CN109019346B - Amplitude-changing speed-regulating method and control handle of embedded intelligent crane - Google Patents

Amplitude-changing speed-regulating method and control handle of embedded intelligent crane Download PDF

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Publication number
CN109019346B
CN109019346B CN201811157367.9A CN201811157367A CN109019346B CN 109019346 B CN109019346 B CN 109019346B CN 201811157367 A CN201811157367 A CN 201811157367A CN 109019346 B CN109019346 B CN 109019346B
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amplitude
variable
motor
speed
crane
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CN109019346A (en
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王国贤
远方明
郭兴
牛威
李烨
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Wuhan University of Technology WUT
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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
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/82—Luffing gear
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The invention discloses an embedded intelligent crane amplitude-changing speed-regulating method and a control handle, wherein the process of controlling the rotating speed of a variable-frequency amplitude-changing motor by using the amplitude-changing control handle is related to the real-time amplitude-changing amplitude of an amplitude-changing mechanism, and a calculating unit for compensating an input signal of the handle according to the real-time state is independently arranged from a control system of the crane, is packaged into an embedded module and is structurally integrated with the control handle. The embedded module obtains an initial input signal of the control handle, receives the rotation angle information of the variable-frequency variable-amplitude motor, calculates a specific compensated rotation speed signal for controlling the variable-frequency variable-amplitude motor, and transmits the control signal to the PLC, and the PLC controls the rotation speed of the variable-frequency variable-amplitude motor. The defect of 'obtained non-setting' of the crane luffing system is overcome, the crane can be ensured to directly run according to the luffing speed set by a driver in the luffing process, the requirement on the driver operating technology is reduced, and the labor intensity of the driver is greatly reduced.

Description

Amplitude-changing speed-regulating method and control handle of embedded intelligent crane
Technical Field
The invention belongs to the technical field of crane control, and particularly relates to an embedded intelligent crane amplitude and speed regulation method and a control handle.
Technical Field
The common crane amplitude and speed regulation control system is a full-open loop control system. The control handle is stepped or stepless, and the output control signal directly controls the rotating speed of the variable-frequency variable-amplitude motor. However, since the motor speed and the luffing speed are not in a constant linear proportional relationship in the luffing process, the luffing mechanism is equivalent to a transmission with a variable transmission ratio, and the transmission ratio can be changed along with the change of amplitude. Therefore, when a driver manipulates the luffing system through the control handle, if the stable, safe and efficient luffing process is required to be ensured, the current amplitude is required to be observed at any time, and the control handle is properly adjusted according to the change rule of the nonlinear transmission ratio of the luffing mechanism along with the amplitude, so that the rotating speed of the motor is changed, and the ideal luffing speed is obtained. This has very high technical demands on the driver's handling and has great labor intensity, and the driver can choose to suffer from poor luffing performance.
The speed regulation control of the existing crane luffing mechanism is a completely open loop system, as shown in figure 2. In the mode, the amplitude variation mechanism is equivalent to a nonlinear transmission, and a driver can control the rotation speed of the amplitude variation motor to be unchanged, but the amplitude variation speed is changed along with the variation of amplitude variation, so that the requirement of uniform amplitude variation cannot be met.
The intelligent semi-closed loop speed regulation control system adopting a conventional handle shown in fig. 3 is characterized in that an optimized amplitude variation speed control model based on a real-time amplitude variation state is an approximate dynamic inverse model, the model is calculated according to given parameters of a specific model, sampling is uniformly carried out at different points within an allowable range of theta, the sampling number is as large as possible, and then the sampling number is stored in a PLC memory in a form of a table. After the amplitude variation speed is set by the driver operating handle, the PLC controller combines the amplitude variation speed V set by the driver according to the theta value fed back by the rotary encoder h0 The table stored in the PLC is checked to calculate the desired rotational speed n of the variable-amplitude motor to be emitted at this point in time 0 The PLC receives the signal to control the amplitude variable motor to increase or decrease the rotating speed. Only an approximately uniform amplitude variation can be realized in the speed regulation mode.
Disclosure of Invention
The invention provides an embedded intelligent crane luffing speed regulating method and a control handle, which solve the defect of 'non-setting' obtained by the crane luffing system, can ensure that the crane directly operates according to the luffing speed set by a driver in the luffing process, reduce the requirement on the control technology of the driver and greatly lighten the labor intensity of the driver.
In order to achieve the purpose, the embedded intelligent crane amplitude and speed regulation method designed by the invention is characterized by comprising the following steps of: the process of controlling the rotating speed of the variable-frequency amplitude motor by the amplitude-variable control handle is related to the real-time amplitude of the amplitude-variable mechanism, and meanwhile, a calculating unit for compensating the input signal of the handle according to the real-time state is independently arranged from a control system of the crane, is packaged into an embedded module and is structurally integrated with the control handle. The embedded module obtains an initial input signal of the control handle, receives rotation angle information (equivalent to real-time amplitude of the amplitude changing mechanism) of the variable-frequency amplitude changing motor, calculates to obtain a specific expected rotation speed signal of the variable-frequency amplitude changing motor, and transmits the control signal to a PLC control system of the crane, and the PLC control system controls the rotation speed of the variable-frequency amplitude changing motor.
Further, the specific calculation criteria of the embedded module are as follows: when the handle outputs a constant signal, the constant-speed amplitude variation is realized as an optimization target.
The invention also designs a control handle of the embedded intelligent crane luffing speed regulation structure, which is characterized in that: comprises a control rod and an embedded module;
the embedded module is connected with an encoder, a PLC control system and an operating rod on an amplitude variable frequency motor shaft of the crane through a cable, acquires an initial input signal of the operating handle, receives the rotation angle information of the variable frequency amplitude motor, calculates to obtain a specific expected variable frequency amplitude motor rotation speed signal, and transmits the control signal to the PLC control system;
the embedded module is also provided with a debugging interface;
further, the embedded module mainly comprises an 8-bit singlechip, an input signal shaping circuit, a voltage and current detection circuit and an output amplifying circuit.
Further, the control handle can be of a stepless speed regulation type or a master controller type. The invention has the advantages that:
1) According to the embedded intelligent crane amplitude-changing speed-regulating method, the instruction signal output by the control handle can enable the rotating speed of the amplitude-changing variable-frequency motor to be automatically regulated along with the change of amplitude, so that the amplitude-changing speed output by the amplitude-changing mechanism is guaranteed to strictly linearly change along with a set value, and the amplitude-changing speed is not changed along with the change of amplitude when the set value is constant. The operability, stability and safety of the crane luffing system adopting the control handle are greatly improved.
2) The control logic for compensating the input command signal based on the optimized luffing speed control model in real-time luffing state is packaged into the control handle in an embedded mode, the original control system can be almost unchanged, and the modularized system structural design scheme has the advantages of easiness in implementation, debugging, installation, popularization, updating and the like.
3) In an amplitude-variable speed regulation system for controlling the optimal amplitude-variable speed according to the real-time amplitude-variable state, the general implementation mode is to write an optimal control model into a PLC program, keep the structure and the function of a handle unchanged, compensate an input signal of the handle, finish the compensation in the PLC, and be limited by the function of the PLC, the inverse model needs to be subjected to approximate treatment, thereby causing a certain error, and the control performance of the system is extremely sensitive to modeling precision, so the control performance of the speed regulation system can be better by adopting the speed regulation system of the invention, because the optimal model is packaged in an embedded module with much stronger real-time calculation capability than the PLC, and the approximate modeling treatment which can cause larger error is not needed.
4) The invention can be used for new products in the future, and the old products only need to replace the control handle without thoroughly updating, modifying and rewriting the original system, thereby having great practicability.
5) The optimized luffing speed control model based on the real-time luffing state is a relatively complex nonlinear mathematical model, floating point operation is needed, the PLC is focused on logic operation, the floating point operation capability is low, and the model needs special treatment to be programmed in the PLC. The invention breaks down the task from the PLC control program to be borne by the embedded module with lower cost, fully exerts the respective advantages of the PLC and the embedded system, and is also beneficial to further upgrading the optimized variable amplitude speed control model in the future so as to have the electronic anti-shake capability.
Drawings
FIG. 1 is a schematic diagram of the system connection of an embedded intelligent crane luffing speed regulation control handle.
Fig. 2 is a diagram of an open-loop luffing speed regulation control system of a luffing mechanism of a common crane.
Fig. 3 is an intelligent semi-closed loop variable amplitude speed control system employing a conventional steering handle.
FIG. 4 is a crane luffing speed control system employing an embedded intelligent luffing speed control handle.
Fig. 5 is a schematic diagram of the operation of a speed regulating system using an embedded intelligent crane luffing speed regulating control handle.
In the figure: the device comprises a control rod 1-1, a debugging interface 1-2, an embedded module 1-3 and a power interface 1-4.
Detailed Description
The invention is described in further detail below with reference to the attached drawings and to specific embodiments:
according to the embedded intelligent crane amplitude-changing speed-regulating method, the process of controlling the rotating speed of the variable-frequency amplitude-changing motor by using the amplitude-changing control handle is related to the real-time amplitude-changing amplitude of the amplitude-changing mechanism, meanwhile, a calculating unit for compensating the input signal of the handle according to the real-time state is independently arranged from a control system of the crane, is packaged into an embedded module, and forms an integrated structure with the control handle; the embedded module obtains an initial input signal of the control handle, receives the rotation angle information of the variable-frequency variable-amplitude motor, calculates a specific compensated rotation speed signal for controlling the variable-frequency variable-amplitude motor, and transmits the control signal to a PLC control system of the crane system, and the PLC control system controls the rotation speed of the variable-frequency variable-amplitude motor.
An embedded intelligent crane luffing speed regulating control handle as shown in fig. 1, comprising: a joystick 1-1, a debugging interface 1-2, an embedded module 1-3, a power interface 1-4 and a cable. The control rod 1-1 is connected with the input end of the embedded module 1-3 through a connecting cable and inputs a desired variable amplitude speed signal, and the embedded module 1-3 is connected with a PLC control system of a crane and a rotary encoder arranged on a variable amplitude variable frequency motor shaft through a cable.
The embedded module 1-3 is a core control part of a speed regulation control handle and mainly comprises an 8-bit singlechip, an input signal shaping circuit, a voltage and current detection circuit, an output amplifying circuit and the like; and an embedded running program written according to an optimized luffing speed control model based on a real-time luffing state is written in the singlechip.
Wherein, the optimal luffing speed control model based on the real-time luffing state can be established in any mode, and the form is as follows:
n 0 ＝f(V h0 ，θ)
wherein n is 0 V for the desired motor speed h0 θ is the absolute rotation angle of the motor for a desired luffing speed value. Reflecting how to respond to the desired luffing speed value V corresponding to the original input signal of the luffing handle h0 And the absolute motor rotation angle theta to obtain the expected motor rotation speed n 0 . The absolute rotation angle theta of the variable-frequency variable-amplitude motor is obtained by monitoring in real time through a rotary encoder arranged on a motor shaft of the variable-frequency variable-amplitude motor and feeding back the signal to the embedded module.
The embedded running program obtains the rotation speed of the variable-frequency variable-amplitude motor through the real-time monitored absolute rotation angle of the motor and the expected variable-amplitude speed, and transmits the obtained expected rotation speed signal to the PLC control system. In the process, as long as the expected luffing speed is not changed, the end point of the trunk bridge of the crane runs at a constant speed. This desired luffing speed is determined entirely by the position or gear selected by the luffing handle.
The debugging interface 1-2 is connected with a computer carried by a technician during system development, debugging or maintenance.
The power interface 1-4 is connected with a stabilized voltage power supply.
The rotary encoder is connected with the input end of the embedded module 1-3 through a connecting cable, and transmits an absolute rotation angle signal measured in real time to the embedded module 1-3.
The PLC control system is connected with the output end of the embedded module 1-3, the embedded module 1-3 transmits a desired rotating speed signal calculated by an embedded operation program to the PLC control system, and the PLC control system controls the variable-frequency variable-amplitude motor to increase or decrease the rotating speed after receiving the signal.
The control handle of the invention can be either stepless speed regulation or master controller. When the control handle is stepless speed regulation, the amplitude variation speed is completely determined by the position of the control handle; when the control handle is a master controller, the luffing speed is completely determined by the gear selected by the control handle. When the position of the control handle is kept unchanged or the selected gear is kept unchanged by a driver, the crane maintains constant-speed amplitude in the amplitude process.
The crane adopting the embedded intelligent amplitude-changing speed-regulating control handle provided by the invention can very freely achieve the purpose of uniform amplitude changing, as shown in figure 4. The embedded operation module which is encapsulated in the speed regulation control handle of the crane luffing mechanism and is written with the accurate dynamic inverse model under the control mode is used for controlling the luffing speed V set by a driver h0 And the absolute rotation angle theta fed back by a rotary encoder arranged on the amplitude motor shaft calculates a real-time expected amplitude motor rotation speed value n 0 N of this signal is transmitted to the PLC controller 0 The value will vary with the amplitude of the amplitude, and the final output amplitude will be a constant value as long as the desired speed of the input does not vary.
As shown in FIG. 5, the embedded intelligent crane luffing speed regulation control handle of the invention has the following specific working principle:
1): setting a certain expected crane luffing speed on a speed regulating control handle by a driver according to production requirements;
2): the embedded module of the speed regulation control handle provided by the invention reads the amplitude variation speed in the step 1 and the real-time rotation angle of the motor measured by the rotary encoder;
3): the embedded running program which is written in the embedded module and developed according to the accurate dynamic inverse model utilizes the two items of data in the step 2 to solve the expected motor rotating speed corresponding to the current absolute rotating angle;
4): and (3) transmitting the expected motor rotation speed signal obtained in the step (3) to a PLC control system of a crane luffing mechanism. After receiving the signal, the PLC control system controls the variable-frequency variable-amplitude motor to increase or decrease the rotating speed.
The amplitude variation speed can not be changed as long as the position of the handle or the selected gear is unchanged in the whole process.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures described in the specification and drawings of the present invention or directly or indirectly applied to other related technical fields are included in the scope of the invention.

Claims (5)

1. An embedded intelligent crane amplitude and speed regulation method is characterized in that:
the method comprises the steps of correlating a process of controlling the rotating speed of a variable-frequency amplitude motor by an amplitude-changing control handle with real-time amplitude-changing amplitude of an amplitude-changing mechanism, independently separating a calculating unit for compensating an input signal of the handle according to a real-time state from a control system of a crane, packaging the calculating unit into an embedded module, and forming an integrated structure of the module and the control handle; the embedded module acquires an initial input signal of the control handle, receives rotation angle information of the variable-frequency variable-amplitude motor, calculates a specific compensated rotation speed signal of the variable-frequency variable-amplitude motor, and transmits the rotation speed signal of the variable-frequency variable-amplitude motor to a PLC control system of the crane, and the PLC control system controls the rotation speed of the variable-frequency variable-amplitude motor.
2. The embedded intelligent crane luffing speed regulating method according to claim 1, characterized by comprising the following steps: the specific calculation criteria of the embedded module are as follows: when the operating handle outputs a constant signal, the constant-speed amplitude variation is realized as an optimization target.
3. A steering handle for an embedded intelligent crane luffing speed regulating method according to claim 1, which is characterized in that: comprises a control rod and an embedded module;
the embedded module is connected with an encoder, a PLC control system and an operating rod on an amplitude variable frequency motor shaft of the crane through a cable, acquires an initial input signal generated during operation of the operating rod, receives the rotation angle information of the variable frequency amplitude variable motor, calculates and obtains a specific compensated control variable frequency amplitude variable motor rotation speed signal, and transmits the control variable frequency amplitude variable motor rotation speed signal to the PLC control system;
and the embedded module is also provided with a debugging interface.
4. A steering handle according to claim 3, wherein: the embedded module mainly comprises an 8-bit singlechip, an input signal shaping circuit, a voltage and current detection circuit and an output amplifying circuit.
5. A steering handle according to claim 3, wherein: the control handle is a stepless speed regulation type or master controller type.
CN201811157367.9A 2018-09-30 2018-09-30 Amplitude-changing speed-regulating method and control handle of embedded intelligent crane Active CN109019346B (en)

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CN109019346B true CN109019346B (en) 2023-04-25

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CN115203864B (en) * 2022-09-19 2022-12-13 江苏苏港智能装备产业创新中心有限公司 Luffing mechanism building method and device applied to gantry crane

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JP2003261287A (en) * 2002-03-08 2003-09-16 Hitachi Constr Mach Co Ltd Work range limiting device for construction machine
US7426423B2 (en) * 2003-05-30 2008-09-16 Liebherr-Werk Nenzing—GmbH Crane or excavator for handling a cable-suspended load provided with optimised motion guidance
ES2676452T3 (en) * 2013-07-05 2018-07-19 Liebherr-Werk Nenzing Gmbh Crane controller
CN105417448A (en) * 2015-11-06 2016-03-23 湖北省专用汽车研究院 Luffing control system and luffing control method for fire-fighting aerial ladder truck
CN105329788B (en) * 2015-12-10 2017-05-17 青岛海西重机有限责任公司 Uniform velocity amplitude-varying control method for jib crane
CN105429558A (en) * 2015-12-28 2016-03-23 中科院成都信息技术股份有限公司 Tower crane luffing mechanism variable frequency speed regulation control system and control method
CN207166393U (en) * 2017-09-25 2018-03-30 中科院金华信息技术有限公司 Tower crane amplitude variation electronic pressure regulating governing system

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