2 and U3 are responsible for performing the operating instruction of CPU, complete final preventing
Shake control.Location equipment runs for CPU and provides home position data.
Fig. 2 is three-dimensional operation schematic diagram.Trolley travelling direction is X-coordinate, and cart traffic direction is Y coordinate, and hoist operation
Direction is Z coordinate.When load is waved, load swings in dX and dY both direction.Although crane hook all uses
Multiple pulleys, have many with steel wire rope, and when the swaying direction of steel wire rope is consistent, and crane is when handling load, generally rises
Rise is not the highest, and compared with lifting altitude, the single impact waved of steel wire rope can be ignored, and this suspension hook is the most permissible
Regarding as is a Pendulum Model.
Fig. 3 is that Crane Load waves schematic diagram at X/Y plane.Fig. 3 is the rough schematic view that in Fig. 2, suspension hook waves, and hangs
It is a swing ball that hook can be regarded as, when big trolley travelling, can produce the swing on dX and dY direction.Swing angle is respectively
α and θ.Although waved dolly and the cart of load run common operational and produce, but can be decomposed in XZ plane and YZ plane
Swing, and swaying movement regularity is identical, it is possible to calculates the speed of service in two planes and acceleration respectively, then distinguishes
The operation of control dolly and cart can realize the anti-of load and shake.Discussing as a example by YZ plane below, (i.e. cart runs rule
Rule).
Crane horizontal moving law in the middle of document " bridge crane level run and grab bucket swaying movement regularity research "
Through having calculating in detail, according to this document when crane installation diagram 4 rate curve runs, the swaying movement regularity of its load such as figure
Shown in 5.During acceleration, pivot angle θ, slew rate ω change to A point along L+ through tA, and during deceleration, the L-' line along figure becomes through (tB-tA)
Changing to B point, θ, ω at this moment can not be zero, is namely not carried out the pendulum that disappears.To realize disappearing pendulum, load when finally slowing down
Swing change should along L-arrive initial point, L+ with L-is axisymmetric about ω, then put A have the point of symmetry about ω axle
A ' Γ-on, if being reduced speed now by an A ', the elapsed time (tB-tA) then can realize the pendulum that disappears.So swing position should be made before Jian Suing
Being changed to A ' point by A point, solution is to make acceleration vanishing at an A, along L0 through one section of at the uniform velocity time point of arrival A ', as
Shown in Fig. 5.Adjust the acceleration time simultaneously, make range ability identical with target range.I.e. crane must be transported according to the level of Fig. 6
Row curve goes to run, and could realize anti-shaking.
After determining between when under acceleration, at the uniform velocity time and deceleration time determines that.Target range was directly proportional to the acceleration time
Example.There is a Maximum speed limit Vm according to on-the-spot and motor power (output) size crane, determine that there is a maximum tm acceleration time.Assume
Range ability based on tm is Sm, when target range is more than Sm, owing to the acceleration time can not be further added by.When only increasing at the uniform velocity
Between.If the time increased exactly grab bucket integral multiple hunting period, then do not interfere with the pendulum process that disappears.
Having had many documents to be described in detail and calculated at present, the present invention is not when detailed description realizes anti-sway pair
Acceleration, the calculating process of deceleration time, at the uniform velocity time.
Converter is popularized, because converter is at AC asynchronous motor in crane runs and drives on a large scale at present
On can realize high-precision closed-loop vector control, i.e. give acceleration, given speed can with output acceleration, output
The error of speed is the least, so in swing-proof control system, final execution link uses converter to realize saving in a large number
Real-time operation, CPU mainly simple carries out initial value calculating can by converter accurately perform realize crane
Prevent shaking control.Implement flow process as follows, still as a example by the operation of cart.
According to the work order of host computer, CPU, according to cart target location and the distance of current location, is finally calculated
The maximal rate running cart is Vm, and acceleration is a, and the acceleration time is t1, and deceleration time is equal with the acceleration time, t3=t1,
The at the uniform velocity time is t2.By Communication Control, transmitting data to cart converter, cart converter is according to specifying acceleration a fortune
The row t1 time, subsequently at the uniform velocity state, run the t2 time with speed Vm, then run slowly with acceleration-a, run
Time is t3, and final cart stops.Now in YZ plane, oscillating quantity dY of load should tend to 0.Thus when realizing cart operation
Anti-sway.
The calculating of dolly is identical with cart, shakes according to anti-in the above description general XZ of can be implemented in plane.So i.e.
Anti-on X/Y plane of crane and dolly can be realized based on converter shake.
Claims (2)
1. one kind based on converter anti-is shaken equipment, it is characterised in that this is anti-shake equipment include CPU, converter, location equipment with
And driving motor；CPU uses the host CPU of crane, drives equipment to use the converter of crane, and location equipment and CPU are with number
It is connected according to bus form, drives motor to be connected with converter；Location equipment include for elevation carrection Z coordinate position equipment,
X-coordinate for dolly position measurement positions equipment and the Y coordinate location equipment for cart position measurement.
2. the anti-control method shaking equipment based on converter, it is characterised in that
(1), after CPU receives automatic operating instruction, according to dolly target location (X-coordinate) and cart target location, (Y sits
Mark), the position (Z coordinate) hoisted calculates cart and the acceleration of dolly converter, maximal rate in whole stroke, then
By communication modes, acceleration information and speed of service data are sent to converter；
(2) converter brings into operation according to these data, and CPU uses cart and the letter of little truck position in running in real time
Breath, then adjusts acceleration and the speed of inverter, in the case of ensureing not wave, it is ensured that positioning precision is unaffected；
(3) using the load of crane as pendulum, lifting mechanism, as pendulum length, is regarded as a Pendulum Model, root by lifting altitude
Calculate according to the physical characteristic of Pendulum Model and swing angle and swing speed, the mathematical relationship between calculating the speed of service and swinging,
Obtain the speed of service and the acceleration of anti-sway needs, thus control converter according to the speed formulated and acceleration operation, it is achieved
Anti-sway operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610785968.9A CN106185625A (en) | 2016-08-31 | 2016-08-31 | A kind of based on converter anti-shake equipment and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610785968.9A CN106185625A (en) | 2016-08-31 | 2016-08-31 | A kind of based on converter anti-shake equipment and control method |
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| Publication Number | Publication Date |
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| CN106185625A true CN106185625A (en) | 2016-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610785968.9A Pending CN106185625A (en) | 2016-08-31 | 2016-08-31 | A kind of based on converter anti-shake equipment and control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107324213A (en) * | 2017-08-07 | 2017-11-07 | 唐山钢铁集团微尔自动化有限公司 | A kind of method for realizing the micro- weave control of unmanned overhead traveling crane |
| CN110950241A (en) * | 2019-12-20 | 2020-04-03 | 博睿斯重工股份有限公司 | Electronic anti-swing method of intelligent crane |
| CN113353801A (en) * | 2021-07-07 | 2021-09-07 | 上海振华重工电气有限公司 | Semi-automatic tilting control system and method for lifting appliance capable of memorizing position of field bridge |
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| CN102774750A (en) * | 2012-05-21 | 2012-11-14 | 温州合力建设机械有限公司 | Garbage grab bucket crane and anti-swinging control method |
| CN104760890A (en) * | 2015-03-31 | 2015-07-08 | 江苏鼎盛重工有限公司 | Lifting appliance anti-swaying device of rotary crane and control method of anti-swaying device |
| CN204625010U (en) * | 2015-04-29 | 2015-09-09 | 廖章威 | The anti-swing system of a kind of industrial crane |
| CN105398957A (en) * | 2015-12-23 | 2016-03-16 | 润邦卡哥特科工业有限公司 | Anti-shaking system and method of hoist |
| CN205973489U (en) * | 2016-08-31 | 2017-02-22 | 大连宝信起重技术有限公司 | Anti -swing equipment based on converter |
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2016
- 2016-08-31 CN CN201610785968.9A patent/CN106185625A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102774750A (en) * | 2012-05-21 | 2012-11-14 | 温州合力建设机械有限公司 | Garbage grab bucket crane and anti-swinging control method |
| CN104760890A (en) * | 2015-03-31 | 2015-07-08 | 江苏鼎盛重工有限公司 | Lifting appliance anti-swaying device of rotary crane and control method of anti-swaying device |
| CN204625010U (en) * | 2015-04-29 | 2015-09-09 | 廖章威 | The anti-swing system of a kind of industrial crane |
| CN105398957A (en) * | 2015-12-23 | 2016-03-16 | 润邦卡哥特科工业有限公司 | Anti-shaking system and method of hoist |
| CN205973489U (en) * | 2016-08-31 | 2017-02-22 | 大连宝信起重技术有限公司 | Anti -swing equipment based on converter |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107324213A (en) * | 2017-08-07 | 2017-11-07 | 唐山钢铁集团微尔自动化有限公司 | A kind of method for realizing the micro- weave control of unmanned overhead traveling crane |
| CN107324213B (en) * | 2017-08-07 | 2018-09-21 | 唐山钢铁集团微尔自动化有限公司 | A method of realizing the unmanned micro- weave control of overhead traveling crane |
| CN110950241A (en) * | 2019-12-20 | 2020-04-03 | 博睿斯重工股份有限公司 | Electronic anti-swing method of intelligent crane |
| CN113353801A (en) * | 2021-07-07 | 2021-09-07 | 上海振华重工电气有限公司 | Semi-automatic tilting control system and method for lifting appliance capable of memorizing position of field bridge |
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Application publication date: 20161207 |