CN109879171A - A kind of gantry crane progress control method - Google Patents
A kind of gantry crane progress control method Download PDFInfo
- 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
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- run
- component
- gantry crane
- distance
- range ability
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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
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.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910246274.1A CN109879171B (en) | 2019-03-28 | 2019-03-28 | Gantry crane operation control method |
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|---|---|---|---|
| CN201910246274.1A CN109879171B (en) | 2019-03-28 | 2019-03-28 | Gantry crane operation control method |
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| CN109879171B CN109879171B (en) | 2021-05-28 |
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| CN113547531A (en) * | 2021-09-18 | 2021-10-26 | 华特数字科技有限公司 | Positioning method and system of intelligent flow measurement robot |
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