CN109467011A - A kind of S curve control method of the segmentation fluctuating acceleration suitable for Crane Industry - Google Patents

A kind of S curve control method of the segmentation fluctuating acceleration suitable for Crane Industry Download PDF

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Publication number
CN109467011A
CN109467011A CN201710804214.8A CN201710804214A CN109467011A CN 109467011 A CN109467011 A CN 109467011A CN 201710804214 A CN201710804214 A CN 201710804214A CN 109467011 A CN109467011 A CN 109467011A
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CN
China
Prior art keywords
acceleration
segmentation
curve
fluctuating
crane
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Pending
Application number
CN201710804214.8A
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Chinese (zh)
Inventor
何军锋
马党军
陶芝勇
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Shanghai Electric Control Technology Co Ltd
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Shanghai Electric Control Technology Co Ltd
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Application filed by Shanghai Electric Control Technology Co Ltd filed Critical Shanghai Electric Control Technology Co Ltd
Priority to CN201710804214.8A priority Critical patent/CN109467011A/en
Publication of CN109467011A publication Critical patent/CN109467011A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control

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

Abstract

The invention discloses a kind of S curve control methods of segmentation fluctuating acceleration suitable for Crane Industry, include the following steps: S1, divide 7 sections in boosting velocity procedure, every section of acceleration is that equal difference is incremented by；S2, similarly, also divides 7 sections, every section of acceleration is that equal difference is successively decreased in down speeding procedure；Can ensure that in this way crane in starting, stop transient acceleration very little, inertia impact also very little substantially reduces the amplitude of rocking and rocks the time, it is ensured that lifting process safety, accurate, efficiently.The invention has the following advantages that 1, it is at low cost, be not required to increase any cost, only need to modify control program, by original constant acceleration speeding up or down process, the S curve for being changed to present segmentation fluctuating acceleration is controlled；2, the performances such as safe, quick, stable of crane operation are greatly improved, the flatness during start-stop can be improved, prevent the impact of lifted weight, reach anti-shake effect.

Description

A kind of S curve control method of the segmentation fluctuating acceleration suitable for Crane Industry
Technical field
The invention belongs to technical field of crane control, more particularly to suitable for the segmentation fluctuating acceleration of Crane Industry S curve control method.
Background technique
Start to be changed to PLC control by original relay control in view of most domestic crane control system in recent years, And safeguard protection, anti-shake require also higher and higher, and largely use frequency conversion there are currently no the crane using PLC control The multistage speed of device adjusts the speed to realize, Acceleration and deceleration time is set in frequency converter, once the highest frequency of frequency converter, acceleration and deceleration Time sets, and acceleration when lifting speed is exactly a definite value, has in this way in the moment started and stopped very big used Property impact, cause hoist object to rock amplitude big, be unfavorable for safety operation and quickly, be accurately positioned, the present invention is write using PLC One is segmented the S curve of fluctuating acceleration to carry out speeding up or down process.
Summary of the invention
The purpose of the present invention is to solve disadvantages existing in the prior art, and what is proposed is suitable for Crane Industry Segmentation fluctuating acceleration S curve control method, rock amplitude to reduce starting, stop moment, use more segmentations, The S curve of fluctuating acceleration carries out speeding up or down process, makes full use of the integrated, calculation function that PLC is powerful, it may be convenient to real The anti-shake function of existing crane.
To achieve the above object, the invention provides the following technical scheme:
A kind of S curve control method of the segmentation fluctuating acceleration suitable for Crane Industry, includes the following steps:
S1, divide 7 sections in boosting velocity procedure, every section of acceleration is that equal difference is incremented by；
S2, similarly, also divides 7 sections, every section of acceleration is that equal difference is successively decreased in down speeding procedure；It can ensure that in this way Heavy-duty machine in starting, stop transient acceleration very little, inertia impact also very little substantially reduces the amplitude of rocking and rocks the time, really Protect lifting process safety, accurate, efficiently.
Technical effect and advantage of the invention: the S of the segmentation fluctuating acceleration provided by the invention suitable for Crane Industry Method for controlling curves, compared with traditional technology, the invention has the following advantages that
1, at low cost, be not required to increase any cost, only need to modify control program, by original constant acceleration lifting speed control System is changed to the S curve control of present segmentation fluctuating acceleration；
2, the performances such as safe, quick, stable of crane operation are greatly improved, can be improved flat during start-stop Slip prevents the impact of lifted weight, reaches anti-shake effect；
3, software programming is flexible, can select optimal S curve by adjusting parameters, off-line simulation operational effect To carry out speeding up or down process.
Detailed description of the invention
Fig. 1 is two kinds of lift curve figures；In Fig. 1, solid line is the S curve of fluctuating acceleration, and dotted line is the lifting of constant acceleration Curve.
Fig. 2 is general S curve figure.
Fig. 3 is program screenshot.
Fig. 4 is S curve functional block program screenshot.
Fig. 5 is S curve functional block off-line simulation screenshot.
Fig. 6 is the program screenshot of the input variable of FC1.
Fig. 7 is the program screenshot of the output variable of FC1.
Fig. 8 is the program screenshot of the intermediate variable of FC1.
Fig. 9 is the program screenshot of FC1 block.
Figure 10 is the program screenshot of main program OB1 calling function block FC1.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, right below in conjunction with specific embodiment The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, It is not intended to limit the present invention.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative labor Every other embodiment obtained under the premise of dynamic, shall fall within the protection scope of the present invention.
In Fig. 1, above dotted line be constant acceleration lifting speed curve, below solid line be fluctuating acceleration lifting speed it is bent Line；Ascending, descending speed process all divides 7 sections, by the real-time comparisons of two kinds of curves it can be found that synchronization raising speed since zero-speed, Synchronization reaches most high speed, and is reduced to zero-speed in synchronization.Significantly accelerate as can be seen that becoming in Up and down speeding Speed of the speed for each point write music on line less than or equal to corresponding points on constant acceleration curve.In the work of identical power Under, the quality of object is bigger, and acceleration is smaller, and the velocity variations of object are slower, and object keeps the energy of original motion state Power is bigger, that is to say, that the inertia of object is bigger.
Control method of the invention is realized by following procedure step:
(1) functional block FC1 is created；
(2) input, output and the intermediate variable table for creating FC1, as shown in Fig. 6, Fig. 7, Fig. 8；
(3) according to formula: V=a*t calculates ramp-up stage average acceleration and segmentation acceleration a1-a7, falling-rate period it is flat Equal acceleration and segmentation acceleration a8-a14, each waypoint speed V1-V15, as shown in Fig. 9；
(4) main program OB1 calling function block FC1, as shown in Figure 10.
Two curves illustrate in Fig. 1:
1, constant acceleration curve
Constant acceleration curve is traditional lifting speed curve, and the size of acceleration is by maximum speed and lifting speed time It determines, if this control thinks that lifting speed is gentle, efficiency can only be sacrificed, extend lifting speed time.
2, it is segmented the S curve of fluctuating acceleration
The S curve of segmentation fluctuating acceleration is core of the invention place, as shown in Figure 1, the lifting speed stage is respectively divided into 7 sections Carry out fluctuating acceleration operation control, ramp-up stage acceleration equal difference is incremented by；On the contrary, successively decreasing in falling-rate period acceleration equal difference, in this way Crane can be made in starting, stop that moment is steady, safe and accurate positioning.
Wherein: aupFor raising speed average acceleration, adownFor reduction of speed average acceleration.
a1=0.4 × aup(t0To t1Moment acceleration) a9=1.6 × adown(t8To t9Moment acceleration)
a2=0.6 × aup(t1To t2Moment acceleration) a10=1.4 × adown(t9To t10Moment acceleration)
a3=0.8 × aup(t2To t3Moment acceleration) a11=1.2 × adown(t10To t11Moment acceleration)
a4=1.0 × aup(t3To t4Moment acceleration) a12=1.0 × adown(t11To t12Moment acceleration)
a5=1.2 × aup(t4To t5Moment acceleration) a13=0.8 × adown(t12To t13Moment acceleration)
a6=1.4 × aup(t5To t6Moment acceleration) a14=0.6 × adown(t13To t14Moment acceleration)
a7=1.6 × aup(t6To t7Moment acceleration) a15=0.4 × adown(t14To t15Moment acceleration)
It is as shown in Figure 2:
Section and end time section are seamlessly transitted using fluctuating acceleration at the beginning of Up and down speeding, the intermediate stage It is the Up and down speeding of constant acceleration, this controlling curve is widely used in now in speed govornor by frequency modulator system, Ke Yitong Modification converter parameter is crossed to change lifting speed slope of a curve, the smaller lifting speed of slope is more smooth.
As shown in figure 3, figure 4 and figure 5, respectively program screenshot, S curve functional block program screenshot, S curve functional block are offline Simulate screenshot.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not limited to this hair It is bright, although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, according to It is so possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is equal Replacement, all within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in this Within the protection scope of invention.

Claims (2)

1. a kind of S curve control method of the segmentation fluctuating acceleration suitable for Crane Industry, it is characterised in that: including walking as follows It is rapid:
S1, divide 7 sections in boosting velocity procedure, every section of acceleration is that equal difference is incremented by；
S2, similarly, also divides 7 sections, every section of acceleration is that equal difference is successively decreased in down speeding procedure.
2. a kind of S curve control method of segmentation fluctuating acceleration suitable for Crane Industry according to claim 1, Be characterized in that: the control method is realized by following procedure step:
(1) functional block FC1 is created；
(2) input, output and the intermediate variable table of FC1 are created；
(3) according to formula: V=a*t calculates ramp-up stage average acceleration and segmentation acceleration a1-a7, falling-rate period average acceleration The speed V1-V15 of degree and segmentation acceleration a8-a14, each waypoint；
(4) main program OB1 calling function block FC1.
CN201710804214.8A 2017-09-08 2017-09-08 A kind of S curve control method of the segmentation fluctuating acceleration suitable for Crane Industry Pending CN109467011A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710804214.8A CN109467011A (en) 2017-09-08 2017-09-08 A kind of S curve control method of the segmentation fluctuating acceleration suitable for Crane Industry

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710804214.8A CN109467011A (en) 2017-09-08 2017-09-08 A kind of S curve control method of the segmentation fluctuating acceleration suitable for Crane Industry

Publications (1)

Publication Number Publication Date
CN109467011A true CN109467011A (en) 2019-03-15

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Country Status (1)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101214904A (en) * 2008-01-10 2008-07-09 齐齐哈尔轨道交通装备有限责任公司 Method and device for preventing load impacting in crane hook lifting process
CN101477354A (en) * 2009-01-19 2009-07-08 东元总合科技（杭州）有限公司 Position S type instruction generation method
CN104129713A (en) * 2014-07-11 2014-11-05 浙江工业大学 Offline bridge crane locus control method
CN106815472A (en) * 2016-12-08 2017-06-09 太原理工大学 Prevent the method and device of lifting system impact shock

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101214904A (en) * 2008-01-10 2008-07-09 齐齐哈尔轨道交通装备有限责任公司 Method and device for preventing load impacting in crane hook lifting process
CN101477354A (en) * 2009-01-19 2009-07-08 东元总合科技（杭州）有限公司 Position S type instruction generation method
CN104129713A (en) * 2014-07-11 2014-11-05 浙江工业大学 Offline bridge crane locus control method
CN106815472A (en) * 2016-12-08 2017-06-09 太原理工大学 Prevent the method and device of lifting system impact shock

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Application publication date: 20190315