CN111153326B - Crown block swing prevention and positioning control system and acceleration and deceleration curve calculation method thereof - Google Patents
Crown block swing prevention and positioning control system and acceleration and deceleration curve calculation method thereof Download PDFInfo
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- CN111153326B CN111153326B CN201910079621.6A CN201910079621A CN111153326B CN 111153326 B CN111153326 B CN 111153326B CN 201910079621 A CN201910079621 A CN 201910079621A CN 111153326 B CN111153326 B CN 111153326B
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- trolley
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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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
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Abstract
The invention relates to an anti-swing and positioning control system of a crown block and an acceleration and deceleration curve calculation method thereof. The overhead traveling crane anti-swing and positioning control system comprises an overhead traveling crane, a cart distance measuring instrument, a trolley distance measuring instrument, a cart frequency converter, a trolley frequency converter and a programmable controller. The overhead traveling crane includes a cart having a cart motor and a cart having a cart motor. The cart distance measuring instrument is used for measuring the direction coordinate and the moving speed of the cart. The trolley distance meter is used for measuring the direction coordinate and the moving speed of the trolley. The cart frequency converter is electrically connected with the cart motor and used for driving the cart motor. The trolley frequency converter is electrically connected with the trolley motor and used for driving the trolley motor. The programmable controller is electrically connected with the cart distance measuring instrument, the trolley distance measuring instrument, the cart frequency converter and the trolley frequency converter. The invention can effectively control the swing of the clamp and has the advantage of low construction cost.
Description
Technical Field
The present invention relates to a control system for an overhead travelling crane, and more particularly, to an anti-swing and positioning control system for an overhead travelling crane and an acceleration/deceleration curve calculation method thereof.
Background
When the overhead travelling crane carries out steel coil carrying operation, the clamp must be controlled to swing to smoothly clamp and stack steel coils, the swing is mainly caused by rapid travelling crane movement, and if the swing of the clamp cannot be effectively controlled, the lifting safety and the operation efficiency of the overhead travelling crane are influenced.
The existing crown block clamp anti-swing control method mainly comprises two methods of mechanical anti-swing and electrical anti-swing. The mechanical swing prevention is realized by adding a mechanical device, such as increasing the number of steel cables of the clamp, changing the winding mode of the steel cables to avoid swing, or modifying the clamp into a rigid telescopic structure to avoid swing. However, the mechanical anti-swing usually requires changing the mechanical structure of the crane, so that the construction cost is high and the actual load of the crane can be reduced.
The electric swing prevention is mainly to design various controllers according to a three-dimensional motion mathematical model of the overhead travelling crane so as to solve the problem of overlarge swing angle during the movement of the overhead travelling crane. However, under the condition that parameters such as friction between wheels and rails and power transmission loss cannot be accurately considered, the derived mathematical model cannot present the real dynamic state of the system, so that the designed controller parameters are not easy to adjust, and the control performance is poor.
Based on the above analysis, there is a need to provide an innovative and advanced crown block anti-swing and positioning control system and an acceleration/deceleration curve calculation method thereof, so as to solve the above existing disadvantages.
Disclosure of Invention
In one embodiment, a crown block anti-swing and positioning control system comprises a crown block, a cart distance meter, a cart frequency converter and a programmable controller. The overhead traveling crane comprises a cart and a trolley, wherein the cart is provided with a cart motor, and the trolley is provided with a trolley motor. The cart distance measuring instrument is used for measuring the direction coordinate and the moving speed of the cart. The trolley distance measuring instrument is used for measuring the direction coordinate and the moving speed of the trolley. The cart frequency converter is electrically connected with the cart motor and used for driving the cart motor. The trolley frequency converter is electrically connected with the trolley motor and is used for driving the trolley motor. The programmable controller is electrically connected with the cart distance measuring instrument, the trolley distance measuring instrument, the cart frequency converter and the trolley frequency converter.
In one embodiment, a method for calculating an acceleration/deceleration curve of an anti-sway and positioning control system of a crown block comprises: setting the traveling distance of the crown block; dynamically calculating an optimal jerk set value according to the set traveling distance of the crown block; and calculating an anti-swing acceleration and deceleration curve according to the traveling distance of the crown block and the optimal jerk set value.
In order to make the aforementioned and other features and advantages of the invention more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
Fig. 1 shows an architecture diagram of an anti-swing and positioning control system for a crown block according to the present invention.
Figure 2 shows a schematic view of the trolley in a stationary state.
Fig. 3A shows a schematic view of the acceleration movement of the cart.
FIG. 3B shows a schematic diagram of the swing position change of the sling load when the trolley is performing an acceleration motion.
Fig. 3C shows a schematic view of the cart stopping acceleration.
Fig. 4A shows a schematic representation of the deceleration movement of the vehicle.
Figure 4B shows a schematic diagram of the swing position change of the sling load when the trolley is performing deceleration movements.
Figure 4C shows a schematic view of the cart stopping deceleration.
Fig. 5 is a diagram showing the control architecture of the programmable controller of the crown block anti-swing and positioning control system according to the present invention.
Fig. 6 shows a trapezoidal velocity profile of the crown block in isoacceleration motion.
Fig. 7 shows a graph of acceleration and deceleration of the crown block in a variable acceleration motion.
FIG. 8 is a sectional view showing the anti-swing acceleration/deceleration curve of the crown block according to the present invention.
FIG. 9 is a graph illustrating the optimization of jerk parameter according to the present invention.
Reference numerals:
10. anti-swing and positioning control system for crown block
11. Crown block
112. Big vehicle
112M cart motor
114. Trolley
114M trolley motor
12. Distance measuring instrument for cart
13. Trolley range finder
14. Frequency converter for cart
15. Frequency converter of trolley
16. Programmable controller
161. Flow control module
162. Jerk setting module
162A input terminal
162B output terminal
163. Acceleration and deceleration curve planning module
17. Feedback encoder for speed of cart
18. Trolley speed feedback encoder
A, B, C, D position
L hoisting load
x, y, z coordinate directions
1,2 Swinging angle
Detailed Description
Referring to fig. 1, there is shown an architecture diagram of an anti-swing and positioning control system for a crown block according to the present invention. The system 10 for controlling the swing prevention and positioning of the crown block comprises a crown block 11, a cart distance measuring instrument 12, a trolley distance measuring instrument 13, a cart frequency converter 14, a trolley frequency converter 15 and a programmable controller 16.
In the embodiment, the overhead traveling crane 11 includes a cart 112 and a cart 114, the cart 112 has a cart motor 112M, and the cart 114 has a cart motor 114M.
The cart distance meter 12 is used to measure the direction coordinate and moving speed of the cart 112. The cart distance meter 13 is used to measure the direction coordinate and moving speed of the cart 114. In the present embodiment, the cart distance meter 12 and the cart distance meter 13 are disposed on the cart 112, and preferably, the cart distance meter 12 and the cart distance meter 13 are laser distance meters.
The traveling swing phenomenon of the crown block 11 is described as follows:
(1) At rest
Figure 2 shows a schematic view of the trolley in a stationary state. Referring to fig. 1 and 2, the trolley 114 of the overhead travelling crane 11 is taken as a viewing point, and when the trolley 114 and the hoisting load L are in the rest position a, the hoisting load L is forced to be gravity
(2) Acceleration
2.1 referring to fig. 3A, a schematic diagram of the acceleration motion of the cart is shown. The cart 114 is accelerated
Accelerating towards the direction of + x coordinate, and the hoisting load L is accelerated
Swing to a position B along a-x coordinate direction with a swing angle of 1 。
2.2 if the hoist load L swings to position B, the trolley 114 continues to accelerate
When the lifting weight L is accelerated to the + x coordinate direction, the swing angle of the lifting weight L is maintained at 1 。
2.3 referring to FIG. 3B, there is shown a schematic diagram of the pendulous position change of the hoist load during acceleration of the trolley. If the suspended load L swings to the position B, the trolley 114 is accelerated
Accelerating towards the + x coordinate direction, continuously swinging the suspended load L to the-x coordinate direction to the position C, and increasing the swinging angle to the position C 2 。
2.4 referring to fig. 3C, a schematic of the cart stopping acceleration is shown. If the suspended load L swings to position B, the trolley 114 stops accelerating
At a constant speed
Moving, the suspended weight L will swing periodically between the positions B → A → D → A → B.
(3) Speed reduction
3.1 referring to fig. 4A, a schematic representation of the deceleration movement of the vehicle is shown. The vehicle 114 decelerates
The speed is reduced in the direction of-x coordinate, and the suspended load L is accelerated
Swing to the + x coordinate direction to the position B with a swing angle of 1 。
3.2 if the suspended weight L swings to position B, the trolley 114 continues to decelerate
The speed is reduced towards the direction of the-x coordinate, and the swinging angle of the suspended load L is maintained at 1 。
3.3 referring to FIG. 4B, there is shown a schematic representation of the change in swing position of the sling load when the trolley is subjected to deceleration movements. If the hoist load L swings to position B, the trolley 114 decelerates
The speed is reduced in the direction of-x coordinate, the suspended load L continuously swings to the position C in the direction of + x coordinate, and the swing angle is increased 2 。
3.4 referring to fig. 4C, a schematic diagram of the cart stopping deceleration is shown. If the suspended load L swings to the position B, the trolley 114 stops decelerating
At a constant speed
Move, then the hoisting load isThe carrier L swings periodically between positions B → A → D → A → B.
From the swing phenomenon, it can be seen that the swing angle is generated by the acceleration applied at the moment when the crown block 11 moves, and once the crown block 11 moves at a constant speed without accelerating, the lifting load loses its force and starts to swing periodically, so that the key factor for controlling the lifting swing during the traveling of the crown block 11 is the acceleration rather than the speed.
Referring to fig. 1, the cart inverter 14 is electrically connected to the cart motor 112M and is used for driving the cart motor 112M.
The trolley frequency converter 15 is electrically connected to the trolley motor 114M and is used for driving the trolley motor 114M.
In addition, in order to make the cart transducer 14 and the cart transducer 15 precisely drive the cart motor 112M and the cart motor 114M respectively, in the embodiment, the system 10 may further include a cart speed feedback encoder 17 and a cart speed feedback encoder 18. The cart rotational speed feedback encoder 17 is electrically connected to the cart frequency converter 14, and the cart rotational speed feedback encoder 17 is used for obtaining a rotational speed signal of the cart motor 112M and transmitting the rotational speed signal of the cart motor 112M back to the cart frequency converter 14, so that the cart frequency converter 14 can properly adjust the rotational speed of the cart motor 112M according to the obtained rotational speed signal. The trolley rotational speed feedback encoder 18 is electrically connected to the trolley frequency converter 15, and the trolley rotational speed feedback encoder 18 is used for obtaining a rotational speed signal of the trolley motor 114M and transmitting the rotational speed signal of the trolley motor 114M back to the trolley frequency converter 15, so that the trolley frequency converter 15 can properly adjust the rotational speed of the trolley motor 114M according to the obtained rotational speed signal.
FIG. 5 is a diagram showing the control architecture of the programmable controller of the crown block anti-swing and positioning control system according to the present invention. Referring to fig. 1 and 5, the programmable controller 16 is electrically connected to the cart distance meter 12, the cart distance meter 13, the cart frequency converter 14, and the cart frequency converter 15, and sets a traveling distance (x-axis and y-axis directions) between the cart 112 and the cart 114 according to direction coordinates (x-axis and y-axis) respectively measured by the cart distance meter 12 and the cart distance meter 13, and plans an acceleration/deceleration curve capable of preventing swing, and outputs the acceleration/deceleration curve to the cart frequency converter 14 and the cart frequency converter 15. In the present embodiment, the programmable controller 16 includes a flow control module 161, a jerk setting module 162 and an acceleration/deceleration curve planning module 163.
The process control module 161 is connected to an input 162A of the jerk setting module 162. The process control module 161 is used to issue a command for moving a crown block, and detect a moving error and perform a positioning operation according to the measured values of the cart distance meter 12 and the cart distance meter 13.
An output 162B of the jerk setting module 162 is connected to the acceleration/deceleration curve planning module 163. In this embodiment, the jerk is a differential of the acceleration, and the jerk setting module 162 dynamically calculates the optimal jerk setting value according to the set traveling distance of the crown block 11.
The acceleration/deceleration curve planning module 163 calculates and outputs an anti-swing acceleration/deceleration curve to the cart frequency converter 14 and the cart frequency converter 15 according to the traveling distance, the maximum speed setting, the maximum acceleration setting, and the optimal jerk setting of the overhead traveling crane 11, and the cart frequency converter 14 and the cart frequency converter 15 respectively drive the cart motor 112M and the cart motor 114M according to the anti-swing acceleration/deceleration curve, so as to achieve the effect of preventing swing and positioning of the overhead traveling crane.
The swing control and acceleration/deceleration strategy of the present invention will be described in detail below.
(1) Influence of constant acceleration motion (trapezoidal acceleration and deceleration curve) on swing angle
Referring to fig. 6, a trapezoidal velocity profile of the crown block in the constant acceleration motion is shown. When the crown block moves at equal acceleration, the speed is a slope function, the acceleration reaches the maximum value at the starting moment, and the crown block is subjected to large stress at the moment, so that equipment vibration and a swing angle are easily caused.
(2) Influence of acceleration and deceleration Curve (S-Curve) on oscillation angle
Referring to fig. 7, a graph of acceleration and deceleration of the crown block during variable acceleration motion is shown. To eliminate the over-acceleration caused by the start-stop moment of the crown blockThe resulting oscillation angle can be controlled by controlling the JERK (JERK, the differential amount of acceleration,
) The variation of the acceleration is limited, so that the acceleration is gradually increased or reduced by a variation, the instant stress when the overhead crane starts and stops is reduced, and the equipment is prevented from shaking violently. And the acceleration/deceleration Curve (S-Curve) generated by the jerk limit reaches the maximum speed (V) at S-Curve max ) Before stage, the acceleration is required to undergo the processes of continuous increase → maintenance ration → continuous reduction, and the positive acceleration and the negative acceleration generated in the process can be just mutually counteracted, so that the change of the swing angle generated by the positive acceleration and the negative acceleration is eliminated.
(3) Acceleration and deceleration curve planning with swing control and positioning
Referring to fig. 8, it shows a sectional view of the anti-swing acceleration/deceleration curve of the overhead traveling crane according to the present invention. The acceleration and deceleration curve with swing control is that the speed curve is divided into 7 sections, the jerk of which is equal to
As a basis function, the change rates of the function curve at the beginning and when the function curve reaches the maximum value are the same and are smooth curves, so that the variation of the acceleration during acceleration and deceleration can be effectively eliminated, and the shaking of the equipment caused by the fact that the instantaneous acceleration of the trapezoidal speed curve is too large is avoided.
3.1 parameter definition
j (t): jerk (M) 3 /sec)
a (t): acceleration (M) 2 /sec)
v (t): speed (M/sec)
x (t): distance of travel (M)
J max : maximum acute breaking of the coal
A max : maximum acceleration
V max : maximum speed
T s : time of jerk
T a : acceleration time
T: running time
t 0 ＝0
t 1 ＝T s
t 2 ＝T a -T s
t 3 ＝T a
t 4 ＝T-T a
t 5 ＝T-T a +T s
t 6 ＝T-T s
t 7 ＝T
3.2 relationship of jerk, acceleration, speed, distance and time
Jerk (Jerk)
Acceleration (Accelation)
Speed (Velocity)
v 2 ＝v 1 +a 1 (T a -2·T s )
v 3 ＝v 1 +v 2
Distance of movement (Distance)
x 4 ＝v 3 (t 4 -t 3 )+x 3
3.3 calculating acceleration and deceleration time according to the running distance
Referring to fig. 1 and 5 again, the maximum speed V of the overhead travelling crane 11 can be obtained according to the performances of the cart motor 112M, the trolley motor 114M, the cart frequency converter 14 and the trolley frequency converter 15 max Maximum acceleration A max And maximum jerk J max By deriving the movement distances X, V max 、A max 、J max Time of rush s Acceleration time T a And the relation of the running time T to obtain T 0 ～t 7 Seven sections of acceleration and deceleration time are added, and then t is added 0 ～t 7 By substituting j (t), a (t), and v (t), an acceleration/deceleration curve of an arbitrary moving distance X can be obtained.
3.4 dynamically adjusting the jerk setting according to the moving distance of the crown block
3.4.1 under the fixed moving distance, adjust the jerk set point, swing when making the overhead traveling crane move is reduced to minimum.
3.4.2 referring to FIG. 9, a graph illustrating the optimization of jerk parameter according to the present invention is shown. The best jerk set value J measured under each moving distance X is calculated to obtain the best approximate curve (J (X) = a.X) by the least square method 2 + b · X + c) polynomial coefficients a, b and c.
3.4.3 substituting X into the Jerk approximation curve (J (X) = a.X) according to the moving distance X of the crown block 2 + b X + c) to obtain the optimal jerk set value J for the moving distance X max Will move distances X, V max 、A max 、J max Time of rush-flushing T s Acceleration time T a And substituting the running time T into the speed curve function formula of the invention to generate an acceleration and deceleration curve for preventing swing and positioning.
Referring to fig. 1, the acceleration and deceleration curves are outputted to the cart frequency converter 14 and the trolley frequency converter 15, so that the cart frequency converter 14 and the trolley frequency converter 15 can respectively drive the cart motor 112M and the trolley motor 114M according to the acceleration and deceleration curves, and the effect of preventing the crown block from swinging and positioning can be achieved.
The above-described embodiments are merely illustrative of the principles and effects of the present invention, and not restrictive, and therefore modifications and variations such as those skilled in the art may be made without departing from the spirit of the invention. The scope of the invention should be determined with reference to the appended claims.
Claims (6)
1. The utility model provides a control system is prevented swinging and location by overhead traveling crane which characterized in that includes:
the overhead travelling crane comprises a cart and a trolley, wherein the cart is provided with a cart motor, and the trolley is provided with a trolley motor;
the cart distance measuring instrument is used for measuring the direction coordinate and the moving speed of the cart;
the trolley distance measuring instrument is used for measuring the direction coordinate and the moving speed of the trolley;
the cart frequency converter is electrically connected with the cart motor and is used for driving the cart motor;
the trolley frequency converter is electrically connected with the trolley motor and is used for driving the trolley motor; and
the programmable controller is electrically connected with the cart distance measuring instrument, the trolley distance measuring instrument, the cart frequency converter and the trolley frequency converter;
the cart distance measuring instrument and the trolley distance measuring instrument are arranged on the cart;
wherein programmable controller includes a flow control module, an impacter setting module and an acceleration and deceleration curve planning module, the flow control module is connected an input of impacter setting module, an output of impacter setting module is connected acceleration and deceleration curve planning module, impacter setting module basis the walking distance of overhead traveling crane, the best impacter setting value of dynamic calculation, acceleration and deceleration curve planning module basis the walking distance of overhead traveling crane, maximum speed setting value, maximum acceleration setting value and the best impacter setting value, calculation and output prevent swinging acceleration and deceleration curve extremely cart converter reaches dolly converter, acceleration and deceleration curve include divide into the multistage with the speed curve, and its impacter with the dolly frequency
As a basis function, the change rate of the function curve at the beginning and when the function curve reaches the maximum value is the same and is a smooth curve.
2. The crown block anti-sway and positioning control system of claim 1, wherein said cart range finder and said cart range finder are laser range finders.
3. The crown block anti-swing and positioning control system according to claim 1, further comprising a cart speed feedback encoder electrically connected to the cart frequency converter, the cart speed feedback encoder for obtaining a speed signal of the cart motor and transmitting the speed signal of the cart motor back to the cart frequency converter.
4. The crown block anti-swing and positioning control system according to claim 1, further comprising a trolley speed feedback encoder, wherein the trolley speed feedback encoder is electrically connected to the trolley frequency converter, and is configured to obtain a speed signal of the trolley motor and transmit the speed signal of the trolley motor back to the trolley frequency converter.
5. The system as claimed in claim 1, wherein the flow control module is configured to issue a command for moving the crown block, detect a moving error according to the measured values of the cart distance meter and the cart distance meter, and perform a positioning operation.
6. The crown block anti-sway and positioning control system of claim 1, wherein said cart frequency converter and said cart frequency converter drive said cart motor and said cart motor, respectively, according to said anti-sway acceleration-deceleration profile.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW107139424 | 2018-11-07 | ||
| TW107139424A TWI675001B (en) | 2018-11-07 | 2018-11-07 | Crane anti-swing and positioning control system and calculation method of acceleration and deceleration curve |
Publications (2)
| Publication Number | Publication Date |
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| CN111153326A CN111153326A (en) | 2020-05-15 |
| CN111153326B true CN111153326B (en) | 2022-12-06 |
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| CN201910079621.6A Active CN111153326B (en) | 2018-11-07 | 2019-01-28 | Crown block swing prevention and positioning control system and acceleration and deceleration curve calculation method thereof |
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| CN (1) | CN111153326B (en) |
| TW (1) | TWI675001B (en) |
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| CN114200942B (en) * | 2021-12-13 | 2024-04-05 | 宝信软件(安徽)股份有限公司 | System and method for controlling and positioning whole-course speed planning of anti-swing of unmanned crown block belt |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102502403A (en) * | 2011-10-28 | 2012-06-20 | 河南卫华重型机械股份有限公司 | Sway-prevention control method for crane |
| CN105152020A (en) * | 2015-09-30 | 2015-12-16 | 山东大学 | Bridge crane self-adaptation track controller with tracking error restraint and method |
| CN107487717A (en) * | 2017-07-31 | 2017-12-19 | 武汉理工大学 | Intelligent swing-proof control system of crane and method based on fuzzy-adaptation PID control |
| CN108545614A (en) * | 2018-04-09 | 2018-09-18 | 武汉理工大学 | Full-automatic bridge-type storage crane job autocontrol method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10139368A (en) * | 1996-11-07 | 1998-05-26 | Mitsubishi Heavy Ind Ltd | Bracing and positioning control device for hung load |
| JP2000289978A (en) * | 1999-04-07 | 2000-10-17 | Seiden Koki Seisakusho:Kk | Method for controlling overhead traveling crane |
| JP5293977B2 (en) * | 2011-03-17 | 2013-09-18 | 富士電機株式会社 | Crane steady rest control method and steady rest control apparatus |
| CN206126690U (en) * | 2016-10-25 | 2017-04-26 | 唐山钢铁国际工程技术股份有限公司 | Bulk cargo grab bucket overhead traveling crane automatic control device |
| CN107324213B (en) * | 2017-08-07 | 2018-09-21 | 唐山钢铁集团微尔自动化有限公司 | A method of realizing the unmanned micro- weave control of overhead traveling crane |
-
2018
- 2018-11-07 TW TW107139424A patent/TWI675001B/en not_active IP Right Cessation
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2019
- 2019-01-28 CN CN201910079621.6A patent/CN111153326B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102502403A (en) * | 2011-10-28 | 2012-06-20 | 河南卫华重型机械股份有限公司 | Sway-prevention control method for crane |
| CN105152020A (en) * | 2015-09-30 | 2015-12-16 | 山东大学 | Bridge crane self-adaptation track controller with tracking error restraint and method |
| CN107487717A (en) * | 2017-07-31 | 2017-12-19 | 武汉理工大学 | Intelligent swing-proof control system of crane and method based on fuzzy-adaptation PID control |
| CN108545614A (en) * | 2018-04-09 | 2018-09-18 | 武汉理工大学 | Full-automatic bridge-type storage crane job autocontrol method |
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| Publication number | Publication date |
|---|---|
| CN111153326A (en) | 2020-05-15 |
| TW202017842A (en) | 2020-05-16 |
| TWI675001B (en) | 2019-10-21 |
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