CN108584700B - Self-adaptive PID (proportion integration differentiation) closed-loop anti-swing control method for crane - Google Patents

Self-adaptive PID (proportion integration differentiation) closed-loop anti-swing control method for crane Download PDF

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CN108584700B
CN108584700B CN201810221998.6A CN201810221998A CN108584700B CN 108584700 B CN108584700 B CN 108584700B CN 201810221998 A CN201810221998 A CN 201810221998A CN 108584700 B CN108584700 B CN 108584700B
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汪小凯
徐强
吴庆祥
华林
冯智勇
危刚
祝红亮
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Wuhan University of Technology WUT
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    • 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
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Abstract

The invention discloses a self-adaptive PID closed-loop anti-swing control method for a crane, which comprises the following steps: s1, inputting the initial acceleration of the crane under the rope length of k meters, outputting the swing angle of the crane, correcting the acceleration according to the initial control parameters of the PID controller, inputting the corrected acceleration, outputting the corrected swing angle of the crane, limiting the corrected swing angle according to the NCD setting method, and optimizing the control parameters of the PID controller to obtain the optimized control parameters of the PID controller corresponding to different rope lengths; and S2, fitting the optimized control parameters of all the PID controllers to obtain a relational expression between the control parameters of the PID controllers and the rope length. The invention realizes the effective anti-swing of the crane under different rope lengths, has simple control mode, is easy for industrial application, and can obviously improve the safety and the working efficiency of the crane operation.

Description

Self-adaptive PID (proportion integration differentiation) closed-loop anti-swing control method for crane
Technical Field
The invention belongs to the technical field of crane control, and particularly relates to a self-adaptive PID (proportion integration differentiation) closed-loop anti-swing control method for a crane under a variable rope length.
Background
The crane is important logistics transportation equipment and is widely applied to various fields such as wharfs, hydropower stations, factory workshops and material storage. Because the crane is a flexible underdamping system, the crane can inevitably deflect under the action of inertia force in the starting acceleration and deceleration stop stages. If the swing angle is not limited, the loading and unloading efficiency of the crane is greatly influenced, and the safety of surrounding equipment and workers is seriously threatened. Therefore, the crane anti-swing technology is widely concerned by manufacturers and researchers at home and abroad.
At present, an electronic anti-swing technology is a main research direction for anti-swing control of a crane. The crane electronic anti-swing utilizes the sensor to obtain the crane running state data, and the large trolley is controlled to move according to various control theories and aiming at realizing anti-swing and anti-swing. The control form can be divided into open-loop anti-sway control including input shaping, optimal control and the like, and closed-loop anti-sway control including PID control, fuzzy control, adaptive control and the like. At present, a large amount of research and attempt are made by researchers at home and abroad on electronic anti-shake, but the main work is focused on the optimization design and simulation of different control algorithms, and the problems that the control theory is advanced, the control algorithm is intelligent and the algorithm structure is complicated are brought. Meanwhile, when the crane is subjected to simulation analysis, the change of the rope length is generally ignored, only the anti-swing control method under the fixed rope length is provided, the method is not suitable for the anti-swing requirements of the crane under different rope lengths, and the method is difficult to be applied to engineering practice.
Disclosure of Invention
The invention aims to solve the technical problem of providing a self-adaptive PID closed-loop anti-swing control method for a crane, which can realize self-adaptive adjustment of control parameters under different rope lengths, so that good anti-swing effect can be obtained under different rope lengths, and the running safety and the working efficiency of the crane are improved.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a self-adaptive PID closed-loop anti-swing control method for a crane comprises the following steps:
s1, inputting initial acceleration of the crane under k meters of rope length, wherein k is 1, 2, 3 or …, outputting a swing angle of the crane, correcting the acceleration according to initial control parameters of a PID controller, inputting the corrected acceleration, outputting the corrected swing angle of the crane, limiting the corrected swing angle according to an NCD setting method, and optimizing the control parameters of the PID controller to obtain optimized control parameters of the PID controllers corresponding to different rope lengths;
s2, fitting the optimized control parameters of all PID controllers to obtain a relational expression between the control parameters of the PID controllers and the rope length l, namely kp＝f(l)，ki＝g(l)，kd＝h(l)。
According to the technical scheme, in the step S1, k is a natural number between 1 and 15.
According to the above technical solution, in step S1, the corrected swing angle is limited to the maximum swing angle not exceeding 0.02 rad.
According to the technical scheme, in the step S1, the initial control parameters of the PID controller are the control parameters obtained through particle swarm optimization.
The application of the self-adaptive PID closed-loop anti-swing control method for the crane includes inputting the initial acceleration of the crane and outputting the swing angle of the crane when any rope length is adopted, and outputting the swing angle of the crane according to a formula kp＝f(l)、ki＝g(l)、kdAnd h (l), correcting the acceleration, inputting the corrected acceleration, namely outputting the swing angle meeting the limiting condition, and realizing closed-loop anti-swing.
The invention has the following beneficial effects: according to the method, through crane dynamics analysis, the acceleration of a large crane and a small crane are used as the input of a crane system, the mathematical relation between the load deflection angle and the acceleration of a crane cart and a crane trolley is taken as a control model base, the load deflection angle measured based on a machine vision technology is used as feedback, and the NCD setting method is used for setting PID control parameters, so that the running stability and the control precision of crane anti-swing are improved, closed-loop anti-swing is realized, and the realization mode is simpler; meanwhile, PID parameters under different hoisting rope lengths are adjusted through a computer simulation technology, and a mathematical model of the PID control parameters and the hoisting rope lengths is established by using a numerical analysis method. In practical application, the controller obtains corresponding control parameters under the real-time rope length according to the mathematical model, so that the anti-swing control effect of the crane is not influenced by the change of the rope length, and the self-adaptive PID closed-loop anti-swing under the variable rope length is realized.
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The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic structural diagram of a PID anti-swing control system under a variable rope length of a crane;
FIG. 2 is a graph of crane trolley speed and acceleration input versus yaw angle response;
FIG. 3 shows PID control parameters and fitting curves of the crane which are adjusted under different rope lengths.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
A self-adaptive PID closed-loop anti-swing control method for a crane comprises the following steps:
s1, as shown in figure 2, inputting the initial acceleration of the crane under k meters of rope length, wherein k is 1, 2, 3 and …, outputting the swing angle of the crane, correcting the acceleration according to the initial control parameters of the PID controller, inputting the corrected acceleration, outputting the corrected swing angle of the crane, limiting the corrected swing angle according to the NCD setting method, and optimizing the control parameters of the PID controller to obtain the optimized control parameters of the PID controller corresponding to different rope lengths;
s2, as shown in figure 3, fitting the optimized control parameters of all PID controllers to obtain a relation between the control parameters of the PID controllers and the rope length l, namely kp＝f(l)，ki＝g(l)，kd＝h(l)。
In the preferred embodiment of the present invention, in step S1, k is a natural number between 1 and 15.
In the preferred embodiment of the present invention, in step S1, the corrected swing angle is limited to the maximum swing angle not exceeding 0.02 rad.
In a preferred embodiment of the present invention, in step S1, the initial control parameters of the PID controller are control parameters optimized by a particle swarm optimization.
Crane self-adaptationWhen any rope length is adopted, the initial acceleration of the crane is input, the swing angle of the crane is output, and the formula k is usedp＝f(l)、ki＝g(l)、kdAnd h (l), correcting the acceleration, inputting the corrected acceleration, namely outputting the swing angle meeting the limiting condition, and realizing closed-loop anti-swing.
As shown in fig. 1, when the present invention is applied, a control system adopted by the crane mainly comprises a motion controller, an industrial personal computer, an industrial camera, a lifting encoder, a lifting frequency converter, a cart and trolley frequency converters, a lifting motor, a cart and a trolley motor. Wherein the industrial camera is mounted below the trolley and is used for acquiring a real-time motion image of the crane load. The hoisting encoder is arranged on one side of the winding drum of the hoisting running mechanism and used for measuring the length of the hoisting rope. The mechanical part of the crane comprises a lifting operation mechanism, a trolley operation mechanism and a cart operation mechanism. The hoisting running mechanism is connected with a hoisting motor, the cart running mechanism and the cart running mechanism are respectively connected with a cart motor and a cart motor, and the hoisting frequency converter, the cart frequency converter and the cart frequency converter are all connected with a motion controller.
The method comprises the following concrete implementation steps:
s1, initialization stage: and initializing each hardware device of the crane anti-swing control system, and establishing communication connection. The initial setting parameters specifically comprise gear speeds of a cart, a trolley and a lifting operation mechanism and acceleration and deceleration time of a frequency converter;
s2, calibrating a lifting encoder: firstly, controlling the load to rise to a certain height, and recording the length value of a hoisting rope measured by a hoisting encoder at the moment as l1And simultaneously measuring the height of the load from the ground and recording the height as h1(ii) a Then controlling the hoisting running mechanism to run at a set speed for 5s, and recording the numerical value of the length of the hoisting rope measured by the encoder at the moment as l2And measuring the height of the load from the ground at the moment and recording the height as h2. The ratio relation between the length of the load hoisting rope and the measured value of the encoder can be determined
Figure BDA0001600264690000031
According to the ratio p, the corresponding actual hoisting rope length can be obtained from the measured value of the encoder;
s3, lifting stage: after the error compensation of the hoisting rope length is completed, starting a self-adaptive PID anti-swing control program of the crane, and controlling a hoisting operation mechanism to hoist the load to a safe height;
s4, crane anti-swing operation stage: the control rules of a crane cart and a crane trolley are similar, the working process of an anti-swing operation stage is described by taking anti-swing in the cart direction as an example, an industrial camera collects a moving image of a load in real time and transmits the image to an industrial personal computer, the industrial personal computer obtains a horizontal distance x from the load to a vertical center according to an image processing algorithm, meanwhile, a lifting encoder transmits a real-time rope length measurement value to the industrial personal computer, a proportional relation value p is obtained in a calibration stage of the lifting encoder, the industrial personal computer can calculate and determine an actual lifting rope length l corresponding to the measurement value, a real-time load deflection angle theta can be obtained according to a geometric relation x between displacement and the rope length which is l sin theta, and the industrial personal computer obtains rope length information and a determined proportional coefficient kpIntegral coefficient kiAnd a differential coefficient kdFitting formula with the rope length l: k, g, k, h, l, and determining the length l1Lower corresponding PID control parameter kp1、ki1And kd1Because the expected value of the load deflection angle is always 0 degrees, the real-time load deflection angle theta obtained by the industrial personal computer is the control deviation of the PID controller, the output quantity of the PID controller corrects the input speed of the cart through proportional, integral and differential operations of the deviation, the motion controller receives the corrected speed input, and the anti-shaking is realized by controlling the running speed of the cart;
s5, anti-swing operation stage after rope length change: the anti-swing operation stage after the rope length is changed is described by taking the anti-swing in the direction of the cart as an example. After the rope length changes, the lifting encoder transmits the changed rope length measured value to the industrial personal computer, and the industrial personal computer obtains the actual lifting rope length l at the moment2From the determined scaling factor kpIntegral coefficient kiAnd a differential coefficient kdFitting formula with the rope length l: k, g, l, k, h, l, kThe length of the rope is determined2Lower corresponding PID control parameter kp2、ki2And kd2And at the moment, the weighting coefficient value of the PID controller is changed, the input speed of the cart is corrected through a PID control algorithm after the deviation angle is different from the zero deviation angle, and the anti-shaking after the rope length is changed is realized by controlling the running speed of the cart through the motion controller.
The above steps are only examples of the whole implementation process of the anti-shaking control system, and only initial setting needs to be performed in the installation and debugging process according to the use requirements in practical application. The self-adaptive PID anti-swing control under the variable rope length of the crane takes the swing angle of the hoist weight as a feedback quantity, and corrects the input speed of the cart and the trolley through a PID control algorithm to realize the anti-swing control. Furthermore, PID control parameters under different rope lengths are fitted, and anti-shaking control under different rope lengths is realized according to the control parameters under the corresponding rope lengths which can be obtained by the rope length data.
The following are simulation examples to further illustrate the present invention.
The adaptive PID anti-swing control system under the variable rope length of the crane obtains PID control parameters by adopting computer virtual simulation. Since the control law of the crane in the moving direction of the cart and the trolley is the same, the working process of the anti-swing control system will be described below by taking the anti-swing control of the load in the cart direction as an example. The specific simulation process of the PID anti-swing control system under the variable rope length is as follows:
1. establishing a crane anti-swing control system simulation model based on NCD optimization setting PID control, wherein the crane anti-swing control system simulation model mainly comprises a trolley speed input module, a crane system hoisting swing angle and input speed transfer function module, a PID control module and an NCD optimization setting module;
2. in order to simulate the working process of the crane as truly as possible, crane acceleration, uniform speed and deceleration signals are set in a simulation model, the acceleration time and the deceleration time of the crane are set to be the same, and ta1s, and the maximum running speed v of the trolley is 1 m/s;
3. setting rope length parameters, and obtaining PID under corresponding rope length by using NCD optimization setting moduleControl parameter kp、kiAnd kdIn this example, the load swing angle set in the NCD module is not more than 0.02rad at most, the adjusting time is not more than 5s, and the corresponding proportionality coefficient k can be obtained when the rope length is set to be 2mp34.3236, integral coefficient ki43.1141 and a differential coefficient kd＝16.473；
4. Changing rope length data in the simulation model, repeating the setting method in the step 3 to obtain PID control parameters of the rope length from 1m to 15m, fitting the obtained data to obtain a fitting formula of the PID control parameters and the rope length l, wherein the setting parameter values and the fitting curve graph are shown in FIG. 3, and the fitting formula obtained in the example is as follows:
Figure BDA0001600264690000051
Figure BDA0001600264690000052
Figure BDA0001600264690000053
5. using a fitting formula of PID control parameters obtained by simulation and the rope length l, arbitrarily taking rope length data and carrying out simulation verification according to the rope length lower control parameters determined by the fitting formula, wherein in the example, the rope length l is taken as 6.3m, and the corresponding proportionality coefficient k at the momentp40.13542, integral coefficient ki38.57683 and a differential coefficient kdThe simulation results are shown in fig. 3, 24.7579.
The operation of the components of the present invention is described in detail below.
A data transmission mode: the anti-swing control system adopts different communication modes to transmit data, specifically, an industrial camera transmits collected motion images of loads to an industrial personal computer through a GigE communication mode, a lifting encoder transmits long data of lifting ropes to the industrial personal computer through a Profinet communication mode, a Profinet network cable interface is adopted between the industrial personal computer and a motion controller to transmit the data, the industrial personal computer transmits the corrected running speed of large and small vehicles to the motion controller, the motion controller respectively controls large and small vehicle frequency converters through the Profinet communication mode, and meanwhile, the motion controller transmits the data with the lifting frequency converter through the Profinet communication mode.
The specific self-adaptive PID anti-shaking control process comprises the following steps: the method comprises the steps of firstly, setting initial parameters of a self-adaptive PID anti-shaking control system, wherein the initial parameters specifically comprise the running speeds of a large crane trolley running mechanism and a load hoisting mechanism, and the acceleration and deceleration time of a corresponding frequency converter. And meanwhile, the rope length of the hoisting mechanism encoder is calibrated. In the anti-swing operation process, the hoisting encoder measures the length of the load hoisting rope in real time and transmits the length to the industrial personal computer, and the industrial personal computer obtains the optimal regulation control parameters under the corresponding rope length by utilizing a PID parameter fitting formula under different rope lengths according to the real-time measurement of the length of the hoisting rope. Meanwhile, the industrial camera collects motion images of the load in real time and transmits the motion images to the industrial personal computer, the industrial personal computer further utilizes the images collected in real time, a load deflection angle theta is obtained through calculation based on an image processing algorithm and corresponding rope length information, the PID controller obtains a cart or trolley motion control regulation rule according to the load deflection angle, and finally the motion controller realizes self-adaptive closed-loop anti-swing of the crane under the condition of variable rope length by controlling the operation of the cart.
The method for realizing the load feedback angle comprises the following steps: the measurement of load yaw angle is based on machine vision technology, specifically, the industrial camera is installed below the hoisting running mechanism, and an image target is installed at the lifting hook. In the practical application process, the industrial personal computer calculates and obtains the deflection displacement x of the load on the horizontal plane according to an image processing algorithm by using a target image acquired by an industrial camera; meanwhile, the industrial personal computer obtains the effective rope length h of the load by utilizing the data of the length of the hoisting rope of the hoisting crane collected by the encoder arranged at one end of the crane drum, and the load deflection angle theta can be obtained according to the geometric relationship x between the displacement and the rope length which is hsin theta.
Setting parameters of the swing angle PID controller: because the control law of the crane in the cart running direction is similar to that of the crane in the trolley running direction, the method for setting the controller parameters is described by taking the cart direction as an example. And obtaining a cart load system dynamic equation by applying a Lagrange dynamic analysis theory, and further obtaining a transfer function of the load deflection angle under the acceleration input of the crane through Laplace change. And establishing a simulation model of the crane anti-swing control system by utilizing a computer virtual simulation technology and a PID control principle. Adopts the following PID controller algorithm expression
Figure BDA0001600264690000061
Wherein k isp、ki、kdThe proportional coefficient, the integral coefficient and the differential coefficient of the PID controller respectively take the load swing angle as a control quantity, and the control deviation of the PID controller is a real-time load swing angle because the load swing angle is always expected to be zero. Setting the adjustment time t of the swing angle response in the simulation model of the anti-swing control system according to the NCD optimization setting methodsThe overshoot sigma% and the steady state error, the corresponding rope length l can be obtained1PID optimization control parameter kp1、ki1、kd1。
PID parameter fitting method under different rope lengths: and in the effective lifting height range of the crane, an arithmetic progression of the length of the lifting rope is established. Further according to the method for setting the parameters of the swing angle PID controller, a rope length series l is obtainedjOptimizing control parameter k of lower corresponding PID controllerpj、kij、kdj. Establishing a proportionality coefficient k based on a numerical analysis methodpIntegral coefficient kiAnd a differential coefficient kdFitting formula with the length l of the rope. I.e., kp ═ f (l), ki ═ g (l), and kd ═ h (l).
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.

Claims (5)

1. A self-adaptive PID closed-loop anti-swing control method for a crane is characterized by comprising the following steps:
s1, inputting initial acceleration of the crane under k meters of rope length, wherein k is 1, 2, 3 or …, outputting a swing angle of the crane, correcting the acceleration according to initial control parameters of a PID controller, inputting the corrected acceleration, outputting the corrected swing angle of the crane, limiting the corrected swing angle according to an NCD setting method, and optimizing the control parameters of the PID controller to obtain optimized control parameters of the PID controllers corresponding to different rope lengths;
s2, fitting the optimized control parameters of all PID controllers to obtain a relational expression between the control parameters of the PID controllers and the rope length l, namely kp＝f(l)，ki＝g(l)，kd＝h(l)。
2. The adaptive PID closed-loop anti-sway control method of claim 1, wherein in step S1, k is a natural number between 1-15.
3. The adaptive PID closed-loop anti-sway control method of claim 1, wherein in step S1, the revised sway angle is limited to a maximum sway angle not exceeding 0.02 rad.
4. The adaptive PID closed-loop anti-swing control method according to claim 1, wherein in step S1, the initial control parameters of the PID controller are the control parameters optimized by particle swarm optimization.
5. The application of the crane adaptive PID closed-loop anti-swing control method according to any one of claims 1-4, characterized in that when any rope length is adopted, the initial acceleration of the crane is input, the swing angle of the crane is output, and the formula k is used for controlling the crane adaptive PID closed-loop anti-swingp＝f(l)、ki＝g(l)、kdAnd h (l), correcting the acceleration, inputting the corrected acceleration, namely outputting the swing angle meeting the limiting condition, and realizing closed-loop anti-swing.
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