CN108792954B - Bridge type ship unloader grabs amount control method - Google Patents
Bridge type ship unloader grabs amount control method Download PDFInfo
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- CN108792954B CN108792954B CN201810854115.5A CN201810854115A CN108792954B CN 108792954 B CN108792954 B CN 108792954B CN 201810854115 A CN201810854115 A CN 201810854115A CN 108792954 B CN108792954 B CN 108792954B
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 239000000463 material Substances 0.000 claims abstract description 36
- 230000035945 sensitivity Effects 0.000 claims abstract description 7
- 230000004044 response Effects 0.000 claims description 4
- 230000009897 systematic effect Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 description 8
- 230000007423 decrease Effects 0.000 description 7
- 230000033228 biological regulation Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000005303 weighing Methods 0.000 description 3
- 239000000843 powder Substances 0.000 description 2
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000004939 coking Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000009394 selective breeding Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/60—Loading or unloading ships
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ship Loading And Unloading (AREA)
Abstract
The present invention provides a kind of bridge type ship unloader crawl amount control method: setting Qn as n-th crawl amount setting value of grabbing bucket；Tn is the material actual weight of grab bucket n-th crawl；Te is specified weight capacity；If a. n-th grab bucket weight Tn is less than rated value Te, crawl amount Q is set next timen+1It needs to be greater than this crawl amount Qn；If b. n-th grab bucket weight Tn is greater than rated value Te, crawl amount Q is set next timen+1Need to be less than this crawl amount Qn；If c. n-th grab bucket weight Tn is equal to rated value Te, crawl amount Q is set next timen+1It remains unchanged；Wherein, Qn+1For crawl amount to be used of grabbing bucket, Q next timen+1=Qn+(Te-Tn)/k, wherein k is to adjust sensitivity coefficient, and this method crawl amount adjusts one-time-reach-place, that is, guarantees the goods weight that grab bucket single obtains, be also avoided that equipment loss, improve job security.
Description
Technical field
The control method of crawl amount when deep-cutting function the invention patent relates to bridge type ship unloader realization.
Background technique
Conventional bridge ship unloaders, door sitting posture crane four rope grab control system generally all have and deep-cut function, this function
It can be simulated according to actual motion model by program, and be realized by grab bucket self gravity.In the specific implementation process, the depth of grab bucket
Digging degree, that is, crawl amount Q needs to manually adjust setting according to the actual situation.And once the setting of crawl amount is unreasonable, will seriously affect out
Close and support rope service-life and operating efficiency.
The setting of crawl amount is completed by artificial selection, but faces some difficulties in actual operation, mainly by the following:
(1) when switching between different material, since material specific gravity is different, crawl amount is caused to repeat to be arranged.And it is arranged every time
It needs frequently to debug, influences operating efficiency；
(2) material of the same race, at identical crawl amount Q, when grab bucket different location material grasping in cabin when, also result in not
Same weight capacity；
(3) there are dynamic errors for weighing system, it is difficult to provide accurate feedback, result in the need for frequently adjusting crawl amount.
Harbour industry competition is increasingly fierce, and work using equipment is all large scale equipment, purchase, maintenance cost it is big, if energy
Reduce the competitiveness that equipment loss will greatly improve enterprise.
Harbour industry competition is increasingly fierce, how to improve efficiency in such a case, and reducing spare part loss just becomes emphasis.
Summary of the invention
The technical problem to be solved by the present invention is to prior art crawl amounts to manually adjust, and existing crawl amount needs frequently manual
Setting seriously affects opening and closing and supports rope service-life and operating efficiency.
The technical solution that the present invention provides to solve above-mentioned technical problem is:
A kind of bridge type ship unloader crawl amount control method:
If: Qn is grab bucket n-th crawl amount setting value；Tn is the material actual weight of grab bucket n-th crawl；Te is specified
Weight capacity；
If a. n-th grab bucket weight Tn is less than rated value Te, crawl amount Q is set next timen+1Need to be greater than this crawl
Measure Qn；
If b. n-th grab bucket weight Tn is greater than rated value Te, crawl amount Q is set next timen+1Need to be less than this crawl
Measure Qn；
If c. n-th grab bucket weight Tn is equal to rated value Te, crawl amount Q is set next timen+1It remains unchanged；
Wherein, Qn+1For crawl amount to be used of grabbing bucket, Q next timen+1Value should meet:
Qn+1=Qn+(Te-Tn)/k
It is to adjust sensitivity coefficient, k value that wherein (Te-Tn)/k, which is from n-th to (n+1)th crawl amount changing value △ Q, k,
Determination be to be arranged from the aspect of dynamic response and systematic steady state two according to on-site actual situations.
This method crawl amount adjusts one-time-reach-place, that is, guarantees the goods weight that grab bucket single obtains, and is also avoided that equipment is damaged
Consumption improves job security.
The value of k is between 0-5.Sensitivity coefficient is avoided that excessive adjustment work.
The initial value of crawl amount Q is the 60% of maximum value.
It is the weight value of feedback that constant velocity stage reads grab bucket in grab bucket operating status when the present invention reads Qn value.
Weight value of feedback Tn is repeatedly read in the case where grab bucket operating status is constant velocity stage, and takes multiple average value.
Detailed description of the invention
Decline is schemed at full speed for Fig. 1 .1 grab bucket；
Fig. 1 .2 grab bucket contacting material figure；
Fig. 1 .3 closes bucket and starts state diagram；
Fig. 1 .4 closes bucket completion status figure；
Fig. 2 is motor speed, M curve relational graph；
Fig. 3 is to close bucket crawl figure crawl amount hour；
Fig. 4 is that bucket crawl figure is closed when crawl amount is big；
Fig. 5 ship unloaders structure chart.
Specific embodiment
One, function is deep-cut to the grab bucket of ship unloaders with reference first to attached drawing and the grab bucket course of work is illustrated:
Ship unloaders grab bucket deep-cuts function and realizes that process is as follows: as shown in Fig. 1 .1, the full speed before non-material grasping of grabbing bucket decline
1 stress of hoist rope is opened in figure, grab bucket.4 decline of grab bucket touches material 5.As are shown in figure 1.2, hoist rope 1 is at this time
Slack rope state, driver operation handle, which provides, closes bucket order, and at this moment hoist rope rises to tightening state.To tightening state it
Afterwards, as shown in 1.3, grab bucket 4 starts material grasping, and two opening and closing ropes 3 rise, and two 2 declines of support rope, grab bucket 4 relies on own wt
Sink to realizing and deep-cuts function.Because support rope 2 can according to the value of crawl amount, after declining a distance in proportion, then start on
It rises until 4 closure of grab bucket, so the height that grab bucket 4 is deep-cut depends primarily on the size of crawl amount.Fig. 1 .4 show grab bucket 4 and grabs
Closed state after complete material 5.
Ship unloaders grab bucket supports the torque of opening and closing motor and velocity variations process as follows when deep-cutting: as are shown in figure 1.2, first
Stage, grab bucket 4 contacting material 5 when slack rope it is more, provide close bucket order after, support opening and closing motor torque and speed it is upward, side
To being consistent.When soon slack rope part is tightened, raising torque starts to reduce, and is reduced to setting value, props up simultaneously
Motor speed is held also to reduce speed now to zero.Second stage, raising keep certain torque, and grab bucket 4 is sunk by own wt, rise
Rise 1 reverse direction operation of wirerope, i.e. wirerope begins to decline, while when being opened and closed motor and reaching at the uniform velocity fastly, torque reduce to rise
Lifting moment is similar, is then opened and closed torque and incrementally increases, grab bucket is gradually closed.Phase III, in the grab bucket material grasping later period, raising torque
Start fitting to incrementally increase, lifting velocity, which reduces speed now, drops to zero, later reverse direction operation.The speed of motor is opened and closed during this
Degree, torque are begun to decline, and are opened and closed the torque decline and the torque of support motor of motor, and are opened and closed the torque of motor always than branch
The torque for holding motor is big by 3%, effectively closed in 4 uphill process of grab bucket to guarantee；It is opened and closed speed decline and the support motor of motor
Speed converge after, indicate grab bucket be closed completely, with identical speed sync increase run up.Material grasping process is being deep-cut in grab bucket
In, opening and closing motor is speed control, and support motor is Torque Control.Fig. 2 shows motor speeds, M curve.
Ship unloaders are grabbed bucket, and conventional the characteristics of closing bucket crawl amount crawl material, is as shown in Figure 3,4, and Fig. 3 is when crawl amount is smaller
Material situation is grabbed, the material taken is less, and the specified Grasping skill of grab bucket is far not achieved, influences the efficiency that unloads.Fig. 4 is crawl
Crawl material situation when measuring larger, the material taken is more, or even greatly exceeds rated load, and overload operation can be to steel
The mechanisms such as cord, frequency converter damage.
With reference to Fig. 5, the ship unloaders grab bucket course of work is: after grab bucket has grabbed material in cabin, providing raising order, grabs bucket
Up run.After reaching a certain height, the operation order of trolley land side is provided, grab bucket is run under the traction of trolley to land side,
Reach above hopper, grab bucket is opened.After material discharges, trolley traction grab bucket is run to extra large side, is reached hatch top position, is grabbed
Bucket drops to surface of material, and a circulation terminates.Grab bucket in uphill process kind, can by accelerating, at the uniform velocity, deceleration three phases,
In order to guarantee that the material numeric ratio monitored is more accurate, automatic control system research choosing is deep-cut in the optimization of bridge type ship unloader crawl amount
What is taken is the at the uniform velocity section in grab bucket uphill process.
Two, mathematical model
The crawl amount adjustable range of ship unloaders is 20-100% at present, and every grade 5%, every to choose once, crawl amount can only change
Become 5%.Crawl amount is adjusted every time, deep-cuts height just corresponding variation " 5% ", and being just able to satisfy operation for only needing to change 3% wants
For asking, it is clear that do not accomplish.If every gear number value of crawl amount is reduced, for example every grade is adjusted to 1%, in this way control essence
Degree improves, but adjustment speed greatly reduces.
The goal of the invention of this programme is the operation need for allowing crawl amount that can deep-cut height according to grab bucket between 20-100%
Any selection numerical value is sought, so that crawl amount is in a most reasonable effective numerical value in real time.The automatic adjustment of ship unloaders crawl amount
No matter final purpose be when, the weight of every bucket material will be kept all to tend to rated load.Guarantee that grab bucket is abundant
Crawl amount, while avoiding prolonged overlond running again.
If rated load be 49 tons, it is contemplated that ship unloaders crawl amount automatic adjustment process it is as follows:
1) the crawl numerical quantity that ship unloaders start is 95%, the material tonnage of crawl is 60 tons, and ship unloaders are grabbed at present
The rated load that struggles against is 49 tons, then this bucket material has overloaded 11 tons.Crawl amount should be turned down accordingly so that under a pipeful of crawl
Material tonnage tend to 49 tons of rated load.
2) the crawl numerical quantity that ship unloaders start is 80%, and the material tonnage of crawl is 40 tons, then this bucket material distance
Rated load has lacked 9 tons, it should crawl amount is tuned up accordingly so that under the material tonnage of a pipeful of crawl tend to rated load 49
Ton.
3) if the material tonnage of ship unloaders crawl is near 49 tons of rated load, it should keep crawl amount constant.
4) ship unloaders are in the lighter material of crawl specific gravity, for example specified load is much not achieved in coking coal, the weight of every bucket
49 tons of lotus, then crawl amount is because being maintained at maximum value 100%.
In order to position it quickly accurately, then the crawl amount size specifically adjusted is just when adjusting crawl amount every time
It must be rationally reliable.Firstly the need of the relationship for finding out crawl amount Yu every bucket material weight, the case where according to actual production, crawl amount
Each grade of 70-100% is had chosen as sampled data, is the crawl amount of three kinds of different cargo types and every as shown in table 1 to table 3
The corresponding relationship for the weight that struggles against.
Corresponding relationship-Brazil's block of 1 crawl amount of table and every bucket weight
Corresponding relationship-Australia's powder of 2 crawl amount of table and every bucket weight
Corresponding relationship-Roy mountain powder of 3 crawl amount of table and every bucket weight
It is also different to can be seen that every bucket weight of the different cargo types under identical crawl amount from above-mentioned mapping table,
Even if identical cargo type is also variant.But in general, with the reduction of crawl amount, corresponding every bucket weight is also followed not
It is disconnected to reduce；Crawl amount Q and weight capacity T are positive associated change.
Bridge-type grab ship unloader realizes that the goods weight T for deep-cutting every bucket crawl when function is related to the crawl amount Q value of setting,
Certain positive correlation is presented in the two in mathematical relationship, i.e., crawl amount Q is bigger under identical cargo, the same terms, the cargo weight of crawl
It is more to measure T.In this way, the weight of crawl is the bigger the better under rated weight enabled condition of grabbing bucket, i.e. infinite approach is grabbed bucket rated value
Te is desired control target.
The present invention provides bridge type ship unloader and grabs amount control method:
If: Qn is grab bucket n-th crawl amount setting value；Tn is the material actual weight of grab bucket n-th crawl；Te is specified
Weight capacity；
If a. n-th grab bucket weight Tn is less than rated value Te, crawl amount Q is set next timen+1Need to be greater than this crawl
Measure Qn；
If b. n-th grab bucket weight Tn is greater than rated value Te, crawl amount Q is set next timen+1Need to be less than this crawl
Measure Qn；
If c. n-th grab bucket weight Tn is equal to rated value Te, crawl amount Q is set next timen+1It remains unchanged；
Wherein, Qn+1Value should meet:
Qn+1=Qn+(Te-Tn)/k
It is to adjust sensitivity coefficient that wherein (Te-Tn)/k, which is from n-th to (n+1)th crawl amount changing value △ Q, k, can be determined
Determine system dynamic responding speed.
Obviously only when the weight Tn that grabs bucket is equal to target value Te, crawl amount Q is just remained unchanged.In addition, adjusting sensitive system
Number k value is bigger, and system dynamic responding speed is slower；Conversely, the smaller dynamic regulation speed of k value is faster.But too fast dynamic response
It may cause system dynamic to shake, it is not good for system stability, so the setting of k value needs in terms of dynamic response and systematic steady state two
Consider, is adjusted according to on-site actual situations.In general, the value of k is between 0-10.The present invention is arranged when being more than allowable range of error
Sensitivity coefficient K settable different K value according to actual needs is adjusted, different adjustment speed requirement is met.
Practical weight capacity of the present invention is obtained using original weighing system.
It overloads in order to prevent, initial crawl amount Q value is set every time, the 60% of maximum value is rule of thumb set as.
Grab bucket crawl goods weight read by weight sensor, and grab bucket motion profile can be divided into acceleration, at the uniform velocity, subtract
In fast three stages, in order to improve data accuracy, the present invention reads constant velocity stage's grab bucket weight value of feedback；
Influenced by surface of material flatness and crawl position, the weight grabbed under identical crawl amount Q value there are error, in order to
Accidentalia interference is reduced, weight value of feedback takes the average value of multiple readings.
It brings system dynamic to shake to reduce frequently adjustment, an allowable error fluctuation range, the i.e. difference of Tn and Te is set
When value is fallen into the codomain of a certain setting, crawl amount Q is remained unchanged, and controller then intervenes adjustment when more than this range.The mistake
Poor allowed band can reduce Q value and frequently adjust the fluctuation of bring weight capacity.
Tn in the error range should be in the range of weighing system allows, and such as larger beyond Te value, equipment has safety
Risk.As k=5, i.e., Tn value is fallen in ± 5 range of Te, and Q value does not adjust.
Different accuracy can be achieved under different error windows and adjust for the value for adjusting sensitivity coefficient k, the size shadow of error range
Acoustic system degree of regulation can theoretically realize floating regulation, i.e., only work as T when the error amount of permission is set as " 0 "n=Te
When, system is not adjusted Q value, and Q value is kept, and dynamic adjustment terminates.
It is more accurate, quick that the invention proposes a kind of new crawl amount preparation method this method；Reduce grab bucket overload
Phenomenon, emergency stop is impacted caused by avoiding because of overload, extends service life of equipment；Reduce because unreasonable, pine is arranged in crawl amount
The job-hopping failure of main carriage pulley caused by restricting, operating efficiency are higher.
Claims (5)
1. a kind of bridge type ship unloader grabs amount control method:
If: Qn is grab bucket n-th crawl amount setting value；Tn is the actual weight value of feedback of the material of grab bucket n-th crawl；Te
For specified weight capacity；
If a. n-th grab bucket weight Tn is less than rated value Te, crawl amount Q is set next timen+1It needs to be greater than this crawl amount
Qn；
If b. n-th grab bucket weight Tn is greater than rated value Te, crawl amount Q is set next timen+1Need to be less than this crawl amount
Qn；
If c. n-th grab bucket weight Tn is equal to rated value Te, crawl amount Q is set next timen+1It remains unchanged；
Wherein, Qn+1For crawl amount to be used of grabbing bucket, Q next timen+1Value should meet:
Qn+1=Qn+(Te-Tn)/k
It is to adjust sensitivity coefficient that wherein (Te-Tn)/k, which is from n-th to (n+1)th crawl amount changing value △ Q, k, and k value is really
It surely is to be arranged from the aspect of dynamic response and systematic steady state two according to on-site actual situations.
2. bridge type ship unloader grabs amount control method according to claim 1, it is characterized in that: the value of k is between 0-5.
3. bridge type ship unloader grabs amount control method according to claim 1, it is characterized in that: the initial value of crawl amount Q is most
60% be worth greatly.
4. bridge type ship unloader grabs amount control method according to claim 1, it is characterized in that: being transported when reading Qn value in grab bucket
Row state is the weight value of feedback that constant velocity stage reads grab bucket.
5. bridge type ship unloader grabs amount control method according to claim 1, it is characterized in that: weight value of feedback Tn is transported in grab bucket
Row state is repeatedly to read under constant velocity stage, and take multiple average value.
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| CN109809293B (en) * | 2019-02-12 | 2020-06-16 | 南通润邦重机有限公司 | Intelligent grabbing method of mechanical grab bucket |
| CN114476950B (en) * | 2021-12-24 | 2023-10-27 | 南京港机重工制造有限公司 | Grab bucket grabbing amount intelligent control system based on weight sensor signal acquisition |
| CN114148901B (en) * | 2021-12-30 | 2025-03-04 | 天津港汇盛码头有限公司 | Control system and method for grabbing amount of gantry crane grab bucket |
| CN114803571B (en) * | 2022-04-20 | 2023-06-09 | 北京汇力智能科技有限公司 | Material grabbing control method and device, storage medium and electronic equipment |
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| JP3003424B2 (en) * | 1992-10-06 | 2000-01-31 | 石川島播磨重工業株式会社 | Control method of quantitative scraping of unloader |
| CN105021263B (en) * | 2015-07-07 | 2018-01-09 | 杭州华新机电工程有限公司 | A kind of ship unloaders quantitative model control method |
| CN106185636A (en) * | 2016-08-30 | 2016-12-07 | 天津港远航散货码头有限公司 | A kind of bulk goods door machine grab bucket crawl amount real-time control method and system |
| CN206266100U (en) * | 2016-08-30 | 2017-06-20 | 天津港远航散货码头有限公司 | A kind of bulk goods gantry crane grab crawl amount real-time control system |
| CN206705523U (en) * | 2017-03-10 | 2017-12-05 | 唐山港集团股份有限公司 | A kind of door machine crawl amount semi-automatic controller |
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