CN112777488B - Accurate traveling crane positioning method based on operation track control - Google Patents
Accurate traveling crane positioning method based on operation track control Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000001133 acceleration Effects 0.000 claims abstract description 37
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000009856 non-ferrous metallurgy Methods 0.000 description 2
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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
- B66C13/16—Applications of indicating, registering, or weighing devices
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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
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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
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/14—Trolley or crane travel drives
Abstract
The invention relates to the technical field of driving control, and discloses a driving accurate positioning method based on running track control, wherein a distance measuring sensor connected with a PLC signal is arranged on a driving, a path planning and calculating program module arranged in the PLC outputs the real-time speed of the driving according to the real-time position of the driving to control the driving, and the positioning step comprises the following steps: step1, presetting acceleration, deceleration, maximum running speed, a positioning completion interval, positioning completion set time, a positioning precision interval and an operation period in the positioning running process; step2, calculating a traveling crane positioning running track according to a related preset value; step3, dynamically outputting the real-time running speed of the travelling crane by the PLC in the positioning process according to the actual position feedback of the ranging sensor, the running track calculated in Step2 and the set calculation program module operation period; step4, when the traveling vehicle reaches a positioning interval, the PLC starts timing, and when the timing reaches the set positioning completion time, positioning is finished and speed output is stopped; step5 checks the positioning completion result.
Description
Technical Field
The invention relates to the technical field of crane control, in particular to a precise crane positioning method based on running track control and applied to heavy-load carrying in the nonferrous metallurgy industry.
Background
In the nonferrous metallurgy industry, traveling cranes are key heavy-load carrying tools, and with the development of electronic and computer technologies, the automatic running of the traveling cranes becomes a trend. The core technology for realizing the automatic running of the travelling crane is the accurate positioning of the travelling crane.
At present, position sensors on traveling cranes are more and more mature in application, and traveling crane positioning methods are more and more diverse, but some loads connected in a large-inertia non-rigid mode are lifted, so that the positioning accuracy of the traveling cranes is guaranteed while excessive swinging of the loads in the whole lifting process is prevented.
In the positioning process, acceleration and deceleration control is added, so that the delay or overshoot of the load due to large inertia during starting and stopping and less swing during stopping can be effectively reduced, but how to control the acceleration and deceleration process in the travelling crane positioning process can realize the rapid and accurate travelling crane positioning to the maximum extent is a great problem in the industry.
Disclosure of Invention
The invention solves the technical problem of overcoming the defects of the prior art and provides a precise driving positioning method based on the operation track control, which effectively improves the stability in the driving positioning process.
The purpose of the invention is realized by the following technical scheme:
a precise positioning method of a traveling crane based on operation track control is characterized in that a distance measuring sensor connected with a PLC signal is arranged on the traveling crane, a path planning and calculating program module arranged in the PLC outputs the real-time speed of the traveling crane according to the real-time position of the traveling crane to control a traveling frequency converter of the traveling crane to drive a traveling crane traveling motor to work, and the positioning method comprises the following steps:
step 1: presetting the acceleration a, the deceleration d and the maximum running speed V of the positioning running processmaxPositioning completion interval, positioning completion setting time, positioning precision interval and operation period;
step 2: according to the set acceleration a, deceleration d and maximum running speed VmaxCalculating the running track of the traveling crane positioning;
step 3: the PLC dynamically outputs the real-time running speed of the travelling crane according to the actual position feedback of the ranging sensor, the running track calculated in S2 and the set calculation program module operation period in the positioning running process;
step 4: when the travelling crane reaches a positioning interval, the PLC starts timing, and when the timing reaches preset positioning completion set time, positioning is finished and speed output is stopped;
step 5: checking a positioning completion result after positioning is finished, judging that positioning is successful when the actual position is within the positioning precision interval, and judging that positioning is failed if the actual position is not within the positioning precision interval;
step 6: and after the positioning fails, adopting a preset manual relocation or PLC (programmable logic controller) restart positioning program to relocate.
Further, the running track of the vehicle positioning in Step2 is divided into three stages of a regression starting point, acceleration and deceleration, and the control of each stage is as follows:
step 21: according to preset acceleration a, deceleration d and maximum running speed VmaxAnd the actual position feedback P and the target position P of the distance measuring sensor4Starting point position P1Calculating and selecting a critical value S1 of different running track models, and according to the actual positioning distance S-P4-P1Relation with S1 selects running track model and actual maximum running speed V in actual positioning processm；
According to the acceleration a, the deceleration d and the actual maximum running speed VmCalculating the deceleration starting point P in the regression starting point stage0Acceleration end point P in acceleration phase2Starting point P of deceleration in deceleration stage3；
Step 22: and (3) a regression starting point stage: at P0Previous driving at actual maximum operating speed VmTo P0Run to P0Then, the travelling crane decelerates at a deceleration d, and the PLC outputs the speed of the travelling crane in real time according to the actual position feedback P of the distance measuring sensor and the calculation period t of the calculation program module
Step 23: and (3) an acceleration stage: the travelling crane being at a starting position P1Then accelerating the running at the acceleration a until the acceleration end is reachedPoint P2The PLC outputs the speed of the traveling vehicle in real time according to the actual position feedback P of the distance measuring sensor and the calculation period t of the calculation program module
Step 24: and (3) a deceleration stage: the traveling crane reaches the deceleration starting point P3Thereafter, the vehicle is decelerated at deceleration d until the target position P is reached4The PLC outputs the speed of the traveling vehicle in real time according to the actual position feedback P of the distance measuring sensor and the calculation period t of the calculation program module
Further, the actual positioning distance S>At the critical value of S1, the actual maximum speed VmMaximum operating speed VmaxAcceleration end point P2And the deceleration starting point P3At a maximum running speed VmaxFrom P2Point is run to P3Point; when the actual positioning distance S is less than or equal to the critical value S1, the actual maximum running speed
P2Point and P3The points coincide.
Furthermore, when the hoisting weight is hoisted, the preset acceleration a and the preset deceleration d of the crane are determined according to the simple pendulum period T and the actual maximum running speed Vm of the crane hoisting rope, wherein a is d is Vm/T。
Further, the deceleration starting point P0 and the starting point P1Is a distance of
Acceleration end point P2And the starting point position P1Is a distance of
Deceleration starting point P3And a target position P4Is a distance of
Furthermore, the driving position beyond the target position needs to be decelerated and returned to the target position P4The PLC calculates the starting point P of deceleration regression according to the actual position feedback P and deceleration d of the distance measuring sensor5(ii) a The traveling crane is in the position short of the starting point P5Previously at actual maximum operating speed VmTo P5Operation, reaching the deceleration regression starting point P5Then, the PLC outputs the speed of the driving in real time
Still further, the deceleration starting point P of the regression target position5And a target position P4Is a distance of
Furthermore, the positioning completion interval is a circular interval with the target position as the center and the set value distance as the radius, and the positioning completion set time is a preset holding time when the actual position is in the positioning interval.
Furthermore, the positioning accuracy interval is a circular interval with the target position as the center and the set distance as the radius, and is determined by the traveling positioning accuracy.
Compared with the prior art, the invention has the following beneficial effects:
the positioning method utilizes the distance measuring sensor arranged on the travelling crane and the built-in path planning and calculation program module of the PLC, controls the travelling track of the travelling crane by adjusting the preset values of the acceleration, the deceleration, the target speed, the positioning completion interval and the positioning completion time in the running process of the travelling crane, can monitor the position of the travelling crane in real time, realizes the automatic running of the travelling crane and the millimeter-grade accurate walking position, effectively improves the quick positioning and positioning accuracy of the travelling crane, and simultaneously ensures the stability in the positioning process well, thereby lightening the labor intensity of workers and eliminating related potential safety hazards.
Drawings
Fig. 1 is a flowchart of a method for accurately positioning a vehicle based on a running track according to embodiment 1;
fig. 2 is a trapezoidal running track model of the precise positioning method for a traveling crane according to embodiment 1;
fig. 3 is a triangular running track model of the precise positioning method for a traveling crane described in 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 precise positioning method of the traveling crane based on the operation track control is provided, the traveling crane is provided with a distance measuring sensor in signal connection with a PLC, and a path planning and calculating program module arranged in the PLC outputs the real-time speed of the traveling crane according to the real-time position of the traveling crane to control a traveling frequency converter of the traveling crane to drive a traveling crane traveling motor to work.
In the present embodiment, the preset acceleration a, deceleration d, and maximum operating speed V are knownmaxCalculating period t and starting point position P of program module1And a target position P4. And after receiving the positioning task, a path planning and calculating program module arranged in the PLC calculates the running track of the positioning of the travelling crane, and then outputs the real-time speed of the travelling crane according to the running track and the actual position feedback P of the distance measuring sensor.
The calculation of the running track of the traveling crane positioning is divided into three steps as follows:
(1) selecting a trajectory model
In the embodiment, in order to reduce the swing radian of the sling and achieve the goal that the sling does not swing, the preset acceleration a and deceleration d are determined by the length L of the sling, and the simple pendulum period T of the sling satisfies the requirement
According to the starting point position P1And a target position P4Obtaining the positioning distance S ═ P4-P1。
According to the maximum operating speed VmaxCalculating a critical value selected by the running track model, wherein the critical distance is
When S is>S1At the same time, the vehicle is driven from the starting position P1Accelerate to VmaxThereafter, the acceleration is terminated, and the position at this time is regarded as the acceleration end point P2Maintenance of VmaxRunning at constant speed until reaching the deceleration starting point P3The whole running track is a trapezoidal running track, as shown in fig. 2.
When S is less than or equal to S1The time indicates that the speed of the vehicle cannot be accelerated to VmaxWhen the vehicle is accelerated to a certain speed VmThen entering a deceleration state, wherein the whole running track is a triangular running track, and an acceleration end point P2And the deceleration starting point P3Coincident as a point, as shown in FIG. 3; maximum speed V of acceleration at this timemThe actual maximum running speed of the whole positioning running process is obtained;
thus at S>S1Shi, ShiMaximum operating speed Vm＝VmaxWhen S is less than or equal to S1Actual maximum running speed VmShown by formula 4.
When S is less than or equal to S1When formula 2 and formula 4 are combined, the following formula 5 is shown:
by
S is less than or equal to1The acceleration a and the deceleration d of the time,
(2) calculating a node of a trajectory
According to a critical value S1Selecting a running track model of the vehicle at a positioning distance S, and determining an actual maximum running speed VmAfter the values of the acceleration a and the deceleration d, determining the positions of nodes such as acceleration end points, deceleration starting points and the like in the running track model;
when the actual position deviates from the starting position at the start of positioning, the vehicle is decelerated to return to the starting position P1. In the deceleration regression process, V is firstly usedmaxDriving at constant speed to the deceleration starting point P0Then, the speed is reduced to the starting point position P by the deceleration d1. Deceleration starting point P0And the starting point position P1Satisfy the requirement of
Starting position P of travelling crane1Accelerating to an acceleration end point P with an acceleration a2Starting point position P1And acceleration end point P2Satisfy the requirement of
The travelling crane is at the deceleration starting point P3Starts to decelerate to the target at deceleration dPosition P4Starting point P of deceleration3And a target position P4Satisfy the requirement of
The driving position needs to be decelerated and returned to the target position P after exceeding the target position4In the deceleration regression process, V is used firstmaxDriving at constant speed to the deceleration starting point P5Then decelerated to the target position P at deceleration d4. Deceleration starting point P5And the starting point position P4Satisfy the requirement of
(3) Calculating the dynamic speed of each point in the running track
According to the nodes, the running track in the process of positioning the travelling crane and the running speed V of the travelling crane at any point in the running track can be obtained0Specifically, as shown below, where P is the actual position feedback of the ranging sensor.
When P is present<P0When, V0＝Vmax
When P is present0<P<P1When the temperature of the water is higher than the set temperature,
when P is present1<P<P2When the temperature of the water is higher than the set temperature,
when P is present2<P<P3When, V0＝Vmax
When P is present3<P<P4When the temperature of the water is higher than the set temperature,
when P is present4<P<P5When the temperature of the water is higher than the set temperature,
when P is present5<When P is, V0＝-Vmax
And the PLC judges the current running track area of the travelling crane according to the actual position feedback P of the distance measuring sensor, then outputs the dynamic speed of the travelling crane according to the speed formula of the corresponding area, and controls the output of the frequency converter to drive the travelling motor of the travelling crane.
When the traveling crane reaches a positioning interval, the PLC starts timing, and when the timing reaches preset positioning completion set time, positioning is finished, control is quitted, and speed output is stopped; and after the positioning is finished, checking a positioning finishing result, judging that the positioning is successful if the actual position is within the positioning precision interval, and judging that the positioning is failed if the actual position is not within the positioning precision range.
After the positioning fails, adopting a preset solution: 1. informing field operators on duty to carry out manual positioning through related alarm measures; 2. the PLC automatically restarts the positioning program, presets a maximum restart frequency range, and takes the current position as a starting point P in the restart frequency range1The positioning distance S is calculated, and a new running track is recalculated.
The distance measuring sensor adopts a laser distance measuring sensor.
The control method utilizes the distance measuring sensor arranged on the travelling crane and the built-in path planning and calculating program module of the PLC to control the travelling crane running track by adjusting the preset values of acceleration, deceleration, target speed, positioning completion interval and positioning completion time in the travelling crane running process, thereby effectively improving the positioning rapidness and accuracy of the travelling crane and the stability in the positioning process.
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 (7)
1. A precise positioning method of a traveling crane based on operation track control is characterized in that a distance measuring sensor connected with a PLC signal is arranged on the traveling crane, a path planning and calculation program module arranged in the PLC outputs the real-time speed of the traveling crane according to the real-time position of the traveling crane to control a traveling frequency converter of the traveling crane to drive a traveling crane traveling motor to work, and the positioning method comprises the following steps:
step 1: presetting the acceleration a, the deceleration d and the maximum running speed V of the positioning running processmaxPositioning completion interval, positioning completion setting time, positioning precision interval and operation period;
step 2: according to the set acceleration a, deceleration d and maximum running speed VmaxCalculating the running track of the traveling crane positioning; the running track of the traveling crane positioning is divided into three stages of a regression starting point, acceleration and deceleration, and the control of each stage is as follows:
step 21: according to preset acceleration a, deceleration d and maximum running speed VmaxAnd the actual position feedback P and the target position P of the distance measuring sensor4Starting point position P1Calculating and selecting a critical value S1 of different running track models, and according to the actual positioning distance S-P4-P1Relation with S1 selects running track model and actual maximum running speed V in actual positioning processm；
According to the acceleration a, the deceleration d and the actual maximum running speed VmCalculating the deceleration starting point P in the regression starting point stage0Acceleration end point P in acceleration phase2Starting point P of deceleration in deceleration stage3；
Step 22: and (3) a regression starting point stage: at P0Previous driving at actual maximum operating speed VmTo P0Run to P0Then, the travelling crane operates in a deceleration d, and the PLC outputs the travelling crane in real time according to the actual position feedback P of the distance measuring sensor and the calculation period t of the calculation program moduleSpeed of rotation
Step 23: and (3) an acceleration stage: the travelling crane being at a starting position P1Then accelerating the running at the acceleration a until reaching an acceleration end point P2The PLC outputs the speed of the traveling vehicle in real time according to the actual position feedback P of the distance measuring sensor and the calculation period t of the calculation program module
Step 24: and (3) a deceleration stage: the traveling crane reaches the deceleration starting point P3Thereafter, the vehicle is decelerated at deceleration d until the target position P is reached4The PLC outputs the speed of the traveling vehicle in real time according to the actual position feedback P of the distance measuring sensor and the calculation period t of the calculation program module
When the hoisting weight is hoisted, the preset acceleration a and the preset deceleration d of the crane are determined according to the simple pendulum period T and the actual maximum running speed Vm of the crane hoisting rope, wherein a is d and Vm/T；
Step 3: the PLC dynamically outputs the real-time running speed of the travelling crane according to the actual position feedback of the ranging sensor, the running track calculated in Step2 and the set calculation program module operation period in the positioning running process;
step 4: when the travelling crane reaches a positioning interval, the PLC starts timing, and when the timing reaches preset positioning completion set time, positioning is finished and speed output is stopped;
step 5: checking a positioning completion result after positioning is finished, judging that positioning is successful when the actual position is within the positioning precision interval, and judging that positioning is failed if the actual position is not within the positioning precision interval;
step 6: and after the positioning fails, adopting a preset manual relocation or PLC (programmable logic controller) restart positioning program to relocate.
2. The accurate driving positioning method based on the operation track control as claimed in claim 1, wherein the actual positioning distance S>At the critical value of S1, the actual maximum speed VmMaximum operating speed VmaxAcceleration end point P2And the deceleration starting point P3At a maximum running speed VmaxFrom P2Point is run to P3Point; when the actual positioning distance S is less than or equal to the critical value S1, the actual maximum running speed
P2Point and P3The points coincide.
3. The accurate driving positioning method based on the operation track control as claimed in claim 1, wherein the deceleration starting point P0And the starting point position P1Is a distance of
Acceleration end point P2And the starting point position P1Is a distance of
Deceleration starting point P3And a target position P4Is a distance of
4. The accurate driving positioning method based on the operation track control as claimed in claim 1, wherein the driving position needs to be decelerated to return to the target position P after exceeding the target position4The PLC calculates the starting point P of deceleration regression according to the actual position feedback P and deceleration d of the distance measuring sensor5(ii) a The traveling crane is in the position short of the starting point P5Previously at actual maximum operating speed VmTo P5Operation, reaching the deceleration regression starting point P5Then, the PLC outputs the speed of the driving in real time
5. The accurate driving positioning method based on operation track control as claimed in claim 4, wherein the deceleration starting point P of the regression target position5And a target position P4Is a distance of
6. The method as claimed in claim 1, wherein the positioning completion interval is a circular interval centered on the target position and having a radius equal to a set distance, and the positioning completion setting time is a preset holding time when the actual position is within the positioning interval.
7. The method of claim 1, wherein the positioning accuracy interval is a circular interval centered on the target position and having a radius equal to a set distance, and the positioning accuracy interval is determined by the positioning accuracy of the vehicle.
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Address after: 412000 Room 401, F18 Building, Phase 6, Xinma Power Innovation Park, No. 899, Xianyue Road, Majiahe Street, Tianyuan District, Zhuzhou City, Hunan Province Patentee after: HUNAN TIANQIAO JIACHENG INTELLIGENT TECHNOLOGY Co.,Ltd. Country or region after: Zhong Guo Address before: 412000 R & D plant 308, phase C, Xinma power innovation park, 899 Xianyue Ring Road, Tianyuan District, Zhuzhou City, Hunan Province Patentee before: HUNAN TIANQIAO JIACHENG INTELLIGENT TECHNOLOGY Co.,Ltd. Country or region before: Zhong Guo |