CN112015131A - Automatic positioning control system and control method for steel-making scrap steel platform car - Google Patents
Automatic positioning control system and control method for steel-making scrap steel platform car Download PDFInfo
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- CN112015131A CN112015131A CN202010675904.XA CN202010675904A CN112015131A CN 112015131 A CN112015131 A CN 112015131A CN 202010675904 A CN202010675904 A CN 202010675904A CN 112015131 A CN112015131 A CN 112015131A
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- platform truck
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C11/00—Locomotives or motor railcars characterised by the type of means applying the tractive effort; Arrangement or disposition of running gear other than normal driving wheel
- B61C11/02—Locomotives or motor railcars characterised by the type of means applying the tractive effort; Arrangement or disposition of running gear other than normal driving wheel tractive effort applied to cables or chains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C3/00—Electric locomotives or railcars
Abstract
The invention discloses an automatic positioning control system and a control method of a steel-making scrap steel platform truck, wherein the system comprises a flat car, a transmission motor, a cable supporting device, a winding drum, a heavy hammer, an encoder, a PLC control unit and an operation box, and the method comprises the following steps: the platform vehicle moves forward and backward through the transmission motor, drives the winding drum to release the reel when moving forward, and controls the winding drum by the heavy hammer when moving backward. The encoder collects cable releasing and cable winding signals and transmits the cable releasing and cable winding signals to the PLC control unit, the PLC control unit calculates the running distance of the platform truck by using a sectional calibration function, the running range of the platform truck is segmented, the corresponding relation between the output length of each cable supporting section and the actual position of the platform truck is obtained, corresponding correction coefficients are determined, finally, the output lengths of the cable supporting sections are integrated, and the platform truck positioning control is completed through the operation box. The invention has low input cost and strong anti-interference capability, reduces the labor intensity of workers, shortens the operation time of the platform truck and improves the production benefit while meeting the requirement of production precision.
Description
Technical Field
The invention belongs to the field of automatic control of steelmaking, and particularly relates to an automatic positioning control system and a control method of a steelmaking scrap platform truck.
Background
The steel scrap trolley of the stainless steel company has 3 sets, is manually operated at present, and is not provided with a positioning detection device. The manual operation needs to manually observe the running position of the trolley in real time, the distance and the angle exist when the trolley is observed in an operation place, the stopping position of the trolley is inaccurate, the phenomenon of loading the road block sometimes occurs, and the equipment damage is large.
The trolley is generally used for positioning laser detection, and the laser technology has the advantages of accurate positioning, relatively high cost, consistent laser and trolley traveling directions, no requirement for shielding the laser in the field and no requirement for stainless steel in the field.
Therefore, a new positioning control system and method that can meet the positioning requirement and reduce the control cost is needed.
Disclosure of Invention
The invention provides an automatic positioning control system and a control method of a steelmaking scrap platform truck, which can meet the positioning requirement, reduce the control cost and have the characteristic of high control precision.
The technical problem to be solved by the invention is as follows: the absolute value encoder is adopted to collect the running track of the platform truck, so that safe and accurate automatic positioning control of the platform truck is realized.
In order to solve the problems, the technical scheme adopted by the invention is as follows:
the automatic positioning control system comprises a platform truck, a transmission motor arranged on the platform truck, a supporting cable electrically connected with the transmission motor, a winding drum for supporting the cable, a heavy hammer connected with one end of the supporting cable, an encoder arranged on the winding drum, a PLC control unit in information connection with the encoder, and an operation box connected with the PLC control unit and the platform truck, wherein the transmission motor is used for the platform truck to move forward and backward, and the other end of the supporting cable is connected with the platform truck.
The PLC control unit comprises an encoder range conversion module, a subsection calibration function module, a data storage module, a safety interlocking module, a drive output module and an alarm output module, wherein the encoder range conversion module is connected with an encoder through an input interface, the encoder range conversion module, the subsection calibration function module, the data storage module, the safety interlocking module and the drive output module are sequentially connected, and the alarm output module is also connected with the safety interlocking module.
And the sectional calibration function module is used for segmenting the running range of the platform truck, obtaining the corresponding relation between the output length of each section of cable supporting and the actual position of the platform truck through measurement, determining a corresponding correction coefficient, and finally integrating the output lengths of the sections of cable supporting.
The technical scheme of the invention is further improved as follows: the encoder is an absolute value encoder.
The technical scheme of the invention is further improved as follows: the panel of the operation box is provided with a button switch matched with the PLC control unit, the platform truck and the encoder, and the button switch comprises a manual-automatic change-over switch, an automatic forward button, an automatic backward button, a stop button, an encoder fault reset button, a jog forward button, a jog backward button, an encoder fault indicator lamp, a manual-automatic indicator lamp and a forward backward indicator lamp.
The technical scheme of the invention is further improved as follows: the safety interlocking module is used for detecting an encoder over-range fault, an encoder output jumping fault and a truck fault; and the alarm output module is used for forbidding the automatic operation of the platform truck when the encoder fails.
A control method of an automatic positioning control system utilizing the steelmaking scrap platform truck comprises the following steps:
the platform car moves forward and backward through a transmission motor, the motor is powered by a cable supporting cable, the cable supporting cable is wound on a cable drum, the platform car drives the drum to release the cable when moving forward, and a heavy hammer controls the drum to roll the cable when moving backward; the encoder collects cable releasing and cable winding signals and transmits the signals to the PLC control unit, the PLC control unit calculates the running distance of the platform truck by using a segmented calibration function, and the platform truck is added with a safety chain and completes the positioning control of the platform truck through an operation box.
The technical scheme of the invention is further improved as follows: the processing procedure of the piecewise calibration function is as follows:
segmenting the running range of the platform truck, wherein the number of scoring segments is i, obtaining the corresponding relation between the output length of each cable supporting segment and the actual position of the platform truck through measurement, and determining a correction coefficient;
the PLC control unit records that the encoder measures and calculates the cable supporting length of each section as xi, the correction coefficient as ai and the actual running distance as yi = ai x xi;
and integrating yi to obtain the total running distance Y = Y1+ Y2+ … … + yi.
The technical scheme of the invention is further improved as follows: the number of segments i of the segment calibration function is 4-10.
Due to the adoption of the technical scheme, the invention has the beneficial effects that: the positioning requirement can be met, the control cost can be reduced, and the device has the characteristic of high control precision which is over 90 percent. The invention has low input cost and strong anti-interference capability, reduces the labor intensity of workers, shortens the operation time of the platform truck and improves the production benefit while meeting the requirement of production precision.
Drawings
FIG. 1 is a control schematic of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a platform truck trip in accordance with an embodiment of the present invention;
FIG. 3 is a flow chart of the operation of the dolly of the embodiment of the invention;
FIG. 4 is a schematic diagram of the thickness-influenced length output of a streamer convolution according to an embodiment of the present invention;
FIG. 5 is a schematic view of the sag of the corresponding cable of the platform truck in different distances;
FIG. 6 is a diagram of a console box panel according to an embodiment of the present invention;
wherein: 1. the device comprises a platform truck, 2, a transmission motor, 3, a supporting cable, 4, a winding drum, 5, a heavy hammer, 6, an encoder, 7, a PLC control unit, 8 and an operation box.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and specific examples.
The invention discloses an automatic positioning control system of a steel-making scrap platform truck, which comprises a platform truck 1, a transmission motor 2 arranged on the platform truck 1, a supporting cable 3 electrically connected with the transmission motor 2, a winding drum 4 (the winding drum 4 is a heavy hammer type cable winding drum) for winding the supporting cable 3, a heavy hammer 5 connected with one end of the supporting cable 3 through a movable pulley, an encoder 6 arranged on the winding drum 4, a PLC control unit 7 in information connection with the encoder 6, and an operation box 8 connected with the PLC control unit 7 and the platform truck 1, wherein the transmission motor 2 is used for the platform truck 1 to move forwards and backwards, and the other end of the supporting cable 3 is connected with the platform truck 1.
The PLC control unit 7 comprises an encoder range conversion module, a subsection calibration function module, a data storage module, a safety interlocking module, a drive output module and an alarm output module, wherein the encoder range conversion module is connected with the encoder 6 through an input interface, the encoder range conversion module, the subsection calibration function module, the data storage module, the safety interlocking module and the drive output module are sequentially connected, and the alarm output module is also connected with the safety interlocking module.
And the sectional calibration function module is used for segmenting the running range of the platform truck 1, obtaining the corresponding relation between the output length of each section of the supporting cable 3 and the actual position of the platform truck 1 through measurement, determining a corresponding correction coefficient, and finally integrating the output lengths of the sections of the supporting cables 3.
The encoder 6 is an absolute value encoder.
Set up on the 8 panels of control box and be used for with PLC the control unit 7, platform truck 1 and encoder 6 complex button switch, see figure 6, button switch includes manual automatic change over switch, the automatic button that advances, the automatic button that backs, stop button, encoder fault reset button, inching forward the button, inching the button that backs, encoder fault indicator lamp, manual automatic indicator lamp, the pilot lamp that gos forward and backs. In fig. 6, the three rows are arranged, the top row is an indicator light, the middle row is a row switch, and the last row is an operation button.
The safety interlocking module is used for detecting the over-range fault of the encoder 6, the output jump fault of the encoder 6 and the fault of the truck; and the alarm output module is used for forbidding the automatic operation of the platform truck 1 when the encoder 6 fails.
The control method of the automatic positioning control system of the steelmaking scrap platform truck comprises the following steps:
the platform truck 1 moves forward and backward through the transmission motor 2, the motor 2 is powered by the cable supporting 3, the cable supporting 3 is wound on the cable drum 4, the platform truck 1 drives the drum 4 to release the cable when moving forward, and the heavy hammer 5 controls the drum 4 to wind when moving backward; the encoder 6 collects cable releasing and cable winding signals and transmits the signals to the PLC control unit 7, the PLC control unit 7 calculates the running distance of the platform truck by using a segmented calibration function, safety chain is added, and the positioning control of the platform truck 1 is completed through the operation box 8.
The processing procedure of the piecewise calibration function is as follows:
the operation range of the platform truck 1 is segmented, the number of scoring segments is i, the corresponding relation between the output length of each segment of cable supporting 3 and the actual position of the platform truck 1 is obtained through measurement, and a correction coefficient is determined;
the PLC control unit 7 records that the length of each segment of the cable 3 measured by the encoder 6 is xi, the correction coefficient is ai, and the actual running distance is yi = ai x xi;
and integrating yi to obtain the total running distance Y = Y1+ Y2+ … … + yi.
For example, the number i of the segments of the segment calibration function is 4-10, which is specifically selected according to the actual situation.
In the implementation of the invention, the technical scheme for solving the technical problem is as follows:
firstly, the safety of an automatic control system is solved:
the control field operation box is provided with a manual-automatic change-over switch, an automatic forward button, an automatic backward button, a stop button, an encoder fault reset button, a inching forward button and a inching backward button. Encoder fault indicator, manual automatic indicator, advance back indicator. The PLC automatically controls the output, and the encoder is converted into inching control when the encoder fails.
And (3) adopting a PLC programming mode to make protection linkage: after the PLC outputs a starting signal, the absolute value of the position difference between the previous second and the next second of the flat car is detected, if the absolute value is smaller than a specified range value, the absolute value is an encoder fault, the fault lamp of the operation box flickers, and the PLC stops the action output of the flat car. Checking the fault reason, and clicking a fault reset button of the encoder to allow automation after the fault is eliminated.
And (3) adopting a PLC programming mode to make protection linkage: the upper limit and the lower limit of the measuring range are set, and the exceeding is the fault of the encoder. And the fault lamp of the operation box flickers, and the PLC stops the action output of the flat car. Checking the fault reason, and clicking a fault reset button of the encoder to allow automation after the fault is eliminated.
And (3) adopting a PLC programming mode to make protection linkage: the positive and negative rotation outputs of the transmission motor are interlocked.
Secondly, solving the measurement accuracy of the automatic control system:
the operation mode of the flat car is motor transmission, the transmission motor is powered by the supporting cable, the supporting cable is wound on the roller, the absolute value encoder can acquire the corresponding relation between the roller action and the length of the supporting cable, but the length of the supporting cable cannot accurately reflect the operation distance of the flat car.
Reason 1: the convolution thickness of the supporting cable on the roller can influence the inconsistent length of the supporting cable output by the roller in each rotation.
Reason 2: because the roller is a heavy hammer for controlling the rolling cable, the driving distance and the driving distance are different corresponding to the verticality of the rolling cable.
The measurement precision problem is solved by applying a sectional measurement calibration mode:
the platform car travels 30 meters for example, see table 3 for a segmentation function table, which we divide into 5 segments: the first distance y1 is equal to the correction factor a1 multiplied by the encoder measured distance x1, i.e., y1= a1x 1. The correction coefficient a1 is the ratio of the actual running distance of the trolley to the cable length x1 output by the encoder measuring and calculating roller, namely a1=6/x 1; second distance y 2: the correction coefficient a2 is multiplied by the encoder calculated distance x2, i.e., y2= a2x 2. And the correction coefficient a2 is that the trolley continues to run for 6 meters, and the encoder measures and calculates the ratio of the output cable length x2 of the roller within the 6 meters, namely a2=6/x 2. The distances of the third segment y3, the fourth segment y4 and the fifth segment y5 are the same. The corrected real-time distance Y = Y1+ Y2+ Y3+ Y4+ Y5. See table 3 specifically.
TABLE 3 piecewise function table
Example (b):
the embodiment is an automatic positioning control system of a steelmaking scrap platform truck, the stroke is 30 meters, the platform truck 1 runs in the south and north directions, 15 meters in the south direction are parked in place, and 15 meters in the north direction are parked in place.
The transmission motor 2: YZR225M-8
And (3) supporting the cable 5: JYFG 3 x 16
Drum 4 (weight cable drum): ZCJ-40-II
Scrap steel car: 60T
The encoder 6: OMRON (E6C 3-AG5B 256P/R1M), resolution: 256P/R (8 bits), output mode: PNP collector open output, output code: gray code.
PLC hardware: IM153-1(6ES 7153-1 AA03-0XB0), DI32(6ES 7321-1 BL00-0AA0), DO32 (6ES 7322-1 BL00-0AA0), PS 3075A (6ES 7307-1 EA00-0AA 0).
An operation box 8: the automatic and manual change-over switch, the fault reset, the automatic southbound button, the automatic northbound button, the automatic stop button, the manual inching southbound button, the manual inching northbound button, the automatic indicator light, the manual indicator light, the southbound indicator light, the northbound indicator light and the encoder fault indicator light.
A PLC program: the system comprises an encoder range conversion program, a sectional calibration program, a parking space locking data program, a safety interlocking program (for truck, limit, motor forward and reverse interlocking protection), an alarm output program and a motor drive output program.
Data of three tests:
TABLE 1
Applying the formula: distance Y = Y1+ Y2+ Y3+ Y4+ Y5+ Y6+ Y7+ Y8+ Y9+ Y10.
TABLE 2
The control precision of the steel car in the embodiment is 94.5%.
Claims (7)
1. An automatic positioning control system of a steelmaking scrap platform truck is characterized by comprising a platform truck (1), a transmission motor (2) arranged on the platform truck (1), a supporting cable (3) electrically connected with the transmission motor (2), a winding drum (4) for winding the supporting cable (3), a heavy hammer (5) connected with one end of the supporting cable (3), an encoder (6) arranged on the winding drum (4), a PLC control unit (7) in information connection with the encoder (6), and an operation box (8) connected with the PLC control unit (7) and the platform truck (1), wherein the transmission motor (2) is used for the platform truck (1) to move forwards and backwards, and the other end of the supporting cable (3) is connected with the platform truck (1);
the PLC control unit (7) comprises an encoder range conversion module, a subsection calibration function module, a data storage module, a safety interlocking module, a drive output module and an alarm output module, wherein the encoder range conversion module is connected with the encoder (6) through an input interface, the encoder range conversion module, the subsection calibration function module, the data storage module, the safety interlocking module and the drive output module are sequentially connected, and the alarm output module is also connected with the safety interlocking module;
and the sectional calibration function module is used for segmenting the running range of the platform truck (1), obtaining the corresponding relation between the output length of each section of the supporting cable (3) and the actual position of the platform truck (1) through measurement, determining a corresponding correction coefficient, and finally integrating the output lengths of the supporting cables (3).
2. The automatic positioning control system of the steelmaking scrap platform truck as claimed in claim 1, wherein the encoder (6) is an absolute value encoder.
3. The automatic positioning control system of the steel-making scrap platform truck as claimed in claim 1, wherein the panel of the operation box (8) is provided with button switches for matching with the PLC control unit (7), the platform truck (1) and the encoder (6), and the button switches comprise a manual-automatic change-over switch, an automatic forward button, an automatic backward button, a stop button, an encoder fault reset button, a jog forward button, a jog backward button, an encoder fault indicator lamp, a manual-automatic indicator lamp and a forward backward indicator lamp.
4. The automatic positioning control system of the steel-making scrap platform truck as claimed in claim 1, wherein the safety interlocking module is used for detecting an over-range fault of the encoder (6), an output jump fault of the encoder (6) and a fault of a truck; and the alarm output module is used for forbidding the automatic operation of the platform truck (1) when the encoder (6) fails.
5. The control method of the automatic positioning control system of the steelmaking scrap platform truck as claimed in claim 1, wherein the control method comprises the following steps:
the platform truck (1) moves forwards and backwards through the transmission motor (2), the motor (2) is powered by the cable supporting device (3), the cable supporting device (3) is wound on the cable reel (4), the platform truck (1) drives the reel (4) to release the cable when moving forwards, and the heavy hammer (5) controls the reel (4) to wind when moving backwards; the encoder (6) collects cable releasing and cable winding signals and transmits the signals to the PLC control unit (7), the PLC control unit (7) calculates the running distance of the platform truck by using a segmented calibration function, and the platform truck (1) is positioned and controlled by adding a safety chain and the operation box (8).
6. The automatic positioning control method for the steelmaking scrap platform truck as claimed in claim 5, wherein the process of the piecewise calibration function is:
the operation range of the platform truck (1) is segmented, the number of scoring segments is i, the corresponding relation between the output length of each segment of cable supporting (3) and the actual position of the platform truck (1) is obtained through measurement, and a correction coefficient is determined;
the PLC control unit (7) records that the length of the cable (3) of each section is measured and calculated by the encoder (6) to be xi, the correction coefficient is ai, and the actual running distance is yi = ai x xi;
and integrating yi to obtain the total running distance Y = Y1+ Y2+ … … + yi.
7. The automatic positioning control method for the steel-making scrap platform truck as claimed in claim 6, wherein the number of segments i of the segmented calibration function is 4-10.
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