CN113135403B - Anti-shaking control method and device for stacker and readable medium - Google Patents
Anti-shaking control method and device for stacker and readable medium Download PDFInfo
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- CN113135403B CN113135403B CN202110532726.XA CN202110532726A CN113135403B CN 113135403 B CN113135403 B CN 113135403B CN 202110532726 A CN202110532726 A CN 202110532726A CN 113135403 B CN113135403 B CN 113135403B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention provides an anti-shaking control method, an anti-shaking control device and a readable medium of a stacker, wherein the method comprises the following steps: acquiring the current position of a load to be clamped; acquiring a target position, to be conveyed by a load to be clamped, on an upright post of the stacker; judging whether the difference value between the current position and the target position is greater than a preset critical value or not; if the difference value between the current position and the target position is larger than the critical value, calculating the natural frequency of the target at the target position; generating operating parameters by using the target natural frequency; and controlling the stacker to operate according to the operation parameters when clamping the load. This scheme can improve the efficiency of preventing shaking control to the stacker.
Description
Technical Field
The invention relates to the technical field of mechanical control, in particular to an anti-swing control method and device for a stacker and a readable medium.
Background
With the development of home and abroad mechanization technologies, in order to improve the working efficiency, the fixed-point configuration of specific positions and specific heights of goods through mechanical equipment gradually becomes a trend. For example, a stacker is used to assemble the goods at a fixed point.
However, in the operation process of the stacker, the mechanism of the stacker shakes due to the need of horizontal variable speed movement. And the mechanical mechanism shakes and can lead to spare part fatigue damage and influence work efficiency scheduling problem, consequently, has the significance to stacker is prevented shaking control.
Disclosure of Invention
The invention provides an anti-swing control method and device for a stacker and a readable medium, which can improve the efficiency of anti-swing control on the stacker.
In a first aspect, an embodiment of the present invention provides a method for controlling shaking prevention of a stacker, where the method includes:
acquiring the current position of a load to be clamped;
acquiring a target position on a vertical column of the stacker to be conveyed by the load to be clamped;
judging whether the difference value between the current position and the target position is greater than a preset critical value or not;
if the difference value between the current position and the target position is larger than the critical value, calculating the target natural frequency at the target position;
generating operating parameters using the target natural frequency; and the number of the first and second groups,
and controlling the stacker to operate according to the operation parameters when clamping the load.
In one possible implementation, the step of calculating a target natural frequency at the target location includes:
acquiring a lowest position where a vertical column of the stacker generates a vibration response and a first natural frequency at the lowest position;
acquiring the highest position where the load can run on the upright post of the stacker and a second natural frequency at the highest position;
and calculating the target natural frequency by using the lowest position, the first natural frequency, the highest position and the second natural frequency.
In a possible implementation manner, the step of calculating the target natural frequency includes:
calculating a proportion parameter representing the proportion of the target position to an effective travel interval on an upright post of the stacker by using the lowest position, the highest position and the target position;
calculating a frequency interval parameter representing a natural frequency range corresponding to the effective travel interval by using the first natural frequency and the second natural frequency;
and calculating the sum of the first natural frequency and the product of the proportional parameter and the frequency interval parameter to obtain the target natural frequency.
In a possible implementation manner, the calculating, by using the lowest position, the highest position, and the target position, a ratio parameter representing a ratio of the target position to an effective travel interval on a column of the stacker crane includes:
wherein A is used to characterize the ratio parameter, Z x For characterizing the target position, Z a For characterizing said lowest position, Z b For characterizing the highest location;
and/or the presence of a gas in the gas,
the calculating, by using the first natural frequency and the second natural frequency, a frequency interval parameter that represents a natural frequency range corresponding to the valid stroke interval includes:
B＝F b -F a
wherein B is used for characterizing the frequency interval parameter, F a For characterizing said first natural frequency, F b For characterizing the second natural frequency.
In a possible implementation manner, the method for determining the critical value includes:
dividing the stroke between the lowest position and the highest position on the upright post of the stacker into at least one stroke interval according to the vibration intensity from the lowest position to each of the highest positions; the difference value of the vibration intensities corresponding to any two positions in each stroke interval is not greater than a preset difference threshold value;
and calculating the average value or median of the at least one travel interval to obtain the critical value.
In one possible implementation, the step of dividing the stroke from the lowest position to the highest position on the stacker column into at least one stroke section includes:
when the stacker operates at a variable speed in the horizontal direction, acquiring a vibration position on an upright post of the stacker; wherein the vibration position satisfies: taking the lowest position as a first node, taking the highest position as a last node, and obtaining a node when a test load rises from the first node to the last node along the upright post of the stacker, wherein the vibration intensity of the node reaches a preset increase threshold value relative to the increase value of the vibration intensity of the adjacent previous node;
and determining the travel between every two adjacent nodes as a travel interval.
In a second aspect, an embodiment of the present invention provides an anti-swing control device for a stacker, where the device includes:
an acquisition module for acquiring the current position of the load to be clamped; acquiring a target position on a vertical column of the stacker, to which the load to be clamped is to be conveyed;
a judging module, configured to judge whether a difference between the current position and the target position obtained by the obtaining module is greater than a preset critical value;
a calculating module, configured to calculate a target natural frequency at the target position if the determining module determines that the difference between the current position and the target position is greater than the critical value;
an execution control module: the target natural frequency generation module is used for generating operating parameters by utilizing the target natural frequency obtained by the calculation module; and controlling the stacker to operate according to the operation parameters when clamping the load.
In one possible implementation, the calculation module, when calculating the natural frequency at the target location, is configured to perform the following operations:
acquiring a lowest position of a vertical column of the stacker, which generates a vibration response, and a first natural frequency at the lowest position;
acquiring the highest position where the load can run on the upright post of the stacker and a second natural frequency at the highest position;
and calculating the target natural frequency by using the lowest position, the first natural frequency, the highest position and the second natural frequency.
In one possible implementation, the calculation module, when calculating the natural frequency, is configured to perform the following operations:
calculating a proportion parameter representing the proportion of the target position to an effective travel interval on an upright post of the stacker by using the lowest position, the highest position and the target position;
calculating a frequency interval parameter representing a natural frequency range corresponding to the effective travel interval by using the first natural frequency and the second natural frequency;
and calculating the sum of the first natural frequency and the product of the proportional parameter and the frequency interval parameter to obtain the target natural frequency.
In a possible implementation manner, the calculating module calculates a proportion parameter representing a proportion of the target position to an effective travel interval on a column of the stacker crane, and the proportion parameter includes:
wherein A is used to characterize the ratio parameter, Z x For characterizing the target position, Z a For characterizing said lowest position, Z b For characterizing the highest location;
and/or the presence of a gas in the gas,
the calculating module calculates a frequency interval parameter representing a natural frequency range corresponding to the effective travel interval by using the first natural frequency and the second natural frequency, and the calculating module includes:
B＝F b -F a
wherein B is used for characterizing the frequency interval parameter, F a For characterizing said first natural frequency, F b For characterizing the second natural frequency.
In one possible implementation, the method further includes:
a threshold determination module, configured when determining the threshold, to:
dividing the stroke between the lowest position and the highest position on the upright post of the stacker into at least one stroke interval according to the vibration intensity from the lowest position to each of the highest positions; the difference value of the vibration intensities corresponding to any two positions in each stroke interval is not greater than a preset difference threshold value;
and calculating the average value or median of the at least one travel interval to obtain the critical value.
In one possible implementation, the critical value determining module, when dividing the stroke between the lowest position and the highest position on the stacker column into at least one stroke section, is configured to:
when the stacker operates at a variable speed in the horizontal direction, acquiring a vibration position on an upright post of the stacker; wherein the vibration position satisfies: taking the lowest position as a first node, taking the highest position as a last node, and obtaining a node when a test load rises from the first node to the last node along the upright post of the piler, wherein the increase value of the vibration intensity of the node relative to the vibration intensity of the adjacent last node reaches a preset increase threshold value;
and determining the stroke between every two adjacent nodes as a stroke interval.
In a third aspect, another embodiment of the present invention further provides an anti-rolling control device for a stacker, including: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor is configured to invoke the machine-readable program to perform the method of any of the first aspects.
In a fourth aspect, the present invention also provides a computer-readable medium, on which computer instructions are stored, and when executed by a processor, the computer instructions cause the processor to execute the method according to any one of the first aspect.
According to the technical scheme, when the piler is subjected to anti-swing control, the current position of the load to be clamped and the target position to be conveyed on the upright post are collected, the stroke between the current position and the target position is compared with the preset critical value, the target natural frequency at the target position is calculated when the stroke is greater than the critical value, and then the operation parameter is generated according to the target natural frequency, so that the piler can operate according to the operation parameter. Therefore, whether the running process generates large shaking or not is determined by judging the stroke and the size of the preset critical value, so that the data processing amount of anti-shaking control is reduced, and the execution efficiency is improved. Further, the operating parameters corresponding to the target natural frequency are determined by calculating the target natural frequency at the target position and according to the target natural frequency. That is to say, this scheme can be directed against the different natural frequencies that different positions correspond on the stacker stand and generate the operating parameter in order to control the stacker, can solve and adopt single natural frequency as the natural frequency on the whole stacker stand when carrying out anti-swing control to the stacker and control inefficiency problem.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the embodiments or technical solutions in the prior art are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is also possible for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a method for controlling piler shaking prevention according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method of calculating a target natural frequency according to one embodiment of the present invention;
FIG. 3 is a flow chart of another method for calculating a target natural frequency according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an anti-swing control device of a stacker according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an anti-swing control device of another stacker provided in an embodiment of the present invention;
fig. 6 is a schematic diagram of a shaking prevention control device of another stacker according to an embodiment of the present invention.
List of reference numerals
101: obtaining a current position of a load to be clamped
102: acquiring a target position on a column of a stacker to which a load to be gripped is to be transported
103: judging whether the difference value between the current position and the target position is greater than a preset critical value
104: if the difference value between the current position and the target position is larger than the critical value, calculating the natural frequency of the target at the target position
105: generating operating parameters using target natural frequencies
106: controlling the stacker to operate according to the operation parameters when clamping the load
201: obtaining the lowest position of the vibration response generated by the vertical column of the stacker and the first natural frequency at the lowest position
202: acquiring the highest position where the load can run on the upright post of the stacker and the second natural frequency at the highest position
203: calculating to obtain a target natural frequency by using the lowest position, the first natural frequency, the highest position and the second natural frequency
301: calculating a ratio parameter representing the ratio of the target position to the effective travel interval on the upright post of the stacker by using the lowest position, the highest position and the target position
302: calculating a frequency interval parameter representing a natural frequency range corresponding to the effective travel interval by using the first natural frequency and the second natural frequency
303: calculating the sum of the first natural frequency and the product of the proportional parameter and the frequency interval parameter to obtain the target natural frequency
401: the acquisition module 402: the judging module 403: computing module
404: the execution control module 405: the critical value determination module 601: memory device
602: the processor 100: anti-swing control method of stacker
400: anti-swing control device 600 of stacker: anti-swing control device of stacker
Detailed Description
As described above, the stacker plays an important role in the arrangement of the loaded goods, etc., as a mechanical mechanism capable of moving the loaded goods in the horizontal direction and moving the loaded goods in the vertical direction. However, when the stacker is operated, the mechanical mechanism often shakes, for example, a single-column stacker without an upper rail cannot depend on a mechanical structure to enhance the overall mechanical rigidity in the horizontal movement direction, so that when the stacker moves in the horizontal direction, the mechanical mechanism of the stacker can shake due to the fact that the movement in the horizontal direction needs to perform frequent speed-changing movements such as acceleration and deceleration, the mechanical mechanism is further prone to fatigue damage, the work efficiency is low due to the fact that the part waiting for shaking is static, and the like. Therefore, the anti-swing control method has important significance for anti-swing control of mechanical equipment such as the stacker and the like.
At present, when the anti-swing control of the stacker is carried out, a fixed natural frequency is generally adopted as the natural frequency of the whole stacker upright column, and the speed is activated and a filter is set through the natural frequency so as to realize the control of the stacker. However, considering that the upright post of the stacker has a certain length, when the upright post shakes, the shaking amplitudes of different positions of the upright post are different, that is, the natural frequencies corresponding to different positions of the upright post are different, and the efficiency of the anti-shaking control for one fixed natural frequency adopted at the present stage is not high, and even the requirement of the actual working condition on stable operation cannot be met.
Based on the method, the natural frequency of the target position where the load needs to run is determined, and the running parameters are determined through the natural frequency to control the stacker, namely, the stacker control is correspondingly realized through the actual natural frequency of each position on the vertical column of the stacker instead of replacing the natural frequency of each position on the whole vertical column of the stacker by using a fixed natural frequency, so that the aim of improving the anti-shaking control efficiency of the stacker is fulfilled.
The following describes the anti-shake control method, device and readable medium of the stacker provided by the embodiment of the invention in detail with reference to the accompanying drawings.
As shown in fig. 1, the present invention provides a method 100 for controlling shaking prevention of a stacker, which may include the following steps:
step 101: acquiring the current position of a load to be clamped;
step 102: acquiring a target position, to be conveyed by a load to be clamped, on an upright post of a stacker;
step 103: judging whether the difference value between the current position and the target position is greater than a preset critical value or not;
step 104: if the difference value between the current position and the target position is larger than the critical value, calculating the natural frequency of the target at the target position;
step 105: generating operating parameters by using the target natural frequency; and the number of the first and second groups,
step 106: and controlling the stacker to operate according to the operation parameters when clamping the load.
The stacker is in work engineering, because need carry out frequent variable speed motion at the horizontal direction, this has just led to the stand of stacker to take place to rock easily at the variable speed in-process, if do not prevent rocking control to the stacker, so not only can produce destruction and wearing and tearing to the mechanism of stacker, and if the stacker has moved the position that needs place the goods in the horizontal direction, the stacker is still in the state of rocking this moment, then need wait that the stand of centre gripping load stops to rock and just can be accurate place the goods in appointed position after, this greatly reduced the work efficiency of stacker.
In the anti-shake control method usually adopted at present, for a fixed natural frequency, the natural frequency is used to obtain the operation parameters of the stacker in the horizontal direction, such as the acceleration, the speed, the acceleration time and the deceleration time of the stacker in the process of reaching a specified position in the horizontal direction. However, the upright of the stacker has a certain length, and the vibration amplitude of each position is different when the stacker shakes, for example, the vibration amplitude is smaller as the position is closer to the fixed point at the lower end, and the vibration amplitude is larger as the position is closer to the top end, that is, the natural frequency is larger as the position is closer to the lower end, and the natural frequency is smaller as the position is closer to the top end. Therefore, if only one natural frequency is used as the natural frequency value of any position on the whole upright post, the operation parameters obtained according to the natural frequency cannot effectively realize the anti-rolling control.
The method adopted by the scheme is that the current position of the load and the target position to be conveyed on the upright post are determined, and then the relation between the stroke between the current position and the target position and a critical value is judged so as to determine whether anti-swing control is required. Because on the upright post of the stacker, although the positions with different heights on the upright post correspond to different natural frequencies, if the running stroke of the load on the upright post is very short, or the change of the natural frequency does not reach the requirement of anti-swing control on the upright post, that is, the difference value between the current position and the target position is less than a preset critical value, the stacker only needs to run according to the current running parameters, and does not need to be controlled to prevent swing, so that the memory of the chip can be released, and the execution efficiency is improved.
Further, if the difference between the current position and the target position is greater than a preset critical value, that is, the variation of the natural frequency from the current position to the target position reaches the preset critical value, the target natural frequency at the target position is considered to be calculated, and then the operating parameters are generated by using the target natural frequency, and the stacker is operated according to the operating parameters. Therefore, the operation parameters are generated according to different natural frequencies corresponding to different positions on the upright post of the piler so as to control the piler, and the problem of low anti-swing control efficiency when the single natural frequency is used as the natural frequency on the whole upright post of the piler to perform anti-swing control on the piler can be solved.
It should be noted that the above-mentioned predetermined critical value is a displacement dimension. In another possible implementation, the dimension of the preset threshold may also be a dimension of a natural frequency. When the dimension of the preset critical value is the dimension of the natural frequency, after the current position and the target position are obtained, the natural frequencies corresponding to the current position and the target position need to be calculated respectively, and then whether the piler needs to be subjected to anti-shaking control or not is determined by calculating the relation between the difference value of the natural frequencies corresponding to the current position and the target position and the preset critical value.
For example, when the preset critical value is a displacement dimension, the preset critical value is 30cm, the current position is 45cm, and the target position is 125cm, then the stroke between the target position and the current position is 80cm, and the stroke is greater than the preset critical value, then the natural frequency of the target position is calculated, and an operation parameter is generated to allow the stacker to operate; if the current position is 125cm and the target position is 100cm, the travel between the target position and the current position is 25cm at this time, which is smaller than the preset critical value, which indicates that the anti-sway control of the operation of the stacker crane is not required.
For another example, when the preset critical value is a dimension of the natural frequency, and the preset critical value is 2Hz, the calculated natural frequency values of the current position and the target position are respectively 6Hz and 12Hz, and obviously, the difference value of the natural frequencies is greater than the preset critical value, and anti-shake control is required; if the natural frequencies at the current position and the target position are respectively 4Hz and 5Hz, obviously, the difference value of the natural frequencies is smaller than a preset critical value, and anti-shaking control is not needed.
The stacker can be realized by a SimOTION motion controller when being controlled by the operation parameters. The operating parameter generated by the target natural frequency may be determined by a correspondence between the natural frequency and the operating parameter. For example, a correspondence table between the natural frequency and the operating parameter or a functional relationship between the natural frequency and the operating parameter may be given. The basic basis is that according to the natural frequency and the horizontal running path of the stacker, the running state of the stacker in the path section is determined, so that the stacker is ensured not to shake, and the stacker can reach the specified position in the horizontal direction at the highest speed. For example, in the case of a natural frequency of 8Hz and a horizontal direction running of 15m, the acceleration running time is 2s and the deceleration running time is 3s by querying a preset correspondence table or by functional relation calculation.
In order to make the anti-rolling performance of the stacker higher, when the corresponding relation between the natural frequency and the operation parameters is given, the parameters of the upright post of the stacker can be taken into account, for example, the material, the rigidity and the like of the upright post are taken into account, that is, different materials or different rigidities respectively correspond to different operation parameters.
In one possible implementation manner, based on the anti-sway control method 100 of the stacker shown in fig. 1, as shown in fig. 2, step 104 may be calculated by the following method when calculating the target natural frequency at the target position:
step 201: acquiring a lowest position of a vertical column of the stacker, which generates a vibration response, and a first natural frequency at the lowest position;
step 202: acquiring the highest position where a load can run on an upright post of the stacker and a second natural frequency at the highest position;
step 203: and calculating to obtain the target natural frequency by using the lowest position, the first natural frequency, the highest position and the second natural frequency.
In the embodiment of the present invention, in calculating the target natural frequency at the target position, first, it is considered to acquire the lowest position at which the upright of the stacker can generate a vibrational response and a first natural frequency at the lowest position, then acquire the highest position at which the load can run on the upright and a second natural frequency at the highest position, and finally calculate the target natural frequency by using the acquired lowest position, highest position, first natural frequency and second natural frequency. In the embodiment, when the target natural frequency is calculated, the effective travel range of the stand column of the stacker crane is fully taken into account, that is, the travel from the lowest position to the highest position is taken into account, so that when the target natural frequency is determined, it is obvious that the target position is located between the lowest position and the highest position, and similarly, the target natural frequency at the target position is also located between the first natural frequency and the second natural frequency, so that the determination range of the target natural frequency is greatly reduced, and the determined target natural frequency is ensured to have higher accuracy.
For the upright post of the stacker, the bottom of the upright post is fixed on a base of the stacker, when shaking occurs, the shaking is more severe at the position closer to the upper end, the shaking is very small at the position closer to the fixed point of the base, and even the shaking is not approximately generated in a distance upward from the fixed point. For example, in the stroke of 10cm upward from the fixed point of the base, because the shaking is too small, effective detection data cannot be obtained frequently, and therefore, in the actual calculation process, the stroke is considered to be excluded from the calculation range, so that the data amount of calculation is reduced, and the execution efficiency of the chip is improved. In practice, the detection of the natural frequency may be performed starting from a fixed point of the base upwards, when a significant vibrational response occurs, the position is determined as the lowest position, and the determination of the natural frequency is performed.
In step 203, when the lowest position, the first natural frequency, the highest position, and the second natural frequency are used to calculate the target natural frequency, it may be considered to divide the lowest position to the highest position into several sections, use the natural frequency between the first natural frequency and the second natural frequency as the natural frequency of each section, and then determine the target natural frequency corresponding to the target position according to which section the target position is located in.
In one implementation of determining the target natural frequency, a method of interval division equivalence may be considered. For example, the lowest position of the stacker crane capable of generating a vibration response is 15cm, the lowest position corresponds to a first natural frequency of 30Hz, the highest position of the stacker crane capable of being reached by a load running thereon is 165cm, the highest position corresponds to a second natural frequency of 5Hz, wherein the height of the target position is 100cm, and the stroke between the lowest position and the highest position is 165-15=150cm, the stroke interval is considered to be divided into 5 intervals, and the natural frequency values between the first natural frequency and the second natural frequency are also divided into 5 intervals, so that 5 stroke intervals of [15-45], [45-75], [75-105], [105-135], [135-165] are obtained, and each stroke interval can be approximately replaced by any frequency value in the stroke, for example, any position in the stroke range of 15 cm-45 cm can be used as the natural frequency thereof, so as to determine the target natural frequency.
In another implementation of determining the target natural frequency, a method of establishing a relationship between the position and the natural frequency may be considered. For example, as shown in fig. 3, this can be achieved by:
step 301: calculating a proportion parameter representing the ratio of the target position to an effective travel interval on an upright post of the stacker by using the lowest position, the highest position and the target position;
step 302: calculating a frequency interval parameter representing a natural frequency range corresponding to the effective travel interval by using the first natural frequency and the second natural frequency;
step 303: and calculating the sum of the first natural frequency and the product of the proportional parameter and the frequency interval parameter to obtain the target natural frequency.
In the embodiment of the invention, the relationship between the position and the natural frequency is established based on the consideration that the lower the position of the upright of the stacker is, the smaller the amplitude during shaking is, the closer the upright is to the fixed point, the larger the amplitude during shaking is, the closer the upright is to the top end, the larger the amplitude during shaking is, and the negative correlation relationship exists between the amplitude and the frequency during shaking, that is, the lower the position on the upright of the stacker is, the higher the natural frequency is, and the higher the position is, the lower the natural frequency is, namely, the proportional relationship between the position on the upright of the stacker and the position exists in negative correlation.
The ratio of the target position to the effective travel range on the column is consistent with the ratio of the target natural frequency at the target position to the natural frequency range of the column. Therefore, firstly, a proportion parameter representing the ratio of the target position to the effective travel range on the stacker crane upright is calculated, for example, the proportion parameter in step 301 may be calculated by using the following formula:
wherein A is used for characterizing a proportional parameter, Z x For characterizing the position of the target, Z a For characterizing the lowest position, Z b For characterizing the highest position.
Further, a frequency interval parameter characterizing a natural frequency range corresponding to the valid travel interval is calculated, for example using B = F b -F a Calculating the frequency interval parameter in step 302, i.e. by characterizing F of the second natural frequency b And F characterizing the first natural frequency a Making difference value to obtain B characterizing frequency interval parameter, finally calculating product of proportional parameter and frequency interval parameter, summing obtained result with first natural frequency to obtainTo the target natural frequency.
For example, the lowest position Z is obtained by detection a 20cm, the first natural frequency F corresponding to the lowest position a Is 25Hz, highest position Z b 140cm, the second natural frequency F corresponding to the highest position b At 5Hz, the load on the stacker column needs to be operated to the target position Z of the column x Is 80cm, based on the ratio of the target position to the effective stroke interval on the upright column and the target natural frequency F at the target position x The ratio over the natural frequency range of the column is taken into account uniformly, there is a target natural frequency F x And a first natural frequency F a Of the difference with the second natural frequency F b And a first natural frequency F a Is compared with the target position Z x And the lowest position Z a With the difference between the highest position and the lowest position Z a The ratio of the difference of (a) to (b) is consistent, i.e.:
by calculating the target position Z x And the lowest position Z a Difference and highest position Z b And the lowest position Z a To obtain a value characterizing the target position Z x Proportional parameters to the effective travel interval on the vertical column of the stacker, and calculating a first natural frequency F a And a second natural frequency F b Obtaining a frequency interval parameter representing a natural frequency range corresponding to the effective travel interval by the difference between the first natural frequency and the second natural frequency, and further calculating the product of the ratio parameter A and the frequency interval parameter B and the first natural frequency F a To obtain the target natural frequency F x 。
Thus, in this example:
b =5-25= -20, so there are
I.e. in the eyesThe target natural frequency at the target position of 80cm was 10Hz.
Because the deviation of the corresponding natural frequency of the two positions is very small when the two positions on the upright post of the stacker crane are very close, even if the anti-swing control is carried out on the two positions, the change of the obtained operating parameters of the stacker crane is not large, the anti-swing control effect is not particularly obvious, and the processing efficiency of the chip is reduced. Therefore, in a possible implementation manner, considering that the critical value in step 103 is determined by a method of interval division so that the anti-shake control is performed again when the critical value is exceeded, the method may include:
dividing the stroke between the lowest position and the highest position on the upright post of the stacker into at least one stroke interval according to the vibration intensity of each position from the lowest position to the highest position; the difference value of the vibration intensities corresponding to any two positions in each stroke interval is not greater than a preset difference threshold value;
and calculating the average value or median of at least one stroke interval to obtain a critical value.
In the embodiment of the invention, the highest position to the lowest position are divided into a plurality of stroke intervals, and the difference value of the vibration intensities corresponding to any two positions in each stroke interval is not larger than the preset difference threshold value, so that the natural frequency change of any two positions in the same stroke interval is not large, and the feasibility of stroke interval division is ensured. And further calculating the average value or median of the plurality of travel intervals to obtain the critical value.
For example, as described above, in the effective stroke interval of 20cm to 140cm, 6 stroke intervals are obtained by comparing the difference between the vibration intensities with the preset difference threshold, and the obtained 6 intervals are [20, 40], [40, 60], [60, 80], [80, 100], [100, 120], [120, 140], respectively, at this time, the median of the stroke interval may be selected as the critical value, that is, [60, 80] or [80, 100], the interval should be averaged in practice, the obtained average value is used as the critical value, that is, the average value 70 of 60 to 80 or the average value 90 of 80 to 100 is used as the critical value, and the average value 80 of 60 to 100 may be used as the critical value.
In practical applications, the lengths of the intervals may be different, for example, the 6 intervals may be [20, 30], [30, 45], [45, 60], [60, 80], [80, 110], [110, 140], so that an average value of each trip interval may be calculated, and then an average value of the average values of all the trip intervals is calculated to obtain a threshold, thereby obtaining a more practical threshold.
When the stroke from the lowest position to the highest position on the stacker upright is divided into at least one stroke section, the method can be realized by adopting the following method:
when the stacker operates at a variable speed in the horizontal direction, acquiring a vibration position on an upright post of the stacker; wherein the vibration position satisfies: taking the lowest position as a first node, taking the highest position as a last node, and obtaining a node when a test load rises from the first node to the last node along the upright post of the stacker, wherein the vibration intensity of the node reaches a preset increase threshold value relative to the increase value of the vibration intensity of the adjacent previous node;
and determining the stroke between every two adjacent nodes as a stroke interval.
In the embodiment of the invention, the load is tested from the lowest position, the increase threshold of the vibration intensity is set, then the node is determined, and the stroke from the lowest position to the highest position is divided into a plurality of stroke intervals through the node, so that the natural frequency change of any two points in the same stroke interval is ensured to be within a certain threshold range, and in the actual anti-shaking control process, the calculation of the natural frequency and the anti-shaking control of each position are not required, the memory of a control chip can be greatly released, and the data processing efficiency is improved.
As shown in fig. 4, an embodiment of the present invention provides an anti-swing control apparatus 400 for a stacker, including:
an obtaining module 401 for obtaining a current position of a load to be clamped; acquiring a target position, to be conveyed by a load to be clamped, on an upright post of the stacker;
a determining module 402, configured to determine whether a difference between the current position and the target position obtained by the obtaining module 401 is greater than a preset critical value;
a calculating module 403, configured to calculate a target natural frequency at the target position if the determining module 402 determines that the difference between the current position and the target position is greater than the threshold;
an execution control module 404: for generating operating parameters by using the target natural frequency obtained by the calculating module 403; and controlling the stacker to operate according to the operation parameters when clamping the load.
In the embodiment of the present invention, the obtaining module 401 may be configured to execute the steps 101 and 102 in the above-described method embodiment, the determining module 402 may be configured to execute the step 103 in the above-described method embodiment, the calculating module 403 may be configured to execute the step 104 in the above-described method embodiment, and the execution control module 404 may be configured to execute the steps 105 and 106 in the above-described method embodiment.
In one possible implementation, in the anti-sway control apparatus 400 of the stacker shown in fig. 4, the calculation module 403 is configured to perform the following operations when calculating the natural frequency at the target position:
acquiring a lowest position of a vertical column of the stacker, which generates a vibration response, and a first natural frequency at the lowest position;
acquiring the highest position where a load can run on an upright post of the stacker and a second natural frequency at the highest position;
and calculating to obtain the target natural frequency by using the lowest position, the first natural frequency, the highest position and the second natural frequency.
In this embodiment of the present invention, the calculating module 403 may be further configured to perform steps 201 to 203 in the above method embodiment.
In one possible implementation manner, in the anti-sway control apparatus 400 of the stacker shown in fig. 4, the calculation module 403 is configured to perform the following operations when the natural frequency is calculated:
calculating a proportion parameter representing the ratio of the target position to an effective travel interval on an upright post of the stacker by using the lowest position, the highest position and the target position;
calculating a frequency interval parameter representing a natural frequency range corresponding to the effective travel interval by using the first natural frequency and the second natural frequency;
and calculating the sum of the first natural frequency and the product of the proportional parameter and the frequency interval parameter to obtain the target natural frequency.
In this embodiment of the present invention, the calculating module 403 may be further configured to perform steps 301 to 303 in the above method embodiment.
In one possible implementation manner, the calculating module 403 calculates a proportion parameter representing a ratio of the target position to an effective travel interval on a stand column of the stacker crane, including:
wherein A is used for characterizing a proportional parameter, Z x For characterizing the position of the target, Z a For characterizing the lowest position, Z b For characterizing the highest location;
and/or the presence of a gas in the gas,
the calculating module 403 calculates, by using the first natural frequency and the second natural frequency, a frequency interval parameter representing a natural frequency range corresponding to the valid travel interval, including:
B＝F b -F a
wherein B is used for representing frequency interval parameters, F a For characterizing a first natural frequency, F b For characterizing the second natural frequency.
In a possible implementation manner, based on the stacker anti-swing control apparatus 400 shown in fig. 4, as shown in fig. 5, the stacker anti-swing control apparatus 400 further includes:
a threshold determination module 405, configured when determining the threshold, to:
dividing the stroke between the lowest position and the highest position on the upright post of the stacker into at least one stroke interval according to the vibration intensity of each position from the lowest position to the highest position; the difference value of the vibration intensities corresponding to any two positions in each stroke interval is not greater than a preset difference threshold value;
and calculating the average value or median of at least one stroke interval to obtain a critical value.
In one possible implementation, the threshold determination module 405 is configured to perform the following operations when dividing the stroke between the lowest position to the highest position on the stacker crane column into at least one stroke section:
when the stacker operates at a variable speed in the horizontal direction, acquiring a vibration position on an upright post of the stacker; wherein the vibration position satisfies: taking the lowest position as a first node, taking the highest position as a last node, and obtaining a node when a test load rises from the first node to the last node along the upright post of the stacker, wherein the increase value of the vibration intensity of the node relative to the vibration intensity of the adjacent last node reaches a preset increase threshold value;
and determining the stroke between every two adjacent nodes as a stroke interval.
As shown in fig. 6, an embodiment of the present invention further provides another anti-swing control apparatus 600 for a stacker, including: at least one memory 601 and at least one processor 602;
at least one memory 601 for storing a machine-readable program;
at least one processor 602, coupled to the at least one memory 601, is configured to invoke a machine-readable program to execute the method 100 for anti-shake control of a stacker provided in any of the embodiments.
The present invention further provides a computer readable medium, on which computer instructions are stored, and when the computer instructions are executed by a processor, the processor is caused to execute the method 100 for anti-shake control of a stacker provided in any embodiment. Specifically, a system or an apparatus equipped with a storage medium on which software program codes that realize the functions of any of the above-described embodiments are stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program codes stored in the storage medium.
In this case, the program code itself read from the storage medium can realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.
Examples of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer via a communications network.
Further, it should be clear that the functions of any one of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform a part or all of the actual operations based on instructions of the program code.
Further, it is to be understood that the program code read out from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then causes a CPU or the like mounted on the expansion board or the expansion module to perform part or all of the actual operations based on instructions of the program code, thereby realizing the functions of any of the above-described embodiments.
It should be noted that not all steps and modules in the above flow and device structure diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution order of the steps is not fixed and can be adjusted as required. The system structure described in the above embodiments may be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by a plurality of physical entities, or some components in a plurality of independent devices may be implemented together. The anti-swing control device of the stacker and the anti-swing control method of the stacker are based on the same invention concept.
In the above embodiments, the hardware module may be implemented mechanically or electrically. For example, a hardware module may comprise permanently dedicated circuitry or logic (such as a dedicated processor, FPGA or ASIC) to perform the corresponding operations. A hardware module may also comprise programmable logic or circuitry (e.g., a general-purpose processor or other programmable processor) that may be temporarily configured by software to perform the corresponding operations. The specific implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.
While the invention has been shown and described in detail in the drawings and in the preferred embodiments, it is not intended to limit the invention to the embodiments disclosed, and it will be apparent to those skilled in the art that various combinations of the code auditing means in the various embodiments described above may be used to obtain further embodiments of the invention, which are also within the scope of the invention.
Claims (14)
1. An anti-swing control method of a stacker, wherein the stacker is provided with a stand column, and the method is characterized by comprising the following steps:
acquiring the current position of a load to be clamped on the upright post;
acquiring a target position on a vertical column of the stacker, to which the load to be clamped is to be conveyed;
judging whether the difference value between the current position and the target position is greater than a preset critical value or not;
if the difference value between the current position and the target position is larger than the critical value, calculating the target natural frequency at the target position;
generating an operating parameter using the target natural frequency; and the number of the first and second groups,
and controlling the stacker to operate according to the operation parameters when clamping the load.
2. The method of claim 1, wherein the step of calculating a target natural frequency at the target location comprises:
acquiring a lowest position of a vertical column of the stacker, which generates a vibration response, and a first natural frequency at the lowest position;
acquiring the highest position where the load can run on the upright post of the stacker and a second natural frequency at the highest position;
and calculating the target natural frequency by using the lowest position, the first natural frequency, the highest position and the second natural frequency.
3. The method of claim 2, wherein the step of calculating the target natural frequency comprises:
calculating a proportion parameter representing the ratio of the target position to an effective travel interval on an upright post of the stacker by using the lowest position, the highest position and the target position;
calculating a frequency interval parameter representing a natural frequency range corresponding to the effective travel interval by using the first natural frequency and the second natural frequency;
and calculating the sum of the first natural frequency and the product of the proportional parameter and the frequency interval parameter to obtain the target natural frequency.
4. The method of claim 3, wherein said calculating, using said lowest position, said highest position and said target position, a scale parameter characterizing a ratio of said target position to an active travel span on a column of said stacker, comprises:
wherein A is used to characterize the ratio parameter, Z x For characterizing the target position, Z a For characterizing the maximumLow position, Z b For characterizing the highest location;
and/or the presence of a gas in the atmosphere,
the calculating, by using the first natural frequency and the second natural frequency, a frequency interval parameter that represents a natural frequency range corresponding to the valid stroke interval includes:
B＝F b -F a
wherein B is used for characterizing the frequency interval parameter, F a For characterizing said first natural frequency, F b For characterizing the second natural frequency.
5. The method according to any one of claims 2 to 4, wherein the threshold value is determined by a method comprising:
dividing the stroke between the lowest position and the highest position on the vertical column of the stacker into at least one stroke interval according to the vibration intensity from the lowest position to each of the highest positions; the difference value of the vibration intensities corresponding to any two positions in each stroke interval is not greater than a preset difference threshold value;
and calculating the average value or median of the at least one travel interval to obtain the critical value.
6. The method of claim 5, wherein the step of dividing the stroke between the lowest position to the highest position on the stacker crane column into at least one stroke interval comprises:
when the stacker operates at a variable speed in the horizontal direction, acquiring a vibration position on an upright post of the stacker; wherein the vibration position satisfies: taking the lowest position as a first node, taking the highest position as a last node, and obtaining a node when a test load rises from the first node to the last node along the upright post of the piler, wherein the increase value of the vibration intensity of the node relative to the vibration intensity of the adjacent last node reaches a preset increase threshold value;
and determining the stroke between every two adjacent nodes as a stroke interval.
7. The stack machine prevent shaking controlling means, the stack machine has the stand, its characterized in that includes:
the acquisition module is used for acquiring the current position of the load to be clamped on the upright post; acquiring a target position on a vertical column of the stacker, to which the load to be clamped is to be conveyed;
a judging module, configured to judge whether a difference between the current position and the target position obtained by the obtaining module is greater than a preset critical value;
a calculating module, configured to calculate a target natural frequency at the target position if the determining module determines that the difference between the current position and the target position is greater than the critical value;
an execution control module: the system is used for generating operating parameters by utilizing the target natural frequency obtained by the calculation module; and controlling the stacker to operate according to the operation parameters when clamping the load.
8. The apparatus of claim 7, wherein the calculation module, when calculating the natural frequency at the target location, is configured to:
acquiring a lowest position where a vertical column of the stacker generates a vibration response and a first natural frequency at the lowest position;
acquiring the highest position where the load can run on the upright post of the stacker and a second natural frequency at the highest position;
and calculating the target natural frequency by using the lowest position, the first natural frequency, the highest position and the second natural frequency.
9. The apparatus of claim 8, wherein the calculation module, when calculating the natural frequency, is configured to:
calculating a proportion parameter representing the proportion of the target position to an effective travel interval on an upright post of the stacker by using the lowest position, the highest position and the target position;
calculating a frequency interval parameter representing a natural frequency range corresponding to the effective travel interval by using the first natural frequency and the second natural frequency;
and calculating the sum of the first natural frequency and the product of the proportional parameter and the frequency interval parameter to obtain the target natural frequency.
10. The apparatus according to claim 9, wherein the calculation module calculates a proportional parameter characterizing a ratio of the target position to an effective travel interval on a column of the stacker crane comprises:
wherein A is used to characterize the ratio parameter, Z x For characterizing the target position, Z a For characterizing said lowest position, Z b For characterizing the highest location;
and/or the presence of a gas in the atmosphere,
the calculating module calculates a frequency interval parameter representing a natural frequency range corresponding to the effective travel interval by using the first natural frequency and the second natural frequency, and the calculating module includes:
B＝F b -F a
wherein B is used for characterizing the frequency interval parameter, F a For characterizing said first natural frequency, F b For characterizing the second natural frequency.
11. The apparatus of any of claims 8 to 10, further comprising:
a threshold determination module, configured when determining the threshold, to:
dividing the stroke between the lowest position and the highest position on the upright post of the stacker into at least one stroke interval according to the vibration intensity from the lowest position to each of the highest positions; the difference value of the vibration intensities corresponding to any two positions in each stroke interval is not greater than a preset difference threshold value;
and calculating the average value or median of the at least one travel interval to obtain the critical value.
12. The apparatus of claim 11, wherein the threshold determination module, when dividing the stroke between the lowest position to the highest position on the stacker column into at least one stroke interval, is configured to:
when the stacker operates at a variable speed in the horizontal direction, acquiring a vibration position on an upright post of the stacker; wherein the vibration position satisfies: taking the lowest position as a first node, taking the highest position as a last node, and obtaining a node when a test load rises from the first node to the last node along the upright post of the stacker, wherein the vibration intensity of the node reaches a preset increase threshold value relative to the increase value of the vibration intensity of the adjacent previous node;
and determining the stroke between every two adjacent nodes as a stroke interval.
13. Anti-swing control device of stacker, its characterized in that includes: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor, configured to invoke the machine readable program, to perform the method of any of claims 1 to 6.
14. Computer readable medium, characterized in that it has stored thereon computer instructions which, when executed by a processor, cause the processor to carry out the method of any one of claims 1 to 6.
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| CN115535509B (en) * | 2022-11-01 | 2024-03-19 | 中轻长泰(长沙)智能科技股份有限公司 | Method and device for preventing stacker from shaking |
| CN116165963B (en) * | 2023-04-19 | 2023-07-11 | 苏州迈卡格自动化设备有限公司 | Anti-swing PLC motion curve calculation method and control system for ultra-high stacker |
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