CN106401239A - Traveling control method and device for comb type carrier in stereo garage - Google Patents
Traveling control method and device for comb type carrier in stereo garage Download PDFInfo
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- CN106401239A CN106401239A CN201610798877.9A CN201610798877A CN106401239A CN 106401239 A CN106401239 A CN 106401239A CN 201610798877 A CN201610798877 A CN 201610798877A CN 106401239 A CN106401239 A CN 106401239A
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- mover
- comb
- speed
- frequency conversion
- conversion motor
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Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/185—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions using comb-type transfer means
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a traveling control method and device for a comb type carrier in a stereo garage, and belongs to the technical field of mechanical control. The method comprises the steps of obtaining a code value mx of an encoder of a traveling variable frequency motor, marking position null point of the comb type carrier according to the mx, controlling the speed changing process of the comb type carrier according to the mx in the process that the comb type carrier travels to a storage location, controlling the positioning process of the comb type carrier according to the mx after the comb type carrier reaches a parking space, controlling the speed changing process of the comb type carrier according to the mx in the process that the comb type carrier moves backwards towards a shuttle vehicle, and controlling the positioning process of the comb type carrier according to the mx after the comb type carrier reaches the shuttle vehicle. The method can be implemented through the device. The method and device can achieve accurate positioning in the traveling process of the comb type carrier in the stereo garage.
Description
Technical field
The present invention relates to machine control techniques field, the traveling control of comb mover in more particularly to a kind of multi-storied garage
Method and device processed.
Background technology
Multi-storied garage can be rational, intelligent solve the problems, such as parking difficulty.Multi-storied garage operational process is, driver during bicycle parking
By storing cycle in elevator, elevator is raised to designated floor vehicle, and tunnel shuttle is responsible for transporting comb mover；Comb
Tooth mover by the vehicle conveying on elevator to tunnel shuttle, when shuttle moves to reach target parking stall, then by car
It is transported on parking stall.During pick-up, comb mover, by the vehicle conveying on target parking position to tunnel shuttle, is waited to wear
When shuttle car and elevator are to good position, by vehicle conveying to elevator；Elevator drops to one layer vehicle, treats that car is left by driver
Walk.
The vehicles drive between warehouse compartment and shuttle is responsible for by comb mover, is entirely to deposit vehicle control important composition
Part.If comb mover positioning is inaccurate, the equipment between comb and warehouse compartment can be led to collide；If guarantee accurate positioning
And reduce the speed of travel, the speed of whole garage storage/access car process can be affected.How on the basis of ensureing precision, quickly fixed
Position becomes comb mover problem to be solved.
Content of the invention
In view of this, the invention provides the traveling control method of comb mover and device in a kind of multi-storied garage, its
Realize being accurately positioned, thus more suitable for practicality in the comb mover walking process being capable of in multi-storied garage.
In order to reach above-mentioned first purpose, the traveling control method of comb mover in the multi-storied garage that the present invention provides
Technical scheme as follows：
The traveling control method of comb mover in the multi-storied garage that the present invention provides, is applied to no micro-distancer table
The walking process of comb mover, described comb mover is fixed with walking frequency conversion motor, limit switch, described stereoscopic vehicle
In storehouse, the traveling control method of comb mover comprises the following steps：
Obtain the code value m of the encoder of described walking frequency conversion motorx,
According to described mxDemarcate the position zero point of comb mover；
Comb mover in warehouse compartment walking process, according to described mx, control the speed-change process of described comb mover；
After comb mover reaches parking stall, according to described mx, control the position fixing process of described comb mover；
Comb mover in shuttle back off procedure, according to described mx, control the speed-change process of described comb mover；
After comb mover reaches shuttle, according to described mx, control the position fixing process of described comb mover.
In the multi-storied garage that the present invention provides, the traveling control method of comb mover also can be entered using following technical measures
One step is realized.
Preferably, described according to described mxThe position zero point demarcating comb mover comprises the following steps：
Obtain the signal of described limit switch；
When described limit switch no signal simultaneously, it is demarcated as the position zero point of described comb mover；
According to the position zero point of described comb mover, the code value of the encoder of described walking frequency conversion motor is reset, and
And, the code value of the encoder of described walking frequency conversion motor is reset.
Preferably, described comb mover is in warehouse compartment walking process, according to described mx, control described comb mover
Speed-change process comprise the following steps；
Described comb mover is controlled to run with First Speed；
As described mxWhen increasing to first threshold, the speed of described comb mover is controlled to be reduced to second from First Speed
Speed；
As described mxWhen increasing to Second Threshold, the speed of described comb mover is controlled to be reduced to first from second speed
Locating speed.
Preferably, after described comb mover reaches parking stall, according to described mx, control determining of described comb mover
Position process comprises the following steps：
As described mxWhen increasing to three threshold values, the speed of described comb mover is controlled to hasten to be reduced to from the first positioning
0.
Preferably, described comb mover is in shuttle back off procedure, according to described mx, control described comb carrying
The speed-change process of car comprises the following steps：
Comb mover is controlled to run with third speed；
As described mxWhen being reduced to three threshold values, the speed of described comb mover is controlled to be reduced to the 4th from third speed
Speed；
As described mxWhen being reduced to four threshold values, the speed of described comb mover is controlled to be reduced to second from fourth speed
Locating speed.
Preferably, after described comb mover reaches shuttle, according to described mx, control determining of described comb mover
Position process comprises the following steps：
As described mxWhen being reduced to 0, the speed of described comb mover is controlled to be reduced to 0 from the second positioning speed.
In order to reach above-mentioned second purpose, the traveling control device of comb mover in the multi-storied garage that the present invention provides
Technical scheme as follows：
The traveling control device of comb mover in the multi-storied garage that the present invention provides, is applied to no micro-distancer table
The walking process of comb mover, described comb mover is fixed with walking frequency conversion motor, limit switch, described stereoscopic vehicle
In storehouse, the traveling control device of comb mover includes walk frequency conversion motor code value acquiring unit, speed control unit,
Described walking frequency conversion motor code value acquiring unit is used for obtaining the code value m of the encoder of described walking frequency conversion motorx；
, in warehouse compartment walking process, described speed control unit is according to described m for comb moverx, control described comb to remove
The speed-change process of fortune car；
After comb mover reaches parking stall, described speed control unit is according to described mx, control described comb mover
Position fixing process；
, in shuttle back off procedure, described speed control unit is according to described m for comb moverx, control described comb
The speed-change process of mover；
After comb mover reaches shuttle, described speed control unit is according to described mx, control described comb mover
Position fixing process.
In the multi-storied garage that the present invention provides, the traveling control device of comb mover also can be entered using following technical measures
One step is realized.
Preferably, the traveling control device of comb mover also includes limit switch signal acquisition in described multi-storied garage
Unit, code value reset unit,
Described limit switch signal acquiring unit is used for obtaining the signal of described limit switch；
When described limit switch no signal simultaneously, described code value resets unit and is used for the volume of described walking frequency conversion motor
The code value of code device resets, and, the code value of described encoder is reset.
Preferably, described comb mover is in warehouse compartment walking process, described speed control unit is according to described mx, control
The speed-change process making described comb mover includes：
Described comb mover is controlled to run with First Speed；
As described mxWhen increasing to first threshold, the speed of described comb mover is controlled to be reduced to second from First Speed
Speed；
When describedxWhen increasing to Second Threshold, the speed of described comb mover is controlled to be reduced to first from second speed
Locating speed.
Preferably, after described comb mover reaches parking stall, described speed control unit is according to described mx, control institute
The position fixing process stating comb mover includes：
As described mxWhen increasing to three threshold values, the speed of described comb mover is controlled to hasten to be reduced to from the first positioning
0.
Preferably, described comb mover is in shuttle back off procedure, described speed control unit is according to described mx,
The speed-change process controlling described comb mover includes：
Comb mover is controlled to run with third speed；
As described mxWhen being reduced to three threshold values, the speed of described comb mover is controlled to be reduced to the 4th from third speed
Speed；
As described mxWhen being reduced to four threshold values, the speed of described comb mover is controlled to be reduced to second from fourth speed
Locating speed.
Preferably, after described comb mover reaches shuttle, described speed control unit is according to described mx, control institute
The position fixing process stating comb mover includes：
As described mxWhen being reduced to 0, the speed of described comb mover is controlled to be reduced to 0 from the second positioning speed.
In the multi-storied garage that the present invention provides, the ambulation control method of comb mover and device are walked by using comb
Limit switch and walking frequency conversion motor encoder code value, the walking of double control comb mover, High-speed Control was carried
The time of journey, low speed ensures moderating process, and locating speed ensures positioning precision.
Brief description
By reading the detailed description of hereafter preferred implementation, various other advantages and benefit are common for this area
Technical staff will be clear from understanding.Accompanying drawing is only used for illustrating the purpose of preferred implementation, and is not considered as to the present invention
Restriction.And in whole accompanying drawing, it is denoted by the same reference numerals identical part.In the accompanying drawings：
Fig. 1 is the flow chart of steps of the traveling control method of comb mover in multi-storied garage；
Fig. 2 is that in the traveling control device of comb mover in multi-storied garage, the signal between each functional module flows to relation
Schematic diagram；
Fig. 3 be the embodiment of the present invention one or embodiment two be related to the first frequency conversion motor, the motion of the second frequency conversion motor
Process schematic.
Specific embodiment
The present invention is to solve the problems, such as prior art, provides a kind of traveling of comb mover in multi-storied garage to control
Method and device, realizes being accurately positioned in the comb mover walking process that it is capable of in multi-storied garage, thus more suitable
In practicality.
For further illustrating that the present invention is to reach technological means and effect that predetermined goal of the invention is taken, below in conjunction with
Accompanying drawing and preferred embodiment, to according to the traveling control method of comb mover in multi-storied garage proposed by the present invention and device,
Its specific embodiment, structure, feature and its effect, after describing in detail such as.In the following description, different " embodiment " or
What " embodiment " referred to is not necessarily same embodiment.Additionally, special characteristic in one or more embodiments, structure or feature can
Combined by any suitable form.
The terms "and/or", only a kind of incidence relation of description affiliated partner, represents there may be three kinds of passes
System, for example, A and/or B, specifically it is interpreted as：A and B can be included simultaneously, can be with individualism A it is also possible to individualism
B, can possess above-mentioned three kinds of any one situations.
Embodiment one
The traveling control method of comb mover in the multi-storied garage providing referring to accompanying drawing 1, the embodiment of the present invention one, application
In the walking process of the comb mover of no micro-distancer table, comb mover is fixed with walking frequency conversion motor, spacing
Switch, in multi-storied garage, the traveling control method of comb mover comprises the following steps：
Step 101：Obtain the code value m of the encoder of walking frequency conversion motorx,
Step 102：According to mxDemarcate the position zero point of comb mover；
Step 103：Comb mover in warehouse compartment walking process, according to mx, control the speed-change process of comb mover；
Step 104：After comb mover reaches parking stall, according to mx, control the position fixing process of comb mover；
Step 105：Comb mover in shuttle back off procedure, according to mx, control the speed-change process of comb mover；
Step 106：After comb mover reaches shuttle, according to mx, control the position fixing process of comb mover.
Wherein, according to mxThe position zero point demarcating comb mover comprises the following steps：
Obtain the signal of limit switch；
When limit switch no signal simultaneously, it is demarcated as the position zero point of comb mover；
According to the position zero point of comb mover, the code value of the encoder of walking frequency conversion motor is reset, and, will walk
The code value of the encoder of frequency conversion motor resets.
In the present embodiment, comb mover on the shuttle of tunnel be initial position, when tunnel shuttle navigate to a certain
Individual warehouse compartment, comb mover initially moves off tunnel shuttle, for detection comb position shuttle two limit switches (PS5,
PS6) no signal simultaneously, then as code value calibration point, reset to comb walking code value.
Wherein, comb mover is in warehouse compartment walking process, according to mx, control comb mover speed-change process include with
Lower step；
Comb mover is controlled to run with First Speed；
Work as mxWhen increasing to first threshold, the speed of comb mover is controlled to be reduced to second speed from First Speed；
Work as mxWhen increasing to Second Threshold, the speed of comb mover is controlled to be reduced to the first positioning speed from second speed
Degree.
In the present embodiment, in warehouse compartment traveling process, the code value of encoder is added to 30000 to comb mover, mover
Speed is kept to low speed 800rpm by high speed 1400rpm, and its deceleration position is close with limit switch (PS7) position, and both can be used in combination
Ensure the moderating process of mover；Code value again add up 34000, carrying vehicle speed locating speed 70rpm is kept to by low speed 800rpm.
Wherein, after comb mover reaches parking stall, according to mx, control the position fixing process of comb mover to include following step
Suddenly：
Work as mxWhen increasing to three threshold values, the speed of comb mover is controlled to hasten to be reduced to 0 from the first positioning.
In the present embodiment, when the code value of comb mover is finally added to 35500, carrying vehicle speed is kept to by locating speed
0 speed, stops, its position is close with the second limit switch (PS8) position, both can and the docking process with guarantee mover.
Wherein, comb mover is in shuttle back off procedure, according to mx, control the speed-change process of comb mover to include
Following steps：
Comb mover is controlled to run with third speed；
Work as mxWhen being reduced to three threshold values, the speed of comb mover is controlled to be reduced to fourth speed from third speed；
Work as mxWhen being reduced to four threshold values, the speed of comb mover is controlled to be reduced to the second positioning speed from fourth speed
Degree.
In the present embodiment, in shuttle back off procedure, the code value of encoder successively decreases comb mover, when being decremented to
2300, carrying vehicle speed is kept to low speed 800rpm by high speed 1400rpm, and its deceleration position is close with limit switch (PS5) position,
Both can and with guarantee mover moderating process；Code value is decremented to 1200 again, and it is fixed that carrying vehicle speed is kept to by low speed 800rpm
Bit rate 70rpm.
Wherein, after comb mover reaches shuttle, according to mx, control the position fixing process of comb mover to include following step
Suddenly：
Work as mxWhen being reduced to 0, the speed of comb mover is controlled to be reduced to 0 from the second positioning speed.
In the present embodiment, when the code value of comb mover is finally decremented to 0, carrying vehicle speed is kept to 0 speed by locating speed,
Stop, its position is close with the second limit switch (PS6) position, both can and the docking process with guarantee mover.
Embodiment two
The traveling control device of comb mover in the multi-storied garage providing referring to accompanying drawing 2, the embodiment of the present invention two, application
In the walking process of the comb mover of no micro-distancer table, comb mover is fixed with walking frequency conversion motor, spacing
Switch, in multi-storied garage, the traveling control device of comb mover includes walk frequency conversion motor code value acquiring unit, speed controlling
Unit,
Walking frequency conversion motor code value acquiring unit is used for obtaining the code value m of the encoder of walking frequency conversion motorx；
, in warehouse compartment walking process, speed control unit is according to m for comb moverx, control the speed change mistake of comb mover
Journey；
After comb mover reaches parking stall, speed control unit is according to mx, control the position fixing process of comb mover；
, in shuttle back off procedure, speed control unit is according to m for comb moverx, control the speed change of comb mover
Process；
After comb mover reaches shuttle, speed control unit is according to mx, control the position fixing process of comb mover.
Wherein, in multi-storied garage, the traveling control device of comb mover also includes limit switch signal acquiring unit, code
Value resets unit,
Limit switch signal acquiring unit is used for obtaining the signal of limit switch；
When limit switch no signal simultaneously, the code value that code value resets the encoder for frequency conversion motor of walking for the unit is clear
Zero, and, by encoder code value reset.
Wherein, in warehouse compartment walking process, speed control unit is according to m for comb moverx, control the change of comb mover
Fast process includes：
Comb mover is controlled to run with First Speed；
Work as mxWhen increasing to first threshold, the speed of comb mover is controlled to be reduced to second speed from First Speed；
Work as mxWhen increasing to Second Threshold, the speed of comb mover is controlled to be reduced to the first positioning speed from second speed
Degree.
Wherein, after comb mover reaches parking stall, speed control unit is according to mx, the positioning of control comb mover
Journey includes：
Work as mxWhen increasing to three threshold values, the speed of comb mover is controlled to hasten to be reduced to 0 from the first positioning.
Wherein, in shuttle back off procedure, speed control unit is according to m for comb moverx, control comb mover
Speed-change process includes：
Comb mover is controlled to run with third speed；
Work as mxWhen being reduced to three threshold values, the speed of comb mover is controlled to be reduced to fourth speed from third speed；
Work as mxWhen being reduced to four threshold values, the speed of comb mover is controlled to be reduced to the second positioning speed from fourth speed
Degree.
Wherein, after comb mover reaches shuttle, speed control unit is according to mx, the positioning of control comb mover
Journey includes：
Work as mxWhen being reduced to 0, the speed of comb mover is controlled to be reduced to 0 from the second positioning speed.
In the multi-storied garage that the present invention provides, the ambulation control method of comb mover and device are walked by using comb
Limit switch and walking frequency conversion motor encoder code value, the walking of double control comb mover, High-speed Control was carried
The time of journey, low speed ensures moderating process, and locating speed ensures positioning precision.
In order to ensure that comb mover can synchronous from beginning to end, smoothly be lifted, can also be using in following two modes
Any one mode realize the first frequency conversion motor, the synchronization of the second frequency conversion motor：
First kind of way：
Step 1101：Described first frequency conversion motor, the second frequency conversion motor receive startup order simultaneously；
Step 1102：In described first frequency conversion motor, the second frequency conversion motor running, the first change described in Real-time Collection
Speed data v of frequency motor1, speed data v of the second frequency conversion motor2；
Step 1103：Obtain | v1-v2| numerical value；
Step 1104：Control described | v1-v2| numerical value span so that described first frequency conversion motor, the second frequency conversion
The terrain clearance of motor is identical.
In the control method of the elevating mechanism that the present invention provides, elevating mechanism includes the first frequency conversion motor, the second frequency conversion
Motor.In this case, the sharing of load of thing will can be loaded to the first frequency conversion motor, the second frequency conversion motor, now, by
The load of the first frequency conversion motor and the second frequency conversion motor alone bear is minimized, even if the weight being loaded thing is very big, also can
Enough ensure the first frequency conversion motor, the load of the second frequency conversion motor alone bear as far as possible.
Additionally, being also directed to speed data v of the first frequency conversion motor1, speed data v of the second frequency conversion motor2Obtain | v1-v2
| numerical value, control described | v1-v2| numerical value span so that described first frequency conversion motor, the second frequency conversion motor from
Ground level is identical, thereby it is ensured that being loaded thing head and the tail synchronization, smoothly being lifted.In fig. 3, label 201 represents the
The initial position of one frequency conversion motor, label 301 represents the initial position of the second frequency conversion motor, and label 401 expression is in the first change
The initial position of the steelframe between frequency motor and the second frequency conversion motor, right | v1-v2| numerical value limited in the case of,
One frequency conversion motor should be label 203 location in T moment location, and is in the first frequency conversion motor and the second change
Steelframe between frequency motor should be label 403 location in T moment location, and if do not limited | v1-v2|
Numerical value, the first frequency conversion motor of leaving, the speed difference of the second frequency conversion motor increase, and can lead to the first frequency conversion motor, the second frequency conversion
Deviation in the stroke of motor, and in fig. 3, label 202 represents the first frequency conversion motor location, label in moment T
302 expression positions described in moment T for second frequency conversion motor, label 402 expression is in the first frequency conversion motor and the second frequency conversion
Steelframe between motor state in which in moment T, according to Pythagorean theorem, now, bidding number 402 corresponding length are L2,
The corresponding length of label 403 is L3, the corresponding length of label 404 is L4, then now,I.e. to making first
Spacing L between the output shaft of the output shaft of frequency conversion motor and the second frequency conversion motor2Increase, when the output shaft of the first frequency conversion motor
Spacing L and the output shaft of the second frequency conversion motor between2Increase above be in the first frequency conversion motor and the second frequency conversion motor it
Between steelframe can bear pulling force when, the steelframe that can lead to be between the first frequency conversion motor and the second frequency conversion motor ruptures,
And the first frequency conversion motor, the second frequency conversion motor be between the first frequency conversion motor and the second frequency conversion motor steelframe fracture after just
Contacting each other cannot be ensured by the steelframe that is between the first frequency conversion motor and the second frequency conversion motor, thus cannot protect
Card is loaded thing head and the tail synchronization, is smoothly lifted.
Wherein, elevating mechanism also includes connecting shaft, and one end of connecting shaft is fixedly connected on the output shaft of the first frequency conversion motor,
The other end of connecting shaft is fixedly connected on the output shaft of the second frequency conversion motor.In this case, connecting shaft is in the first variable-frequency electric
First class of protection, and the steelframe being between the first frequency conversion motor, the second frequency conversion motor is increased between machine and the second frequency conversion motor
It is collectively forming second class protection, by increasing capacitance it is possible to increase the coupling stiffness between the first frequency conversion motor, the second frequency conversion motor, reduce due to first
Between frequency conversion motor, the second frequency conversion motor, the asynchronous steelframe causing to be between the first frequency conversion motor, the second frequency conversion motor is disconnected
The probability split.
Wherein, as | v1-v2| numerical value≤first threshold when, the first frequency conversion motor and the second variable-frequency electric described in continuous service
Machine.This situation represents, now the velocity deviation very little between the first frequency conversion motor and the second frequency conversion motor, is being in always
Within the weight range that steelframe between one frequency conversion motor, the second frequency conversion motor can bear, it is not result in be in the first frequency conversion
Steelframe fracture between motor, the second frequency conversion motor.In the present embodiment, first threshold can be | v1-v2| numerical value=0.1m/
s.
Wherein, when first threshold ＜ | v1-v2| numerical value≤Second Threshold when, to v1、v2In the corresponding change of less numerical value
The control circuit transmitting control commands of frequency motor, increase v1、v2In the corresponding frequency conversion motor of less numerical value power, until |
v1-v2| numerical value≤first threshold, continuous service first frequency conversion motor, the second frequency conversion motor.This situation represents, now, when
L2When being forced to elongate, it is in the weight range that connecting shaft is born, in such a case, it is possible to the tractive using connecting shaft itself
Act on, and control command make this | v1-v2| numerical value again revert in the range of first threshold, in the present embodiment, Second Threshold
Could be arranged to 0.2m/s.
Wherein, as | v1-v2| numerical value ＞ Second Threshold when, simultaneously to the first frequency conversion motor, second frequency conversion motor send control
System order, makes the control circuit of the first frequency conversion motor, the control circuit dead electricity simultaneously of the second frequency conversion motor.In this case,
Be considered that the first frequency conversion motor and/or the second frequency conversion motor break down, continue to run with down final result be exactly to lead to
The pulling force that connecting shaft is born exceedes its tolerance range and ruptures.Accordingly, it would be desirable to make the control circuit of the first frequency conversion motor, the second change
The control circuit of frequency motor dead electricity simultaneously, stops it and continues to run with.
Wherein, | v1-v2| numerical value ＞ Second Threshold when, triggering alarm device send alarm.In this case, work as phase
After pass staff perceives associated alarm, the scene of can arriving in the very nick of time is sent out to the first frequency conversion motor and/or the second frequency conversion motor
Raw fault is processed such that it is able to fix a breakdown in the short period of time.The feelings of failure are particularly issued in control command
Under condition, can artificially control the control circuit of the first frequency conversion motor, the control circuit dead electricity simultaneously of the second frequency conversion motor.
Wherein, alarm is selected from one of buzzer, flashing lamp, qq message, SMS, wechat message, speech message
Or it is several.
The second way：
Step 2101：Described first frequency conversion motor, the second frequency conversion motor receive startup order simultaneously；
Step 2102：In described first frequency conversion motor, the second frequency conversion motor running, the first change described in Real-time Collection
Code value data m of the encoder of frequency motor1, the second frequency conversion motor encoder code value data m2；
Step 2103：Obtain | m1-m2| numerical value；
Step 2104：Control described | m1-m2| numerical value span so that described first frequency conversion motor, the second frequency conversion
The terrain clearance of motor is identical.
In the present embodiment, the code value m of the first frequency conversion motor1Span be that 0～6700 (corresponding stroke is
520mm), the code value m of the second frequency conversion motor2Span be 0～6700 (corresponding stroke be 520mm).Indication herein
Code value be bidirectional accumulating value.When elevating mechanism rises, corresponding code value increases；When elevating mechanism declines, corresponding code value subtracts
Few.
In the dicode value stroke amplitude limit method of the elevating mechanism that the present invention provides, elevating mechanism includes the first variable-frequency electric
Machine, the second frequency conversion motor.In this case, the sharing of load of thing will can be loaded to the first frequency conversion motor, the second frequency conversion
Motor, now, is minimized by the load of the first frequency conversion motor and the second frequency conversion motor alone bear, even if being loaded the weight of thing
Amount is very greatly it is also possible to ensure the first frequency conversion motor, the load of the second frequency conversion motor alone bear as far as possible.
Additionally, in the dicode value stroke amplitude limit method of elevating mechanism of present invention offer and device, being also directed to the first frequency conversion
Code value data m of the encoder of motor1, the second frequency conversion motor encoder code value data m2Obtain | m1-m2| numerical value, control
System is described | m1-m2| numerical value span so that the terrain clearance of described first frequency conversion motor, the second frequency conversion motor is identical,
Thereby it is ensured that being loaded thing head and the tail synchronization, smoothly being lifted.In fig. 3, label 201 represents the first frequency conversion motor
Initial position, label 301 represents the initial position of the second frequency conversion motor, and label 401 represents and is in the first frequency conversion motor and the
The initial position of the steelframe between two frequency conversion motors, right | m1-m2| numerical value limited in the case of, the first frequency conversion motor
Should be label 203 location in T moment location, and be between the first frequency conversion motor and the second frequency conversion motor
Steelframe should be label 403 location in T moment location, and if do not limited | m1-m2| numerical value, leave
First frequency conversion motor, the code value difference of the encoder of the second frequency conversion motor increase, and can lead to the first frequency conversion motor, the second variable-frequency electric
Deviation in the stroke of machine, and in fig. 3, label 202 represents the first frequency conversion motor location in moment T, label 302
Represent position described in moment T for second frequency conversion motor, label 402 expression is in the first frequency conversion motor and the second frequency conversion motor
Between steelframe in moment T state in which, according to Pythagorean theorem, now, bidding number 402 corresponding length are L2, label
403 corresponding length are L3, the corresponding length of label 404 is L4, then now,I.e. to making the first frequency conversion
Spacing L between the output shaft of the output shaft of motor and the second frequency conversion motor2Increase, when the output shaft and the of the first frequency conversion motor
Spacing L between the output shaft of two frequency conversion motors2Increase above and be between the first frequency conversion motor and the second frequency conversion motor
During the pulling force that steelframe can bear, the steelframe being between the first frequency conversion motor and the second frequency conversion motor can be led to rupture, and the
One frequency conversion motor, the second frequency conversion motor just cannot after the steelframe fracture being between the first frequency conversion motor and the second frequency conversion motor
Contacting each other is ensured by the steelframe that is between the first frequency conversion motor and the second frequency conversion motor, thus quilt cannot be ensured
Load head and the tail are synchronous, smoothly lifted.
Wherein, elevating mechanism also includes connecting shaft, and one end of connecting shaft is fixedly connected on the output shaft of the first frequency conversion motor,
The other end of connecting shaft is fixedly connected on the output shaft of the second frequency conversion motor.In this case, connecting shaft is in the first variable-frequency electric
First class of protection, and the steelframe being between the first frequency conversion motor, the second frequency conversion motor is increased between machine and the second frequency conversion motor
It is collectively forming second class protection, by increasing capacitance it is possible to increase the coupling stiffness between the first frequency conversion motor, the second frequency conversion motor, reduce due to first
Between frequency conversion motor, the second frequency conversion motor, the asynchronous steelframe causing to be between the first frequency conversion motor, the second frequency conversion motor is disconnected
The probability split.
Wherein, as | m1-m2| numerical value≤first threshold when, the first frequency conversion motor and the second variable-frequency electric described in continuous service
Machine.This situation represents, now the code value deviation very little of the encoder between the first frequency conversion motor and the second frequency conversion motor, always
Within the weight range that the steelframe being between the first frequency conversion motor, the second frequency conversion motor can bear, it is not result in be in
Steelframe fracture between first frequency conversion motor, the second frequency conversion motor.In the present embodiment, first threshold can be | m1-m2| numerical value
=32 (2.5mm).
Wherein, when first threshold ＜ | m1-m2| numerical value≤Second Threshold when, to m1、m2In the corresponding change of less numerical value
The control circuit transmitting control commands of frequency motor, increase m1、m2In the corresponding frequency conversion motor of less numerical value power, or fall
Low m1、m2In the larger corresponding frequency conversion motor of numerical value power, until | m1-m2| numerical value≤first threshold, continuous service
One frequency conversion motor, the second frequency conversion motor.This situation represents, now, works as L2When being forced to elongate, it is in the pulling force that connecting shaft is born
In the range of, in such a case, it is possible to using the traction action of connecting shaft itself, and control command makes this | m1-m2| numerical value
Again it revert in the range of first threshold, in the present embodiment, Second Threshold could be arranged to 64 (5mm).Additionally, it is now acceptable
Manually frequency conversion motor higher for code value in the first frequency conversion motor and the second frequency conversion motor is reduced, or, by the first frequency conversion
Frequency conversion motor that in motor and the second frequency conversion motor, code value is told somebody what one's real intentions are raises, with to the first frequency conversion motor, the second frequency conversion motor from
Ground level is calibrated, and makes their terrain clearances identical.
Wherein, as | m1-m2| numerical value ＞ Second Threshold when, simultaneously to the first frequency conversion motor, second frequency conversion motor send control
System order, makes the control circuit of the first frequency conversion motor, the control circuit dead electricity simultaneously of the second frequency conversion motor.In this case,
Be considered that the first frequency conversion motor and/or the second frequency conversion motor break down, continue to run with down final result be exactly to lead to
The pulling force that connecting shaft is born exceedes its tolerance range and ruptures.Accordingly, it would be desirable to make the control circuit of the first frequency conversion motor, the second change
The control circuit of frequency motor dead electricity simultaneously, stops it and continues to run with.
Wherein, | m1-m2| numerical value ＞ Second Threshold when, triggering alarm device send alarm.In this case, work as phase
After pass staff perceives associated alarm, the scene of can arriving in the very nick of time is sent out to the first frequency conversion motor and/or the second frequency conversion motor
Raw fault is processed such that it is able to fix a breakdown in the short period of time.The feelings of failure are particularly issued in control command
Under condition, can artificially control the control circuit of the first frequency conversion motor, the control circuit dead electricity simultaneously of the second frequency conversion motor.
Wherein, alarm is selected from one of buzzer, flashing lamp, qq message, SMS, wechat message, speech message
Or it is several.
Furthermore it is also possible to according to the first frequency conversion motor, the actual speed of the second frequency conversion motor and run time, calculate liter
The actual range of fall, but speed code-disc is to calculate, and precision is not high, only as auxiliary judgment condition, provides warning to behaviour
Make personnel.After two stroke distances that same motor calculation goes out are converted to same dimension, compare two deviation of strokes, exceed and set
Definite value is then reported to the police and is forbidden for code value, needs operator to calibrate.
The third mode：
Step 3101：Described first frequency conversion motor, the second frequency conversion motor receive startup order simultaneously；
Step 3102：In described first frequency conversion motor, the second frequency conversion motor running, the first change described in Real-time Collection
The angle-data α of frequency motor1, the angle-data α of the second frequency conversion motor2；
Step 3103：Obtain | α1-α2| numerical value；
Step 3104：Control described | α1-α2| numerical value span so that the output shaft of described first frequency conversion motor,
The output shaft of the second frequency conversion motor is on same straight line.In the anti-torsion control method of the elevating mechanism that the present invention provides,
Elevating mechanism includes the first frequency conversion motor, the second frequency conversion motor.In this case, the sharing of load being loaded thing can be arrived
First frequency conversion motor, the second frequency conversion motor, now, are able to by the load of the first frequency conversion motor and the second frequency conversion motor alone bear
Reduce, even if being loaded the weight of thing very greatly it is also possible to ensure the first frequency conversion motor, the second frequency conversion motor alone bear as far as possible
Load.
Additionally, in the anti-torsion control method of elevating mechanism of present invention offer and device, being also directed to the first frequency conversion motor
Angle-data α1, the angle-data α of the second frequency conversion motor2Obtain | α1-α2| numerical value, control described | α1-α2| numerical value
Span, can so that the output shaft of described first frequency conversion motor, the output shaft of the second frequency conversion motor are on same straight line
Avoid being loaded the generation that thing reverses even phenomenon of rupture.And if do not limited | α1-α2| numerical value, the first frequency conversion motor of leaving,
The angle difference of the second frequency conversion motor increases, and the angle difference of the first frequency conversion motor, the second frequency conversion motor can be led to increase, when the
Angle difference between the output shaft of the output shaft of one frequency conversion motor and the second frequency conversion motor increases above and is in the first frequency conversion
During the pulling force that the steelframe between motor and the second frequency conversion motor can bear, can lead to be in the first frequency conversion motor and the second frequency conversion
Steelframe between motor reverses, or even fracture.
Wherein, elevating mechanism also includes connecting shaft, and one end of connecting shaft is fixedly connected on the output shaft of the first frequency conversion motor,
The other end of connecting shaft is fixedly connected on the output shaft of the second frequency conversion motor.In this case, connecting shaft is in the first variable-frequency electric
First class of protection, and the steelframe being between the first frequency conversion motor, the second frequency conversion motor is increased between machine and the second frequency conversion motor
It is collectively forming second class protection, by increasing capacitance it is possible to increase the coupling stiffness between the first frequency conversion motor, the second frequency conversion motor, reduce due to first
Between frequency conversion motor, the second frequency conversion motor, differential seat angle causes the steelframe being between the first frequency conversion motor, the second frequency conversion motor to turn round
Turn the probability of even fracture.
Wherein, α1、α2It is respectively space angle.Because the first frequency conversion motor, the second frequency conversion motor are all to rise in space
Or decline, therefore, their reverse is probably a space windup-degree having projection in x, y, z direction of principal axis, now, just
Require in a step 102, the data of this space angle can be obtained.
Wherein, as | α1-α2| numerical value≤first threshold when, the first frequency conversion motor and the second variable-frequency electric described in continuous service
Machine.This situation represents, now the angular deviation very little between the first frequency conversion motor and the second frequency conversion motor, is being in always
Within the weight range that steelframe between one frequency conversion motor, the second frequency conversion motor can bear, it is not result in be in the first frequency conversion
Steelframe between motor, the second frequency conversion motor reverses.In the present embodiment, first threshold can be | α1-α2| numerical value=3 °.
Wherein, when first threshold ＜ | α1-α2| numerical value≤Second Threshold when, to α1、α2In the corresponding change of less numerical value
The control circuit transmitting control commands of frequency motor, increase α1、α2In the corresponding frequency conversion motor of less numerical value power, until |
α1-α2| numerical value≤first threshold, continuous service first frequency conversion motor, the second frequency conversion motor.This situation represents, it is possible to use
The traction action of connecting shaft itself, and control command makes this | α1-α2| numerical value again revert in the range of first threshold, this
In embodiment, Second Threshold could be arranged to 8 °.
Wherein, as | α1-α2| numerical value ＞ Second Threshold when, simultaneously to the first frequency conversion motor, second frequency conversion motor send control
System order, makes the control circuit of the first frequency conversion motor, the control circuit dead electricity simultaneously of the second frequency conversion motor.In this case,
Be considered that the first frequency conversion motor and/or the torsion of the second frequency conversion motor are broken down, continue to run with down final result just
It is to lead to the pulling force that connecting shaft is born to exceed its tolerance range and rupture.Accordingly, it would be desirable to make the control circuit of the first frequency conversion motor,
The control circuit of the second frequency conversion motor dead electricity simultaneously, stops it and continues to run with.
Wherein, | α1-α2| numerical value ＞ Second Threshold when, triggering alarm device send alarm.In this case, work as phase
After pass staff perceives associated alarm, the scene of can arriving in the very nick of time is sent out to the first frequency conversion motor and/or the second frequency conversion motor
Raw fault is processed such that it is able to fix a breakdown in the short period of time.The feelings of failure are particularly issued in control command
Under condition, can artificially control the control circuit of the first frequency conversion motor, the control circuit dead electricity simultaneously of the second frequency conversion motor.
Wherein, alarm is selected from one of buzzer, flashing lamp, qq message, SMS, wechat message, speech message
Or it is several.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation
Property concept, then can make other change and modification to these embodiments.So, claims are intended to be construed to including excellent
Select embodiment and fall into being had altered and changing of the scope of the invention.
Obviously, those skilled in the art can carry out the various changes and modification essence without deviating from the present invention to the present invention
God and scope.So, if these modifications of the present invention and modification belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprise these changes and modification.
Claims (10)
1. in a kind of multi-storied garage comb mover traveling control method, be applied to the comb mover of no micro-distancer table
Walking process, described comb mover is fixed with walking frequency conversion motor, limit switch it is characterised in that including following
Step：
Obtain the code value m of the encoder of described walking frequency conversion motorx,
According to described mxDemarcate the position zero point of comb mover；
Comb mover in warehouse compartment walking process, according to described mx, control the speed-change process of described comb mover；
After comb mover reaches parking stall, according to described mx, control the position fixing process of described comb mover；
Comb mover in shuttle back off procedure, according to described mx, control the speed-change process of described comb mover；
After comb mover reaches shuttle, according to described mx, control the position fixing process of described comb mover.
2. in multi-storied garage according to claim 1 the traveling control method of comb mover it is characterised in that described
According to described mxThe position zero point demarcating comb mover comprises the following steps：
Obtain the signal of described limit switch；
When described limit switch no signal simultaneously, it is demarcated as the position zero point of described comb mover；
According to the position zero point of described comb mover, the code value of the encoder of described walking frequency conversion motor is reset, and, will
The code value of the encoder of described walking frequency conversion motor resets.
3. in multi-storied garage according to claim 1 the traveling control method of comb mover it is characterised in that described comb
Tooth mover in warehouse compartment walking process, according to described mx, control the speed-change process of described comb mover to comprise the following steps；
Described comb mover is controlled to run with First Speed；
As described mxWhen increasing to first threshold, the speed of described comb mover is controlled to be reduced to second speed from First Speed；
As described mxWhen increasing to Second Threshold, the speed of described comb mover is controlled to be reduced to the first positioning from second speed
Speed；
Preferably, after described comb mover reaches parking stall, according to described mx, the positioning of the described comb mover of control
Journey comprises the following steps：
As described mxWhen increasing to three threshold values, the speed of described comb mover is controlled to hasten to be reduced to 0 from the first positioning.
4. in multi-storied garage according to claim 1 the traveling control method of comb mover it is characterised in that described comb
Tooth mover in shuttle back off procedure, according to described mx, control the speed-change process of described comb mover to include following step
Suddenly：
Comb mover is controlled to run with third speed；
As described mxWhen being reduced to three threshold values, the speed of described comb mover is controlled to be reduced to fourth speed from third speed；
As described mxWhen being reduced to four threshold values, the speed of described comb mover is controlled to be reduced to the second positioning from fourth speed
Speed.
5. in multi-storied garage according to claim 1 the traveling control method of comb mover it is characterised in that described comb
After tooth mover reaches shuttle, according to described mx, control the position fixing process of described comb mover to comprise the following steps：
As described mxWhen being reduced to 0, the speed of described comb mover is controlled to be reduced to 0 from the second positioning speed.
6. in a kind of multi-storied garage comb mover traveling control device, be applied to the comb mover of no micro-distancer table
Walking process, described comb mover is fixed with walking frequency conversion motor, limit switch it is characterised in that include walking
Frequency conversion motor code value acquiring unit, speed control unit,
Described walking frequency conversion motor code value acquiring unit is used for obtaining the code value m of the encoder of described walking frequency conversion motorx；
, in warehouse compartment walking process, described speed control unit is according to described m for comb moverx, control described comb mover
Speed-change process；
After comb mover reaches parking stall, described speed control unit is according to described mx, control the positioning of described comb mover
Process；
, in shuttle back off procedure, described speed control unit is according to described m for comb moverx, control described comb mover
Speed-change process；
After comb mover reaches shuttle, described speed control unit is according to described mx, control the positioning of described comb mover
Process.
7. in multi-storied garage according to claim 6 the traveling control device of comb mover it is characterised in that also including
Limit switch signal acquiring unit, code value reset unit,
Described limit switch signal acquiring unit is used for obtaining the signal of described limit switch；
When described limit switch no signal simultaneously, described code value resets unit and is used for the encoder of described walking frequency conversion motor
Code value reset, and, the code value of described encoder is reset.
8. in multi-storied garage according to claim 6 the traveling control device of comb mover it is characterised in that described comb
, in warehouse compartment walking process, described speed control unit is according to described m for tooth moverx, control the speed change of described comb mover
Process includes：
Described comb mover is controlled to run with First Speed；
As described mxWhen increasing to first threshold, the speed of described comb mover is controlled to be reduced to second speed from First Speed；
When describedxWhen increasing to Second Threshold, the speed of described comb mover is controlled to be reduced to the first positioning speed from second speed
Degree；
Preferably, after described comb mover reaches parking stall, described speed control unit is according to described mx, control described comb
The position fixing process of tooth mover includes：
As described mxWhen increasing to three threshold values, the speed of described comb mover is controlled to hasten to be reduced to 0 from the first positioning.
9. in multi-storied garage according to claim 6 the traveling control device of comb mover it is characterised in that described comb
, in shuttle back off procedure, described speed control unit is according to described m for tooth moverx, control the change of described comb mover
Fast process includes：
Comb mover is controlled to run with third speed；
As described mxWhen being reduced to three threshold values, the speed of described comb mover is controlled to be reduced to fourth speed from third speed；
As described mxWhen being reduced to four threshold values, the speed of described comb mover is controlled to be reduced to the second positioning from fourth speed
Speed.
10. in multi-storied garage according to claim 6 the traveling control device of comb mover it is characterised in that described
After comb mover reaches shuttle, described speed control unit is according to described mx, the positioning of the described comb mover of control
Journey includes：
As described mxWhen being reduced to 0, the speed of described comb mover is controlled to be reduced to 0 from the second positioning speed.
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| CN201610798877.9A CN106401239B (en) | 2016-08-31 | 2016-08-31 | The traveling control method and device of comb teeth carrier in stereo garage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610798877.9A CN106401239B (en) | 2016-08-31 | 2016-08-31 | The traveling control method and device of comb teeth carrier in stereo garage |
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| CN106401239B CN106401239B (en) | 2019-04-30 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112049490A (en) * | 2019-06-06 | 2020-12-08 | 北京首钢自动化信息技术有限公司 | Multi-motor synchronous control method for lifting mechanism of comb tooth carrier of stereo garage |
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| CN102582466A (en) * | 2011-01-11 | 2012-07-18 | 通用汽车环球科技运作有限责任公司 | Wobble compensation of an encoder speed signal for an electric motor |
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| CN2542620Y (en) * | 2002-02-06 | 2003-04-02 | 云南昆船第一机械有限公司 | Single-rail endless shuttle |
| US20040180606A1 (en) * | 2003-03-04 | 2004-09-16 | Fanuc Ltd | Synchronous control device |
| CN102582466A (en) * | 2011-01-11 | 2012-07-18 | 通用汽车环球科技运作有限责任公司 | Wobble compensation of an encoder speed signal for an electric motor |
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| CN112049490A (en) * | 2019-06-06 | 2020-12-08 | 北京首钢自动化信息技术有限公司 | Multi-motor synchronous control method for lifting mechanism of comb tooth carrier of stereo garage |
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| CN106401239B (en) | 2019-04-30 |
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