CN109901504A - Intelligent deceleration system and method - Google Patents
Intelligent deceleration system and method Download PDFInfo
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- CN109901504A CN109901504A CN201910199371.XA CN201910199371A CN109901504A CN 109901504 A CN109901504 A CN 109901504A CN 201910199371 A CN201910199371 A CN 201910199371A CN 109901504 A CN109901504 A CN 109901504A
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- travelling platform
- deceleration
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- distance
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Abstract
The invention discloses a kind of intelligent deceleration systems and method to be calculated dynamic deceleration distance this method comprises: detection obtains the real time position data and speed data of travelling platform；Judge the validity of dynamic deceleration distance, if in vain, controlling travelling platform limiting operation, travelling platform is limited eventually by mechanical rocker arm and is stopped；If dynamic deceleration point effectively, is calculated；When travelling platform arrival dynamic deceleration point, deceleration detection is carried out to travelling platform；If detection is qualified, two-part deceleration scheme is taken, so that travelling platform is slowed down and stops to preset stopping position；If detection is unqualified, travelling platform limiting operation is controlled, travelling platform is limited eventually by mechanical rocker arm and is stopped.The present invention can obtain dynamic deceleration point by calculating dynamic deceleration distance, so as to improve the operational efficiency of system；Using taking two-part deceleration scheme as position control strategy, so as to reach millimetre-sized technical requirement on design.
Description
Technical field
It is the present invention relates to parking toll field, in particular to a kind of applied to the intelligent deceleration system of travelling platform and side
Method.
Background technique
The main task of travelling platform is that super-huge load is transported to relative stations by technical preparation building, and walking whole process can be real
Existing stepless time adjustment, needs to reach millimetre-sized position control accuracy for the halt of relative stations.It is to use in the prior art
Machinery stops limit stop control within the scope of leaving 1 meter of terminal, then by way of manually controlling, to walking
Platform carries out inching operation, realizes to bit function.Due to the whole intervention without position control technology, so being limited using magnet
The fixation deceleration point ways of deceleration of induction.There are following three deficiencies for above scheme:
1. speed is non-adjustable in deceleration area, so the length of deceleration area directly affects operational efficiency；
2. maximum within the scope of drive ability slow down tiltedly can be selected generally for the distance for shortening deceleration area as far as possible
Rate, for big load object, deceleration shock can be increase accordingly；
3. it is not high that machinery stops limit accuracy, so multiple manual fine-tuning is needed to intervene after parking, percent of automatization is opposite
It is lower.
Summary of the invention
The present invention provides a kind of intelligent deceleration system and method, to solve the above-mentioned technical problems in the prior art.
In order to solve the above technical problems, the present invention provides a kind of intelligent deceleration system, it is applied to travelling platform, comprising: on
Position machine management system, logic editable controller, driver, input and output mould group, absolute value encoder and the driver connect
The motor group with increment sensor connect and the peripheral switchgear being connect with input and output mould group, wherein described upper
Machine management system, logic editable controller, driver, input and output mould group, absolute value encoder pass through bus communication.
Preferably, further including the bipolarity magnetic induction biography for being arranged on the track of the travelling platform and being connect with bus
Sensor.
The present invention also provides a kind of intelligent retarding methods, comprising the following steps:
Detection obtains the real time position data and speed data of travelling platform, and dynamic deceleration distance is calculated；
The validity of dynamic deceleration distance is judged, if in vain, controlling travelling platform limiting operation, shaking eventually by machinery
Arm, which limits travelling platform, to be stopped；
If dynamic deceleration point effectively, is calculated；
When travelling platform arrival dynamic deceleration point, deceleration detection is carried out to travelling platform；
If detection is qualified, two-part deceleration scheme is taken, so that travelling platform is slowed down and stops to preset stopping position；
If detection is unqualified, travelling platform limiting operation is controlled, stops travelling platform limit eventually by mechanical rocker arm
Only.
Preferably, being needed before " real time position data and speed data that detection the obtains travelling platform " step
The incremental encoder and absolute value encoder for being used to detect real time position data and speed data are corrected respectively.
Preferably, the aligning step includes: to obtain and issue from check point when travelling platform is moved to check point
Pulse signal, real time position data of the travelling platform at check point is calculated according to the pulse signal, and by the real-time position
It sets data to be compared with the actual location data of check point, if comparison result, within a preset range, is then corrected processing,
If comparison result exceeds preset range, controls travelling platform limiting operation or waiting corrects next time.
Preferably, in the whole work process of incremental encoder and absolute value encoder, to the incremental encoder
Protected with the comparison of the absolute encoder, step include: the real-time position information that obtains incremental encoder measurement with it is described
The real-time position information that absolute value encoder measurement obtains carries out data comparison, right if the difference of the two is greater than the set value
The platform that is movably walking carries out limiting operation, until the incremental encoder and absolute value encoder correction are completed.
Preferably, the calculating step of the dynamic deceleration distance are as follows: slow down firstly, being adjusted according to the load of travelling platform
Slope calculates from present speed further according to decel slope and decelerates to the time required for preset geard-down speed, calculates
Just the dynamic deceleration distance is obtained.
Preferably, " validity for the judging dynamic deceleration distance " step are as follows: compare dynamic deceleration distance and walking
Platform current location is with a distance from final position, if dynamic deceleration distance is greater than current location with a distance from final position, table
Bright dynamic deceleration distance is effective, shows that dynamic deceleration distance is invalid if being less than.
Preferably, " carrying out deceleration detection to the travelling platform " step includes: that travelling platform is reached the dynamic
Real-time speed when deceleration point is compared with preset geard-down speed, if real-time speed is greater than geard-down speed, is shown
It detects unqualified, if real-time speed is less than or equal to geard-down speed, shows that detection is qualified.
Preferably, the two-part deceleration scheme includes: that travelling platform is first decelerated to the first geard-down speed, and with institute
The operation of the first geard-down speed is stated to impact with cushion load；The first geard-down speed is decelerated into controllable creep speed again, finally pre-
If speed will be zero by stop position.
Compared with prior art, the invention has the following advantages that
1. intelligent retarding method of the invention can obtain dynamic deceleration point by calculating dynamic deceleration distance, thus
The operational efficiency of system can be improved；Deceleration bring load can also be reduced to greatest extent according to load control decel slope
Impact improves the stability of system operation.
2. the present invention can distinguish incremental encoder and absolute value encoder by bipolarity magnetic induction sensor
Correction, it is ensured that the absolute reliability that travelling platform position calculates provides good data environment for Accurate Position Control.
3. the present invention by comparing two sets of relatively independent position computing systems, redundancy protecting in the process of running due to
Position deviation caused by various uncontrollable factors, it is ensured that operational process is perfectly safe.
4. using two-part deceleration scheme is taken as position control strategy, so as to reach millimetre-sized designing technique
It is required that.
5. the present invention also has the function of mechanical position limitation and manually adjusts, in the case where all position control strategy fails,
Ensure that travelling platform can smoothly arrive at relative stations, and guarantees stopping accuracy.
6. system of the invention is simplified, speed adjusts smooth, position control accuracy height.
Detailed description of the invention
Fig. 1 is the control principle drawing of intelligent deceleration system in the present invention；
Fig. 2 is the flow diagram of intelligent retarding method in the present invention；
Fig. 3 is the deceleration control schematic diagram in the present invention in intelligent retarding method；
Fig. 4 is the encoder correcting process schematic diagram in the present invention in intelligent retarding method.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.It should be noted that attached drawing of the present invention is all made of simplified form and uses non-essence
Quasi- ratio, only for the purpose of facilitating and clarifying the purpose of the embodiments of the invention.
As shown in Figure 1, the present invention provides a kind of intelligent deceleration system, it is applied to travelling platform, comprising: host computer management system
System 1, logic editable controller (PLC) 2, driver 3, input and output mould group 4, absolute value encoder 8 and the driver 3
The motor group 5 with increment sensor 6 of connection and the peripheral switchgear 7 being connect with input and output mould group 4, wherein institute
Managing system of above position machine 1, logic editable controller 2, driver 3, input and output mould group 4, absolute value encoder 8 is stated to pass through always
Line 9 communicates, and communication type has Ethernet and Profibus.Further, the intelligent deceleration system further includes being arranged in institute
The bipolarity magnetic induction sensor (not shown) stated on the track of travelling platform and connect with bus 9, the bipolarity magnetic strength
Inductive sensing device can be corrected incremental encoder 6 and absolute value encoder 8, it is ensured that position calculate absolute reliability, be
Accurate Position Control provides good data environment.
Specifically, the incremental encoder 6 is directly connected to driver 3 by cable, and passes through the high speed of driver 3
Counting module, the signal as velocity feedback.PLC 2 and driver 3 carry out data exchange simultaneously, can be calculated using PLC 2
The real-time position information of travelling platform out.The absolute value encoder 8 has the function of direct calculating position, and directly by total
Line 9 and PLC 2 are communicated.The driver 3 is for driving the motor group 5 to act.Further, the Managing system of above position machine
1 and the mutual redundancy of logic editable controller 2, intelligent control can be carried out to driving platform, it is ensured that intelligent checking system
Stability and reliability.The incremental encoder 6 and absolute value encoder 8 belong to two sets of mutually independent computing systems, keep away
Exempt from the position deviation as caused by various uncontrollable factors in the process of running, it is ensured that operational process is perfectly safe.
Referring to figure 2. to Fig. 3, the present invention provides a kind of intelligent retarding method, comprising the following steps:
Firstly, obtaining the real time position data of travelling platform by incremental encoder 6 and/or the detection of absolute value encoder 8
And speed data, and then dynamic deceleration distance is calculated.Specifically, the calculating step of the dynamic deceleration distance are as follows: according to
Coefficient (general value range is 1~2.5) adjusts decel slope to the load of travelling platform according to a certain percentage, further according to deceleration
Slope calculates from present speed and decelerates to the time required for preset geard-down speed, is counted according to obtained deceleration time
It calculates and obtains corresponding required dynamic deceleration distance.Further, since the weight change of load and proportionality coefficient are not complete
Linearly, therefore a simple fitting can also be done, be roughly divided into three sections or more, so by every section of decel slope according to
Load-carrying impact characteristics are successively set.
Next, it is determined that the validity of dynamic deceleration distance, that is, compare dynamic deceleration distance and travelling platform current location from
The distance in final position shows that dynamic deceleration distance has if dynamic deceleration distance is greater than current location with a distance from final position
Effect, then calculate difference of the dynamic deceleration distance with current location with a distance from final position, and then obtain dynamic deceleration point.If dynamic
State deceleration distance is greater than current location with a distance from final position, shows that dynamic deceleration distance is invalid, then intelligent deceleration system needs
Travelling platform limiting operation is controlled, travelling platform is limited eventually by mechanical rocker arm and is stopped, being may then pass through using tool
There is the control switch of fine adjustment function, the correction of manual stop position is carried out to travelling platform.Preferably, the present invention devise 10mm,
15mm, 20mm and 25mm are total to fourth gear control switch (four input points for being respectively connected to input and output mould group 4).When being stopped
When stop bit is rectified a deviation, by using control switch, PLC 2 can control driver and export different fortune according to different fine motion distances
Line frequency and output time are mobile to target position to manipulate motor group.
When travelling platform arrival dynamic deceleration point, deceleration detection is carried out to travelling platform.Specifically, travelling platform is reached
Real-time speed when the dynamic deceleration point is compared with preset geard-down speed, if real-time speed is greater than speed of slowing down
Degree, then showing to slow down, it is unqualified to detect, if real-time speed is less than or equal to geard-down speed, shows that deceleration detection is qualified.
When detection of slowing down is qualified, then two-part deceleration scheme is taken, so that travelling platform is slowed down and stops to preset stopping position；
When detection of slowing down is unqualified, then travelling platform limiting operation is controlled, travelling platform is limited eventually by mechanical rocker arm and is stopped.
Preferably, the two-part deceleration scheme includes: that travelling platform is first decelerated to the first geard-down speed, and with institute
It states the operation of the first geard-down speed to impact with cushion load, and increases the stability of system speed operation；Again by the first geard-down speed
Controllable creep speed is decelerated to, will be finally zero by speed in preset stopping position.Wherein, the first geard-down speed and speed of controllably creeping
Degree can be adjusted according to actual needs, such as in the present embodiment, and the first geard-down speed is the 10% of travelling platform full speed,
Controllable creep speed is the 5% of travelling platform full speed, therefore the two-part deceleration scheme of the present embodiment are as follows: firstly, by travelling platform
Speed reduction to the 10% of full speed, then carry out one section of operational process at a slow speed with the 10% of full speed, come in this process
It discharges due to the load impacting generated that slows down.Then when leaving about 1 second runing time of terminal, speed is dropped at full speed
5% creep speed, the given of driver is finally reduced to zero in calculated stop position, into zero-speed control the stage, can
To realize millimetre-sized position control accuracy, the parking limit accuracy for reaching travelling platform is controlled within 15 millimeters, therefore it is flat to walk
It after platform stops, being intervened without manual fine-tuning, the degree of automation greatly improves.
Further, before executing above steps, it that is to say that " detection obtains the real time position of travelling platform described
Before data and speed data " step, need to the incremental encoder for being used to detect real time position data and speed data and absolutely
Value encoder is corrected respectively.Certainly, correction needs to carry out by the bipolarity magnetic induction sensor, the present embodiment
In bipolarity magnetic induction sensor be provided with two groups, be separately positioned at 10 meters and 5 meters of travelling platform terminal of position,
Check point will be defined as at position where bipolarity magnetic induction sensor.
The aligning step includes: when travelling platform is moved to check point, and bipolarity inductive pick-up sending one is low
High low pulse signal, and it is transmitted to the high speed counting module of driver, PLC calculates travelling platform at this according to the pulse signal
Real time position data at check point, and the real time position data is compared with the physical location of check point, if comparing knot
Fruit is then corrected processing to incremental encoder and/or absolute value encoder in the preset range of PLC, if comparison result is super
Preset range out, then control travelling platform limiting operation or waiting corrects next time.Further, due to the pulse signal
For low high low pulse signal, therefore can be according to mode shown in Fig. 4, when calculating real time position data, according to pulse signal
Rising edge and failing edge carry out real time position data calculating respectively and compare, and the invalid number of cumulative comparison result, then will
The invalid number of accumulation is corrected next time or is limited to determine to be corrected processing or wait compared with preset maximum number of times
Speed operation, so can make the correction of encoder more accurate.
Further, in the whole work process of incremental encoder and absolute value encoder, the present invention can also be to institute
The comparison protection of incremental encoder and the absolute encoder is stated, step includes: the real-time position for obtaining incremental encoder measurement
Confidence breath is compared with the real-time position information that the absolute value encoder measurement obtains carries out data, if the difference of the two is greater than
Setting value then shows control failure, needs to carry out limiting operation to the platform that is movably walking, up to the incremental encoder and absolutely
Value encoder correction is completed to restore.
In conclusion the invention has the following advantages that
1. intelligent retarding method of the invention can obtain dynamic deceleration point by calculating dynamic deceleration distance, thus
The operational efficiency of system can be improved；Deceleration bring load can also be reduced to greatest extent according to load control decel slope
Impact improves the stability of system operation.
2. the present invention can distinguish incremental encoder and absolute value encoder by bipolarity magnetic induction sensor
Correction, it is ensured that the absolute reliability that travelling platform position calculates provides good data environment for Accurate Position Control.
3. the present invention by comparing two sets of relatively independent position computing systems, redundancy protecting in the process of running due to
Position deviation caused by various uncontrollable factors, it is ensured that operational process is perfectly safe.
4. using two-part deceleration scheme is taken as position control strategy, so as to reach millimetre-sized designing technique
It is required that.
5. the present invention also has the function of mechanical position limitation and manually adjusts, in the case where all position control strategy fails,
Ensure that travelling platform can smoothly arrive at relative stations, and guarantees stopping accuracy.
6. system of the invention is simplified, speed adjusts smooth, position control accuracy height.
Obviously, those skilled in the art can carry out various modification and variations without departing from spirit of the invention to invention
And range.If in this way, these modifications and changes of the present invention belong to the claims in the present invention and its equivalent technologies range it
Interior, then the invention is also intended to include including these modification and variations.
Claims (10)
1. a kind of intelligence deceleration system, is applied to travelling platform characterized by comprising Managing system of above position machine, logic can be compiled
Volume controller, driver, input and output mould group, absolute value encoder, connect with the driver have increment sensor
Motor group and the peripheral switchgear being connect with input and output mould group, wherein the Managing system of above position machine, logic editable
Controller, driver, input and output mould group, absolute value encoder pass through bus communication.
2. intelligence deceleration system as described in claim 1, which is characterized in that further include the track that the travelling platform is arranged in
Bipolarity magnetic induction sensor that is upper and being connect with bus.
3. a kind of intelligence retarding method, which comprises the following steps:
Detection obtains the real time position data and speed data of travelling platform, and dynamic deceleration distance is calculated；
Judge the validity of dynamic deceleration distance, it, will eventually by mechanical rocker arm if in vain, controlling travelling platform limiting operation
Travelling platform limit stops；
If dynamic deceleration point effectively, is calculated；
When travelling platform arrival dynamic deceleration point, deceleration detection is carried out to travelling platform；
If detection is qualified, two-part deceleration scheme is taken, so that travelling platform is slowed down and stops to preset stopping position；
If detection is unqualified, travelling platform limiting operation is controlled, travelling platform is limited eventually by mechanical rocker arm and is stopped.
4. intelligence retarding method as claimed in claim 3, which is characterized in that " detection obtains the real-time of travelling platform described
Before position data and speed data " step, need to the incremental encoder for being used to detect real time position data and speed data
It is corrected respectively with absolute value encoder.
5. intelligence retarding method as claimed in claim 4, which is characterized in that the aligning step includes: when travelling platform moves
When moving to check point, the pulse signal issued from check point is obtained, travelling platform is calculated according to the pulse signal and is being corrected
Real time position data at point, and the real time position data is compared with the actual location data of check point, if comparing knot
Fruit is then corrected processing within a preset range, if comparison result exceeds preset range, controls travelling platform limiting operation
Or it waits and correcting next time.
6. intelligence retarding method as claimed in claim 4, which is characterized in that in the whole of incremental encoder and absolute value encoder
In a course of work, the comparison of the incremental encoder and the absolute encoder is protected, step includes: by incremental encoder
The real-time position information obtained is measured compared with the real-time position information that the absolute value encoder measurement obtains carries out data, such as
The difference of both fruits is greater than the set value, then carries out limiting operation to the platform that is movably walking, up to the incremental encoder and absolutely
It is worth encoder correction to complete.
7. intelligence retarding method as claimed in claim 3, which is characterized in that the calculating step of the dynamic deceleration distance are as follows:
Firstly, adjusting decel slope according to the load of travelling platform, calculates further according to decel slope from present speed and decelerate in advance
Time required for the geard-down speed of setting, calculating just obtain the dynamic deceleration distance.
8. intelligence retarding method as claimed in claim 3, which is characterized in that " validity for judging dynamic deceleration distance "
Step are as follows: compare dynamic deceleration distance with travelling platform current location with a distance from final position, if dynamic deceleration distance is greater than
Current location then shows that dynamic deceleration distance is effective with a distance from final position, shows that dynamic deceleration distance is invalid if being less than.
9. intelligence retarding method as claimed in claim 3, which is characterized in that " carrying out deceleration detection to the travelling platform " step
Rapid includes: that real-time speed when travelling platform is reached the dynamic deceleration point is compared with preset geard-down speed,
If real-time speed be greater than geard-down speed, show to detect it is unqualified, if real-time speed be less than or equal to geard-down speed, show to examine
It is qualified to survey.
10. intelligence retarding method as claimed in claim 3, which is characterized in that the two-part deceleration scheme includes: that will first go
It walks platform and decelerates to the first geard-down speed, and impacted with first geard-down speed operation with cushion load；First is slowed down again
Speed will be finally zero in preset stopping position to controllable creep speed by speed reduction.
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| CN112093672A (en) * | 2020-08-13 | 2020-12-18 | 中联重科股份有限公司 | Stroke limiting control system and method based on speed control and tower crane |
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