CN114057110B - Crane open-loop control positioning method and system - Google Patents
Crane open-loop control positioning method and system Download PDFInfo
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- CN114057110B CN114057110B CN202111459900.9A CN202111459900A CN114057110B CN 114057110 B CN114057110 B CN 114057110B CN 202111459900 A CN202111459900 A CN 202111459900A CN 114057110 B CN114057110 B CN 114057110B
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- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 238000013016 damping Methods 0.000 claims abstract description 14
- 230000008859 change Effects 0.000 claims abstract description 12
- 238000005259 measurement Methods 0.000 claims description 14
- 230000010355 oscillation Effects 0.000 claims description 14
- 230000004044 response Effects 0.000 claims description 13
- 230000001629 suppression Effects 0.000 abstract description 2
- 230000001133 acceleration Effects 0.000 description 8
- 238000005096 rolling process Methods 0.000 description 8
- 238000004364 calculation method Methods 0.000 description 5
- 238000013459 approach Methods 0.000 description 4
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- 230000009286 beneficial effect Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
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- 206010063385 Intellectualisation Diseases 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—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
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a positioning method for crane open-loop control, which comprises the following steps: setting a load on the lifting mechanism; setting initial parameters of a crane system; calibrating an angle sensor, adjusting the load height, recording the measured value of an encoder and the load lifting height before and after the load height is adjusted, and calculating the ratio of the change value of the measured value of the encoder to the change value of the load lifting height; calibrating the damping of the system; and the operation speed is switched through the cart frequency converter and the trolley frequency converter, the minimum anti-shake distance corresponding to the operation speed is changed, and the cart and the trolley are positioned. According to the invention, the actual application condition of the crane is considered, the effective suppression and positioning of the loads of the single pendulum system and the double pendulum system of the crane during open-loop control are realized, the working efficiency and the operation safety of the crane are improved, the industrial application of an open-loop control method of the crane is facilitated, the method is applied to manual and automatic control of the crane, and the intelligent and rapid transportation of the crane is facilitated.
Description
Technical Field
The invention belongs to the technical field of intelligent control of cranes, and particularly relates to an open-loop control positioning method and system of a crane.
Background
The crane is used as an important logistics transport tool and is widely applied to important industrial sites such as metallurgical manufacturing, production workshops, ports and docks, construction sites, wind energy nuclear power and the like. At the same time, the crane is also a typical underactuated flexible system, and the speed change of the running mechanism inevitably causes the swinging of the load, which seriously affects the working efficiency and the running safety of the crane. Aiming at the problems, researchers at home and abroad put forward a plurality of anti-remote control methods and obtain great research results. However, most of the existing control methods stay in experimental and simulation results, and practical application is less.
In addition, the crane open-loop control method is widely focused on the simple structure and easy realization. There are two problems with the current open loop control. First, open loop control typically programs the cart or trolley travel trajectory based on the dynamics of the crane to dampen load oscillations. In this case, in order to suppress the swing of the load, the crane generally needs to travel an acceleration distance and a deceleration distance to suppress the swing of the load during acceleration or deceleration of the crane. The presence of acceleration and deceleration distances makes the crane, after the control handle is released during control, still require a distance to travel, which will seriously affect the positioning of the load, and the acceleration and deceleration distances are related to system parameters such as the hoisting rope length and the set maximum travel speed. Meanwhile, the existing control open-loop control method is generally established based on a damping-free dynamic model, and in practical application, system damping, particularly steel wire rope damping, cannot be ignored. The presence of system damping will degrade the open loop control system performance, thereby affecting the positioning of the load.
Disclosure of Invention
The invention aims to provide an open-loop control positioning method for a crane, which considers the actual application situation of the crane, can effectively inhibit and position the loads of a single pendulum system and a double pendulum system of the crane during open-loop control, improves the working efficiency and the operation safety of the crane, is beneficial to the industrial application of the open-loop control method for the crane, is simultaneously applied to manual and automatic control of the crane, and is beneficial to promoting the intelligent and rapid transportation of the crane.
In order to solve the technical problems, the technical scheme of the invention is as follows: the crane system comprises a PLC, a lifting mechanism, a cart and a trolley; the lifting mechanism is characterized in that lifting frequency converters are respectively arranged on the cart and the trolley, the lifting frequency converters are respectively controlled by the PLC, the lifting frequency converters are changed by the cart frequency converter and the trolley frequency converter, the positions and the running speeds of the cart and the trolley are changed by the cart frequency converter and the trolley frequency converter, the lifting mechanism is also provided with an encoder and an angle sensor, and the encoder sends the reading of the encoder to the PLC after measuring the positions of the lifting mechanism;
the method comprises the following steps:
s1, setting a load on a lifting mechanism;
s2, setting initial parameters of a crane system, wherein the initial parameters at least comprise: the lifting height range of the load, the maximum running speed of the cart and the maximum running speed of the trolley;
s3, calibrating an encoder angle sensor, adjusting the load height, recording the measured value of the encoder angle sensor and the load lifting height before and after adjusting the load height, and calculating the ratio of the change value of the measured value of the encoder angle sensor to the change value of the load lifting height;
s4, calibrating the system damping;
s5, switching the running speed through the cart frequency converter and the trolley frequency converter, changing the minimum anti-shake distance corresponding to the running speed, and respectively positioning the cart and the trolley.
Further, S2 further includes determining a minimum operating speed of the cart and the cart based on the minimum execution speeds of the cart inverter and the cart inverter.
Further, S3 is specifically: recording the encoder reading at this time as the first encoder measurement x when the load is at the nadir 1 And the distance between the bottom end of the load and the ground is a first height h 1 Adjusting the load height, and recording the encoder reading as the second encoder measurement value x after adjusting the load height 2 And the distance between the bottom end of the load and the ground is a second height h 2 Calculating the ratio m= (x) of the change value of the encoder measurement value to the change value of the load lifting height 1 -x 2 )/(h 2 -h 1 )。
Further, S4 is specifically: the angle sensor acquires the response of the crane system, acquires the response of the crane system through the angle sensor, records corresponding time points when the response of the crane system is zero, namely when the load swinging direction changes, takes the difference between adjacent time points as an oscillation period, repeatedly performs S3, and calculates the average value T of a plurality of oscillation periods 1 According to the oscillation period formulaCalculating to obtain the actual length l of the lifting rope 1 The nominal length l of the lifting rope is obtained by encoder measurement 0 Calculating system damping->
Further, S5 is specifically: the PLC controls the cart frequency converter and the trolley frequency converter to switch the operation speed according to the load operation position, the operation speed is divided into a high speed, a medium speed and a low speed, and the minimum anti-shake distances of the cart and the trolley corresponding to the high speed, the medium speed and the low speed are respectively 2m,0.5m and 0.05m; when the load running distance is more than 2m, switching to a high speed; when the load running distance is more than 0.5m and less than 2m, switching to a medium speed; when the load running distance is less than 0.5m, switching to a low speed; and the crane system plans the movement track of the cart and the trolley according to the load running position and the running speed, and realizes the positioning of the cart and the trolley.
Still further, the low speed is a minimum operating speed of the cart and/or trolley.
An open-loop control system of a crane comprises a PLC, a lifting mechanism, a cart and a trolley; lifting frequency converters are respectively arranged on the cart and the trolley, the PLC is used for respectively controlling the lifting frequency converters, the lifting frequency converters and the trolley frequency converters are used for changing the positions and the running speeds of the lifting mechanisms, the encoder and the angle sensor are also arranged on the lifting mechanisms, the encoder reads the data and sends the data to the PLC after measuring the positions of the lifting mechanisms, and the angle sensor is used for obtaining the response of the crane system.
Further, the angle sensor is specifically an encoder, an inclination sensor or a machine vision measuring sensor.
Compared with the prior art, the invention has the beneficial effects that:
aiming at the problem that the load positioning is difficult due to the existence of the acceleration distance and the deceleration distance in the crane open-loop control, the effective positioning of the load is realized through the rough adjustment and the fine adjustment of the crane open-loop control based on the actual application requirement and the combined control strategy of the crane. Meanwhile, the system damping ignored in the crane modeling process is considered, the system damping calibration method is provided, the effective suppression of load swing is realized, the performance and positioning accuracy of an open loop control system are further improved, the implementation is easy, the operation is simple, and the automation, intellectualization and digitization levels of the crane can be greatly improved.
Drawings
FIG. 1 is a schematic diagram of the connection of the crane open loop control system of the present invention;
FIG. 2 is a schematic flow chart of the crane open loop control speed switching function of the present invention;
FIG. 3 is a schematic diagram of the system response of the crane open loop control system of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
An open-loop optimization anti-swing control method for a crane comprises the following steps:
calibrating system damping: let ζ be the system damping, the value of which can be found by:
wherein, I 0 For the nominal length of the hoist rope, this can be measured by an encoder fixed at one end of the spool. l (L) 1 Is the actual length of the hoist rope.
Zeta is mainly equal to l according to the above equation 0 And l 1 Related to the following. The encoder can obtain l 0 The above problem is then converted into an acquisition l 1 Is a problem with the actual value of (a). The system oscillation period is utilized hereinObtaining l 1 . Specifically, first, crane system response is obtained as shown by a solid line in fig. 3. Then, when the system response is zero, the time point is recorded, as indicated by the dotted line in fig. 3. The oscillation period of the system can be obtained by using the average value of ten oscillation periods.
Speed switching function hierarchy division: the open loop control distance is divided into three layers according to the actual application requirement of the crane, namely high speed, medium speed and low speed. Wherein, the maximum operation speed of the crane is set at high speed to realize the rapid transportation of the load. The medium speed can be configured according to actual due requirements, and is mainly used for eliminating the anti-shake running distance of the crane under the high speed condition. Because, in practice, open loop control at higher operating speeds typically results in a large anti-roll distance, which is typically greater than 1m, possibly even a few meters. The low speed is configured with reference to the minimum rotational speed of the crane operating mechanism motor because the frequency converter output has minimum frequency limitations during actual crane application and the motor needs to overcome resistance. In addition, the anti-sway distance of the crane comprises three parts of an acceleration distance, a uniform speed distance and a deceleration distance, wherein the minimum anti-sway distance is the sum of the acceleration distance and the deceleration distance, and the acceleration distance and the deceleration distance are configured to be the same value for convenience of explanation.
The crane single pendulum or double pendulum system open loop control cart positioning method comprises the following steps: in practical application of the crane, the speed switching function is selected according to the load running position. In detail, when the load is operated at a long distance, for example, more than 2m, the operator can select a high gear at which the minimum roll preventing distance of the cart is 2m. The crane controller automatically calculates the speed running track of the cart according to system parameters (including the length of the lifting rope, the maximum running distance and the like), and then the cart runs at a high speed when an operator starts the cart to run, so that coarse adjustment of load positioning is realized. After the high-speed running, the speed switching function is selected as a medium speed gear, and the minimum anti-rolling distance value of the cart is set as a fixed value, such as 0.5m. At this time, the crane control plans the movement track of the cart according to the design distance and the system parameters, so that the fine adjustment of the load positioning is realized. When the load approaches the target position, fine adjustment near the target position of the load can be realized through a low gear, and the minimum anti-rolling distance of the cart is also a fixed value, for example, 0.05m, and the running speed is the minimum running speed of the cart.
The positioning method of the crane single pendulum or double pendulum system open loop control trolley comprises the following steps: in practical application of the crane, the speed switching function is selected according to the load running position. In detail, when the load is operated at a long distance, for example, more than 2m, the operator can select a high gear at which the minimum roll preventing distance of the cart is 2m. The crane controller automatically calculates the speed running track of the trolley according to system parameters (including the length of the lifting rope, the maximum running distance and the like), and then the trolley runs at a high speed when an operator starts the trolley to run, so that coarse adjustment of load positioning is realized. After the high-speed running, the speed switching function is selected as a medium speed gear, and the minimum anti-rolling distance value of the trolley is set to be a fixed value, such as 0.5m. At this time, the crane control plans the movement track of the trolley according to the design distance and the system parameters, so that the fine adjustment of the load positioning is realized. When the load approaches the target position, fine adjustment near the target position of the load can be achieved through a low gear, and the minimum anti-rolling distance of the trolley is also a fixed value, for example, 0.05m, and the running speed is the minimum running speed of the trolley.
The invention, when applied specifically, comprises the following steps:
(1) Suspending a load on a lifting mechanism through a steel wire rope, and carrying out initial parameter configuration of a single pendulum or double pendulum system of the crane: and setting the maximum running speeds of the cart and the trolley, and determining the minimum running speeds of the cart and the trolley according to the system frequency converter, the motor, the crane mechanism and the like.
(2) Calibrating an encoder: first the load is reduced to the lowest point and the encoder measurement x is recorded 1 And the bottom end of the load is away from the ground h 1 Then the lifting mechanism is controlled to automatically operate for 10s, and the measured value x of the encoder is recorded again after the lifting mechanism stops operating 2 And the distance h from the bottom end of the load to the ground 2 Then there is the ratio of encoder measurement to load lifting height, m= (x) 1 -x 2 )/(h 2 -h 1 )。
(3) Calibrating system damping: first, crane system responses are obtained using calibration angle measurement sensors (e.g., encoders, tilt sensors, machine vision measurement sensors, etc.) as shown by the solid lines in FIG. 3. Meanwhile, according to calculation of a single pendulum or double pendulum system of the crane, the undamped oscillation rule of the crane system can be obtained as shown by a dotted line in fig. 3. The simulated dotted line is mainly the calibration period improvementReference, avoid calibrating and cause great deviation. Further, when the system response is zero, the time point is recorded, as indicated by the dotted line in fig. 3. Then, an average value of ten oscillation periods is calculated. In order to improve the accuracy of measurement period calculation, a method of calculating an average value by multiple measurements is adopted, namely, the average value is calculated by measuring multiple system response curves respectively, and finally, the oscillation period of the system can be obtained by using the average value obtained by calculation of the obtained tie value. Further utilize the system oscillation periodCalculating to obtain l 1 . Meanwhile, the nominal length l of the lifting rope can be obtained based on the calibration calculation of the encoder 0 . Finally, a system damping calculation formula is utilized: />Solving can obtain the system damping.
(4) Crane single pendulum or double pendulum system open loop control cart positioning: in practical application of the crane, the speed switching function is selected according to the load running position. In detail, when the load running distance is greater than 2m, the operator may select a high gear at which the minimum anti-roll distance of the cart is 2m. The crane controller automatically calculates the speed running track of the cart according to system parameters (including the length of the lifting rope, the maximum running distance and the like), and then the cart runs at a high speed when an operator starts the cart to run, so that coarse adjustment of load positioning is realized. After the high-speed running, the speed switching function is selected as a medium speed gear, and the minimum anti-rolling distance value of the cart is set to be a fixed value of 0.5m. At this time, the crane control plans the movement track of the cart according to the design distance and the system parameters, so that the fine adjustment of the load positioning is realized. When the load approaches the target position, fine adjustment near the load target position can be realized through a low gear, and at the moment, the minimum anti-rolling distance of the cart is also a fixed value of 0.05m, and the running speed is the minimum running speed of the cart.
(5) Open loop control trolley positioning of crane single pendulum or double pendulum system: in practical application of the crane, the speed switching function is selected according to the load running position. In detail, when the load running distance is greater than 2m, the operator can select a high gear at which the minimum anti-roll distance of the cart is 2m. The crane controller automatically calculates the speed running track of the trolley according to system parameters (including the length of the lifting rope, the maximum running distance and the like), and then the trolley runs at a high speed when an operator starts the trolley to run, so that coarse adjustment of load positioning is realized. After the high-speed running, the speed switching function is selected as a medium speed gear, and the minimum anti-rolling distance value of the trolley is set to be a fixed value of 0.5m. At this time, the crane control plans the movement track of the trolley according to the design distance and the system parameters, so that the fine adjustment of the load positioning is realized. When the load approaches the target position, fine adjustment near the load target position can be realized through a low gear, and at the moment, the minimum anti-rolling distance of the trolley is also a fixed value of 0.05m, and the running speed is the minimum running speed of the trolley.
It will be understood that modifications and variations will be apparent to those skilled in the art from the foregoing description, and it is intended that all such modifications and variations be included within the scope of the following claims.
Claims (6)
1. The open-loop control positioning method of the crane is characterized in that a crane system comprises a PLC, a lifting mechanism, a cart and a trolley; the lifting mechanism, the cart and the trolley are respectively provided with a lifting frequency converter, the cart frequency converter and the trolley frequency converter, the PLC is used for respectively controlling the lifting frequency converters, the cart frequency converter and the trolley frequency converter are used for changing the position and the running speed of the lifting mechanism, the lifting mechanism is also provided with an encoder, and the encoder is used for transmitting the reading of the encoder to the PLC after measuring the position of the lifting mechanism;
the method comprises the following steps:
s1, setting a load on a lifting mechanism;
s2, setting initial parameters of a crane system, wherein the initial parameters at least comprise: the lifting height range of the load, the maximum running speed of the cart and the maximum running speed of the trolley;
s3, calibrating the encoder, adjusting the load height, recording the measured value of the encoder and the load lifting height before and after adjusting the load height, and calculating the ratio of the change value of the measured value of the encoder to the change value of the load lifting height;
s4, calibrating the system damping;
s5, switching the operation speed through the cart frequency converter and the trolley frequency converter, changing the minimum anti-shake distance corresponding to the operation speed, and respectively positioning the cart and the trolley;
s3 specifically comprises the following steps: recording the encoder reading at this time as the first encoder measurement x when the load is at the nadir 1 And the distance between the bottom end of the load and the ground is a first height h 1 Adjusting the load height, and recording the encoder reading as the second encoder measurement value x after adjusting the load height 2 And the distance between the bottom end of the load and the ground is a second height h 2 Calculating the ratio m= (x) of the change value of the encoder measurement value to the change value of the load lifting height 1 -x 2 )/(h 2 -h 1 )；
S4 specifically comprises the following steps: the lifting mechanism is also provided with an angle sensor, the crane system response is obtained through the angle sensor, when the crane system response is zero, namely when the load swinging direction changes, corresponding time points are recorded, the difference between adjacent time points is used as an oscillation period, S3 is carried out for a plurality of times, and the average value T of a plurality of oscillation periods is calculated 1 According to the oscillation period formulaCalculating to obtain the actual length l of the lifting rope 1 The nominal length l of the lifting rope is obtained by encoder measurement 0 Computing system damping
S5 specifically comprises the following steps: the PLC controls the cart frequency converter and the trolley frequency converter to switch the operation speed according to the load operation position, the operation speed is divided into a high speed, a medium speed and a low speed, and the minimum anti-shake distances of the cart and the trolley corresponding to the high speed, the medium speed and the low speed are 2m,0.5m and 0.05m respectively; when the load running distance is more than 2m, switching to a high speed; when the load running distance is more than 0.5m and less than 2m, switching to a medium speed; when the load running distance is less than 0.5m, switching to a low speed; and the crane system plans the movement track of the cart and the trolley according to the load running position and the running speed, and realizes the positioning of the cart and the trolley.
2. The crane open loop control positioning method of claim 1 wherein S2 further comprises determining a minimum operating speed of the cart and trolley based on the minimum execution speeds of the cart frequency converter and the trolley frequency converter.
3. The crane open loop control positioning method according to claim 1, wherein the low speed is a minimum running speed of the cart and the trolley.
4. A system for implementing a crane open loop control positioning method according to any one of claims 1 to 3, characterized by comprising a PLC, a hoisting mechanism, a cart and a trolley; lifting frequency converters are respectively arranged on the cart and the trolley, the PLC is used for respectively controlling the lifting frequency converters, the lifting frequency converters are respectively controlled by the cart frequency converter and the trolley frequency converter to change the positions and the running speeds of the lifting mechanisms, the encoders are further arranged on the lifting mechanisms, and the encoder readings are sent to the PLC after measuring the positions of the lifting mechanisms.
5. The system of claim 4, wherein the hoisting mechanism is further provided with an angle sensor for acquiring a response of the crane system.
6. The system according to claim 5, wherein the angle sensor is in particular an encoder, an inclination sensor or a machine vision measuring sensor.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5908122A (en) * | 1996-02-29 | 1999-06-01 | Sandia Corporation | Sway control method and system for rotary cranes |
| WO2016091200A1 (en) * | 2014-12-11 | 2016-06-16 | 冯春魁 | Parameter measurement, control, operation, and load monitoring method and system for crane |
| CN108584723A (en) * | 2018-03-18 | 2018-09-28 | 武汉理工大学 | Crane open loop optimization is anti-to shake control method |
| CN108675142A (en) * | 2018-03-18 | 2018-10-19 | 武汉理工大学 | More height calibration measuring methods and the anti-oblique pull of crane based on monocular camera and accurate positioning method |
| CN110436347A (en) * | 2019-08-23 | 2019-11-12 | 武汉理工大学 | A kind of bridge crane double pendulum system optimization is anti-to shake control method |
-
2021
- 2021-12-02 CN CN202111459900.9A patent/CN114057110B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5908122A (en) * | 1996-02-29 | 1999-06-01 | Sandia Corporation | Sway control method and system for rotary cranes |
| WO2016091200A1 (en) * | 2014-12-11 | 2016-06-16 | 冯春魁 | Parameter measurement, control, operation, and load monitoring method and system for crane |
| CN108584723A (en) * | 2018-03-18 | 2018-09-28 | 武汉理工大学 | Crane open loop optimization is anti-to shake control method |
| CN108675142A (en) * | 2018-03-18 | 2018-10-19 | 武汉理工大学 | More height calibration measuring methods and the anti-oblique pull of crane based on monocular camera and accurate positioning method |
| CN110436347A (en) * | 2019-08-23 | 2019-11-12 | 武汉理工大学 | A kind of bridge crane double pendulum system optimization is anti-to shake control method |
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