CN112049490B - Multi-motor synchronous control method for lifting mechanism of comb tooth carrier of stereo garage - Google Patents

Multi-motor synchronous control method for lifting mechanism of comb tooth carrier of stereo garage Download PDF

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Publication number
CN112049490B
CN112049490B CN201910493188.0A CN201910493188A CN112049490B CN 112049490 B CN112049490 B CN 112049490B CN 201910493188 A CN201910493188 A CN 201910493188A CN 112049490 B CN112049490 B CN 112049490B
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value
input
output end
input end
selector
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CN112049490A (en
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桑霖
孙燕京
张国强
李洁
李硕
赵智滔
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Beijing Shougang Automation Information Technology Co Ltd
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Beijing Shougang Automation Information Technology Co Ltd
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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
    • E04H6/185—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions using comb-type transfer means
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

A multi-motor synchronous control method for a lifting mechanism of a comb tooth carrier of a stereo garage belongs to the technical field of stereo garage control. In the lifting mechanism operation process of the comb tooth carrier, the synchronous control module is additionally arranged for real-time accurate speed compensation through comparison of code values of a plurality of variable frequency motors, synchronous operation of the plurality of variable frequency motors in the lifting motion process is guaranteed, accurate synchronous control of positions is achieved, balance of connecting shafts of the plurality of variable frequency motors is guaranteed, mechanical abrasion is reduced, and therefore stability and safety of a three-dimensional garage parking and picking process are improved.

Description

Multi-motor synchronous control method for lifting mechanism of comb tooth carrier of stereo garage
Technical Field
The invention belongs to the technical field of stereo garage control, and particularly relates to heavy vehicles such as buses and large buses.
Background
In the operation process of the mechanical stereo garage, an intelligent, quick, safe and stable control flow plays an important role in the process of parking and taking vehicles. In a plane moving type stereo garage, a comb tooth carrier is responsible for conveying vehicles between a garage position and a shuttle car, has two functions of lifting and walking, and a lifting mechanism of the comb tooth carrier is responsible for storing the vehicles on the comb tooth car to the garage position or taking the vehicles from the garage position to the comb tooth car, and is an important component of a whole car storing and taking control system.
In the small-sized car stereo garage, because the car is only two or three tons heavy, the lifting mechanism of the comb tooth carrier can meet the process requirements only by using one variable frequency motor. However, in a large-scale vehicle stereo garage, buses or buses with the weight of tens of tons are stored, one variable frequency motor cannot meet the requirements of process design, so that a plurality of variable frequency motors are required to simultaneously drive the comb tooth carrying vehicles to lift, the synchronous operation of the plurality of variable frequency motors is guaranteed to be particularly important, and the vehicle can be borne to lift, and the gravity center of the vehicle can be kept stable.
The common control method for simultaneously operating a plurality of variable frequency motors is to use a low limit proximity switch as a calibration point, perform high and low speed change through code value monitoring of the variable frequency motors, and finally use a target position limit switch signal as a stop signal.
In the lifting process, although the starting and running commands of the variable frequency motors are issued simultaneously, the given speed is basically and simultaneously sent to the variable frequency motors, but mechanical errors, jamming, communication time delay and the like cause that the actions of the variable frequency motors are not synchronous and inconsistent in speed in the lifting process. Although alarm such as deviation protection and code value overrun is added, the balance connecting shafts of a plurality of variable frequency motors can be prevented from being broken off, once alarm occurs, tasks need to be stopped, operators manually operate and adjust back balance equipment, especially in the high-speed operation process, the potential safety hazard of vehicle inclination can be caused, and the stable operation of the equipment and the normal operation of a garage are seriously influenced.
Disclosure of Invention
The invention aims to provide a control method for realizing synchronization of a plurality of variable frequency motors in the lifting operation process of comb teeth, and the method is suitable for a stereo garage automatic control system with similar conditions. Through in the lift operation in-process, use the real-time speed compensation of synchronous control module 1, realize the accurate control of position synchronous operation, reduce the unbalance between many inverter motor, improve the stability of broach elevating system equipment operation.
The invention adds a synchronous control module 1 in the original control system. The lifting mechanism of the comb tooth carrier obtains an action instruction, under the condition that the interlocking condition is met, the programmable controller sends an action starting instruction and a speed given value to a plurality of variable frequency motors of the lifting mechanism, the code value of one variable frequency motor is used as a judgment basis to control the operation process of the whole lifting mechanism, and the stop of each variable frequency motor is based on the signal of a respective limit detection element. The original control system is only responsible for starting and speed giving of a plurality of motors in the running process of a plurality of variable frequency motors of the whole lifting mechanism, and belongs to open-loop control. On the basis, the synchronous control module 1 is added, real-time accurate speed compensation is achieved, and synchronous closed-loop control is conducted in the whole lifting process.
FIG. 2 is a process diagram of a synchronous control module of the comb tooth lifting mechanism of the invention.
The synchronization control module 1 of the present invention includes: a deviation calculation selector 11, a compensation coefficient selector 12, and a speed compensation generator 13. The input ends of the synchronous control module comprise a first variable frequency motor code value input end X0, a second variable frequency motor code value input end X1, a speed compensation coefficient input end K, a stable amplitude limit value input end D and a first variable frequency motor speed set value input end V0_ IN; the output ends comprise a first variable frequency motor speed set value output end V0_ OUT and a second variable frequency motor speed set value output end V1. The specific control method comprises the following steps:
firstly, selecting a first deviation module 111 and a second deviation module 112 by taking the code value of a first variable frequency motor as a reference value, respectively taking the code values of the first variable frequency motor and a second variable frequency motor as input values X0 and X1 of an input end of a deviation calculation selector 11, and taking a speed set value of the first variable frequency motor as an input value V _ D of an input end of the deviation calculation selector 11; the input value of the input end V _ D of the deviation calculation selector 11 is greater than 0, and the output end D _ X of the first deviation module 111 is selected to be connected to the output end Y of the deviation calculation selector 11; the input value of the input end V _ D of the deviation calculation selector 11 is less than 0, and the output end D _ X of the second deviation module 112 is selected to be connected to the output end Y of the deviation calculation selector 11; the output end Y of the deviation calculation selector 11 is connected to the input end D _ Y of the compensation coefficient selector 12;
step two, the speed compensation coefficient is connected to a speed compensation coefficient input end K of the compensation coefficient selector 12 and is used as an input VALUE of an input end K _ REF of the coefficient PI regulator 124, an input end D _ Y of the compensation coefficient selector 12 is connected to an input end Y _ REF of the coefficient PI regulator 124, and an output end K _ OUT of the coefficient PI regulator 124 is connected to an input end K _ VALUE of the coefficient selector 125;
and step three, connecting the input value of the input end D _ Y of the compensation coefficient selector 12 to the input end Y _ ABS of the comparison module 122 after passing through the absolute value module ABS, and taking the stable amplitude limit value as the input value of the input end D of the comparison module 122. When the output value of the output end a _ Y of the comparison module 122 is less than or equal to 0, selecting the output end K _ OUT of the first assignment module 123 to be connected to the output end D _ K of the compensation coefficient selector 12, and assigning 0 to K0 as the output value of the output end D _ K of the compensation coefficient selector 12; when the output value of the output terminal a _ Y of the comparing module 122 is greater than 0, the output terminal K _ O of the selection coefficient selector 125 is connected to the output terminal D _ K of the compensation coefficient selector 12. The input end D _ Y of the compensation coefficient selector 12 is connected to the input end Y _ VALUE of the coefficient selector 125, when the input VALUE of Y _ VALUE is greater than 0, the output end K _ OUT of the second assignment module 1251 is selected to be connected to the output end K _ O of the coefficient selector 125, and K0 is assigned as the input VALUE of K _ VALUE of the input end K _ VALUE of the coefficient selector 125, and is used as the output VALUE of the output end D _ K of the compensation coefficient selector 12; when the input VALUE of Y _ VALUE is less than 0, selecting the output terminal K _ OUT of the third assignment module 1252 to be connected to the output terminal K _ O of the coefficient selector 125, assigning K0 as the negative VALUE of the input VALUE of K _ VALUE at the input terminal of the coefficient selector 125, and using the negative VALUE as the output VALUE of the output terminal D _ K of the compensation coefficient selector 12; only one of the output values of the first assignment module 123, the second assignment module 1251 and the third assignment module 1252 meets the output condition at the same time, and the output end D _ K of the compensation coefficient selector 12 is connected to the input end V _ K of the speed compensation generator 13;
step four, the speed set value of the first variable frequency motor is used as an input value of an input end V0_ IN of the speed compensation generator 13, and an output end D _ K of the compensation coefficient selector 12 is connected to an output end V _ K of the speed compensation generator 13; the output terminal V _ K of the speed compensation generator 13 is connected to the input terminal T _ K of the coefficient accumulator 131, the output terminal TK _ O of the coefficient accumulator 131 is connected to the input terminal TK _ I of the speed accumulator 132, and the output terminal D _ V of the speed accumulator 132 is connected to the output terminal V1 of the speed compensation generator 13 through a speed limiter V _ Limit;
step five, connecting an input end V0_ IN of the speed compensation generator 13 to an output end V0_ OUT of the speed compensation generator 13, and sending the speed compensation generator as a speed set value of the first variable frequency motor to a transmission system; the output V1 of the speed compensation generator 13 is sent to the drive train as the second variable frequency motor speed set point.
The invention is mainly characterized in that: through increasing synchronous control module 1 in original control system, broach carrier lift in-process carries out speed compensation's change according to many inverter motor's sign indicating number value deviation, and the big speed compensation grow of deviation, the little speed compensation of deviation diminishes, realizes real-time speed compensation, carries out accurate synchro control to whole lift process.
The invention has the beneficial effects that: through the synchronous control module 1, real-time speed compensation of a plurality of variable frequency motors in the lifting process is realized, the stability of speed set value regulation change and the accuracy of synchronous control are ensured, the synchronous control module has the characteristics of simple control method, high control accuracy and the like, the possibility of unbalance among the plurality of variable frequency motors is reduced, and the running stability of the comb tooth lifting mechanism equipment is improved.
Drawings
FIG. 1 is a terminal diagram of a synchronous control module of a comb tooth lifting mechanism
FIG. 2 is a schematic diagram of a synchronous control module process of the comb lifting mechanism
Detailed Description
The motion process of the lifting mechanism of the comb tooth carrier of a certain bus three-dimensional parking building is analyzed, and the optimization effect of the synchronous control module for synchronously controlling the plurality of variable frequency motors is added in the lifting process control of the plurality of variable frequency motors is explained.
The comb tooth carrier operation process is that after the carrier moves to the appointed position of the warehouse, the lifting mechanism lifts to take the vehicle or descend to put the vehicle, and then returns to the tunnel shuttle. In the lifting process of the comb carrier, code value datum points of a plurality of variable frequency motors of the lifting mechanism are all low-limit detection elements, and stop signals for lifting to a high position are high-limit detection element signals. Reachs motor code value data through accurate monitoring software, motor code value has reflected motor elevating system's high low position, when low spacing or high limit stop because of spacing detecting element mounted position height basically, so two inverter motor code values are unanimous basically, nevertheless at the lift in-process, two inverter motor's the poor obvious floating that has of code value, although there is the deviation protection, the warning such as code value transfinite, can avoid breaking off with the fingers and thumb of balanced connecting axle base, nevertheless long-time operation must lead to the fact wearing and tearing to two inverter motor's balanced connecting axle, influence the normal use of broach carrier. After the synchronous control module is added, the two variable frequency motors are started simultaneously, code values are basically consistent in the lifting process, and stopping actions are basically completed simultaneously.
Taking a lifting process as an example, the whole course of the lifting mechanism of the comb tooth carrier is 53 cm, the code value amplitude limit of the first variable frequency motor is 5530 codes, the code value of the second variable frequency motor is 5535 codes, the speed compensation coefficient is 0.055, the stability amplitude limit value is 50 codes, the deviation protection value is 300 codes, and the speed set value of the first variable frequency motor is 1300 rpm.
As can be seen by monitoring the code value data of the two variable frequency motors, in the whole lifting process of the lifting mechanism, the input value of the input end V _ D of the deviation calculation selector 11 is greater than 0, and the output end D _ X of the first deviation module 111 is selected to be connected to the output end Y of the deviation calculation selector 11. The absolute VALUE of the code VALUE deviation of the two variable frequency motors is always smaller than 50 codes of the stable amplitude limit VALUE, the input VALUE of the input end Y _ ABS of the comparison module 122 of the compensation coefficient selector 12 in the synchronous control module 1 is smaller than the input VALUE of D _ VALUE, namely the output VALUE of the output end A _ Y of the comparison module 122 is smaller than 0, the first assignment module 123 is selected to assign a VALUE to K0, the output VALUE of the output end K _ OUT of the first assignment module 123 is selected to be 0, and the output VALUE D _ K of the output end D _ K of the compensation coefficient selector 12 is selected to be 0. The input value V _ K of the speed compensation generator input terminal is 0, and V1 ═ V0_ IN ═ V0_ OUT is obtained, that is, the speed set value of the first inverter motor is the same as the speed set value of the second inverter motor.
As can be seen from monitoring the code value data of the two variable frequency motors, in the whole descending process of the lifting mechanism, the input value V _ D of the input end of the deviation calculation selector 11 is smaller than 0, and the output end D _ X of the second deviation module 112 is selected to be connected to the output end Y of the deviation calculation selector 11. The code value of the second variable frequency motor is larger than that of the first variable frequency motor and exceeds 50 codes, the second variable frequency motor descends slower than the first variable frequency motor, the absolute value of the code value deviation of the two variable frequency motors is larger than 50 codes, and namely the two variable frequency motor connecting shafts are balanced. The input value of the input end K _ REF of the coefficient PI regulator 124 is that the speed compensation coefficient is 0.055, and the input value of the output end K _ OUT of the coefficient PI regulator 124 is changed between 0-0.055 according to the change of the input value of the input end Y _ REF of the coefficient PI regulator 124. In the synchronous control module 1, the input VALUE Y _ ABS of the input end Y _ ABS of the comparison module 122 of the compensation coefficient selector 12 is greater than the input VALUE D _ VALUE, that is, the output VALUE a _ Y of the output end a _ Y of the comparison module 122 is greater than 0, the input VALUE Y _ VALUE of the input end Y _ VALUE of the coefficient selector 125 is greater than 0, and it is determined to select the second assignment module 1251 to assign the VALUE to K0, that is, the output VALUE K _ OUT of the output end K _ OUT of the selection assignment module 151 changes in the interval of 0 to 0.055. The output value D _ K of the output end of the compensation coefficient selector 12 changes in the range of 0-0.055. The input value V _ K of the input end of the speed compensation generator is changed in the range of 0-0.055. V1 ═ 1+ T _ K) × T _ V, V1 ═ 1+0.055 ═ 1300 ═ 1372 rpm, i.e., the maximum regulation speed of the second inverter motor speed set point was 1372 rpm. And (3) exiting the adjusting mode after the code value deviation of the two variable frequency motors is smaller than 50 codes by adjusting the speed set value of the second variable frequency motor in real time, namely the speed set value of the first variable frequency motor is the same as the speed set value of the second variable frequency motor.
The method can also be popularized to the embodiment that the comb tooth carrier lifting mechanism comprises a plurality of variable frequency motors, and only the code value input end of the second variable frequency motor of the synchronous control module and the speed setting output end of the second variable frequency motor are required to be changed into the numerical values of other variable frequency motors.
Through the field application practice, when a plurality of variable frequency motors run simultaneously in the lifting mechanism of the comb tooth carrier, the condition of code value deviation of the plurality of variable frequency motors can be certainly generated in the lifting process, and after the synchronous control module is applied, the stability of speed set value regulation change and the accuracy of synchronous control can be improved, the real-time accurate speed compensation of the plurality of variable frequency motors in the lifting process is realized, the possibility of unbalance among the plurality of variable frequency motors is reduced, and the running stability of equipment of the comb tooth lifting mechanism is improved.
And (4) conclusion: according to the invention, the synchronous control module is added in the existing lifting mechanism control system of the comb tooth carrier, so that the accuracy of synchronous control of a plurality of variable frequency motors in the lifting process is improved through real-time speed compensation change, the balance of connecting shafts of the plurality of variable frequency motors is ensured, and mechanical abrasion is reduced, thereby improving the stability and safety of the three-dimensional garage in the car taking process.

Claims (1)

1. A multi-motor synchronous control method for a lifting mechanism of a comb tooth carrier of a stereo garage is characterized by comprising the following steps: a synchronous control module is added on a lifting mechanism of a comb tooth carrier of a stereo garage, and comprises a deviation calculation selector (11), a compensation coefficient selector (12) and a speed compensation generator (13); the input ends of the synchronous control module comprise a first variable frequency motor code value input end X0, a second variable frequency motor code value input end X1, a speed compensation coefficient input end K, a stable amplitude limit value input end D and a first variable frequency motor speed set value input end V0_ IN; the output ends of the synchronous control module comprise a first variable frequency motor speed set value output end V0_ OUT and a second variable frequency motor speed set value output end V1;
the method comprises the steps that firstly, code values of a first variable frequency motor are used as reference values, the code values of the first variable frequency motor and a second variable frequency motor are respectively used as input values of an input end X0 and an input end X1 of a deviation calculation selector (11), a speed set value of the first variable frequency motor is used as an input value of an input end V _ D of the deviation calculation selector (11), and a first deviation module (111) and a second deviation module (112) are selected; the input value of an input end V _ D of the deviation calculation selector (11) is larger than 0, and an output end D _ X of the first deviation module (111) is selected to be connected to an output end Y of the deviation calculation selector (11); the input value of the input end V _ D of the deviation calculation selector (11) is less than 0, and the output end D _ X of the second deviation module (112) is selected to be connected to the output end Y of the deviation calculation selector (11); the output end Y of the deviation calculation selector (11) is connected to the input end D _ Y of the compensation coefficient selector (12);
secondly, the speed compensation coefficient is connected to a speed compensation coefficient input end K of a compensation coefficient selector (12) and is used as an input VALUE of an input end K _ REF of a coefficient PI regulator (124), an input end D _ Y of the compensation coefficient selector (12) is connected to an input end Y _ REF of the coefficient PI regulator (124), and an output end K _ OUT of the coefficient PI regulator (124) is connected to an input end K _ VALUE of a coefficient selector (125);
thirdly, an input value of an input end D _ Y of the compensation coefficient selector (12) is connected to an input end Y _ ABS of the comparison module (122) after passing through an absolute value module ABS, and a stable amplitude limit value is used as an input value of an input end D of the comparison module (122); when the output value of the output end A _ Y of the comparison module (122) is less than or equal to 0, selecting the output end K _ OUT of the first assignment module (123) to be connected to the output end D _ K of the compensation coefficient selector (12), and assigning 0 to K0 as the output value of the output end D _ K of the compensation coefficient selector (12); when the output value of the output end A _ Y of the comparison module (122) is larger than 0, the output end K _ O of the selection coefficient selector (125) is connected to the output end D _ K of the compensation coefficient selector (12); the input end D _ Y of the compensation coefficient selector (12) is connected to the input end Y _ VALUE of the coefficient selector (125), when the input VALUE of Y _ VALUE is larger than 0, the output end K _ OUT of the second assignment module (1251) is selected to be connected to the output end K _ O of the coefficient selector (125), and K0 is assigned as the input VALUE of the input end K _ VALUE of the coefficient selector (125) to serve as the output VALUE of the output end D _ K of the compensation coefficient selector (12); when the input VALUE of Y _ VALUE is smaller than 0, selecting the output end K _ OUT of the third assignment module (1252) to be connected to the output end K _ O of the coefficient selector (125), and assigning K0 as the negative VALUE of the input VALUE of K _ VALUE of the input end K _ VALUE of the coefficient selector (125) to be used as the output VALUE of the output end D _ K of the compensation coefficient selector (12); only one of output values of the first assignment module (123), the second assignment module (1251) and the third assignment module (1252) meets the output condition at the same time, and an output end D _ K of the compensation coefficient selector (12) is connected to an input end V _ K of the speed compensation generator (13);
step four, the speed set value of the first variable frequency motor is used as an input value of an input end V0_ IN of the speed compensation generator (13), and an output end D _ K of the compensation coefficient selector (12) is connected to an output end V _ K of the speed compensation generator (13); the output end V _ K of the speed compensation generator (13) is connected to the input end T _ K of the coefficient accumulator (131), the output end TK _ O of the coefficient accumulator (131) is connected to the input end TK _ I of the speed accumulator (132), and the output end D _ V of the speed accumulator (132) is connected to the output end V1 of the speed compensation generator (13) through a speed limiting V _ Limit;
connecting an input end V0_ IN of the speed compensation generator (13) to an output end V0_ OUT of the speed compensation generator (13) and sending the input end V3578 _ IN as a speed set value of the first variable frequency motor to a transmission system; the output V1 of the speed compensation generator (13) is sent to the drive train as the second variable frequency motor speed set point.
CN201910493188.0A 2019-06-06 2019-06-06 Multi-motor synchronous control method for lifting mechanism of comb tooth carrier of stereo garage Active CN112049490B (en)

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JP2000270596A (en) * 1999-03-17 2000-09-29 Nissei Ltd Drive controller of cargo loading apparatus, and multilayer-box type circulating mode parking apparatus using the same
CN103457522A (en) * 2013-08-30 2013-12-18 任敏 Continuous strip dyeing machine device synchronization system
CN105680733B (en) * 2016-03-17 2018-05-04 重庆交通大学 Method for multi-motor synchronous control
CN106401239B (en) * 2016-08-31 2019-04-30 北京首钢自动化信息技术有限公司 The traveling control method and device of comb teeth carrier in stereo garage
CN106365064B (en) * 2016-08-31 2020-01-21 北京首钢自动化信息技术有限公司 Double-code-value stroke amplitude limiting method and device for lifting mechanism
CN107947646B (en) * 2017-12-22 2020-12-25 中国矿业大学 Double-permanent-magnet synchronous motor coordination control optimization method based on mechanical connection
CN108988696A (en) * 2018-08-01 2018-12-11 云南省机械研究设计院 A kind of motor synchronous control method, apparatus and system

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