CN114104978A - Double-winch synchronous control method and device, operation machine, equipment and medium - Google Patents
Double-winch synchronous control method and device, operation machine, equipment and medium Download PDFInfo
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- CN114104978A CN114104978A CN202111250399.5A CN202111250399A CN114104978A CN 114104978 A CN114104978 A CN 114104978A CN 202111250399 A CN202111250399 A CN 202111250399A CN 114104978 A CN114104978 A CN 114104978A
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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
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
Abstract
The invention provides a double-winch synchronous control method, a double-winch synchronous control device, an operating machine, equipment and a medium, wherein encoder target difference data are obtained according to a working angle of a main mechanical arm and an encoder detection difference calculation model, and then the driving current of a main winch and the encoder target difference data are used for compensating the driving current of an auxiliary winch, so that the main winch and the auxiliary winch are always synchronous, and the precision of a synchronous control process is improved; meanwhile, the method calculates the target difference data of the encoder based on the pre-constructed encoder detection difference calculation model and does not depend on the wireless communication between an external sensor and a controller, so that the control process is not interfered by wireless and the reliability is higher.
Description
Technical Field
The invention relates to the technical field of hoisting machinery control, in particular to a double-winch synchronous control method, a double-winch synchronous control device, operating machinery, equipment and a medium.
Background
Along with the continuous promotion of modern infrastructure construction, traditional single hoist and mount mode has been unable to satisfy actual hoist and mount demand, for this reason, double-winch single-hook hoisting equipment arises in due charge, however, in the practical application process, be subject to many-sided factors influences such as hydraulic system, structure difference and frictional force, adopt traditional isovariate control (the same control signal of input promptly), be difficult to guarantee double-winch operating speed uniformity, double-winch appears the speed difference and can lead to the lifting hook slope, wire rope and assembly pulley wearing and tearing, cause the incident easily. Therefore, the synchronous control of the double winches is extremely important.
The existing double-winch synchronous control method generally adopts an indirect measurement mode to realize synchronous control, for example, a pulse counter is adopted to calculate the speed difference of motors of a main winch and an auxiliary winch to realize synchronous control, and then for example, an encoder on a main winding drum and an auxiliary winding drum is used to calculate the height difference of a rope to realize synchronous control.
In addition, a part of schemes utilize data measuring equipment arranged near a lifting hook to communicate with an upper vehicle controller to realize synchronous control, for example, a laser range finder is respectively arranged above the left side and the right side of the lifting hook, range finding baffles extend out of the two sides of the lifting hook, the range finding baffles are arranged right below the laser range finders, the heights of the laser range finders from a bottom baffle are respectively measured, height information is sent to the upper vehicle controller, and the winding speed is adjusted through the height difference of the left side and the right side; for another example, an inclination angle sensor is installed on a lifting hook lifting appliance, and inclination angle data is sent to an upper vehicle controller in a wireless communication mode to be synchronously adjusted. The synchronous control scheme is realized by utilizing a wireless data transmission technology, and the wireless interference, the communication distance, the battery waterproof performance of the emitter and the like of the lifting hook influence the wireless data transmission stability, so that the control reliability is greatly reduced.
Therefore, a need exists for a method for controlling synchronization of dual winches, which is more accurate and reliable and is less susceptible to wireless interference, to solve the above problems.
Disclosure of Invention
The invention provides a double-winch synchronous control method, a double-winch synchronous control device, an operating machine, equipment and a medium, which are used for solving the defects that a double-winch synchronous control scheme in the prior art is low in control precision and easy to be interfered by wireless.
In a first aspect, the present invention provides a synchronous control method for dual winches, including:
acquiring a working angle of a mechanical main arm;
acquiring encoder target difference data according to the working angle and an encoder detection difference calculation model;
acquiring the driving current of a main winch, and compensating the driving current of an auxiliary winch according to the driving current of the main winch and the target difference data of the encoder; and synchronously controlling the main winch and the auxiliary winch according to the driving current of the main winch and the compensated driving current of the auxiliary winch.
According to the double-winch synchronous control method provided by the invention, the encoder detection difference value calculation model is established by the following method, and the method comprises the following steps of:
determining the working angle range of a main arm of a hoisting machine, and determining multiple groups of working angle data in the working angle range;
respectively acquiring a main hoisting encoder detection value and an auxiliary hoisting encoder detection value corresponding to each group of working angle data, and calculating a detection difference value of the main hoisting encoder and the auxiliary hoisting encoder to obtain an encoder detection difference value data set corresponding to each group of working angle data;
establishing an encoder detection difference calculation model according to an encoder detection difference data set corresponding to each group of working angle data;
the encoder detection difference value calculation model takes the working angle of a main arm of the hoisting machine as an independent variable and takes encoder target difference value data corresponding to the working angle as a dependent variable.
According to the synchronous control method for the double winches provided by the invention, the expression of the calculation model of the detection difference value of the encoder is as follows:
C(X)＝(C(k+1)j-Ckj)×(X-Xk)/(Xk+1-Xk)+Ckj
in the formula, C (X) is encoder target difference value data, X is the current working angle of the main arm of the hoisting machine, and XkFor the kth set of working angle data, Xk+1Is the k +1 th group of working angle data and satisfies Xk≤X≤Xk+1，CkjDetecting a difference value for a j-th circle of an encoder in an encoder detection difference value data set corresponding to the k-th group of working angle data, C(k+1)jAnd detecting the difference value of the j-th circle of the encoder in the difference value data set for the encoder corresponding to the (k + 1) -th group of working angle data.
According to the synchronous control method for the double winches provided by the invention, the establishment of the encoder detection difference value calculation model further comprises the following steps:
in the process of calibrating multiple groups of working angle data, acquiring horizontal inclination angle data of a lifting hook of the lifting machine in real time, and controlling the horizontal inclination angle data within a safe inclination angle threshold range.
According to the synchronous control method for the double winches provided by the invention, before compensating the driving current of the auxiliary winch, the method further comprises the following steps:
judging whether the target difference data of the encoder is smaller than a preset safety difference threshold value or not, and if the target difference data of the encoder is smaller than the safety difference threshold value, compensating the driving current of the auxiliary winch; otherwise, adjusting the double winches until the target difference data of the encoders is smaller than the safety difference threshold.
According to the synchronous control method for the double winches, the compensation of the driving current of the auxiliary winch comprises the following steps:
acquiring a driving current of a main winch;
calculating the current deviation value of the main winch and the auxiliary winch through a PI algorithm according to the encoder target difference value data;
and adding the driving current of the main winch and the current deviation value to obtain the driving current of the compensated auxiliary winch.
In a second aspect, the present invention further provides a dual-winch synchronous control device, including:
the acquisition module is used for acquiring the working angle of the mechanical main arm;
the calculation module is used for acquiring encoder target difference data according to the working angle and an encoder detection difference calculation model;
the processing module is used for acquiring the driving current of the main winch and compensating the driving current of the auxiliary winch according to the driving current of the main winch and the target difference data of the encoder; and the control module is used for synchronously controlling the main winch and the auxiliary winch according to the driving current of the main winch and the compensated driving current of the auxiliary winch.
In a third aspect, the present invention further provides a working machine using any one of the above-described double-winch synchronous control methods.
In a fourth aspect, the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the above-mentioned double-winch synchronous control methods when executing the program.
In a fifth aspect, the present invention further provides a non-transitory computer readable storage medium, on which a computer program is stored, the computer program, when executed by a processor, implementing the steps of the double winch synchronization control method according to any one of the above.
According to the double-winch synchronous control method, the double-winch synchronous control device, the operation machinery, the equipment and the medium, the target difference value data of the encoder is obtained according to the working angle of the mechanical main arm and the detection difference value calculation model of the encoder, the driving current of the main winch and the target difference value data of the encoder are further used for compensating the driving current of the auxiliary winch, the main winch and the auxiliary winch are ensured to be always synchronous, and therefore the precision of the synchronous control process is improved; meanwhile, the method calculates the target difference data of the encoder based on the pre-constructed encoder detection difference calculation model and does not depend on the wireless communication between an external sensor and a controller, so that the control process is not interfered by wireless and the reliability is higher.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a synchronous control method for double winches according to the present invention;
FIG. 2 is a schematic diagram of a double-winch single-hook structure of an all-terrain truck crane;
FIG. 3 is a schematic view of the installation angle of a double-hoisting single hook in an ideal state;
FIG. 4 is a schematic view of the installation angle of a double hoisting single hook in the presence of a certain inclination angle;
FIG. 5 is a statistical chart of horizontal tilt data of a hook and encoder target difference data when the main arm operating angle is 78.0 degrees;
FIG. 6 is a statistical chart of horizontal inclination data of a hook and encoder target difference data when the main arm working angle is 82.5 degrees;
FIG. 7 is a schematic flow chart of the synchronous control of the double winches and the single hook of the crane;
fig. 8 is a schematic structural diagram of a double-winch synchronous control device provided by the invention;
fig. 9 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 shows a synchronous control method for dual winches according to an embodiment of the present invention, where the method includes:
s110: acquiring a working angle of a mechanical main arm;
s120: acquiring encoder target difference data according to the working angle and an encoder detection difference calculation model;
s130: acquiring the driving current of the main winch, and compensating the driving current of the auxiliary winch according to the driving current of the main winch and the target difference data of the encoder;
s140: and synchronously controlling the main winch and the auxiliary winch according to the driving current of the main winch and the compensated driving current of the auxiliary winch.
In this embodiment, obtaining encoder target difference data according to the working angle and the encoder detection difference calculation model includes: and inputting the working angle into the encoder detection difference calculation model to obtain encoder target difference data, namely inputting the working angle into the encoder detection difference calculation model as working angle data and outputting the working angle as encoder target difference data.
Specifically, in this embodiment, the encoder detection difference calculation model is established by the following method, including:
the first step is as follows: and determining the working angle range of the main arm of the hoisting machine, and calibrating multiple groups of working angle data within the working angle range.
The main arm of the hoisting machine is an important part of the hoisting machine, taking a crane as an example, the main arm is also called a main crane arm and a big arm, and the working angle of the main arm can be displayed and controlled on a control panel of the crane in real time. Fig. 2 shows a double-hoist single-hook structure of an all-terrain vehicle crane, of which the main jib 210, the hook 220, and the auxiliary hoist rope 230 and the main hoist rope 240 can be seen in fig. 2.
The working angle range of the main arm in this embodiment can be represented as Xmin～XmaxWhen the double winches are lifted or fallen, M groups of data can be calibrated in the working angle range, namely Xmin、Xmin+(Xmax-Xmin)/M…Xmin+(M-1)(Xmax-Xmin)/M、XmaxAnd initially calibrating the working angle of the main arm.
The second step is that: and respectively acquiring a main hoisting encoder detection value and an auxiliary hoisting encoder detection value corresponding to each group of working angle data, and calculating the detection difference value of the main hoisting encoder and the auxiliary hoisting encoder to obtain an encoder detection difference value data set corresponding to each group of working angle data.
At a first nominal working angle XminFor example, the upper computer or the controller can automatically record the encoder value A of the main winch in each circle11、A12、A13…A1NAnd the encoder value B of the auxiliary winch in each circle11、B12、B13…B1NAnd the difference value C of the double-winch encoder is obtained by subtraction and conversion11、C12、C13…C1N(ii) a Thereby obtaining a working angle XminCalibrated encoder detection difference data set { C1j}(j＝1,2…N-1,N)。
Repeating the above operations, the encoder difference data set corresponding to the ith working angle, namely { C }ijAnd (i is 1,2 … M-1, M; j is 1,2 … N-1, N), and the finally obtained encoder difference data set can be used as a target value data source independent of wireless transmission in the subsequent double-winch synchronous control process.
The third step: establishing an encoder detection difference calculation model according to an encoder detection difference data set corresponding to each group of working angle data; the encoder detection difference value calculation model takes the working angle of a main arm of the hoisting machine as an independent variable and takes encoder target difference value data corresponding to the working angle as a dependent variable.
In this embodiment, the encoder detection difference calculation model may obtain corresponding encoder target difference data through conversion according to a known main arm working angle. Specifically, the expression of the encoder detection difference calculation model is as follows:
C(X)＝(C(k+1)j-Ckj)×(X-Xk)/(Xk+1-Xk)+Ckj (1)
in the formula, C (X) is encoder target difference value data, X is the current working angle of the main arm of the hoisting machine, and XkFor the kth set of working angle data, Xk+1Is the k +1 th group of working angle data and satisfies Xk≤X≤Xk+1，CkjDetecting a difference value for a j-th circle of an encoder in an encoder detection difference value data set corresponding to the k-th group of working angle data, C(k+1)jAnd detecting the difference value of the j-th circle of the encoder in the difference value data set for the encoder corresponding to the (k + 1) -th group of working angle data.
In the expression of the encoder detection difference calculation model, XkAnd Xk+1The calculation formula of (a) is as follows:
Xk＝(Xmin+k(Xmax-Xmin) (2)
Xk+1＝Xmin+(k+1)(Xmax-Xmin)/M (3)
preferably, in order to ensure that the referential value of the data obtained in the calibration process is higher, the construction process of the encoder detection difference calculation model in this embodiment further includes:
in the process of calibrating multiple groups of working angle data, acquiring horizontal inclination angle data of a lifting hook of the lifting machine in real time, and controlling the horizontal inclination angle data within a safe inclination angle threshold range.
Fig. 3 shows the installation angle of the double-winch single hook in an ideal state, at this time, the inclination angle sensor 310 detects that the horizontal inclination angle of the lifting hook is 0 degree, fig. 4 shows the structural state of the double-winch single hook in the case of a certain inclination angle, and whether the lifting state is safe can be intuitively perceived through the horizontal inclination angle of the lifting hook, so that the horizontal inclination angle of the lifting hook can be used as a measurement standard for the referential performance of the data in the preliminary data calibration link, and the closer the horizontal inclination angle of the lifting hook is to 0 degree, the closer the state corresponding to the calibration data is to the ideal state, and the reference value is higher.
Therefore, in the previous data calibration link, the inclination angle sensor is fixedly installed on the horizontal position of the lifting hook through the support, data of the inclination angle sensor CAN be transmitted to the controller on the bus in a wired or wireless mode, and when the data are transmitted in a wireless mode, the controller on the bus receives the horizontal inclination angle data on the CAN bus and judges whether the received horizontal inclination angle data are within a safe inclination angle threshold range, for example, the safe inclination angle threshold range CAN be set to be 0-3 degrees, and the horizontal inclination angle is safe within 3 degrees.
Fig. 5 shows horizontal inclination data of the hook and target encoder difference data when the main arm is operated at 78.0 degrees, and fig. 6 shows horizontal inclination data of the hook and target encoder difference data when the main arm is operated at 82.5 degrees. According to the horizontal inclination angle data and the encoder target difference data corresponding to the working angles of the multiple groups of main arms, the encoder target difference data corresponding to any working angle can be converted finally.
In the practical application process, referring to fig. 7, the process of implementing synchronous control of the double-winch single-hook of the crane by using the obtained encoder detection difference value calculation model is as follows:
firstly, selecting a double-winch linkage mode on an upper computer of a crane;
then, determining whether a main hoisting handle is opened, obtaining the current working angle of the main arm after determining that the main hoisting handle is opened, and calculating encoder target difference data C (X) corresponding to the current working angle by using an encoder difference calculation model according to the current working angle of the main arm;
and finally, carrying out PID compensation adjustment on the actuating mechanism quantity of the auxiliary winch according to the encoder target difference data C (X) so as to synchronize the main winch and the auxiliary winch.
This embodiment mainly compensates through the drive current to vice hoist to adjust the hoist altitude deviation that produces between main hoist and the vice hoist, make the hoist altitude unanimous of main hoist and vice hoist, also guarantee that the hoist altitude of main hoist and vice hoist is unanimous promptly, thereby avoid leading to the safety problem of lifting hook slope because of the hoist altitude nonconformity of two hoists.
Preferably, in order to ensure the safety of the synchronous control process, the present embodiment further includes, before compensating for the driving current of the secondary winch:
judging whether the target difference data of the encoder is smaller than a preset safety difference threshold value or not, and if the target difference data of the encoder is smaller than the safety difference threshold value, compensating the driving current of the auxiliary winch; otherwise, adjusting the double winches until the target difference data of the encoders is smaller than the safety difference threshold.
Corresponding to the example of the crane, before PID adjustment, whether the calculated encoder target difference data is smaller than a safety difference threshold value is judged, and if the calculated encoder target difference data is smaller than the safety difference threshold value, the following auxiliary hoisting PID compensation adjustment is directly carried out; if the target difference data of the encoder exceeds a safety difference threshold value, triggering a safety protection forbidden linkage mode, firstly switching to a winch single-action mode, independently adjusting the actions of the main winch or the auxiliary winch through a main winch handle or an auxiliary winch handle until the target difference data of the encoder is smaller than the safety difference threshold value, namely switching to the double-winch linkage mode when the current double-winch state is in the safety state, and carrying out the PID compensation adjustment of the auxiliary winch in the next step.
That is to say, when finding that the target difference data of the encoder is greater than the safety difference threshold, it indicates that the inclination of the hook is serious at this time, in order to ensure safety, the hoisting heights of the two hoists need to be adjusted first, and at this time, any hoist can be adjusted, and the main purpose is to reduce the hoisting height difference between the main hoist and the auxiliary hoist, so that the hook approaches to the horizontal state, and then perform the driving current compensation operation of the auxiliary hoist after adjustment.
Specifically, the process of PID compensation adjustment in this embodiment includes:
firstly, calculating the driving current I of the main winch according to the opening degree of a handle of the main winch1I.e. a given current of the main hoisting pump.
Then, calculating a current deviation value delta I of the main winch and the auxiliary winch through a PI algorithm according to pre-obtained encoder target difference data; in order to prevent the current from oscillating too much, the link can also limit the current deviation value delta I.
Then, adding the driving current of the main winch and the current deviation value to obtain the driving current of the compensated auxiliary winch, namely the given current of the auxiliary winch pump, wherein the given current of the main winch pump and the given current of the auxiliary winch pump are respectively as follows:
Imaster and slave＝I1 (4)
IAuxiliary set＝I1+ΔI (5)
And finally, synchronously controlling the main winch and the auxiliary winch according to the obtained given current of the main winch pump and the given current of the auxiliary winch pump, namely compensating the lifting height difference between the auxiliary winch and the main winch through a current deviation value delta I to enable the auxiliary winch and the main winch to keep synchronous lifting action all the time, and finishing the winch linkage process until the lifting hook is lifted or falls to a target height in a double-winch linkage mode.
It should be understood that the PI algorithm mentioned in this embodiment is an algorithm commonly used in PID regulation, and refers to a proportional (P) and integral (I) control algorithm, also called PI regulator, and the expression of the algorithm is:
Δu(k)＝Kp[e(k)-e(k-1)]+Kie(k) (6)
where Kp is a proportionality coefficient and Ki is an integration time constant.
Therefore, according to the synchronous control method for the double winches provided by the embodiment of the invention, the encoder detection difference data of the double winches at any working position under the working angle of the main arm can be determined through the encoder detection difference data corresponding to the calibrated working angle of a certain group of main arms, so that the synchronous control of the double winches under the working angle of the fixed main arm can be realized.
Meanwhile, an encoder difference value calculation model is established through encoder detection difference value data corresponding to the calibrated working angles of the multiple groups of main arms, and encoder detection difference value data of the double winches at any working position under any main arm working angle can be obtained through fitting by using the model, so that synchronous control of the double winches under any main arm working angle is realized, and the control precision and the control reliability are effectively improved.
The dual-winch synchronous control device provided by the invention is described below, and the dual-winch synchronous control device described below and the dual-winch synchronous control method described above can be referred to correspondingly.
Fig. 8 shows a double-winch synchronous control device according to an embodiment of the present invention, which includes:
an obtaining module 810, configured to obtain a working angle of a main arm of a machine;
a calculating module 820, configured to obtain encoder target difference data according to the working angle and the encoder detection difference calculation model;
the processing module 830 is configured to obtain a driving current of the main winch, and compensate the driving current of the auxiliary winch according to the driving current of the main winch and the target difference data of the encoder; and the control module 840 is used for synchronously controlling the main winch and the auxiliary winch according to the driving current of the main winch and the compensated driving current of the auxiliary winch.
In this embodiment, the calculating module 820 needs to complete calculation of the encoder target difference data through a pre-constructed encoder detection difference calculation model, and the construction process of the encoder detection difference calculation model includes:
firstly, determining the working angle range of a main arm of a hoisting machine, and determining a plurality of groups of working angle data in the working angle range;
then, respectively obtaining a main hoisting encoder detection value and an auxiliary hoisting encoder detection value corresponding to each group of working angle data, and calculating a detection difference value of the main hoisting encoder and the auxiliary hoisting encoder to obtain an encoder detection difference value data set corresponding to each group of working angle data;
finally, establishing an encoder detection difference value calculation model according to an encoder detection difference value data set corresponding to each group of working angle data; the encoder detection difference calculation model takes the working angle of a main arm of a hoisting machine as an independent variable and takes encoder target difference data corresponding to the working angle as a dependent variable.
Preferably, the building of the encoder detection difference calculation model further includes:
in the process of calibrating multiple groups of working angle data, acquiring horizontal inclination angle data of a lifting hook of the lifting machine in real time, and controlling the horizontal inclination angle data within a safe inclination angle threshold range.
The double-winch synchronous control device provided by the embodiment further comprises:
the safety judgment module is used for judging whether the target difference data of the encoder is smaller than a preset safety difference threshold value or not, and if the target difference data of the encoder is smaller than the safety difference threshold value, compensating the driving current of the auxiliary winch; otherwise, adjusting the double winches until the target difference data of the encoders is smaller than the safety difference threshold.
In this embodiment, the processing module 830 specifically includes:
a main hoist current obtaining unit for obtaining a driving current of a main hoist;
the current deviation calculating unit is used for calculating the current deviation value of the main winch and the auxiliary winch through a PI algorithm according to the target difference data of the encoder;
and the auxiliary hoisting current compensation unit is used for adding the driving current of the main hoisting and the current deviation value to obtain the compensated driving current of the auxiliary hoisting.
Therefore, according to the double-winch synchronous control device provided by the embodiment of the invention, the current encoder target difference value data is calculated by the calculation module by using the encoder detection difference value calculation model constructed by the working angle calibration data based on the main arm of the hoisting machinery and the corresponding detection difference value calibration data of the main winch encoder and the auxiliary winch encoder, the PID adjustment is performed on the driving current of the auxiliary winch by using the encoder target difference value data by using the processing module, and the main winch and the auxiliary winch are synchronously controlled by using the driving current data obtained by the processing module by using the control module.
In addition, the embodiment of the invention also provides the operating machine, and the operating machine uses the double-winch synchronous control method during hoisting to control the synchronous action of the main winch and the auxiliary winch, so that safety accidents caused by the inclination of the lifting hook are avoided.
Fig. 9 illustrates a physical structure diagram of an electronic device, and as shown in fig. 9, the electronic device may include: a processor (processor)910, a communication Interface (Communications Interface)920, a memory (memory)930, and a communication bus 940, wherein the processor 910, the communication Interface 920, and the memory 930 communicate with each other via the communication bus 940. The processor 910 may call logic instructions in the memory 930 to perform a dual hoist synchronization control method, the method comprising: acquiring a working angle of a mechanical main arm; acquiring encoder target difference data according to the working angle and an encoder detection difference calculation model; acquiring the driving current of the main winch, and compensating the driving current of the auxiliary winch according to the driving current of the main winch and the target difference data of the encoder; and synchronously controlling the main winch and the auxiliary winch according to the driving current of the main winch and the compensated driving current of the auxiliary winch.
Furthermore, the logic instructions in the memory 930 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, which when executed by a computer, enable the computer to execute the dual hoist synchronization control method provided by the above methods, the method comprising: acquiring a working angle of a mechanical main arm; acquiring encoder target difference data according to the working angle and an encoder detection difference calculation model; acquiring the driving current of the main winch, and compensating the driving current of the auxiliary winch according to the driving current of the main winch and the target difference data of the encoder; and synchronously controlling the main winch and the auxiliary winch according to the driving current of the main winch and the compensated driving current of the auxiliary winch.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to execute the dual winch synchronization control method provided in each of the above aspects, the method including: acquiring a working angle of a mechanical main arm; acquiring encoder target difference data according to the working angle and an encoder detection difference calculation model; acquiring the driving current of the main winch, and compensating the driving current of the auxiliary winch according to the driving current of the main winch and the target difference data of the encoder; and synchronously controlling the main winch and the auxiliary winch according to the driving current of the main winch and the compensated driving current of the auxiliary winch.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A synchronous control method for double winches is characterized by comprising the following steps:
acquiring a working angle of a mechanical main arm;
acquiring encoder target difference data according to the working angle and an encoder detection difference calculation model;
acquiring the driving current of a main winch, and compensating the driving current of an auxiliary winch according to the driving current of the main winch and the target difference data of the encoder;
and synchronously controlling the main winch and the auxiliary winch according to the driving current of the main winch and the compensated driving current of the auxiliary winch.
2. The synchronous control method of double winches according to claim 1, wherein the encoder detection difference calculation model is established by the following method comprising the following steps:
determining a working angle range of a mechanical main arm, and determining a plurality of groups of working angle data in the working angle range;
respectively acquiring a main hoisting encoder detection value and an auxiliary hoisting encoder detection value corresponding to each group of working angle data, and calculating a detection difference value of the main hoisting encoder and the auxiliary hoisting encoder to obtain an encoder detection difference value data set corresponding to each group of working angle data;
establishing an encoder detection difference calculation model according to an encoder detection difference data set corresponding to each group of working angle data;
the encoder detection difference calculation model takes the working angle of the mechanical main arm as an independent variable and takes encoder target difference data corresponding to the working angle as a dependent variable.
3. The synchronous control method for double winches according to claim 2, wherein the expression of the encoder detection difference calculation model is as follows:
C(X)＝(C(k+1)j-Ckj)×(X-Xk)/(Xk+1-Xk)+Ckj
in the formula, C (X) is encoder target difference value data, X is the current working angle of the main arm of the hoisting machine, and XkFor the kth set of working angle data, Xk+1Is the k +1 th group of working angle data and satisfies Xk≤X≤Xk+1，CkjDetecting a difference value for a j-th circle of an encoder in an encoder detection difference value data set corresponding to the k-th group of working angle data, C(k+1)jAnd detecting the difference value of the j-th circle of the encoder in the difference value data set for the encoder corresponding to the (k + 1) -th group of working angle data.
4. The synchronous control method of double winches according to claim 2, wherein the establishment of the encoder detection difference calculation model further comprises:
in the process of calibrating multiple groups of working angle data, acquiring horizontal inclination angle data of a lifting hook of the lifting machine in real time, and controlling the horizontal inclination angle data within a safe inclination angle threshold range.
5. The synchronous control method for the double winches according to claim 1, wherein before compensating the driving current of the auxiliary winch, the method further comprises:
judging whether the target difference data of the encoder is smaller than a preset safety difference threshold value or not, and if the target difference data of the encoder is smaller than the safety difference threshold value, compensating the driving current of the auxiliary winch; otherwise, adjusting the double winches until the target difference data of the encoders is smaller than the safety difference threshold.
6. The synchronous control method of the double winches according to claim 1, wherein the compensating the driving current of the auxiliary winch comprises:
calculating the current deviation value of the main winch and the auxiliary winch through a PI algorithm according to the encoder target difference value data;
and adding the driving current of the main winch and the current deviation value to obtain the driving current of the compensated auxiliary winch.
7. A double-winch synchronous control device is characterized by comprising:
the acquisition module is used for acquiring the working angle of the mechanical main arm;
the calculation module is used for acquiring encoder target difference data according to the working angle and an encoder detection difference calculation model;
the processing module is used for acquiring the driving current of the main winch and compensating the driving current of the auxiliary winch according to the driving current of the main winch and the target difference data of the encoder;
and the control module is used for synchronously controlling the main winch and the auxiliary winch according to the driving current of the main winch and the compensated driving current of the auxiliary winch.
8. A working machine characterized by using a double hoist synchronization control method according to any one of claims 1 to 6.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the double winch synchronization control method according to any of claims 1 to 6 when executing the program.
10. A non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program when executed by a processor implements the steps of the double hoist synchronous control method according to any one of claims 1 to 6.
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| CN202111250399.5A CN114104978B (en) | 2021-10-26 | 2021-10-26 | Double-winch synchronous control method and device, working machine, equipment and medium |
| PCT/CN2022/090443 WO2023071128A1 (en) | 2021-10-26 | 2022-04-29 | Synchronous control method and apparatus for two winches, and operation machinery, device, medium and product |
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| CN202111250399.5A CN114104978B (en) | 2021-10-26 | 2021-10-26 | Double-winch synchronous control method and device, working machine, equipment and medium |
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| WO2023071128A1 (en) | 2023-05-04 |
| CN114104978B (en) | 2023-05-23 |
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