CN109879171A - A kind of gantry crane progress control method - Google Patents

A kind of gantry crane progress control method Download PDF

Info

Publication number
CN109879171A
CN109879171A CN201910246274.1A CN201910246274A CN109879171A CN 109879171 A CN109879171 A CN 109879171A CN 201910246274 A CN201910246274 A CN 201910246274A CN 109879171 A CN109879171 A CN 109879171A
Authority
CN
China
Prior art keywords
run
component
distance
gantry crane
range ability
Prior art date
Application number
CN201910246274.1A
Other languages
Chinese (zh)
Inventor
周俊杰
翁晓羽
高福强
丁辉
赵平
朱雪松
崔广健
张玄哲
Original Assignee
北京首钢股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京首钢股份有限公司 filed Critical 北京首钢股份有限公司
Priority to CN201910246274.1A priority Critical patent/CN109879171A/en
Publication of CN109879171A publication Critical patent/CN109879171A/en

Links

Abstract

The invention discloses a kind of gantry crane progress control methods, are related to technical field of automatic control, comprising: obtain the component to be run of target gantry crane to the distance of target position, obtain object run distance;Pass through the absolute value encoder on the servo motor of component to be run, closed-loop control is done according to the object run distance, the servo motor is set to complete closed-loop control order, component to be run reaches actual position according to preset security operating mode, obtains true range ability;Judge whether the true range ability and the error of the object run distance meet preset condition, if so, terminating;If it is not, component operation to be run then is again started up, until the error meets the preset condition;It solves the problems, such as to realize the injury for accurately controlling and avoiding to the operating system of gantry crane of gantry crane walking simultaneously in the related technology, realizes the exact automatic control of gantry crane walking, and avoid the injury to the operating system of gantry crane.

Description

A kind of gantry crane progress control method

Technical field

The present invention relates to technical field of automatic control more particularly to a kind of gantry crane progress control methods.

Background technique

Gantry crane (also known as gantry crane) is the gantry type lifting that gantry is supported on ground rail by two side legs Machine.Have the characteristics that utilization of area rate is high, job area is big, it is wide, versatile to adapt to, is widely used.

Currently, the control of gantry crane mostly uses greatly manual remote control control operation, also have using automatic control, but existing skill Art has the following problems: cannot realize the wound for accurately controlling and avoiding to the operating system of gantry crane of gantry crane walking simultaneously Evil.

Summary of the invention

For the embodiment of the present application by providing a kind of gantry crane progress control method, solving in the related technology cannot be real simultaneously The injury for accurately controlling and avoiding the problem that the operating system of gantry crane of existing gantry crane walking, realizes gantry crane walking Exact automatic control, and avoid the injury to the operating system of gantry crane.

The application is provided the following technical solutions by the embodiment of the application:

A kind of gantry crane progress control method, method includes the following steps:

The component to be run of target gantry crane is obtained to the distance of target position, obtains object run distance;By to be shipped Absolute value encoder on the servo motor of row component does closed-loop control according to the object run distance, makes the servo electricity Machine completes closed-loop control order, controls component to be run according to preset security operating mode and reaches actual position, obtains true Range ability;Judge whether the true range ability and the error of the object run distance meet preset condition, if so, Terminate;If it is not, component operation to be run then is again started up, until the error meets the preset condition.

Optionally, the preset condition includes: that the true range ability and the error of the object run distance are less than Equal to 2mm.

Optionally, the specific method for controlling component to be run and reaching actual position according to preset security operating mode Are as follows: control is described to complete Acceleration of starting wait running component according to the acceleration of setting, at the uniform velocity and after running slowly, and reaches described true Real position.

Optionally, the acceleration is identical as the acceleration absolute value of moderating process.

Optionally, the component to be run includes cart and trolley

Optionally, the object run distance and the true range ability are all obtained by laser ranging.

Optionally, the component to be run includes hoisting system.

Optionally, the object run distance and the true range ability all pass through reel absolute value encoder measurement and obtain ?.

Optionally, described to be again started up specifically including for component operation to be run: according to the preset safe operation mould Formula runs the component to be run again.

One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

The present invention obtains the component to be run of target gantry crane to the distance of target position, obtains object run distance;It is logical The absolute value encoder on the servo motor of component to be run is crossed, does closed-loop control according to the object run distance, is made described Servo motor completes closed-loop control order, and component to be run reaches actual position according to preset security operating mode, obtains true Real range ability;Can guarantee in operational process to be not in abnormal start and stop in this way, avoid damaging operating system;Sentence Whether the error for the true range ability and the object run distance of breaking meets preset condition, if so, terminating;If it is not, It is then again started up component operation to be run, until the error meets the preset condition;It can guarantee running precision in this way, accidentally Difference control is in a certain range.It is avoided so in the prior art in order to realize automation, and system operation is stopped by force Or the operation opened by force, while avoiding since laser ranging is closed due to vibrating in the process of running in the process of running Error caused by when ring controls causes the precision of operation low.

Detailed description of the invention

To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment Attached drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, for this For the those of ordinary skill of field, without creative efforts, it can also be obtained according to these attached drawings others Attached drawing.

Fig. 1 is the flow chart of the gantry crane progress control method of the embodiment of the present invention;

Specific embodiment

The embodiment of the present application solves electric power monitoring dress in the prior art by providing a kind of power failure monitoring system Set, structure function is single, can only monitoring data, subsequent full the problem of manually carrying out data record and analysis.

The technical solution of the embodiment of the present application is in order to solve the above technical problems, general thought is as follows:

A kind of gantry crane progress control method, method includes the following steps: obtaining the component to be run of target gantry crane To the distance of target position, object run distance is obtained;By the absolute value encoder on the servo motor of component to be run, according to Closed-loop control is done according to the object run distance, so that the servo motor is completed closed-loop control order, component to be run is according to pre- If security operating mode reach actual position, obtain true range ability;Judge the true range ability and the target Whether the error of range ability meets preset condition, if so, terminating;If it is not, it is then again started up component operation to be run, until The error meets the preset condition.

In order to better understand the above technical scheme, in conjunction with appended figures and specific embodiments to upper Technical solution is stated to be described in detail.

Illustrate first, herein presented term "and/or", only a kind of incidence relation for describing affiliated partner, table Show there may be three kinds of relationships, for example, A and/or B, can indicate: individualism A exists simultaneously A and B, individualism B this three Kind situation.In addition, character "/" herein, typicallys represent the relationship that forward-backward correlation object is a kind of "or".

Embodiment one

As shown in Figure 1, in the present embodiment, a kind of gantry crane progress control method, method includes the following steps:

S101, the component to be run for obtaining target gantry crane obtain object run distance to the distance of target position;

S102, by the absolute value encoder on the servo motor of component to be run, done according to the object run distance Closed-loop control makes the servo motor complete closed-loop control order, controls component to be run according to preset security operating mode Actual position is reached, true range ability is obtained;

S103, judge whether the true range ability and the error of the object run distance meet preset condition, if It is then to terminate;If it is not, component operation to be run then is again started up, until the error meets the preset condition.

Specifically, being calculated by target position and current location before each mechanism operation of gantry crane and needing to walk Distance, then be converted to by the reduction ratio of motor reduction gearbox and the perimeter of wheel and need the radian walked, radian is given In servo-system, mechanism operation starting realizes that meter is completed in internal closed loop control, operation by the absolute value encoder of servo motor The radian value of calculating is not entered in closed-loop system by the current value that laser ranging measures in the process of running, is completed in operation It is verified later by laser ranging measured value with target position, guarantees that the distance of operation is accurate, guarantee high-precision operation Operation.

This method ensure that realizing internal closed loop control in operating mechanism operational process, it is not excited optar position It influences, guarantees the stabilization of operation curve, avoid the slight vibration and running track generated in the process of running due to gantry crane The small range of laser ranging caused by injustice fluctuates and the influence to precision, stops post-equalization by operation, if beyond allowing Error range carries out secondary operation by PLC program control, achievees the purpose that accurately to control.

In the following, the specific implementation step of method provided by the embodiments of the present application is discussed in detail in conjunction with Fig. 1:

Firstly, executing step S101, the component to be run of target gantry crane is obtained to the distance of target position, obtains target Range ability;

Specifically, target position is the final position that component prerun to be run reaches, object run distance be to Run distance of the component from current location to target position.

Optionally, the component to be run is cart or trolley.

At this point, the object run distance is obtained by laser ranging.

Optionally, the component to be run is hoisting system.

At this point, the object run distance is obtained by the measurement of reel absolute value encoder.Raising in the process of running by Then absolute value encoder measures, and is by close switch to absolute encoder by a certain fixed position during raising Device is demarcated, and guarantees the measurement accuracy of absolute value encoder.

Next, step S102 is executed, through the absolute value encoder on the servo motor of component to be run, according to described in Object run distance does closed-loop control, so that the servo motor is completed closed-loop control order, component to be run is according to preset peace Full operational mode reaches actual position, obtains true range ability;

Optionally, the specific method for controlling component to be run and reaching actual position according to preset security operating mode Are as follows: control is described to complete Acceleration of starting wait running component according to the acceleration of setting, at the uniform velocity and after running slowly, and reaches described true Real position.

Component to be run runs to target position from current location starting, there will necessarily be Acceleration of starting and last slow down stops Operational process, and reasonably accelerate and moderating process, the wound to motor, transmission and deceleration system can be reduced to greatest extent Evil, and reasonable acceleration described here and deceleration are existing programmed logics in this field, be can be realized using PLC, here With no restrictions, for example, the speed and the relation curve of time of security operating mode whole service process are one trapezoidal, this Field technical staff can also adjust according to actual needs, as long as reaching the injury reduced to motor, transmission and deceleration system Purpose.

Optionally, the acceleration is identical as the acceleration absolute value of moderating process.

It should be noted that making to accelerate here identical as the acceleration absolute value of moderating process, it is ensured that component to be run According to set acceleration and moderating process even running to actual position, the variation of speed is reduced as far as possible, is reduced to gantry The injury hung.

It should be noted that closed-loop control is used here, and it is total in actual moving process, there may be vibration and skid, and Making true range ability with the object run distance, there are errors.

Optionally, the component to be run is cart or trolley.

At this point, the true range ability is obtained by laser ranging.

Optionally, the component to be run is hoisting system.

At this point, the true range ability is obtained by the measurement of reel absolute value encoder.Raising in the process of running by Then absolute value encoder measures, and is by close switch to absolute encoder by a certain fixed position during raising Device is demarcated, and guarantees the measurement accuracy of absolute value encoder.

Next, execute step S103, judge the true range ability and the object run distance error whether Meet preset condition, if so, terminating;If it is not, be then again started up component to be run operation, until the error meet it is described pre- If condition.

Optionally, the preset condition are as follows: the error of the true range ability and the object run distance is less than etc. In 2mm.

Specifically, in practical application, as steel refines field, the mistake of true range ability and the object run distance Difference is less than or equal to 2mm, can meet the requirements, if the true range ability and object run distance are greater than 2mm, then Secondary starting operation, until error is less than or equal to 2mm.

Optionally, described to be again started up specifically including for component operation to be run: according to the preset safe operation mould Formula runs the component to be run again.

It should be noted that, since the case where in practical operation, vibrating and skidding is few, error is general by taking cart as an example It is not too large, and true range ability is generally less than object run distance, therefore, when secondary adjustment, also according to The operation of preset security operating mode, but can also with slower movement, here and with no restrictions, as long as using laser ranging come Whether measurement error meets the requirements again, and until error is met the requirements, accurate control can be realized.

Gantry crane system generally all includes cart, trolley and hoisting system, it is alternatively that, it can be to wherein one or more System is controlled using the above method, can also be other systems for needing to walk and promoted, here with no restrictions.But to dragon All mechanisms of gantry crane all take method of the invention to carry out operation control, the control of gantry crane will be kept ideal.

Technical solution in above-mentioned the embodiment of the present application, at least have the following technical effects or advantages:

The present invention obtains the component to be run of target gantry crane to the distance of target position, obtains object run distance;It is logical The absolute value encoder on the servo motor of component to be run is crossed, does closed-loop control according to the object run distance, is made described Servo motor completes closed-loop control order, and component to be run reaches actual position according to preset security operating mode, obtains true Real range ability;Can guarantee in operational process to be not in abnormal start and stop in this way, avoid damaging operating system;Sentence Whether the error for the true range ability and the object run distance of breaking meets preset condition, if so, terminating;If it is not, It is then again started up component operation to be run, until the error meets the preset condition;It can guarantee running precision in this way, accidentally Difference control is in a certain range.It is avoided so in the prior art in order to realize automation, and system operation is stopped by force Or the operation opened by force, while avoiding since laser ranging is closed due to vibrating in the process of running in the process of running Error caused by when ring controls causes the precision of operation low.The automatic running of gantry crane can both mitigate the working strength of personnel, The accuracy rate to work in region is improved simultaneously, is improved the safety of whole system, is realized the automation and intelligence of whole flow process.

Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as It selects embodiment and falls into all change and modification of the scope of the invention.

Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies Within, then the present invention is also intended to include these modifications and variations.

Claims (9)

1. a kind of gantry crane progress control method, which is characterized in that method includes the following steps:
The component to be run of target gantry crane is obtained to the distance of target position, obtains object run distance;
By the absolute value encoder on the servo motor of component to be run, closed-loop control is done according to the object run distance, So that the servo motor is completed closed-loop control order, controls component to be run according to preset security operating mode and reach true position It sets, obtains true range ability;
Judge whether the true range ability and the error of the object run distance meet preset condition, if so, terminating; If it is not, component operation to be run then is again started up, until the error meets the preset condition.
2. the method as described in claim 1, which is characterized in that the preset condition includes: the true range ability and institute The error for stating object run distance is less than or equal to 2mm.
3. the system as claimed in claim 1, which is characterized in that described to control component to be run according to preset safe operation mould Formula reaches actual position method particularly includes: controls the component to be run according to the acceleration of setting and completes Acceleration of starting, even Speed and after running slowly, reaches the actual position.
4. system as claimed in claim 3, which is characterized in that the acceleration is identical as the acceleration absolute value of moderating process.
5. the system as claimed in claim 1, which is characterized in that the component to be run includes cart and trolley.
6. system as claimed in claim 5, which is characterized in that the object run distance and the true range ability are all logical Cross laser ranging acquisition.
7. the system as claimed in claim 1, which is characterized in that the component to be run includes hoisting system.
8. the method for claim 7, which is characterized in that the object run distance and the true range ability are all logical The measurement of reel absolute value encoder is crossed to obtain.
9. the method as described in claim 1, which is characterized in that described to be again started up specifically including for component operation to be run: The component to be run is run again according to the preset security operating mode.
CN201910246274.1A 2019-03-28 2019-03-28 A kind of gantry crane progress control method CN109879171A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910246274.1A CN109879171A (en) 2019-03-28 2019-03-28 A kind of gantry crane progress control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910246274.1A CN109879171A (en) 2019-03-28 2019-03-28 A kind of gantry crane progress control method

Publications (1)

Publication Number Publication Date
CN109879171A true CN109879171A (en) 2019-06-14

Family

ID=66935028

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910246274.1A CN109879171A (en) 2019-03-28 2019-03-28 A kind of gantry crane progress control method

Country Status (1)

Country Link
CN (1) CN109879171A (en)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203033673U (en) * 2013-01-08 2013-07-03 太原重工股份有限公司 Accurate locating device for crane
CN103466452A (en) * 2013-08-23 2013-12-25 苏州汇川技术有限公司 Crane operation control method and system
CN103776373A (en) * 2014-01-21 2014-05-07 上海工程技术大学 Crane track detection device
CN104444800A (en) * 2014-11-26 2015-03-25 浙江科技学院 Three-dimensional automatic control crane and control method thereof
CN105438991A (en) * 2015-12-10 2016-03-30 中国船舶重工集团公司第七一三研究所 Automatic addressing and positioning control system and method for static-pressure traveling cranes
CN106865416A (en) * 2017-04-20 2017-06-20 中南大学 A kind of automatic anti-swinging control method in bridge crane walking process
CN206915592U (en) * 2017-06-29 2018-01-23 北京国泰星云科技有限公司 Suspender safety anticollision system based on the identification of container case area contoured three-dimensional
CN208120594U (en) * 2018-03-26 2018-11-20 上海和平发展起重设备厂有限公司 A kind of section of jurisdiction for subway work vertical transport system automatically grabs handler
JP2018193158A (en) * 2017-05-15 2018-12-06 東芝三菱電機産業システム株式会社 Crane operation assistance device

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203033673U (en) * 2013-01-08 2013-07-03 太原重工股份有限公司 Accurate locating device for crane
CN103466452A (en) * 2013-08-23 2013-12-25 苏州汇川技术有限公司 Crane operation control method and system
CN103776373A (en) * 2014-01-21 2014-05-07 上海工程技术大学 Crane track detection device
CN104444800A (en) * 2014-11-26 2015-03-25 浙江科技学院 Three-dimensional automatic control crane and control method thereof
CN105438991A (en) * 2015-12-10 2016-03-30 中国船舶重工集团公司第七一三研究所 Automatic addressing and positioning control system and method for static-pressure traveling cranes
CN106865416A (en) * 2017-04-20 2017-06-20 中南大学 A kind of automatic anti-swinging control method in bridge crane walking process
JP2018193158A (en) * 2017-05-15 2018-12-06 東芝三菱電機産業システム株式会社 Crane operation assistance device
CN206915592U (en) * 2017-06-29 2018-01-23 北京国泰星云科技有限公司 Suspender safety anticollision system based on the identification of container case area contoured three-dimensional
CN208120594U (en) * 2018-03-26 2018-11-20 上海和平发展起重设备厂有限公司 A kind of section of jurisdiction for subway work vertical transport system automatically grabs handler

Similar Documents

Publication Publication Date Title
CN100395167C (en) Elevator device
CN101353126B (en) Speed detection method and apparatus of moving body
US7622881B2 (en) Method and apparatus for estimating system inertia where number of motor rotations are restricted
CN100548851C (en) Elevator control gear
US10723564B2 (en) Method for moving a rotor, linear drive, and production or packaging machine
US5157228A (en) Adjusting technique for a digital elevator drive system
KR960004623B1 (en) Crane control method
CN102718147B (en) Hook motion control mechanism and tower crane
CN104314754B (en) A kind of Yaw control method and yaw control system
FI119764B (en) Adjusting transport system parameters
CN101715426A (en) Fail-safe power control apparatus
US9405292B2 (en) Delivery vehicle and method and program for controlling drive of delivery vehicle
JP5293977B2 (en) Crane steady rest control method and steady rest control apparatus
US10196247B2 (en) Electric winch device
CN102707730A (en) Hydraulic aerial cage operation platform trajectory control device
CN104276474B (en) The security system of elevator
US10266371B2 (en) Elevator control apparatus
CN103145040B (en) Crane and lifting hook lifting control method, lifting hook lifting control device and lifting hook lifting control system thereof
CN105422521B (en) Hydraulic linear drive system based on control of servo pumps, and control method
CN102163943B (en) Motor control method and motor control device
CN205024922U (en) Retractable roof's actuating system
CN101214914A (en) Rope arranging device and method based on programmable automatic controller
CN102331779B (en) Control method and control system for finished product cabin material conveying trolley of asphalt mixing station
CN105785995B (en) A kind of automatic guided vehicle
CN101949469A (en) Electrical synchronized method and device of hoist with two hoisting points

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination