CN110921510B - Online standard-reaching control system and method for packaging for intelligent steel belt hoisting - Google Patents
Online standard-reaching control system and method for packaging for intelligent steel belt hoisting Download PDFInfo
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- CN110921510B CN110921510B CN201911075943.XA CN201911075943A CN110921510B CN 110921510 B CN110921510 B CN 110921510B CN 201911075943 A CN201911075943 A CN 201911075943A CN 110921510 B CN110921510 B CN 110921510B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 273
- 239000010959 steel Substances 0.000 title claims abstract description 273
- 238000000034 method Methods 0.000 title claims abstract description 73
- 238000004806 packaging method and process Methods 0.000 title claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims abstract description 44
- 230000008569 process Effects 0.000 claims abstract description 37
- 238000012545 processing Methods 0.000 claims description 58
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- 238000013528 artificial neural network Methods 0.000 claims description 3
- 238000013461 design Methods 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 3
- 238000012856 packing Methods 0.000 abstract description 5
- 238000004590 computer program Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
Abstract
The invention belongs to the technical field of steel strip packaging, and discloses an intelligent on-line standard-reaching control system and method for steel strip hoisting packaging, wherein an image acquisition module is fixed with a camera on a crown block through a bolt, and acquires corresponding images of a packaged steel coil and surrounding conditions of the packaged steel coil; the motion state acquisition module detects the running states of the lifting appliance and the lifted steel coil by utilizing the attitude sensor; the laser ranging module detects the distance position information between the lifting appliance and the steel coil through a laser ranging sensor; the motor operation state control module controls the operation direction of the motor when the steel coil is lifted and lifted, and the steel coil and the lifting appliance shake, so that the shaking of the steel coil is reduced, and the lifting process of the steel coil is stable. In the process of hoisting the steel strip, the invention can effectively control the operation state of the lifting appliance and the steel strip, improve the stability of hoisting the steel strip and avoid the collision of the steel strip and surrounding packing apparatuses.
Description
Technical Field
The invention belongs to the technical field of steel belt packaging, and particularly relates to an on-line standard-reaching control system and method for packaging for intelligent steel belt hoisting.
Background
Currently, the closest prior art:
the steel coil needs to be lifted in the existing factory. The existing device for hoisting steel coils is a single-arm hanging beam, and a lifting hook is fixed on the hanging beam; and then controlling the hoisting device of the steel coil by controlling the remote controller by a worker. The steel coil lifting device plays an important role in the steel coil lifting and packaging process.
However, in the process of lifting the steel coil, the conventional steel coil lifting device is easy to cause the steel coil to shake violently, so that the steel coil collides with surrounding packaging instruments; meanwhile, the existing steel coil lifting device cannot acquire the steel coil lifting condition in real time in the lifting process, and cannot provide specific operation conditions for workers.
In summary, the problems of the prior art are as follows:
the conventional steel coil lifting device is easy to cause the steel coil to generate severe shaking in the steel coil lifting process, and the steel coil collides with surrounding packing instruments; meanwhile, the existing steel coil lifting device cannot acquire the steel coil lifting condition in real time in the lifting process, and cannot provide specific operation conditions for workers.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an on-line standard-reaching control system and method for packaging for intelligent steel belt hoisting.
The invention is realized in this way, an intelligent steel belt hoisting is with packing on-line control system up to standard includes:
the image acquisition module is connected with the central processing module, a camera is fixed on the crown block through a bolt, and the camera is used for acquiring corresponding images of the packaged steel coil and the surrounding conditions of the steel coil;
the motion state acquisition module is connected with the central processing module, and the attitude sensor is arranged on the lifting appliance, so that the operating states of the lifting appliance and the steel coil are detected by the attitude sensor when the lifting appliance and the steel coil are lifted;
the weight acquisition module is connected with the central processing module and is used for detecting the weight of the packaged steel coil by arranging a weight sensor on the lifting appliance;
the laser ranging module is connected with the central processing module, and is used for detecting data information of the distance position between the lifting appliance and the steel coil by arranging a laser ranging sensor on the lifting appliance;
the central processing module is respectively connected with the image acquisition module, the motion state acquisition module, the weight acquisition module, the laser ranging module, the alarm module, the wireless signal transmission module, the motor running state control module, the positioning module and the lifting module for lifting and hoisting a lifting appliance, and is used for coordinating the normal running of each module;
the motor running state control module is connected with the central processing module, and when the steel coil and the lifting appliance shake in the process of lifting the steel coil, the controller controls the running direction of the motor, so that the shaking of the steel coil is reduced, and the lifting process of the steel coil is stable;
the positioning module is connected with the central processing module, and the overhead traveling crane is provided with a positioner and is positioned right above the steel coil so as to be convenient for clamping;
the lifting module for lifting the lifting tool is connected with the central processing module, and when the crane is right above the steel coil, the lifting tool is controlled by the controller to descend and clamp the steel coil and lift the steel coil.
Further, the central processing module is connected with an alarm module, and when the hanger collides with a steel coil or the state of lifting the steel coil is abnormal, an alarm is used for alarming;
the central processing module is connected with the wireless signal transmission module, and is connected with the monitoring center through a wireless signal transceiver arranged on the overhead traveling crane, so that the real-time data of the steel coil package is transmitted to the monitoring center.
Further, be connected with central processing module, through having the camera through the bolt fastening on the overhead traveling crane, utilize the camera to the coil of strip of packing and the circumstances around it, the image acquisition module who acquires corresponding image includes:
the steel coil image color processing module is used for adjusting the gray level and the color in the obtained steel coil image according to the working requirement;
the steel coil image coding module is used for coding the image subjected to color matching by utilizing a pulse code modulation coding technology;
the steel coil image compression module compresses data by using a certain compression procedure according to the capacity of the coded image;
and the steel coil image enhancement and restoration module is used for calling compressed steel coil image information when analyzing and comparing the steel coil image, and increasing the contrast, removing fuzzy noise and correcting geometric distortion to enhance the complex steel coil image information.
Further, be provided with the image feature recognition module in the coil of strip image enhancement restores the module, wherein the image feature recognition module includes:
the steel coil image depth processing module is used for further adjusting the contrast, removing noise and other methods of the enhanced and restored steel coil image to perform depth processing on the steel coil image;
the steel coil image feature extraction module is used for extracting the features of the steel coil edge, the point, the shape and the like of the steel coil image subjected to the deep processing;
and the steel coil image identification module identifies the characteristics by utilizing a neural network according to the extracted steel coil characteristic information.
Further, be connected with central processing module, when the in-process of handling the coil of strip, coil of strip and hoist appear rocking the time, the traffic direction of controller control motor reduces rocking of coil of strip, makes the process of coil of strip handling obtain the concrete control process of motor among the steady motor running state control module, as follows:
when the attitude sensor detects that the lifting appliance shakes violently, the central processing module controls the lifting and descending module of the lifting appliance to stop running;
when the attitude sensor detects that the lifting appliance transversely shakes, the control motor controls the mobile trolley on the crown block to move for a certain distance along the shaking direction of the lifting appliance;
when the attitude sensor detects that the lifting appliance longitudinally shakes, the motor is controlled to operate the crown block to move for a certain distance along the shaking direction of the lifting appliance;
according to the shaking amplitude of the lifting appliance, the lifting appliance is circularly reciprocated and moved for a certain distance, so that the lifting appliance is gradually stabilized.
Further, be connected with central processing module, when the car is directly over the coil of strip, the coil of strip is got to the hoist descends clamp of controller control to hoist lifting control method in the hoist handling lift module that carries out the handling to the coil of strip, specific process is as follows:
when the lifting appliance is in no-load, the central processing module controls the lifting appliance to descend to the position near the steel coil; adjusting the crown block according to the image information of the steel coil and the position information of the crown block, so that the crown block is arranged above the steel coil;
gradually controlling the lifting appliance to descend so that the clamping heads on the two sides of the lifting appliance clamp the steel coil in real time; after clamping and lifting, the central processing module judges whether the weight information of the steel coil detected by the weight sensor exceeds an upper limit value in real time; lifting and hoisting the lifting appliance in real time according to the judgment result;
when the attitude sensor detects that the lifting appliance shakes violently, the central control module controls the lifting appliance to stop running, and the running state control module is matched with the motor running state to adjust the running state of the lifted steel coil.
The invention also aims to provide a control method of the on-line standard-reaching control system for intelligent steel belt hoisting, which specifically comprises the following steps:
the method comprises the following steps that firstly, a camera is used for obtaining corresponding images of a packaged steel coil and surrounding conditions of the packaged steel coil; the distance position data information of the hanger and the steel coil is detected by arranging a laser ranging sensor on the hanger;
step two, controlling the crown block to run right above the steel coil by the controller according to the image information of the steel coil, the distance data information between the crown block and the steel coil and the position information of the crown block;
step three, when the overhead traveling crane is right above the steel coil, the controller controls the lifting appliance to descend to clamp the steel coil and lift the steel coil; in the steel coil packaging and hoisting process, detecting the weight of the packaged steel coil by using a weight sensor; when the attitude sensor is used for detecting the lifting appliance and lifting the steel coil, the operating states of the lifting appliance and the steel coil are detected;
step four, when the steel coil and the lifting appliance shake in the process of lifting the steel coil, the controller controls the running direction of the motor, the shaking of the steel coil is reduced, and the process of lifting the steel coil is stable;
step five, when the hanger collides with the steel coil or the state of the lifted steel coil is abnormal, an alarm is used for alarming; meanwhile, the wireless signal transceiver on the crown block is connected with the monitoring center, and the real-time data of the steel coil package is transmitted to the monitoring center.
Further, in the second step to the fourth step, the method for controlling the running direction of the motor by the controller includes:
step 1, collecting on-line up-to-standard movement route information of a high-precision motor as a reference track according to an image collection module, and determining the current position point of the motor according to an attitude sensor when the motor moves on the reference track in a tracking manner;
and 5, determining the motor lateral deviation force according to the motor feedforward lateral deviation force obtained in the step 3 and the motor feedback lateral deviation force obtained in the step four, then obtaining a motor lateral deviation angle, finally obtaining a rotation angle control quantity of track tracking control according to the motor rotation angle input, and sending the rotation angle control quantity to the in-line control converter to realize track tracking control.
The concrete steps of calculating the road curvature by the two-point curvature calculating method in the step 2 are as follows:
extracting a closest matching point on a reference track, selecting a forward point with a certain distance from the closest matching point, finding out the difference value of the transverse coordinate and the longitudinal coordinate of the two points, and solving the curvature of the closest matching point according to the geometrical relationship.
Further, the online motor motion standard-reaching route in the step 3 is as follows: when the rigid body rotates at a fixed point under the action of external force, the external force acts on a special position of the rigid body, the rigid body reaches dynamic balance, and the rigid body rotates around the point even if constraint is cancelled at the rotating fulcrum, so that the special acting position of the external force is an online standard-reaching path of the motor motion of the rigid body.
Furthermore, the motor is regarded as a rigid body in the step 3, the motor can be acted by the eccentric force of the front wheel and the rear wheel during movement, all influencing factors related to the acting force of the rear wheel are eliminated by modeling the online standard-reaching path of the movement of the motor, and the design of the controller structure is simplified.
Further, the online standard-reaching route of the motor motion in the step 3 needs to meet the following requirements:
in the formula xlaIs the forward point distance, x, of the center of mass of the motor along the longitudinal axis of the motorcopIs the distance from the center of mass of the motor to the COP point, IzzIs the moment of inertia; due to IzzIs approximately equal to mab, then there is xcopA, where m is the mass of the motor and a and b are the front and rear wheelbase, respectively.
Another object of the present invention is to provide a terminal equipped with a controller that implements the control method according to any one of claims 4 to 8.
Another object of the present invention is to provide a computer-readable storage medium including instructions which, when run on a computer, cause the computer to execute the control method.
In summary, the advantages and positive effects of the invention are:
according to the invention, the image acquisition module is arranged, the camera is fixed on the crown block through the bolt, and the corresponding image is obtained for the packaged steel coil and the surrounding conditions thereof by using the camera; the motion state acquisition module is provided with a posture sensor on the lifting appliance, and the posture sensor is utilized to detect the operation states of the lifting appliance and the steel coil when the lifting appliance and the steel coil are lifted; the weight acquisition module detects the weight of the packaged steel coil by arranging a weight sensor on the lifting appliance; the laser ranging module is used for detecting data information of the distance position between the lifting appliance and the steel coil by arranging a laser ranging sensor on the lifting appliance; the alarm module is used for alarming when the lifting appliance collides with the steel coil or the state of lifting the steel coil is abnormal; the wireless signal transmission module is connected with the monitoring center through a wireless signal transceiver arranged on the overhead traveling crane and transmits the real-time data of the steel coil package to the monitoring center; the motor operation state control module controls the operation direction of the motor when the steel coil and the lifting appliance shake in the process of lifting the steel coil, so that the shaking of the steel coil is reduced, and the process of lifting the steel coil is stable; the positioning module is used for realizing that the crown block is arranged right above the steel coil by arranging the positioner on the crown block, so that the crown block is convenient to clamp; and the lifting module is lifted by the lifting appliance, and when the overhead traveling crane is over the steel coil, the controller controls the lifting appliance to descend and clamp the steel coil and lift the steel coil.
In the process of hoisting the steel strip, the invention can effectively control the operation state of the lifting appliance and the steel strip, improve the stability of hoisting the steel strip and avoid the collision of the steel strip and surrounding packing devices; meanwhile, the invention can effectively extract the steel coil, acquire the steel coil lifting condition in real time in the lifting process, and can transmit the lifting state to the monitoring center for monitoring by workers.
According to the method for controlling the running direction of the motor by the controller, the information of the on-line standard-reaching motion route of the high-precision motor is acquired by the image acquisition module to serve as a reference track, and when the motor moves on the reference track in a tracking mode, the current position point of the motor is determined according to the attitude sensor; in the tracking motion process of the motor, searching a matching point closest to the current position point of the motor according to the collected reference track, selecting a forward point at a certain distance from the closest matching point, and solving the curvature according to the two points to obtain the curvature of the road at the closest matching point; calculating the determined current position point of the motor and the determined nearest matching point to obtain a track tracking deviation comprising a transverse deviation and a head pointing error; finding an on-line standard-reaching route of the motor motion, and calculating the track tracking deviation of the on-line standard-reaching route of the motor motion; calculating according to the motor dynamic model, the tracking state variable and the road curvature to obtain the relation between the lateral deviation acceleration of the motor motion on the on-line up-to-standard route and the tire lateral deviation force and the road curvature, and calculating the lateral deviation acceleration to be zero to obtain the motor feedforward lateral deviation force, wherein the motor feedforward lateral deviation force is used for eliminating the influence of the lateral deviation acceleration and the road curvature and improving the lateral deviation stability of the motor; establishing a dynamic track set based on motor feedback lateral deviation force to obtain an optimal feedback control rate, and constructing a full-state linear feedback controller by combining the obtained tracking state variables, wherein the obtained feedback control quantity is the motor feedback lateral deviation force and is used for eliminating tracking errors caused by external environment interference and model inaccuracy; and D, determining the motor lateral deviation force according to the obtained motor feedforward lateral deviation force and the motor feedback lateral deviation force obtained in the step four, then obtaining a motor lateral deviation angle, finally obtaining a rotation angle control quantity of track tracking control according to the motor rotation angle input, and issuing the rotation angle control quantity to the line control converter to realize the track tracking control.
Drawings
Fig. 1 is a schematic structural view of an on-line standard-reaching control system for intelligent steel strip hoisting provided by an embodiment of the invention.
Fig. 2 is a flowchart of an on-line standard-reaching control method for an intelligent steel strip hoisting package provided by the embodiment of the invention.
In the figure: 1. an image acquisition module; 2. a motion state acquisition module; 3. a weight acquisition module; 4. a laser ranging module; 5. a central processing module; 6. an alarm module; 7. a wireless signal transmission module; 8. a motor running state control module; 9. a positioning module; 10. the lifting module is lifted by the lifting appliance.
Fig. 3 is a flowchart of a method for controlling the operation direction of the motor by the controller according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In order to solve the above technical problems, the technical solution of the present invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the online control system for reaching standards of intelligent steel strip hoisting package provided by the embodiment of the invention comprises:
the image acquisition module 1 is connected with the central processing module 5, a camera is fixed on the crown block through a bolt, and corresponding images are acquired for the packaged steel coil and surrounding conditions thereof by the camera.
The motion state acquisition module 2 is connected with the central processing module 5, and the attitude sensors are arranged on the lifting appliance, so that the operation states of the lifting appliance and the steel coil can be detected by the attitude sensors when the lifting appliance and the steel coil are lifted.
And the weight acquisition module 3 is connected with the central processing module 5, and is used for detecting the weight of the packaged steel coil by arranging a weight sensor on the lifting appliance.
And the laser ranging module 4 is connected with the central processing module 5, and is used for detecting distance position data information of the lifting appliance and the steel coil by arranging a laser ranging sensor on the lifting appliance.
The central processing module 5 is respectively connected with the image acquisition module 1, the motion state acquisition module 2, the weight acquisition module 3, the laser ranging module 4, the alarm module 6, the wireless signal transmission module 7, the motor running state control module 8, the positioning module 9 and the lifting module 10 for lifting and hoisting, and is used for coordinating the normal running of each module.
And the alarm module 6 is connected with the central processing module 5, and is used for alarming when the lifting appliance collides with the steel coil or the state of lifting the steel coil is abnormal.
And the wireless signal transmission module 7 is connected with the central processing module 5, is connected with the monitoring center through a wireless signal transceiver arranged on the overhead traveling crane, and transmits the real-time data of the steel coil package to the monitoring center.
The motor running state control module 8 is connected with the central processing module 5, and when the steel coil is lifted and transported, the steel coil and the lifting appliance are shaken, the controller controls the running direction of the motor, so that the shaking of the steel coil is reduced, and the steel coil lifting and transporting process is stable.
And the positioning module 9 is connected with the central processing module 5, and a positioner is arranged on the overhead travelling crane, so that the overhead travelling crane is arranged right above the steel coil and is convenient to clamp.
And the lifting module 10 for lifting the lifting tool is connected with the central processing module 5, and when the overhead traveling crane is right above the steel coil, the controller controls the lifting tool to descend and clamp the steel coil and lift the steel coil.
The image acquisition module 1 connected with the central processing module 5 provided by the embodiment of the invention, which is used for acquiring corresponding images by fixing a camera on a crown block through a bolt and utilizing the camera to the packaged steel coil and the surrounding situation thereof, comprises:
and the steel coil image color processing module is used for adjusting the gray level and the color in the obtained steel coil image according to the working requirement.
And the steel coil image coding module is used for coding the image subjected to color matching by utilizing a pulse code modulation coding technology.
And the steel coil image compression module compresses data by utilizing a certain compression procedure according to the volume of the coded image.
And the steel coil image enhancement and restoration module is used for calling compressed steel coil image information when analyzing and comparing the steel coil image, and increasing the contrast, removing fuzzy noise and correcting geometric distortion to enhance the complex steel coil image information.
The steel coil image enhancement restoration module provided by the embodiment of the invention is provided with an image feature identification module, wherein the image feature identification module comprises:
and the steel coil image depth processing module is used for further adjusting the contrast, removing noise and the like of the enhanced and restored steel coil image to perform depth processing on the steel coil image.
And the steel coil image feature extraction module is used for extracting the features of the edge, the point, the shape and the like of the steel coil from the steel coil image subjected to the deep processing.
And the steel coil image identification module identifies the characteristics by utilizing a neural network according to the extracted steel coil characteristic information.
The controller provided by the embodiment of the invention is connected with the central processing module 5, when the steel coil and the lifting appliance shake in the process of lifting the steel coil, the controller controls the running direction of the motor, the shaking of the steel coil is reduced, and the steel coil lifting process is enabled to obtain a stable motor specific control process in the motor running state control module 8, which comprises the following steps:
when the attitude sensor detects that the lifting appliance shakes violently, the central processing module controls the lifting and descending module of the lifting appliance to stop running.
When the attitude sensor detects that the lifting appliance transversely shakes, the control motor controls the mobile trolley on the crown block to move for a certain distance along the shaking direction of the lifting appliance.
When the attitude sensor detects that the lifting appliance longitudinally shakes, the motor is controlled to operate the crown block to move for a certain distance along the shaking direction of the lifting appliance.
According to the shaking amplitude of the lifting appliance, the lifting appliance is circularly reciprocated and moved for a certain distance, so that the lifting appliance is gradually stabilized.
The lifting appliance lifting control method in the lifting appliance lifting module 10, which is provided by the embodiment of the invention and connected with the central processing module 5, controls the lifting appliance to descend to clamp a steel coil and lift the steel coil when the crown block is positioned right above the steel coil, and comprises the following specific processes:
when the lifting appliance is in no-load, the central processing module controls the lifting appliance to descend to the position near the steel coil; and adjusting the crown block according to the image information of the steel coil and the position information of the crown block, so that the crown block is arranged above the steel coil.
Gradually controlling the lifting appliance to descend so that the clamping heads on the two sides of the lifting appliance clamp the steel coil in real time; after clamping and lifting, the central processing module judges whether the weight information of the steel coil detected by the weight sensor exceeds an upper limit value in real time; and lifting the lifting appliance in real time according to the judgment result.
When the attitude sensor detects that the lifting appliance shakes violently, the central control module controls the lifting appliance to stop running, and the running state control module is matched with the motor running state to adjust the running state of the lifted steel coil.
As shown in fig. 2, the online control method for meeting the standard of the package for hoisting the intelligent steel strip provided by the embodiment of the invention specifically comprises the following steps:
s101: utilizing a camera to obtain corresponding images of the packaged steel coil and the surrounding conditions of the steel coil; and the distance position data information between the lifting appliance and the steel coil is detected by arranging the laser ranging sensor on the lifting appliance.
S102: and controlling the crown block to run right above the steel coil by the controller according to the image information of the steel coil, the distance data information between the crown block and the steel coil and the position information of the crown block.
S103: when the overhead traveling crane is right above the steel coil, the controller controls the lifting appliance to descend to clamp the steel coil and lift the steel coil; in the steel coil packaging and hoisting process, detecting the weight of the packaged steel coil by using a weight sensor; and when the attitude sensor is used for detecting the lifting appliance and lifting the steel coil, the running states of the lifting appliance and the steel coil are detected.
S104: when the steel coil is lifted and transported, the steel coil and the lifting appliance shake, the controller controls the running direction of the motor, the shaking of the steel coil is reduced, and the steel coil lifting and transporting process is stable.
S105: when the hanger collides with a steel coil or the state of the lifted steel coil is abnormal, an alarm is used for alarming; meanwhile, the wireless signal transceiver on the crown block is connected with the monitoring center, and the real-time data of the steel coil package is transmitted to the monitoring center.
In the application of the invention, firstly, a camera is utilized to obtain corresponding images of the packaged steel coil and the surrounding conditions thereof; and the distance position data information between the lifting appliance and the steel coil is detected by arranging the laser ranging sensor on the lifting appliance. And secondly, controlling the crown block to run right above the steel coil by the controller according to the image information of the steel coil, the distance data information between the crown block and the steel coil and the position information of the crown block. Then, when the overhead traveling crane is right above the steel coil, the controller controls the lifting appliance to descend to clamp the steel coil and lift the steel coil; in the steel coil packaging and hoisting process, detecting the weight of the packaged steel coil by using a weight sensor; and when the attitude sensor is used for detecting the lifting appliance and lifting the steel coil, the running states of the lifting appliance and the steel coil are detected.
Wherein, when the in-process of handling the coil of strip, coil of strip and hoist appear rocking, the traffic direction of controller control motor reduces rocking of coil of strip, makes the process of coil of strip handling obtain steadily. When the hanger collides with a steel coil or the state of the lifted steel coil is abnormal, an alarm is used for alarming; meanwhile, the wireless signal transceiver on the crown block is connected with the monitoring center, and the real-time data of the steel coil package is transmitted to the monitoring center.
As shown in fig. 3, the method for controlling the running direction of the motor by the controller according to the embodiment of the present invention includes:
s201, collecting information of an on-line standard-reaching motion route of the high-precision motor as a reference track according to the image collection module, and determining a current position point of the motor according to the attitude sensor when the motor moves on the reference track in a tracking mode.
S202, in the process of tracking motion, the motor searches out a matching point closest to the current position point of the motor according to the reference track collected in the step 1, selects a forward point with a certain distance away from the closest matching point, and obtains the curvature of the road at the closest matching point according to the two points.
S203, calculating a track tracking deviation comprising a transverse deviation and a head pointing error according to the current position point of the motor determined in the step S201 and the nearest matching point determined in the step S202; finding an on-line standard-reaching route of the motor motion, and calculating the track tracking deviation of the on-line standard-reaching route of the motor motion; and calculating according to the motor dynamic model, the tracking state variable and the road curvature to obtain the relation between the lateral deviation acceleration of the motor motion on the on-line up-to-standard route and the tire lateral deviation force and the road curvature, and calculating the lateral deviation acceleration by taking zero to obtain the motor feedforward lateral deviation force, wherein the motor feedforward lateral deviation force is used for eliminating the influence of the lateral deviation acceleration and the road curvature and improving the lateral stability of the motor.
S204, establishing a dynamic track set based on the motor feedback lateral deviation force to obtain an optimal feedback control rate, and constructing a full-state linear feedback controller by combining the tracking state variables obtained in the step S203, wherein the obtained feedback control quantity is the motor feedback lateral deviation force and is used for eliminating tracking errors caused by external environment interference and model inaccuracy.
And S205, determining the motor lateral deviation force according to the motor feedforward lateral deviation force obtained in the step S203 and the motor feedback lateral deviation force obtained in the step S203, obtaining a motor lateral deviation angle, obtaining a rotation angle control quantity of track tracking control according to the motor rotation angle input, and issuing the rotation angle control quantity to the in-line control converter to realize the track tracking control.
The two-point curvature calculating method is used for calculating the road curvature specifically as follows: extracting a closest matching point on a reference track, selecting a forward point with a certain distance from the closest matching point, finding out the difference value of the transverse coordinate and the longitudinal coordinate of the two points, and solving the curvature of the closest matching point according to the geometrical relationship.
The online motor motion standard-reaching route in step S203 means: when the rigid body rotates at a fixed point under the action of external force, the external force acts on a special position of the rigid body, the rigid body reaches dynamic balance, and the rigid body rotates around the point even if constraint is cancelled at the rotating fulcrum, so that the special acting position of the external force is an online standard-reaching path of the motor motion of the rigid body.
In step S203, the motor is regarded as a rigid body, and the motor is acted by the front and rear wheel side bias force during movement, so that all influencing factors related to the rear wheel action force are eliminated by modeling the online standard-reaching path of the motor movement, and the design of the controller structure is simplified.
In step S203, the on-line standard-reaching route of the motor motion needs to meet the following requirements:
in the formula xlaIs the forward point distance, x, of the center of mass of the motor along the longitudinal axis of the motorcopIs the distance from the center of mass of the motor to the COP point, IzzIs the moment of inertia; due to IzzIs approximately equal to mab, then there is xcopA, where m is the mass of the motor and a and b are the front and rear wheelbase, respectively.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, can be implemented in a computer program product that includes one or more computer instructions. When loaded or executed on a computer, cause the flow or functions according to embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. The control method of the online standard-reaching control system for the package for intelligent steel belt hoisting is characterized by comprising the following steps of:
the image acquisition module is connected with the central processing module, a camera is fixed on the crown block through a bolt, and the camera is used for acquiring corresponding images of the packaged steel coil and surrounding conditions; in the process of obtaining the corresponding image, the gray level and the color in the obtained steel coil image are adjusted through an integrated steel coil image color processing module according to the working requirement; after adjustment, the integrated steel coil image coding module is used for coding the steel coil image by utilizing a pulse code modulation coding technology; compressing the data by using an integrated steel coil image compression module and a compression program according to the capacity of the coded image; after compression, analyzing and comparing the steel coil image by using an integrated steel coil image enhancement and restoration module, calling the compressed steel coil image information, and increasing the contrast, removing fuzzy noise and correcting geometric distortion to enhance and restore the steel coil image information;
the motion state acquisition module is connected with the central processing module, and the attitude sensor is arranged on the lifting appliance, so that the operating states of the lifting appliance and the steel coil are detected by the attitude sensor when the lifting appliance and the steel coil are lifted;
the weight acquisition module is connected with the central processing module and is used for detecting the weight of the packaged steel coil by arranging a weight sensor on the lifting appliance;
the laser ranging module is connected with the central processing module, and is used for detecting data information of the distance position between the lifting appliance and the steel coil by arranging a laser ranging sensor on the lifting appliance;
the central processing module is respectively connected with the image acquisition module, the motion state acquisition module, the weight acquisition module, the laser ranging module, the alarm module, the wireless signal transmission module, the motor running state control module, the positioning module and the lifting module for lifting and hoisting a lifting appliance, and is used for coordinating the normal running of each module;
the motor running state control module is connected with the central processing module, and when the steel coil and the lifting appliance shake in the process of lifting the steel coil, the controller controls the running direction of the motor, so that the shaking of the steel coil is reduced, and the lifting process of the steel coil is stable; when the attitude sensor detects that the lifting appliance shakes violently, the central processing module controls the lifting and descending module of the lifting appliance to stop running;
when the attitude sensor detects that the lifting appliance transversely shakes, the control motor controls the mobile trolley on the crown block to move for a certain distance along the shaking direction of the lifting appliance;
when the attitude sensor detects that the lifting appliance longitudinally shakes, the motor is controlled to operate the crown block to move for a certain distance along the shaking direction of the lifting appliance; according to the shaking amplitude of the lifting appliance, the lifting appliance is circularly reciprocated and moved for a certain distance, so that the lifting appliance is gradually stabilized;
the positioning module is connected with the central processing module, and the overhead traveling crane is provided with a positioner and is positioned right above the steel coil so as to be convenient for clamping;
the lifting module for lifting the lifting appliance is connected with the central processing module, and when the crane is right above the steel coil, the controller controls the lifting appliance to descend to clamp the steel coil and lift the steel coil;
when the lifting appliance is in no-load, the central processing module controls the lifting appliance to descend to the position near the steel coil; adjusting the crown block according to the image information of the steel coil and the position information of the crown block, so that the crown block is arranged above the steel coil;
gradually controlling the lifting appliance to descend so that the clamping heads on the two sides of the lifting appliance clamp the steel coil in real time; after clamping and lifting, the central processing module judges whether the weight information of the steel coil detected by the weight sensor exceeds an upper limit value in real time; lifting and hoisting the lifting appliance in real time according to the judgment result;
when the attitude sensor detects that the lifting appliance shakes violently, the central control module controls the lifting appliance to stop running, and the running state control module is matched with the motor running state to adjust the running state of the lifted steel coil;
the control method specifically comprises the following steps:
the method comprises the following steps that firstly, a camera is used for obtaining corresponding images of a packaged steel coil and surrounding conditions of the packaged steel coil; the distance position data information of the hanger and the steel coil is detected by arranging a laser ranging sensor on the hanger;
step two, controlling the crown block to run right above the steel coil by the controller according to the image information of the steel coil, the distance data information between the crown block and the steel coil and the position information of the crown block;
step three, when the overhead traveling crane is right above the steel coil, the controller controls the lifting appliance to descend to clamp the steel coil and lift the steel coil; in the steel coil packaging and hoisting process, detecting the weight of the packaged steel coil by using a weight sensor; when the attitude sensor is used for detecting the lifting appliance and lifting the steel coil, the operating states of the lifting appliance and the steel coil are detected;
step four, when the steel coil and the lifting appliance shake in the process of lifting the steel coil, the controller controls the running direction of the motor, the shaking of the steel coil is reduced, and the process of lifting the steel coil is stable;
step five, when the hanger collides with the steel coil or the state of the lifted steel coil is abnormal, an alarm is used for alarming; meanwhile, the wireless signal transceiver on the crown block is connected with the monitoring center, so that the real-time data of the steel coil package is transmitted to the monitoring center;
in the second step to the fourth step, the method for controlling the running direction of the motor by the controller comprises the following steps:
step 1, collecting on-line up-to-standard movement route information of a high-precision motor as a reference track according to an image collection module, and determining the current position point of the motor according to an attitude sensor when the motor moves on the reference track in a tracking manner;
step 2, in the tracking motion process of the motor, searching a matching point closest to the current position point of the motor according to the reference track acquired in the step 1, selecting a forward point at a certain distance from the closest matching point, and obtaining the curvature of the road at the closest matching point according to the two points;
step 3, calculating to obtain a track tracking deviation comprising a transverse deviation and a head pointing error according to the current position of the motor determined in the step 1 and the nearest matching point determined in the step 2; finding an on-line standard-reaching route of the motor motion, and calculating the track tracking deviation of the on-line standard-reaching route of the motor motion; calculating according to the motor dynamic model, the tracking state variable and the road curvature to obtain the relation between the lateral deviation acceleration of the motor motion on the on-line up-to-standard route and the tire lateral deviation force and the road curvature, and calculating the lateral deviation acceleration to be zero to obtain the motor feedforward lateral deviation force, wherein the motor feedforward lateral deviation force is used for eliminating the influence of the lateral deviation acceleration and the road curvature and improving the lateral deviation stability of the motor;
step 4, establishing a dynamic track set based on the motor feedback lateral deviation force to obtain an optimal feedback control rate, and constructing a full-state linear feedback controller by combining the tracking state variables obtained in the step 3, wherein the obtained feedback control quantity is the motor feedback lateral deviation force and is used for eliminating tracking errors generated by external environment interference and model inaccuracy;
step 5, determining the motor lateral deviation force according to the motor feedforward lateral deviation force obtained in the step 3 and the motor feedback lateral deviation force obtained in the step four, then obtaining a motor lateral deviation angle, finally obtaining a rotation angle control quantity of track tracking control according to the motor rotation angle input, and sending the rotation angle control quantity to the in-line control converter to realize track tracking control;
the on-line standard-reaching route of the motor motion in the step 3 needs to meet the following requirements:
in the formula xlaIs the forward point distance, x, of the center of mass of the motor along the longitudinal axis of the motorcopIs the distance from the center of mass of the motor to the COP point, IzzIs the moment of inertia; due to IzzIs approximately equal to mab, then there is xcopA, where m is the mass of the motorAnd a and b are respectively a front wheelbase and a rear wheelbase.
2. The control method of the on-line control system for on-line reaching standards of the intelligent steel strip hoisting, according to claim 1, wherein the on-line control system for on-line reaching standards of the intelligent steel strip hoisting further comprises:
the alarm module is connected with the central processing module, and alarms by using an alarm when the lifting appliance collides with the steel coil or the state of lifting the steel coil is abnormal;
the wireless signal transmission module connected with the central processing module is connected with the monitoring center through a wireless signal transceiver arranged on the overhead traveling crane, and transmits the real-time data of the steel coil package to the monitoring center.
3. The control method of the on-line standard-reaching control system for the intelligent steel strip hoisting, as recited in claim 1, wherein the steel coil image enhancement restoration module is provided with an image feature recognition module, wherein the image feature recognition module comprises:
the steel coil image depth processing module is used for further adjusting the contrast and denoising method of the enhanced and restored steel coil image to perform depth processing on the steel coil image;
the steel coil image feature extraction module is used for extracting the features of the edges, points and shapes of the steel coils from the steel coil images subjected to the deep processing;
and the steel coil image identification module identifies the characteristics by utilizing a neural network according to the extracted steel coil characteristic information.
4. The control method of the on-line standard-reaching control system for the intelligent steel strip hoisting as claimed in claim 1, wherein the specific steps of calculating the road curvature by the two-point curvature calculating method in the step 2 are as follows:
extracting a closest matching point on a reference track, selecting a forward point which is a certain distance away from the closest matching point, finding out the difference value of the transverse coordinate and the longitudinal coordinate of the two points, and solving the curvature of the closest matching point according to the geometrical relationship;
the online standard-reaching route of the motor motion in the step 3 is as follows: when the rigid body rotates at a fixed point under the action of external force, the external force acts on a special position of the rigid body, the rigid body reaches dynamic balance, and the rigid body rotates around the point even if constraint is cancelled at the rotating fulcrum, so that the special acting position of the external force is an online standard-reaching path of the motor motion of the rigid body.
5. The control method of the on-line standard-reaching control system for the intelligent steel belt hoisting as claimed in claim 1, wherein the motor is regarded as a rigid body in the step 3, the motor is acted by the eccentric force of the front wheel and the rear wheel during movement, all influencing factors related to the acting force of the rear wheel are eliminated by modeling the on-line standard-reaching route of the motor movement, and the design of the controller structure is simplified.
6. A terminal, characterized in that the terminal is provided with a controller for realizing the control method of the on-line standard reaching control system for the intelligent steel strip hoisting package according to any one of claims 1 to 5.
7. A computer-readable storage medium comprising instructions which, when executed on a computer, cause the computer to perform the method of controlling the intelligent on-line compliance control system for steel strip hoisting as claimed in any one of claims 1 to 5.
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| CN2152780Y (en) * | 1993-03-29 | 1994-01-12 | 重庆建筑工程学院 | Automatic electronic control device for hoisting and swing eliminating of hoisting apparatus |
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Denomination of invention: An intelligent online standard control system and method for packaging used in steel belt hoisting Effective date of registration: 20231201 Granted publication date: 20201201 Pledgee: China Construction Bank Co.,Ltd. Ningbo Beilun branch Pledgor: Ningbo Lingling Iron and Steel Industry Co.,Ltd. Registration number: Y2023980068731 |
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