CN111119759B - Synchronous driving control method and system, pipeline conveying system and power catwalk - Google Patents
Synchronous driving control method and system, pipeline conveying system and power catwalk Download PDFInfo
- Publication number
- CN111119759B CN111119759B CN201911353672.XA CN201911353672A CN111119759B CN 111119759 B CN111119759 B CN 111119759B CN 201911353672 A CN201911353672 A CN 201911353672A CN 111119759 B CN111119759 B CN 111119759B
- Authority
- CN
- China
- Prior art keywords
- legs
- leg
- adjusted
- supporting legs
- drive control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention relates to the technical field of automatic processing of power catwalks, in particular to a synchronous drive control method and system, a pipeline conveying system and a power catwalk. The synchronous drive control method comprises the following steps: respectively acquiring the position information of two supporting legs; respectively determining the position deviation of the two support legs relative to the target position along the length direction of the slide rail according to the position information of the two support legs; judging whether the position deviations of the two support legs are equal or not; if the position deviation of the two supporting legs is not equal, the travelling speed of the two supporting legs is adjusted according to the position deviation of the two supporting legs. The synchronous drive control system adopts the synchronous drive control method. This pipeline conveying system and this power catwalk can realize accurate pipe and calandria, improve work efficiency.
Description
Technical Field
The invention relates to the technical field of automatic processing of power catwalks, in particular to a synchronous drive control method and system, a pipeline conveying system and a power catwalk.
Background
With the progress of science and technology and the development of petroleum equipment technology, more and more automatic and intelligent technologies are applied to petroleum drilling and workover operations, and in order to reduce the labor intensity of wellhead workers, the trend of replacing manual operation with automatic equipment becomes inevitable.
In the operation process of the transmission power catwalk, a pipeline needs to be conveyed to a pipeline storage area manually so as to lift the pipeline by the power catwalk, or the pipeline needs to be transferred away from the pipeline storage area manually, and the two processes are generally called 'pipe conveying' and 'pipe discharging' respectively in engineering. Because the pipe feeding and discharging are carried out manually, the labor intensity of operators is high, the operating environment is severe, and the safety risk exists.
In order to overcome the difficulty of manual transportation, a pipeline conveying system has been proposed, in which two support legs respectively reciprocate on a slide rail to convey a pipeline to or from a pipeline storage area, but the advancing schedules of the two support legs of the pipeline conveying system usually deviate and cannot be kept consistent, thereby easily causing the problem that the positions of pipe conveying and pipe discharging are not accurate enough.
Therefore, a synchronous driving control method capable of ensuring the synchronous movement of the two support legs is needed to be provided to realize accurate pipe feeding and discharging and improve the working efficiency.
Disclosure of Invention
The first purpose of the invention is to provide a synchronous driving control method capable of ensuring synchronous movement of two support legs, so as to realize accurate pipe feeding and discharging and improve working efficiency.
The second purpose of the present invention is to provide a synchronous driving control system capable of ensuring the synchronous movement of two support legs, so as to realize accurate pipe feeding and discharging and improve the working efficiency.
The third purpose of the invention is to provide a pipeline conveying system which ensures that two supporting legs move synchronously, so as to realize accurate pipe conveying and pipe discharging and improve the working efficiency.
The fourth purpose of the invention is to provide a power catwalk which ensures that two supporting legs move synchronously so as to realize accurate pipe feeding and discharging and improve the working efficiency.
In order to achieve the above object, the present invention provides the following technical solutions;
based on the first objective, the synchronous driving control method provided by the invention is used for a pipeline conveying system, wherein the pipeline conveying system comprises two slide rails arranged in parallel and two support legs, the support legs are arranged on the slide rails in a one-to-one correspondence manner, and each support leg can reciprocate along the length direction of the slide rail;
the synchronous drive control method specifically comprises the following steps:
respectively acquiring the position information of the two supporting legs;
according to the position information of the two supporting legs, respectively determining the position deviation of the two supporting legs relative to the target position along the length direction of the sliding rail;
judging whether the position deviations of the two supporting legs are equal or not;
and if the position deviations of the two supporting legs are not equal, adjusting the travelling speeds of the two supporting legs according to the position deviations of the two supporting legs.
In any of the above technical solutions, optionally, the step of adjusting the traveling speeds of the two legs according to the position deviation of the two legs specifically includes the following steps:
comparing the position deviation of the two support legs, determining that one of the two support legs with larger position deviation is a first support leg to be adjusted, and determining that one of the two support legs with smaller position deviation is a second support leg to be adjusted;
keeping the traveling direction of the first leg to be adjusted unchanged, and adjusting the traveling speed of the first leg to be adjusted to a first speed;
changing the traveling direction of the second support leg to be adjusted, and adjusting the traveling speed of the second support leg to be adjusted to a second speed;
and after a preset time, respectively acquiring the position information of the two support legs again.
In any of the above technical solutions, optionally, before the step of adjusting the traveling speeds of the two legs according to the position deviation of the two legs, the method further includes the following steps:
and if the position deviation of the two support legs is equal, keeping the traveling direction of the two support legs unchanged, and keeping the first preset speed of the two support legs.
In any of the above technical solutions, optionally, both the first rate and the second rate are smaller than the first predetermined rate.
In any of the above technical solutions, optionally, each support leg is driven by a driving motor to reciprocate along the length direction of the slide rail;
the step of keeping the traveling direction of the first leg to be adjusted unchanged and adjusting the traveling speed of the first leg to be adjusted to the first speed specifically comprises the following steps:
keeping the rotating direction of the driving motor corresponding to the first supporting leg to be adjusted unchanged, and adjusting the rotating speed of the driving motor corresponding to the first supporting leg to be adjusted to a first rotating speed;
the step of changing the traveling direction of the second leg to be adjusted and adjusting the traveling speed of the second leg to be adjusted to a second speed specifically comprises the following steps:
and changing the rotation direction of the driving motor corresponding to the second support leg to be adjusted, and adjusting the rotation rate of the driving motor corresponding to the second support leg to be adjusted to be a second rotation rate.
In any of the above technical solutions, optionally, after the step of keeping the traveling direction of the two legs unchanged and keeping the first predetermined speed of the two legs, the method further includes the following steps:
judging whether the position deviation of the two supporting legs is zero or not;
and if the position deviation of the two supporting legs is zero, enabling the two supporting legs to stop moving.
Based on the second object, the synchronous driving control system provided by the present invention adopts the synchronous driving control scheme as described in any of the above technical schemes for control, and comprises a processing device, two position sensors, two executing devices and two drivers:
the two position sensors are arranged on the two supporting legs in a one-to-one correspondence manner so as to acquire position information of the supporting legs;
the two drivers are respectively and electrically connected with the processing device, and the two drivers are in one-to-one correspondence and are electrically connected with the two execution devices to control the execution devices;
the two executing devices are arranged on the two supporting legs in a one-to-one correspondence mode so as to drive the supporting legs to move in a reciprocating mode along the length direction of the sliding rail.
In any of the above technical solutions, optionally, the position sensor is an absolute value encoder, the processing device is a controller, the driver is a motor driver, and the executing device is a driving motor.
Based on the third objective, optionally, the present invention provides a pipeline transportation system, which includes two sliding rails and two supporting legs, which are arranged in parallel, and a synchronous driving control system according to any one of the above technical solutions;
the supporting legs are arranged on the sliding rails in a one-to-one correspondence manner;
the position sensor of the synchronous drive control system is arranged on the supporting leg, and the executing device is in drive connection with the supporting leg so as to drive the supporting leg to reciprocate along the length direction of the sliding rail.
The fourth object is optionally achieved by a pipeline transportation system as described in any of the above technical solutions.
By adopting the technical scheme, the invention has the beneficial effects that:
the synchronous driving control method provided by the invention can automatically adjust the position deviation of the two supporting legs according to the position information of the two supporting legs, so that the two supporting legs synchronously move to the target position, and further, the use safety accident of the pipeline conveying system caused by the asynchronous two supporting legs is avoided. Therefore, the synchronous driving control method can not only realize automatic adjustment of the advancing speed and the position deviation of the two support legs, but also improve the use safety of the pipeline conveying system, avoid the pipeline from inclining in the conveying process, and further is favorable for improving the accuracy of pipe arrangement and pipe conveying, improving the working efficiency and saving the manpower.
The synchronous drive control system provided by the invention adopts the synchronous drive control method to realize control, so that all beneficial technical effects realized by the synchronous drive control method can be realized.
The pipeline conveying system provided by the invention comprises the synchronous drive control system, so that all beneficial technical effects realized by the synchronous drive control system can be realized.
The power catwalk comprises the pipeline conveying system, so that all beneficial technical effects realized by the pipeline conveying system can be realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a first flowchart of a synchronous driving control method according to an embodiment of the present invention;
fig. 2 is a second flowchart of a synchronous driving control method according to an embodiment of the present invention;
fig. 3 is a third flowchart of a synchronous driving control method according to an embodiment of the present invention;
fig. 4 is a fourth flowchart of a synchronous driving control method according to an embodiment of the present invention;
fig. 5 is a schematic block diagram of a synchronous drive control system according to a second embodiment of the present invention.
Icon: 1-a controller; 2-a first position sensor; 3-a second position sensor; 4-a first motor drive; 5-a second motor drive; 6-a first drive motor; 7-a second drive motor.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
Referring to fig. 1 to 4, the present embodiment provides a synchronous drive control method; fig. 1 is a first flowchart of a synchronous driving control method provided in the present embodiment; fig. 2 is a second flowchart of the synchronous drive control method provided in the present embodiment; fig. 3 is a third flowchart of the synchronous drive control method provided in the present embodiment; fig. 4 is a fourth flowchart of the synchronous driving control method provided in this embodiment.
The synchronous driving control method provided by the embodiment is used for a pipeline conveying system, the pipeline conveying system comprises two sliding rails which are arranged in parallel and two supporting legs, the supporting legs are arranged on the sliding rails in a one-to-one correspondence mode, and each supporting leg can reciprocate along the length direction of the sliding rail.
Referring to fig. 1, the synchronous driving control method provided in this embodiment specifically includes the following steps:
s100, respectively acquiring position information of two supporting legs;
s110, respectively determining the position deviation of the two support legs relative to the target position along the length direction of the slide rail according to the position information of the two support legs;
s120, judging whether the position deviations of the two support legs are equal or not;
and S130, if the position deviations of the two support legs are not equal, adjusting the traveling speeds of the two support legs according to the position deviations of the two support legs.
Optionally, the pipeline storage area may include a plurality of pipeline accommodating boxes, and the target position may be a position corresponding to a selected one of the plurality of pipeline accommodating boxes in the current pipe delivery task; alternatively, the target location may be a location to which the pipeline needs to be transported after the pipeline is removed from the pipeline storage area under the racking task. In addition, the target positions are different from each other in different pipe conveying tasks or different pipe discharging tasks, and the target positions are preset and known fixed positions in the same pipe conveying task or the same pipe discharging task.
Alternatively, in order to facilitate determining the position deviation of the two legs, the position deviation of the two legs can be determined by comparing the position information of the legs with the target position values corresponding to the target positions.
In the synchronous drive control method in this embodiment, position information of the two support legs is acquired, and whether position deviations of the two support legs relative to the target position are equal or not is determined, so as to determine whether traveling progresses of the two support legs on the slide rail are consistent, that is, whether the two support legs are in a synchronous state or not is determined. Specifically, the displacement deviation from the target position is different, i.e. it is illustrated that the travel progress of the two legs on the slide rail is inconsistent. When the travelling progress of the two support legs is inconsistent, the travelling speed of the two support legs is adjusted to adjust the position deviation of the two support legs from the target position, so that the position deviation of the two support legs is equal, and the two support legs can move synchronously.
By the synchronous driving control method, the position deviation of the two supporting legs can be automatically adjusted according to the position information of the two supporting legs, so that the two supporting legs move towards the target position synchronously, and further, the use safety accident of the pipeline conveying system caused by the fact that the two supporting legs are asynchronous is avoided. Therefore, the synchronous driving control method can not only realize automatic adjustment of the advancing speed and the position deviation of the two support legs, but also improve the use safety of the pipeline conveying system, avoid the pipeline from inclining in the conveying process, and further is favorable for improving the accuracy of pipe arrangement and pipe conveying, improving the working efficiency and saving the manpower.
In an alternative of this embodiment, referring to fig. 2, the synchronous driving control method specifically includes the following steps:
s200, respectively acquiring position information of two supporting legs;
s210, respectively determining the position deviation of the two support legs relative to the target position along the length direction of the slide rail according to the position information of the two support legs;
s220, judging whether the position deviations of the two supporting legs are equal or not;
s230, if the position deviations of the two support legs are not equal, comparing the position deviations of the two support legs, determining one support leg with larger position deviation as a first support leg to be adjusted, and determining one support leg with smaller position deviation as a second support leg to be adjusted;
s240, keeping the advancing direction of the first leg to be adjusted unchanged, and adjusting the advancing speed of the first leg to be adjusted to a first speed;
s250, changing the advancing direction of the second supporting leg to be adjusted, and adjusting the advancing speed of the second supporting leg to be adjusted to a second speed;
and S260, the first leg to be adjusted travels at the first speed for a preset time, the second leg to be adjusted travels at the second speed for a preset time, and the step S200 is returned.
In the technical scheme, the first supporting leg to be adjusted is a supporting leg with a backward advancing progress, and the second supporting leg to be adjusted is a supporting leg with an advanced advancing progress. Therefore, in the position adjusting stage, the support leg with the backward advancing progress keeps the advancing state, and the support leg with the forward advancing progress is changed into the retreating state, so that the two support legs can advance towards the synchronous state along the length direction of the sliding rail, and the efficiency of enabling the two support legs to reach the synchronous state is improved.
And after a preset time, respectively acquiring the position information of the two support legs again, and re-determining whether the position deviations of the two support legs relative to the target position along the length direction of the slide rail are equal or not so as to verify whether the two support legs are synchronous or not after the position adjusting stage, and if not, circulating the position adjusting stage until the two support legs are synchronous. It is to be explained that the first rate changes and the second rate changes in different position adjustment cycles.
In an alternative of this embodiment, referring to fig. 3, the synchronous driving control method specifically includes the following steps:
s300, respectively acquiring position information of two supporting legs;
s310, respectively determining the position deviation of the two support legs relative to the target position along the length direction of the slide rail according to the position information of the two support legs;
s320, judging whether the position deviations of the two support legs are equal;
s330, if the position deviation of the two support legs is equal, keeping the traveling direction of the two support legs unchanged, and keeping the first preset speed of the two support legs;
s340, if the position deviations of the two support legs are not equal, comparing the position deviations of the two support legs, determining one support leg with larger position deviation as a first support leg to be adjusted, and determining one support leg with smaller position deviation as a second support leg to be adjusted;
s350, keeping the advancing direction of the first leg to be adjusted unchanged, and adjusting the advancing speed of the first leg to be adjusted to a first speed;
s360, changing the advancing direction of the second support leg to be adjusted, and adjusting the advancing speed of the second support leg to be adjusted to a second speed;
and S370, the first leg to be adjusted travels at the first speed for a preset time, the second leg to be adjusted travels at the second speed for a preset time, and the step S300 is returned.
In the technical scheme, if the position deviation of the two support legs is equal, the two support legs keep the traveling direction unchanged, and the two support legs keep the first preset speed. That is, when the two legs are in a synchronous state, the two legs are controlled to continue to move synchronously. And when the two support legs are not synchronous, the travelling speeds of the two support legs are required to be adjusted to adjust the travelling progress of the two support legs until the two support legs reach a synchronous state, and the two support legs are controlled to continue to move at the first speed.
In an alternative of this embodiment, the first rate and the second rate are both less than the first predetermined rate.
Since the first predetermined rate is the rate of travel of the two legs in a synchronized motion, the use of a higher rate of travel facilitates increased efficiency of the tube and row. In addition, since the first speed and the second speed are respectively the traveling speed of the first leg to be adjusted and the traveling speed of the second leg to be adjusted in the position adjustment phase, in order to ensure the accuracy and safety of the position adjustment, a lower traveling speed is adopted in the position adjustment phase.
In an alternative of the embodiment, each support leg is driven by a driving motor to reciprocate along the length direction of the slide rail; the synchronous drive control method specifically comprises the following steps:
s400, respectively acquiring position information of two supporting legs;
s410, respectively determining the position deviation of the two supporting legs relative to the target position along the length direction of the sliding rail according to the position information of the two supporting legs;
s420, judging whether the position deviations of the two supporting legs are equal or not;
s430, if the position deviation of the two support legs is equal, keeping the traveling direction of the two support legs unchanged, and keeping the first preset speed of the two support legs;
s440, if the position deviations of the two support legs are not equal, comparing the position deviations of the two support legs, determining one support leg with larger position deviation as a first support leg to be adjusted, and determining one support leg with smaller position deviation as a second support leg to be adjusted;
s450, keeping the rotating direction of the driving motor corresponding to the first supporting leg to be adjusted unchanged, and adjusting the rotating speed of the driving motor corresponding to the first supporting leg to be adjusted to be a first rotating speed;
s460, changing the rotation direction of the driving motor corresponding to the second support leg to be adjusted, and adjusting the rotation rate of the driving motor corresponding to the second support leg to be adjusted to a second rotation rate;
s470, the first leg to be adjusted travels at the first speed for a preset time, and the second leg to be adjusted travels at the second speed for a preset time, and the step S400 is returned to.
The traveling directions of the two supporting legs are controlled by controlling the rotating direction of the driving motor; the speed of travel of the two legs is controlled by controlling the speed of rotation of the drive motor. The traveling direction of the driving motor can be adjusted through the positive and negative of the current and the voltage output by the motor driver, and the traveling speed of the driving motor can be controlled through the magnitude of the current and the voltage output by the motor driver, so that the accuracy of controlling the traveling direction and the traveling speed of the two supporting legs can be improved.
In an alternative of this embodiment, referring to fig. 4, the synchronous driving control method specifically includes the following steps:
s500, respectively acquiring position information of two supporting legs;
s510, respectively determining the position deviation of the two support legs relative to the target position along the length direction of the slide rail according to the position information of the two support legs;
s520, judging whether the position deviations of the two supporting legs are equal or not;
s530, if the position deviation of the two support legs is equal, keeping the traveling direction of the two support legs unchanged, and keeping the first preset speed of the two support legs;
s540, judging whether the position deviation of the two supporting legs is zero or not;
s550, if the position deviation of the two supporting legs is zero;
s560, enabling the two support legs to stop moving;
s570, if the position deviations of the two support legs are not equal, comparing the position deviations of the two support legs, determining one support leg with larger position deviation as a first support leg to be adjusted, and determining one support leg with smaller position deviation as a second support leg to be adjusted;
s580, keeping the rotating direction of the driving motor corresponding to the first leg to be adjusted unchanged, and adjusting the rotating speed of the driving motor corresponding to the first leg to be adjusted to a first rotating speed;
s590, changing the rotation direction of the driving motor corresponding to the second leg to be adjusted, and adjusting the rotation rate of the driving motor corresponding to the second leg to be adjusted to a second rotation rate;
and S591, the first leg to be adjusted travels at the first speed for a preset time, and the second leg to be adjusted travels at the second speed for a preset time, and the step S500 is returned to.
In the technical scheme, whether the position deviation of the two supporting legs is zero or not is judged, if the position deviation of the two supporting legs is zero, the two supporting legs reach the target position, and therefore the two supporting legs can be stopped, so that the pipeline conveying system can conveniently place or pick up the pipeline and the like.
Example two
The second embodiment provides a synchronous drive control system, the synchronous drive control method in the first embodiment is adopted for control in the second embodiment, technical features of the synchronous drive control method disclosed in the first embodiment are also applicable to the second embodiment, and technical features of the disclosed synchronous drive control method in the first embodiment are not described repeatedly.
Referring to fig. 5, the present embodiment provides a synchronous drive control system. Fig. 5 is a schematic block diagram of a structure of the synchronous drive control system according to this embodiment.
The synchronous drive control system provided in this embodiment is controlled by the synchronous drive control method provided in the first embodiment, and includes a processing device, two position sensors, two execution devices, and two drivers.
The two position sensors are arranged on the two support legs in a one-to-one correspondence mode to acquire position information of the support legs. The two drivers are respectively and electrically connected with the processing device, and the two drivers are in one-to-one correspondence and are electrically connected with the two execution devices to control the execution devices. The two executing devices are arranged on the two supporting legs in a one-to-one correspondence mode so as to drive the supporting legs to reciprocate along the length direction of the sliding rail.
The automatic synchronous control of the two supporting legs of the pipeline conveying device can be realized through the synchronous driving control system, and the position deviation of the two supporting legs can be automatically adjusted according to the position information of the two supporting legs, so that the two supporting legs move synchronously to the target position, and further, the use safety accidents of the pipeline conveying system caused by the fact that the two supporting legs are asynchronous are avoided. Therefore, the synchronous driving control method can not only realize automatic adjustment of the advancing speed and the position deviation of the two support legs, but also improve the use safety of the pipeline conveying system, avoid the pipeline from inclining in the conveying process, and further is favorable for improving the accuracy of pipe arrangement and pipe conveying, improving the working efficiency and saving the manpower.
In an alternative of this embodiment, as shown in fig. 5, the position sensor is an absolute value encoder, the processing device is the controller 1, the driver is a motor driver, and the executing device is a driving motor.
Specifically, the two legs are a first leg and a second leg, respectively, corresponding to the first leg is a first position sensor 2, a first motor driver 4, and a first drive motor 6, and corresponding to the second leg is a second position sensor 3, a second motor driver 5, and a second drive motor 7. The first position sensor 2 sends the measured first position information of the first supporting leg to the controller 1, the second position sensor 3 sends the measured second position information of the second supporting leg to the controller 1, the controller 1 respectively calculates a first position deviation and a second position deviation according to the first position information and the second position information, if the first position deviation and the second position deviation are unequal, the controller 1 sends a first adjusting instruction to the first motor driver 4 and a second adjusting instruction to the second motor driver 5 according to the first position deviation and the second position deviation, the first motor driver 4 sends corresponding current and voltage signals to the first driving motor 6 according to the first adjusting instruction so as to correspondingly control the rotating direction and the rotating speed of the first driving motor 6, and the second motor driver 5 sends corresponding current and voltage signals to the second driving motor 7 according to the second adjusting instruction, Voltage signals to correspondingly control the rotation direction and rotation rate of the second drive motor 7. Thus, the two support legs are automatically controlled to be in a synchronous state by the synchronous drive control system.
It will be appreciated that the first absolute value encoder and the second absolute value encoder each characterize the position information of the corresponding leg by accumulating pulse values.
The synchronous drive control system in this embodiment has the advantages of the synchronous drive control method in the first embodiment, and the advantages of the synchronous drive control method disclosed in the first embodiment are not described repeatedly herein.
EXAMPLE III
The third embodiment provides a pipeline conveying system, the pipeline conveying system comprises the synchronous drive control system in the second embodiment, the technical features of the synchronous drive control system disclosed in the second embodiment are also applicable to the pipeline conveying system, and the technical features of the synchronous drive control system disclosed in the second embodiment are not described repeatedly.
Example four
The fourth embodiment provides a power catwalk, the third embodiment includes the pipe conveying system, the technical features of the pipe conveying system disclosed in the third embodiment are also applicable to the third embodiment, and the technical features of the pipe conveying system disclosed in the third embodiment are not described repeatedly.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention. Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, any of the claimed embodiments may be used in any combination. The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Claims (9)
1. The synchronous driving control method is characterized by being used for a pipeline conveying system, wherein the pipeline conveying system comprises two sliding rails arranged in parallel and two supporting legs, the supporting legs are arranged on the sliding rails in a one-to-one correspondence mode, and each supporting leg can reciprocate along the length direction of the sliding rail;
the synchronous drive control method specifically comprises the following steps:
respectively acquiring the position information of the two supporting legs;
according to the position information of the two supporting legs, respectively determining the position deviation of the two supporting legs relative to the target position along the length direction of the sliding rail;
judging whether the position deviations of the two supporting legs are equal or not;
if the position deviations of the two supporting legs are not equal, adjusting the travelling speeds of the two supporting legs according to the position deviations of the two supporting legs;
the step of adjusting the traveling speeds of the two support legs according to the position deviation of the two support legs specifically comprises the following steps:
comparing the position deviation of the two support legs, determining that one of the two support legs with larger position deviation is a first support leg to be adjusted, and determining that one of the two support legs with smaller position deviation is a second support leg to be adjusted;
keeping the traveling direction of the first leg to be adjusted unchanged, and adjusting the traveling speed of the first leg to be adjusted to a first speed;
changing the traveling direction of the second support leg to be adjusted, and adjusting the traveling speed of the second support leg to be adjusted to a second speed;
and after a preset time, respectively acquiring the position information of the two support legs again.
2. The synchronous drive control method according to claim 1, characterized by further comprising, before the step of adjusting the traveling speeds of the two legs in accordance with the positional deviation of the two legs, the steps of:
and if the position deviation of the two support legs is equal, keeping the traveling direction of the two support legs unchanged, and keeping the first preset speed of the two support legs.
3. The synchronous drive control method according to claim 2,
the first rate and the second rate are both less than the first predetermined rate.
4. The synchronous drive control method according to claim 2, further comprising, after the step of keeping the traveling direction of the two legs constant and keeping the first predetermined velocity of the two legs, the steps of:
judging whether the position deviation of the two supporting legs is zero or not;
and if the position deviation of the two supporting legs is zero, enabling the two supporting legs to stop moving.
5. The synchronous drive control method according to claim 1, wherein each leg is driven by a drive motor to reciprocate along a length direction of the slide rail;
the step of keeping the traveling direction of the first leg to be adjusted unchanged and adjusting the traveling speed of the first leg to be adjusted to the first speed specifically comprises the following steps:
keeping the rotating direction of the driving motor corresponding to the first supporting leg to be adjusted unchanged, and adjusting the rotating speed of the driving motor corresponding to the first supporting leg to be adjusted to a first rotating speed;
the step of changing the traveling direction of the second leg to be adjusted and adjusting the traveling speed of the second leg to be adjusted to a second speed specifically comprises the following steps:
and changing the rotation direction of the driving motor corresponding to the second support leg to be adjusted, and adjusting the rotation rate of the driving motor corresponding to the second support leg to be adjusted to be a second rotation rate.
6. A synchronous drive control system characterized by being controlled by the synchronous drive control method according to any one of claims 1 to 5, comprising a processing device, two position sensors, two execution devices, and two drivers:
the two position sensors are arranged on the two supporting legs in a one-to-one correspondence manner so as to acquire position information of the supporting legs;
the two drivers are respectively and electrically connected with the processing device, and the two drivers are in one-to-one correspondence and are electrically connected with the two execution devices to control the execution devices;
the two executing devices are arranged on the two supporting legs in a one-to-one correspondence mode so as to drive the supporting legs to move in a reciprocating mode along the length direction of the sliding rail.
7. The synchronous drive control system of claim 6,
the position sensor is an absolute value encoder, the processing device is a controller, the driver is a motor driver, and the execution device is a driving motor.
8. A pipe conveying system comprising two slide rails and two legs arranged parallel to each other and a synchronous drive control system according to claim 6 or 7;
the supporting legs are arranged on the sliding rails in a one-to-one correspondence manner;
the position sensor of the synchronous drive control system is arranged on the supporting leg, and the executing device is in drive connection with the supporting leg so as to drive the supporting leg to reciprocate along the length direction of the sliding rail.
9. A power catwalk comprising the ductwork delivery system of claim 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911353672.XA CN111119759B (en) | 2019-12-25 | 2019-12-25 | Synchronous driving control method and system, pipeline conveying system and power catwalk |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911353672.XA CN111119759B (en) | 2019-12-25 | 2019-12-25 | Synchronous driving control method and system, pipeline conveying system and power catwalk |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111119759A CN111119759A (en) | 2020-05-08 |
| CN111119759B true CN111119759B (en) | 2021-06-25 |
Family
ID=70502788
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911353672.XA Active CN111119759B (en) | 2019-12-25 | 2019-12-25 | Synchronous driving control method and system, pipeline conveying system and power catwalk |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111119759B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104085821A (en) * | 2014-07-02 | 2014-10-08 | 沈阳东软医疗系统有限公司 | Method, device and system for synchronous control of ascending and descending of scanning bed |
| CN104692245A (en) * | 2015-01-15 | 2015-06-10 | 中铁工程机械研究设计院有限公司 | Automatic correction system and method for traveling of gantry crane |
| CN205000914U (en) * | 2015-08-07 | 2016-01-27 | 中石化石油工程机械有限公司研究院 | Pulling type power cat equipment of saying |
| CN109229144A (en) * | 2017-07-10 | 2019-01-18 | 比亚迪股份有限公司 | Track switch trolley synchronisation control means and device |
| CN106869826B (en) * | 2017-03-24 | 2019-07-12 | 中曼石油天然气集团股份有限公司 | A kind of oil-well rig dynamic catwalk and its drilling tool stowage |
-
2019
- 2019-12-25 CN CN201911353672.XA patent/CN111119759B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104085821A (en) * | 2014-07-02 | 2014-10-08 | 沈阳东软医疗系统有限公司 | Method, device and system for synchronous control of ascending and descending of scanning bed |
| CN104692245A (en) * | 2015-01-15 | 2015-06-10 | 中铁工程机械研究设计院有限公司 | Automatic correction system and method for traveling of gantry crane |
| CN205000914U (en) * | 2015-08-07 | 2016-01-27 | 中石化石油工程机械有限公司研究院 | Pulling type power cat equipment of saying |
| CN106869826B (en) * | 2017-03-24 | 2019-07-12 | 中曼石油天然气集团股份有限公司 | A kind of oil-well rig dynamic catwalk and its drilling tool stowage |
| CN109229144A (en) * | 2017-07-10 | 2019-01-18 | 比亚迪股份有限公司 | Track switch trolley synchronisation control means and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111119759A (en) | 2020-05-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108132641B (en) | Control method and system of stacker crane and electric vehicle battery replacement control method and system | |
| US10281899B2 (en) | Mechanical bar conveying device | |
| CN1310731C (en) | Method and apparatus for electric arc welding | |
| CN204421638U (en) | A kind of automatic charging equipment for connected furnace | |
| CN103803276A (en) | Automatic feeding conveyor for feeding dregs of rice | |
| CN203767546U (en) | Automatic pulp feeding conveyor | |
| CN101172455A (en) | Hydraulic pressure automatic leveling method and leveling system for ladle car | |
| CN109607079A (en) | The intelligent ferry bus of O&M robot between a kind of photovoltaic array | |
| CN111119759B (en) | Synchronous driving control method and system, pipeline conveying system and power catwalk | |
| CN104153553A (en) | Full-automatic intelligent wall mudding machine | |
| CN107159612A (en) | A kind of height can accurate adjustment round brush component | |
| CN104607836B (en) | Automatic welding device for vertical swinging of ship rib plate stringer | |
| CN205128891U (en) | Automatic delivery system of die casting machine kirsite stock | |
| CN104668586A (en) | Novel automatic feeding device for numerically controlled lathe | |
| CN103482363A (en) | Automatic sheet hanger | |
| KR20140033837A (en) | Auto welding carriage | |
| CN209701618U (en) | Clothes hanger conveying pipeline | |
| CN208182036U (en) | Container operates shuttle | |
| CN102080251B (en) | Plating/phosphating automation line structure and implementation method thereof | |
| CN207434889U (en) | Adapt to the automatic controllable rotating device of multi items engine | |
| CN216710557U (en) | Production material feeding unit of micromotor shell | |
| CN207827446U (en) | A kind of full-automatic traveling anchoring device of stacker-reclaimer | |
| CN114481281B (en) | Electroplating production line production control method, device and system | |
| CN211284552U (en) | Part pickling production line | |
| CN204295406U (en) | For pawl pole raw material being moved to the bogey at cutoff device place |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20201229 Address after: 412005 Room 201, Dingshan Road office building, Shifeng District, Zhuzhou City, Hunan Province Applicant after: HUNAN SANY PETROLEUM TECHNOLOGY Co.,Ltd. Address before: 410000 Xingsha Sany Industrial Park, Changsha City, Hunan Province Applicant before: SANY GROUP Co.,Ltd. HUNAN BRANCH |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |