CN111320079B - Positioning and anti-swing unmanned vehicle control method - Google Patents
Positioning and anti-swing unmanned vehicle control method Download PDFInfo
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- CN111320079B CN111320079B CN202010112118.9A CN202010112118A CN111320079B CN 111320079 B CN111320079 B CN 111320079B CN 202010112118 A CN202010112118 A CN 202010112118A CN 111320079 B CN111320079 B CN 111320079B
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000001133 acceleration Effects 0.000 claims abstract description 50
- 239000000463 material Substances 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- 239000010959 steel Substances 0.000 description 1
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Classifications
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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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- 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
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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
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
Abstract
The invention relates to the technical field of driving control, and discloses a positioning and anti-swing unmanned driving control method aiming at the problems of long driving positioning time and low approximate working efficiency of hoisting swing amplitude, wherein a driving PLC is internally provided with a driving speed model, and the steps are as follows: s1, calculating a driving positioning distance S; s2, calculating a swing period T of the hoisting weight; s3, determining a driving safety speed extreme value V _ LIMIT; s4, calculating and setting a driving speed model, and determining whether driving control is a high-speed driving model or a low-speed driving model and a preset speed v _ max; s5, starting acceleration of the traveling crane in [0, T ] to reach v _ max, dividing a first acceleration stage and a second acceleration stage in the process of the traveling crane starting acceleration to reach v _ max, wherein the first acceleration stage of the traveling crane is from 0 to v _ max/2 in [0, T/2], and the second acceleration stage is from v _ max/2 to v _ max in [ T/2, T ]; s6, dividing a first deceleration stage and a second deceleration stage in the deceleration parking process of the traveling crane in [0, T ], wherein the first deceleration stage is from v _ max to v _ max/2 in [0, T/2], and the second deceleration stage is from v _ max/2 to 0 in [ T/2, T ]; and determining the driving braking distance s _ brake according to the relevant parameters.
Description
Technical Field
The invention relates to the technical field of driving control, in particular to a positioning and anti-swing unmanned driving control method.
Background
At present, the lifting appliance for the traveling crane is manually operated, such as: grab bucket hangs or electromagnetism hangs, carries the material in-process, hangs heavy phenomenon that can appear swaying. Therefore, when carrying, the driver can reduce the swing of the crane by years of operation experience. However, even if the driver trains and continuously exercises to master skills, the crane can still swing obviously due to high tension or long-time fatigue when the driver operates on site, so that the working efficiency is reduced, and certain potential safety hazards exist.
The unmanned travelling crane controls the travelling crane to travel through the PLC, so that the manpower is saved, but if a special anti-swing system aiming at the characteristics of the motor and the transmission system is not arranged, on one hand, when the hoisting weight of the unmanned travelling crane reaches a target position or in the process of carrying, the unmanned travelling crane still swings greatly, so that the grabbing and unloading operation of the hoisting tool on the material cannot be safely and effectively carried out; on the other hand, if the PLC adopts a slow speed regulation method, the hoisting swing amplitude can be theoretically reduced, but the positioning time of the traveling crane to the target position is too long, and the swing suppression effect is not ideal, so that the working efficiency is low.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a positioning and anti-swing unmanned vehicle control method which can ensure that a vehicle can quickly and accurately reach a target position and can also overcome the problem of overlarge lifting swing amplitude during running or after reaching the target position so as to ensure stable and reliable running of the vehicle.
The purpose of the invention is realized by the following technical scheme:
a positioning and anti-swing unmanned driving control method is characterized in that a driving PLC is internally provided with a driving speed model, an anti-swing control program module and a calculation program module, and the control method comprises the following steps:
s1, when a traveling PLC receives a material handling task instruction, a PLC calculation program module obtains a current traveling position coordinate and a traveling target position coordinate, and calculates a positioning distance S between a current position and a target position;
s2, calculating a lifting swing period T by the PLC calculation program module according to the rope length of the travelling crane lifting appliance;
s3, determining a safe driving speed LIMIT value V _ LIMIT of driving according to a frequency converter of the driving, the driving capability of a motor and mechanical structure parameters of the driving;
s4, calculating a driving speed model by combining the S, T value and the V _ LIMIT value and setting a preset speed V _ max required to be reached in the driving acceleration process;
if S is more than V _ LIMIT.T, the driving control is a high-speed driving model, and the preset speed V _ max is equal to V _ LIMIT;
if S is less than or equal to V _ LIMIT.T, the driving control is a low-speed driving model and the preset speed
S5, in the process of executing starting and accelerating tasks, the process that the traveling crane starts to accelerate within time [0, T ] until the speed reaches v _ max is divided into a first acceleration stage and a second acceleration stage, the traveling crane in the first acceleration stage accelerates from the speed 0 to v _ max/2 within time [0, T/2], and the traveling crane in the second acceleration stage accelerates from the speed v _ max/2 to v _ max within time [ T/2, T ]; the anti-swing control program module calculates the control speed of the travelling crane in real time and transmits the control speed to the frequency converter to control the driving motor, and the driving motor drives the travelling crane to travel in real time according to the calculated control speed until the travelling crane speed reaches a preset speed v _ max;
s6, decelerating the traveling crane when the traveling crane is about to reach the target position, wherein the traveling crane is divided into a first deceleration stage and a second deceleration stage in the process of decelerating and stopping within time [0, T ], the traveling crane in the first deceleration stage decelerates from the speed v _ max to v _ max/2 within time [0, T/2], and the traveling crane in the second deceleration stage decelerates from the speed v _ max/2 to 0 within time [ T/2, T ]; the anti-swing control program module calculates the control speed of the travelling crane in real time and transmits the control speed to the frequency converter to control the driving motor, and the driving motor controls the travelling crane to travel in real time according to the calculated control speed;
acceleration of the first deceleration stage is a3(t) the acceleration of the second deceleration stage is a4(t), the PLC calculation program module calculates the braking distance s _ brake for the vehicle to start decelerating,
further, the acceleration a of the first acceleration phase1(t) satisfies
Acceleration a of the second acceleration phase2(t) satisfies
Acceleration a of the first deceleration stage3(t) satisfies
Acceleration of the second deceleration stage
Further, in the present invention,
still further, a1(t)＝-a3(t)。
Compared with the prior art, the invention has the following beneficial effects:
the positioning time of the travelling crane and the hoisting weight is controlled within 1 hoisting weight swing period, the travelling crane traveling speed is controlled by the real-time converted acceleration and the motor running speed, the unmanned travelling crane can quickly and accurately reach and stop at a target position, the material handling operation is quickly completed, the swinging angle of the hoisting weight is close to zero or equal to zero in the travelling operation of the unmanned travelling crane or after the unmanned travelling crane reaches the target position, and the stable and reliable operation of the unmanned travelling crane is ensured;
through engineering practice, the control method can ensure that the final driving positioning precision is less than or equal to +/-50 mm and the hoisting swing angle is controlled within +/-0.6 degrees.
Drawings
Fig. 1 is a flowchart of a positioning and anti-sway oriented unmanned vehicle control method according to embodiment 1.
Detailed Description
The present invention will be further described with reference to the following detailed description, wherein the drawings are provided for illustrative purposes only and are not intended to be limiting; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
Example 1
The method for controlling the unmanned travelling crane facing to positioning and anti-swing is characterized in that a travelling crane PLC is internally provided with a travelling crane speed model, an anti-swing control program module and a calculation program module, the travelling crane PLC outputs a control instruction to a frequency converter, and the frequency converter drives a driving motor of the travelling crane to operate according to the control instruction, as shown in figure 1, the control method comprises the following steps:
s1, when a traveling PLC receives a material handling task instruction, a PLC calculation program module obtains a current traveling position coordinate and a traveling target position coordinate, and calculates a positioning distance S between a current position and a target position;
s2, the PLC calculation program module calculates the swing period T of the lifting weight according to the rope length of the travelling crane lifting appliance,
wherein L is the equivalent swing rope length, and g is the gravity acceleration;
s3, determining a safe driving speed LIMIT value V _ LIMIT of driving according to a frequency converter of the driving, the driving capability of a motor and mechanical structure parameters of the driving;
s4, calculating a driving speed model by combining the S, T value and the V _ LIMIT value and setting a preset speed V _ max required to be reached in the driving acceleration process;
if S is more than V _ LIMIT.T, the driving control is a high-speed driving model, and the preset speed V _ max is equal to V _ LIMIT;
if S is less than or equal to V _ LIMIT.T, the driving control is a low-speed driving model and the preset speed
S5, in the process of executing starting and accelerating tasks, the process that the traveling crane starts to accelerate within time [0, T ] until the speed reaches v _ max is divided into a first acceleration stage and a second acceleration stage, the traveling crane in the first acceleration stage accelerates from the speed 0 to v _ max/2 within time [0, T/2], and the traveling crane in the second acceleration stage accelerates from the speed v _ max/2 to v _ max within time [ T/2, T ]; the anti-swing control program module calculates the control speed of the travelling crane in real time and feeds the control speed back to the driving motor through the frequency converter, and the driving motor controls the travelling crane to travel in real time according to the calculated control speed until the travelling crane travel speed reaches a preset speed v _ max;
the output control parameters of the PLC anti-swing control program in the first acceleration process are
Wherein the acceleration a1(t) should satisfy
The larger sign indicates that when the traveling speed reaches v _ max/2, v _ max/2 is kept unchanged until the time reaches T/2.
The output control parameters of the PLC anti-swing control program in the second acceleration process are
Wherein the acceleration a2(t) should satisfy
The larger sign means that when the traveling speed reaches v _ max, the speed v _ max is kept unchanged until the time reaches T.
In this embodiment, the calculation of the control parameters is facilitated, both acceleration processes are uniform acceleration motions with constant acceleration values, wherein
A above1(t) and a2The conditional inequality of (t) takes an equal sign. The speed of the traveling crane is v _ max/2 at the time of T/2, and the speed is v _ max at the time of T;
s6, when the traveling crane moves to the target position, the traveling crane is divided into a first deceleration stage and a second deceleration stage in the process of decelerating and stopping within time [0, T ], the traveling crane in the first deceleration stage decelerates from the speed v _ max to v _ max/2 within time [0, T/2], and the traveling crane in the second deceleration stage decelerates from the speed v _ max/2 to 0 within time [ T/2, T ]; the anti-swing control program module calculates the control speed of the travelling crane in real time and feeds the control speed back to the driving motor through the frequency converter, and the driving motor controls the travelling crane to travel in real time according to the calculated control speed;
acceleration of the first deceleration stage is a3(t) the acceleration of the second deceleration stage is a4(t), the PLC calculation program module calculates the braking distance s _ brake for the vehicle to start decelerating,
the output control parameters of the PLC anti-swing control program in the first deceleration process are
Wherein the acceleration a3(t) should satisfy
The less than sign indicates that when the traveling speed reaches v _ max/2, v _ max/2 is kept unchanged until the time reaches T/2.
The output control parameter of the PLC anti-swing control program in the second deceleration process is
Wherein the acceleration a4(t) should satisfy
A smaller number indicates that the vehicle reached 0 before time T.
In this embodiment, the calculation of the control parameters is facilitated, both acceleration processes are uniform acceleration motions with constant acceleration values, wherein
A above3(t) and a4(T) the conditional inequality takes an equal sign, which indicates that the speed of the traveling crane is v _ max/2 at the time of T/2 and 0 at the time of T, and the traveling crane just reaches the positioning point; at this moment, the braking distance
If the travelling crane is in a low-speed travelling state, the travelling crane enters a brake deceleration state after acceleration is finished, if the travelling crane is in a high-speed travelling state, the travelling crane enters the brake deceleration state when the distance to a positioning point is s _ break, the travelling crane just reaches the positioning point after time T, the hoisting weight is just vertical to the travelling crane to get off, and the swing angle is 0.
Aiming at the carrying operation of the rope type sling of the unmanned travelling crane, the travelling crane speed model and the anti-swing control program module are arranged in the PLC, so that the unmanned travelling crane can quickly reach a target position, and the swing angle of the hoisting weight in the lifting process or the target position is very small, the control method is practiced on scrap steel carrying equipment, and is obtained through engineering tests, the control method controls the positioning time of the travelling crane when the travelling crane is decelerated to the target position to stop at the target position to be 1 hoisting weight swing period, the material carrying and positioning precision of the unmanned travelling crane can reach less than or equal to +/-50 mm, and simultaneously the swing angle of the hoisting weight is controlled to be less than or equal to +/-0.6 degrees. The prior art can not meet the requirements of simultaneously meeting three effects that the positioning precision reaches less than or equal to +/-50 mm, the swing angle is less than or equal to +/-0.6 degrees and the positioning time from deceleration to parking is 1 hoisting swing period, and generally, the positioning time from deceleration to parking is more than 2 hoisting swing periods.
It should be understood that the above examples are only for clearly illustrating the technical solutions of the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (4)
1. A positioning and anti-swing unmanned driving control method is characterized in that a driving PLC is internally provided with a driving speed model, an anti-swing control program module and a calculation program module, and the control method comprises the following steps:
s1, when a traveling PLC receives a material handling task instruction, a PLC calculation program module obtains a current traveling position coordinate and a traveling target position coordinate, and calculates a positioning distance S between a current position and a target position;
s2, calculating a lifting weight swing period T by the PLC calculation program module according to the rope length of the travelling crane lifting appliance;
s3, determining a safe driving speed LIMIT value V _ LIMIT of driving according to a frequency converter of the driving, the driving capability of a motor and mechanical structure parameters of the driving;
s4, calculating a driving speed model by combining the S, T value and the V _ LIMIT value and setting a preset speed V _ max required to be reached in the driving acceleration process;
if S is more than V _ LIMIT.T, the driving control is a high-speed driving model, and the preset speed V _ max is equal to V _ LIMIT;
if S is less than or equal to V _ LIMIT.T, the driving control is a low-speed driving model and the preset speed
S5, in the process of executing starting and accelerating tasks, the process that the traveling crane starts to accelerate within time [0, T ] until the speed reaches v _ max is divided into a first acceleration stage and a second acceleration stage, the traveling crane in the first acceleration stage accelerates from the speed 0 to v _ max/2 within time [0, T/2], and the traveling crane in the second acceleration stage accelerates from the speed v _ max/2 to v _ max within time [ T/2, T ]; the anti-swing control program module calculates the control speed of the travelling crane in real time and transmits the control speed to the frequency converter to control the driving motor, and the driving motor drives the travelling crane to travel in real time according to the calculated control speed until the travelling crane speed reaches a preset speed v _ max;
s6, decelerating the traveling crane when the traveling crane is about to reach the target position, wherein the traveling crane is divided into a first deceleration stage and a second deceleration stage in the process of decelerating and stopping within time [0, T ], the traveling crane in the first deceleration stage decelerates from the speed v _ max to v _ max/2 within time [0, T/2], and the traveling crane in the second deceleration stage decelerates from the speed v _ max/2 to 0 within time [ T/2, T ]; the anti-swing control program module calculates the control speed of the travelling crane in real time and transmits the control speed to the frequency converter to control the driving motor, and the driving motor controls the travelling crane to travel in real time according to the calculated control speed;
acceleration of the first deceleration stage is a3(t) the acceleration of the second deceleration stage is a4(t), the PLC calculation program module calculates the braking distance s _ brake for the vehicle to start decelerating,
2. the method for position-oriented and anti-sway unmanned aerial vehicle control of claim 1, wherein the acceleration a of the first acceleration phase1(t) satisfies
Acceleration a of the second acceleration phase2(t) satisfies
Acceleration a of the first deceleration stage3(t) satisfies
Acceleration a of the second deceleration stage4(t) satisfies
3. The method of claim 2, wherein the unmanned vehicle control system is a positioning and anti-sway vehicle,
4. the method for controlling unmanned aerial vehicle for positioning and anti-sway of claim 3, wherein a is1(t)＝-a3(t)。
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| CN105883616B (en) * | 2016-06-13 | 2017-06-16 | 南开大学 | Overhead crane shortest time anti-sway track Real-time Generation |
| CN108190744A (en) * | 2017-12-29 | 2018-06-22 | 扬州海通电子科技有限公司 | It is a kind of to eliminate the method waved during driving lifting weight |
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