CN114572842B - Control method, device and equipment for inhibiting swinging of grab bucket and storage medium - Google Patents
Control method, device and equipment for inhibiting swinging of grab bucket and storage medium Download PDFInfo
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- CN114572842B CN114572842B CN202210297214.4A CN202210297214A CN114572842B CN 114572842 B CN114572842 B CN 114572842B CN 202210297214 A CN202210297214 A CN 202210297214A CN 114572842 B CN114572842 B CN 114572842B
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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
- B66C13/04—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
Abstract
The application relates to a control method, a control device, control equipment and a storage medium for an automatic gantry crane to inhibit swinging of a grab bucket, which are used in the technical field of gantry cranes, wherein the method comprises the following steps: obtaining equivalent pendulum length information according to the swing amplitude of the grab bucket, wherein the equivalent pendulum length information is a length value corresponding to the swing motion of the grab bucket at the highest position; generating an average swing period according to the equivalent swing length information; generating a speed theoretical curve according to the average swing period; acquiring first deceleration point information and second deceleration point information according to a speed theoretical curve; calculating a difference value between the average swing period and the second deceleration point information and setting the difference value as deceleration time information; and controlling the time values corresponding to the first deceleration time point information and the deceleration time information to be the same. The application has the technical effects that: the grab bucket can directly grab after moving to the target position, and therefore grabbing efficiency of the grab bucket is improved.
Description
Technical Field
The application relates to the technical field of gantry cranes, in particular to a control method, device and equipment for inhibiting swing of a grab bucket and a storage medium.
Background
The portal crane working system mainly comprises a swing mechanism, a luffing mechanism, a hoisting mechanism and an electrical control system; wherein the steel wire rope is led out from the pulley at the end of the trunk like the nose and is connected to the grab bucket body, when the grab bucket rotates or performs amplitude variation movement in the loading and unloading process, the grab bucket can swing, and the distance from the end of the trunk to the gravity center of the grab bucket is equivalent swing length information of the steel wire rope; an absolute value encoder is installed on a motor shaft of the traction steel wire rope, the telescopic distance of the steel wire rope can be measured, and the real-time distance between the end of the nose bridge and the grab bucket can be calculated by adding the telescopic distance of the steel wire rope on the basis of the length of the reference steel wire rope.
The existing gantry crane adjusts the swing amplitude of the grab bucket through stepless speed regulation when the crane is accelerated, braked, started and stopped through a frequency converter, so that the swing amplitude of the gantry crane is limited within a preset angle range.
During the angle adjustment process of the portal crane, the inventor finds that at least the following problems exist: when the gantry crane adjusts the swing amplitude of the grab bucket through stepless speed regulation, the work efficiency of the gantry crane is reduced due to the slow adjustment process of the stepless speed regulation.
Disclosure of Invention
In order to solve the problem that the working efficiency is reduced due to the fact that stepless speed regulation is adopted in the gantry crane, the application provides a control method, a control device, control equipment and a storage medium for restraining swing of a grab bucket.
In a first aspect, the present application provides a control method for suppressing swing of a grab bucket, which adopts the following technical scheme: the method comprises the following steps:
obtaining equivalent pendulum length information according to the swing amplitude of the grab bucket, wherein the equivalent pendulum length information is a length value corresponding to the swing motion of the grab bucket at the highest position;
generating an average swing period according to the equivalent swing length information;
generating a speed theoretical curve according to the average swing period;
acquiring first deceleration point information and second deceleration point information according to a speed theoretical curve;
calculating a difference value between the average swing period and the second deceleration point information and setting the difference value as deceleration time information;
and controlling the time values corresponding to the first deceleration time point information and the deceleration time information to be the same.
According to the technical scheme, when the grab bucket is arranged to prevent the grab bucket from shaking, equivalent swing length information is obtained according to the swing amplitude of the grab bucket, the equivalent swing length information is a length value corresponding to the maximum swing amplitude when the grab bucket performs swing motion at the highest position, an average swing period is calculated according to the equivalent swing length information, a speed theoretical curve is generated according to the average swing period, first deceleration point information and second deceleration point information are obtained according to the speed theoretical curve, the difference value between the average swing period and the second deceleration point is calculated and set as deceleration time information, the first deceleration point information and the deceleration time information are adjusted until the first deceleration point information and the deceleration time information are the same, the grab bucket is divided into three types of motions of acceleration, constant speed and deceleration in the motion process, the shaking prevention effect of the grab bucket is the best when the acceleration and deceleration experience time is the same, the shaking amplitude of the grab bucket is reduced in the motion process, the grab bucket is still in a large shaking state after the grab bucket runs in place, and the grab bucket can be directly operated after the grab bucket moves to the target position, and therefore the grabbing efficiency of the grab bucket is improved.
In a specific possible implementation, the obtaining the equivalent swing length information according to the swing amplitude of the grab bucket includes:
controlling the grab bucket to perform swing operation, wherein the swing operation specifically comprises the following steps:
controlling the grab bucket to ascend until the grab bucket cannot continue to ascend;
controlling the grab bucket to swing until the swing amplitude of the grab bucket reaches the maximum;
counting a grab bucket swinging period, wherein the grab bucket swinging period is the time for the grab bucket to pass by when the grab bucket reaches the position with the maximum swinging amplitude in the same direction twice;
controlling the grab bucket to repeatedly carry out swing operation until a preset number of swing cycles of the grab bucket are obtained;
calculating the average value of the preset number of swing periods of the grab buckets and setting the average value as the average swing period;
and obtaining equivalent pendulum length information according to the average pendulum period and the simple pendulum period calculation formula.
According to the technical scheme, the grab bucket is controlled to ascend to the highest position until the grab bucket cannot ascend, the grab bucket is controlled to move at full speed, after the grab bucket reaches the maximum running speed, the force for driving the grab bucket to move is cancelled, so that the grab bucket swings at the maximum amplitude under the action of inertia, the swing period of the grab bucket is counted, the swing period of the grab bucket is the time for the grab bucket to reach the position with the maximum swing amplitude in the same direction twice, the swing period of the grab bucket is repeatedly counted until the preset number of swing periods of the grab bucket are obtained, the average value of the preset number of swing periods of the grab bucket is calculated and set as the average swing period, equivalent swing length information is obtained according to a single swing period calculation formula, the matching degree between the average swing period and the grab bucket is improved through the mode of repeatedly counting the swing period of the grab bucket, and the matching degree between the equivalent swing length information and the grab bucket is improved.
In a specific possible implementation, the generating the speed theoretical curve according to the equivalent pendulum length information includes:
acquiring current height position information of the grab bucket, wherein the height position information is the height from the current grab bucket to the highest position of the grab bucket;
acquiring an actual swing period according to a simple swing period calculation formula;
acquiring initial position information and target position information of a grab bucket;
calculating a difference value between the initial position information and the target position information and setting the difference value as system theoretical distance information;
acquiring preset buffer displacement information;
calculating a difference value between the system theoretical distance information and the buffer displacement information and setting the difference value as system theoretical curve information;
calculating the ratio between the theoretical curve information of the system and the actual swing period and setting the ratio as the maximum anti-swing speed;
and generating a speed theoretical curve according to the anti-shaking maximum speed and the actual shaking period.
According to the technical scheme, the current height position information of the grab bucket is obtained according to a lifting system encoder, the height position information is the distance between the current position of the grab bucket and the highest position of the grab bucket, the actual swing period is obtained according to a baffle period calculation formula, the initial position information, the target position information and the real-time position information of the grab bucket are obtained, the difference value between the initial position information and the target position information is calculated and set as the system theoretical distance information, the preset buffer displacement information is obtained, the difference value between the system theoretical distance information and the buffer displacement information is calculated and set as the system theoretical curve information, the ratio between the system theoretical curve information and the actual swing period is calculated and set as the anti-swing maximum speed, and the system generates a speed theoretical curve according to the anti-swing maximum speed and the actual swing period; the accuracy degree of speed theoretical curve generation is improved, the speed theoretical curve which best accords with the anti-shaking effect can be calculated through the anti-shaking maximum speed and the actual shaking period, and the anti-shaking effect of the grab bucket is improved.
In a specific possible embodiment, after the generating the speed theoretical curve according to the anti-shake maximum speed and the actual shake period, the method further includes:
calculating a product value between a preset low-speed buffer adjustment coefficient and the anti-shaking maximum speed and setting the product value as position compensation information;
calculating a product value between the anti-shake maximum speed and a preset minimum coefficient and setting the product value as the anti-shake minimum speed;
calculating and acquiring position information of a first deceleration point and position information of a second deceleration point according to system theoretical curve information, anti-shake maximum speed, anti-shake minimum speed, position compensation information and an actual swing period;
calculating a product value between a preset low-speed buffer adjustment coefficient and the anti-shaking minimum speed and setting the product value as low-speed buffer displacement information;
calculating a sum value between the position information of the second deceleration point and the low-speed buffer displacement information and setting the sum value as hysteresis displacement information;
if the height value corresponding to the initial position information of the grab bucket is larger than zero and not larger than the position information of the first speed reducing point, setting a preset motor output value as the anti-shaking maximum speed;
and if the target position information of the grab bucket is greater than the second speed reducing point position information and greater than the first speed reducing point position information, setting the output value of the motor to be the minimum anti-shaking speed.
According to the technical scheme, a product value between a preset low-speed buffer adjustment coefficient and a maximum anti-shaking speed is calculated and set as position compensation information, a preset proportionality coefficient is obtained according to the maximum anti-shaking speed, a minimum anti-shaking speed is calculated and generated, a first deceleration point position information and a second deceleration point position information are calculated and obtained according to system theoretical curve information, the maximum anti-shaking speed, the minimum anti-shaking speed, the position compensation information and an actual swing period, a product value between the preset low-speed buffer adjustment coefficient and the minimum anti-shaking speed is calculated and set as low-speed buffer displacement information, a sum value between the second deceleration point position information and the low-speed buffer displacement information is calculated and set as lagging displacement information, if initial position information of a grab bucket is larger than 0 and smaller than or equal to the first deceleration point position information, a motor output value is set as the maximum anti-shaking speed, and if target position information of the grab bucket is larger than the second deceleration point position information and larger than the first deceleration point position information, the motor output value is set as the minimum anti-shaking speed; through the mode of adding the corrected value for anti-shake to the grab bucket sets up and matches actual conditions more, has further promoted the anti-shake effect of grab bucket.
In a specific implementation scheme, a preset theoretical running track range of the grab bucket is obtained;
acquiring an actual running track of the grab bucket in real time;
comparing the actual running track with the theoretical running track range;
and if the actual running track is outside the theoretical running track range, controlling the gantry crane to move until the actual running track of the grab bucket is within the preset theoretical running track range.
Through the technical scheme, a preset theoretical running track range is obtained, the actual running track of the grab bucket is obtained in real time, the actual running track is compared with the preset theoretical running track range, and if the actual running track is located outside the theoretical running track range, the gantry crane is controlled to move until the actual running track of the grab bucket is located within the preset theoretical running track range; the position of the grab bucket can be adjusted in real time by the gantry crane, the deviation of the relative theoretical running track range of the grab bucket under the action of external force is reduced, the grab bucket cannot move to the target position information, and therefore the precision of the grab bucket in the moving process is improved.
In a specific implementation scheme, theoretical end point coordinate information corresponding to the grab bucket is obtained;
acquiring actual grab bucket coordinate information corresponding to the grab bucket in real time;
calculating an actual grab bucket distance in real time, wherein the actual grab bucket distance is a track distance between theoretical end point coordinate information and actual grab bucket coordinate information;
calculating actual grab bucket time according to the speed theoretical curve;
judging whether the actual grab bucket time is within a preset standard grab bucket time range;
if yes, the gantry crane is controlled to drive the grab bucket to move until the grab bucket moves to the theoretical terminal coordinate.
According to the technical scheme, theoretical end point coordinate information corresponding to the grab bucket is obtained, actual grab bucket coordinate information corresponding to the grab bucket is obtained in real time, an actual grab bucket distance is calculated in real time, the actual grab bucket distance is the distance between the theoretical end point coordinate information and the actual grab bucket coordinate information, actual grab bucket time is calculated according to a speed theoretical curve, and whether the actual grab bucket time is within a preset standard grab bucket time range is judged; if so, controlling the gantry crane to drive the grab bucket to move until the theoretical terminal coordinate is moved; the gantry crane only needs to consider the theoretical end point coordinate of the grab bucket and does not need to consider the problem of the moving track of the grab bucket, so that the grab bucket can be quickly and conveniently moved to the theoretical end point coordinate, and the moving efficiency of the grab bucket is improved.
In a specific possible embodiment, the controlling the gantry crane to move the grab bucket until the grab bucket moves to the theoretical end coordinate comprises:
acquiring obstacle coordinate information in a preset obstacle database;
acquiring a standard running route of the grab bucket;
judging whether the coordinate information of the obstacle exists in a standard running route of the grab bucket;
and if so, replacing the standard operation route of the grab bucket until the coordinate information of the obstacle does not exist on the standard operation route of the grab bucket.
According to the technical scheme, the obstacle coordinate information in a preset obstacle database is obtained, the standard running route of the grab bucket is obtained, and whether the obstacle coordinate information exists in the standard running route of the grab bucket is judged; if so, replacing the standard operation route of the grab bucket until the coordinate information of the obstacle does not exist on the standard operation route of the grab bucket; the optimal operation route of the grab bucket is selected according to the coordinate information of the obstacle in the moving process of the grab bucket, the possibility that the grab bucket touches the obstacle to influence the operation of the grab bucket in the moving process is reduced, and therefore the safety degree of the grab bucket in the moving process is improved.
In a second aspect, the present application provides a control device for suppressing the swing of a grab bucket, which adopts the following technical solution: the device comprises:
the equivalent swing length obtaining module is used for obtaining equivalent swing length information according to the swing amplitude of the grab bucket, wherein the equivalent swing length information is a length value corresponding to the swing motion of the grab bucket at the highest position;
the swing period acquisition module is used for generating an average swing period according to the equivalent swing length information;
the speed curve generating module is used for generating a speed theoretical curve according to the average swing period;
the deceleration information acquisition module is used for acquiring first deceleration point information and second deceleration point information according to the speed theoretical curve;
a deceleration time calculation module; for calculating a difference between the average wobble period and the second deceleration point information and setting the difference as deceleration time information;
and the deceleration time control module is used for controlling the first deceleration time point to be the same as the deceleration time information.
According to the technical scheme, when the grab bucket is arranged to prevent the grab bucket from shaking, equivalent swing length information is obtained according to the swing amplitude of the grab bucket, the equivalent swing length information is a length value corresponding to the maximum swing amplitude when the grab bucket performs swing motion at the highest position, an average swing period is calculated according to the equivalent swing length information, a speed theoretical curve is generated according to the average swing period, first deceleration point information and second deceleration point information are obtained according to the speed theoretical curve, the difference value between the average swing period and the second deceleration point is calculated and set as deceleration time information, the first deceleration point information and the deceleration time information are adjusted until the first deceleration point information and the deceleration time information are the same, the grab bucket is divided into three types of motions of acceleration, constant speed and deceleration in the motion process, the shaking prevention effect of the grab bucket is the best when the acceleration and deceleration experience time is the same, the shaking amplitude of the grab bucket is reduced in the motion process, the grab bucket is still in a large shaking state after the grab bucket runs in place, and the grab bucket can be directly operated after the grab bucket moves to the target position, and therefore the grabbing efficiency of the grab bucket is improved.
In a third aspect, the present application provides a computer device, which adopts the following technical solution: comprising a memory and a processor, said memory having stored thereon a computer program that can be loaded by the processor and that executes any of the above-described control methods for suppressing grapple sway.
According to the technical scheme, when the grab bucket is arranged to prevent the grab bucket from shaking, equivalent swing length information is obtained according to the swing amplitude of the grab bucket, the equivalent swing length information is a length value corresponding to the maximum swing amplitude when the grab bucket performs swing motion at the highest position, an average swing period is calculated according to the equivalent swing length information, a speed theoretical curve is generated according to the average swing period, first deceleration point information and second deceleration point information are obtained according to the speed theoretical curve, the difference value between the average swing period and the second deceleration point is calculated and set as deceleration time information, the first deceleration point information and the deceleration time information are adjusted until the first deceleration point information and the deceleration time information are the same, the grab bucket is divided into three types of motions of acceleration, constant speed and deceleration in the motion process, the shaking prevention effect of the grab bucket is the best when the acceleration and deceleration experience time is the same, the shaking amplitude of the grab bucket is reduced in the motion process, the grab bucket is still in a large shaking state after the grab bucket runs in place, and the grab bucket can be directly operated after the grab bucket moves to the target position, and therefore the grabbing efficiency of the grab bucket is improved.
In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions: a computer program is stored which can be loaded by a processor and which implements any of the above described control methods for suppressing grapple sway.
According to the technical scheme, when the grab bucket is set to prevent shaking, equivalent swing length information is obtained according to the swing amplitude of the grab bucket, the equivalent swing length information is a length value corresponding to the maximum swing amplitude when the grab bucket swings at the highest position, an average swing period is calculated according to the equivalent swing length information, a speed theoretical curve is generated according to the average swing period, first deceleration point information and second deceleration point information are obtained according to the speed theoretical curve, the difference between the average swing period and the second deceleration point is calculated and set as deceleration time information, the first deceleration point information and the deceleration time information are adjusted until the first deceleration point information and the deceleration time information are the same, the grab bucket is divided into three types of acceleration, constant speed and deceleration in the motion process, the shaking prevention effect of the grab bucket is the best when the acceleration time and the deceleration time are the same, the shaking amplitude of the grab bucket is reduced in the operation process, the grab bucket is still in a large shaking state after the grab bucket moves to the target position, and the grabbing efficiency of the grab bucket can be directly operated after the grab bucket is moved to the target position.
In summary, the present application includes at least one of the following beneficial technical effects:
1. when the grab bucket is subjected to anti-swing setting, equivalent swing length information is obtained according to swing amplitude of the grab bucket, the equivalent swing length information is a length value corresponding to the maximum swing amplitude when the grab bucket performs swing motion at the highest position, an average swing period is calculated according to the equivalent swing length information, a speed theoretical curve is generated according to the average swing period, first deceleration point information and second deceleration point information are obtained according to the speed theoretical curve, the difference between the average swing period and the second deceleration point is calculated and set as deceleration time information, the first deceleration point information and the deceleration time information are adjusted until the first deceleration point information and the deceleration time information are the same, the grab bucket is divided into three types of motions of acceleration, constant speed and deceleration in the motion process, the anti-swing effect of the grab bucket is the best when the elapsed times of acceleration and deceleration are the same, the swing amplitude of the grab bucket is reduced in the motion process, the grab bucket is still in a large-swing state after the grab bucket runs in place, and the grab bucket can be directly operated to improve the grabbing efficiency of the grab bucket;
2. acquiring current height position information of a grab bucket according to a lifting system encoder, wherein the height position information is the distance between the current grab bucket and the highest position of the grab bucket, acquiring an actual swing period according to a baffle period calculation formula, acquiring initial position information, target position information and real-time position information of the grab bucket, calculating a difference value between the initial position information and the target position information, setting the difference value as system theoretical distance information, acquiring preset buffer displacement information, calculating a difference value between the system theoretical distance information and the buffer displacement information, setting the difference value as system theoretical curve information, calculating a ratio between the system theoretical curve information and the actual swing period, setting the ratio as an anti-swing maximum speed, and generating a speed theoretical curve by the system according to the anti-swing maximum speed and the actual swing period; the accuracy degree of speed theoretical curve generation has been promoted for the system can calculate the speed theoretical curve that accords with the anti-shake effect most through anti-shake maximum speed and actual period of swaying, thereby has promoted the anti-shake effect of grab bucket.
Drawings
Fig. 1 is a flowchart of a control method for suppressing swing of a grapple in the embodiment of the present application.
Fig. 2 is a schematic diagram of a velocity theoretical curve in an embodiment of the present application.
Fig. 3 is a schematic diagram of a theoretical running track and an actual running track in the embodiment of the present application.
Fig. 4 is a block diagram of a control device for suppressing the swing of the grapple according to the embodiment of the present application.
Reference numerals: 401. an equivalent pendulum length obtaining module; 402. a swing period acquisition module; 403. a speed curve generation module; 404. a deceleration information acquisition module; 405. a deceleration time calculation module; 406. a deceleration time control module; 407. a grab bucket curve correction device; 408. grab bucket removes judgement device.
Detailed Description
The present application is described in further detail below with reference to figures 1-4.
The embodiment of the application discloses a control method for inhibiting swing of a grab bucket, which is based on a portal crane control system, wherein the portal crane generally comprises three moving processes of acceleration movement, uniform movement and deceleration movement when controlling the grab bucket to move, and the better anti-swing effect on the grab bucket is when the acceleration movement time is the same as the deceleration movement time.
As shown in fig. 1, the method comprises the steps of:
and S10, obtaining equivalent swing length information according to the swing amplitude of the grab bucket.
The equivalent swing length information is a length value corresponding to swing motion of the grab bucket at the highest position, and if the grab bucket is located at other positions, the distance between the current position of the grab bucket and the highest position can be obtained through a system encoder, the sum value between the length value of the highest position and the distance between the current position of the grab bucket and the highest position is calculated, and the sum value is set as the equivalent swing length information. For example, when the grab bucket is at the highest position, the corresponding equivalent swing length information is r, and the distance between the current position of the grab bucket and the highest position is h, the current equivalent swing length information is r + h.
And S11, generating an average swing period according to the equivalent swing length information.
And calculating to generate a swing period T according to a formula, wherein r is the equivalent swing length, g is the gravity acceleration, when the grab bucket is positioned at other positions, the distance between the current position of the grab bucket and the highest position is obtained, and calculating to generate the swing period T of the current position of the grab bucket according to a variable formula, wherein h is the distance between the current position of the grab bucket and the highest position.
And S12, generating a speed theoretical curve according to the average swing period.
As shown in fig. 2, the calculated swing period is used as the total time of the grab bucket running to the theoretical end point coordinate information, the theoretical running speed generated by the system and the distance between the grab bucket and the theoretical end point coordinate information are obtained, the theoretical running speed is set as the speed of the grab bucket moving at a constant speed, the acceleration time and the deceleration time are controlled to be the same, and a speed theoretical curve is generated. For example, if the swing period is 10s, the theoretical running speed is 5m/s, and the distance between the grab bucket and the theoretical end point is 40m, the anti-shaking effect is best when the acceleration time and the deceleration time are calculated to be 2 s.
And S13, acquiring first deceleration point information and second deceleration point information.
The first deceleration point information is a time point corresponding to the fact that the grab bucket is converted from the accelerated motion to the uniform motion, and the second deceleration point information is a time point corresponding to the fact that the grab bucket is converted from the uniform motion to the decelerated motion.
And S14, acquiring deceleration time information.
The deceleration time information is a difference value between the average swing period and the second deceleration point information, the first deceleration point information corresponds to acceleration time information of the grab bucket, and the anti-swing effect on the grab bucket is best by acquiring the acceleration time information and the deceleration time information and controlling the corresponding values of the acceleration time information and the deceleration time information to be the same.
And S15, controlling the first deceleration time point information to be the same as the deceleration time.
When the first deceleration time point information is different from the deceleration time, the control system regenerates the speed theoretical curve until the first deceleration time point information is the same as the deceleration time; and when the theoretical running speed received by the system is greater than the maximum speed which can be reached by the gantry crane, controlling the gantry crane to output the maximum speed. For example, the maximum speed output by the gantry crane is 5m/s, and the received theoretical running speed is 8m/s, so that the speed of the gantry crane for controlling the grab bucket to move is 5m/s finally.
In one embodiment, considering that a precise swing period of the grab bucket is difficult to obtain by single measurement, obtaining equivalent swing length information at the swing amplitude of the grab bucket comprises controlling the grab bucket to ascend until the grab bucket cannot continue to ascend, and controlling the grab bucket to swing, and specifically comprises controlling a rocker to drive the grab bucket to move until the maximum speed of the movement of the grab bucket is reached, then loosening the rocker to enable the grab bucket not to be stressed, so that the grab bucket performs swing motion with the maximum amplitude, counting the swing period of the grab bucket, wherein the swing period of the grab bucket is the time when the grab bucket twice reaches the position with the maximum swing amplitude in the same direction, repeating the steps until obtaining the swing periods of the grab bucket in a preset number, calculating the average value of the swing periods of the grab bucket in the preset number, setting the average value as the average swing period, and calculating and generating equivalent swing length information according to a single swing period calculation formula, wherein T is the average swing period, r is the equivalent swing length, and g is the acceleration of gravity; the mode of obtaining grab bucket swing cycle through many times has promoted the matching degree between average swing cycle and the grab bucket, has promoted the matching degree of equivalent pendulum length and grab bucket to the accurate degree that the grab bucket anti-shake set up has been promoted. For example, the obtained swing periods of the multiple grapples are 10s,8s and 9s, the average swing period is calculated to be 9s, and the equivalent swing length is 0.2m according to a period calculation formula.
In one embodiment, considering that the actual moving distance of the grab bucket is different from the theoretical moving distance in the moving process of the grab bucket, obtaining current height position information of the grab bucket, wherein the height position information is the distance between the current grab bucket and the highest position of the grab bucket, obtaining an actual swing period according to a simple swing period calculation formula, obtaining initial position information, target position information and real-time position information of the grab bucket, calculating a difference value between the initial position information and the target position information and setting the difference value as system theoretical distance information, obtaining preset buffer displacement information, calculating a difference value between the system theoretical distance information and the buffer displacement information and setting the difference value as system theoretical curve information, calculating a ratio between the system theoretical curve information and the actual swing period and setting the ratio as the anti-swing maximum speed, and generating a speed theoretical curve according to the anti-swing maximum speed and the actual swing period; the generated speed theoretical curve is more matched with the actual motion track of the grab bucket, and the anti-shaking effect of the grab bucket is improved. For example, the actual swing period is 10s, the initial position information of the grab bucket is 0m, the target position information is 40m, the preset buffer displacement information is 0.5m, the system theoretical distance information is 40m, the system theoretical curve information is 39.5m, and the maximum anti-swing speed is 3.95m/s through calculation.
In one embodiment, consider that the grapple is in motionCalculating a compensation value of the grab bucket due to the influence of other factors such as wind power, calculating a product value between a preset low-speed buffer adjustment coefficient and an anti-swing maximum speed and setting the product value as position compensation information after a system generates a speed theoretical curve according to the anti-swing maximum speed and an actual swing period, calculating a minimum anti-swing speed according to the anti-swing maximum speed, and calculating a formula S = T according to the formula S = T 0 -0.5*（V t 2 -V 0 2 ）*T 1 /V t -D*V t Wherein S is the position information of the first deceleration point, T 0 For the actual rocking period, V t At maximum anti-shake speed, V 0 At minimum anti-shake speed, T 1 D is a low-speed buffer adjustment coefficient; calculating displacement of terminal low-speed buffer region = low-speed buffer adjustment coefficient anti-shake minimum speed, S 2 =0.5*V MIN 2 *T 1 /V t Wherein S is 2 As second deceleration point position information, V MIN For anti-rocking minimum speed, T 1 For the swing period of the grab, V t Is the maximum anti-shake speed; the calculated lag displacement = the position information of the second deceleration point and the displacement of the terminal low-speed buffer area, so that the grab bucket is matched with the actual stress condition of the grab bucket in the moving process, and the anti-shaking effect of the grab bucket is further improved.
In an embodiment, as shown in fig. 3, considering that external factors such as wind power affect the operation track of the grab bucket, the operation track of the grab bucket needs to be monitored in real time, a theoretical operation track range preset by the grab bucket is obtained, an actual operation track of the grab bucket is obtained in real time, the actual operation track is compared with the theoretical operation track, and if the actual operation track is outside the theoretical operation track range, the door motor is controlled to move until the actual operation track of the grab bucket is within the preset theoretical operation track range, so that the control system can automatically adjust the actual operation track in time according to the preset theoretical operation track, and thus the matching degree between the grab bucket and the theoretical operation track in the operation process is improved.
In one embodiment, considering that the gantry crane controls the grab bucket to only move to the theoretical end point coordinate information in the operation process, the theoretical end point coordinate information corresponding to the grab bucket is obtained, the actual grab bucket coordinate information corresponding to the grab bucket is obtained in real time, the actual grab bucket distance is calculated in real time, the actual grab bucket distance is the distance between the theoretical end point coordinate information and the actual grab bucket coordinate information, the actual grab bucket time is calculated according to the speed theoretical curve, whether the actual grab bucket time is within the preset standard grab bucket time range or not is judged, if yes, the gantry crane is controlled to drive the grab bucket to move until the theoretical end point coordinate is reached, the grab bucket does not need to move according to the theoretical operation track in the moving process, the grab bucket only needs to be controlled to finally move to the theoretical end point coordinate information, the grab bucket can be adjusted in real time according to the actual situation in the moving process, and the efficiency of moving the grab bucket to the theoretical end point coordinate information is improved. For example, the theoretical end point coordinate is (0, 10), the actual grab coordinate information corresponding to the grab bucket is (0, 0), after a period of time, the real-time position information of the grab bucket is (5, 5), the time for calculating the movement of the real-time grab bucket position information to the theoretical end point coordinate is 5s, the preset standard grab bucket time range is 5s, and the door machine is controlled to drive the grab bucket until the actual grab bucket coordinate information moves to the theoretical end point coordinate (0, 10) within the preset standard grab bucket time range.
In one embodiment, considering that the grab only needs to move to the theoretical terminal coordinate information and needs to monitor the obstacle coordinate information in the moving process of the grab, the control door machine drives the grab to move until the grab moves to the theoretical terminal coordinate and comprises the steps of obtaining obstacle coordinate information in a preset obstacle database, storing obstacles in the moving range of the grab and obstacle coordinate information corresponding to the obstacles in the obstacle database, obtaining a standard running route currently selected by the grab, judging whether the obstacle coordinate information has the standard running route of the grab, and judging that the obstacle coordinate information exists on the standard running route of the grab when the obstacle coordinate information coincides with the standard running route of the grab; if so, replacing the standard operation route of the grab bucket until the coordinate information of the obstacle does not exist on the standard operation route of the grab bucket; the possibility that the grab bucket is damaged due to collision with a barrier in the operation process is reduced, so that the safety performance of the grab bucket in the operation process is improved.
The implementation principle of the embodiment of the application is as follows: when the grab bucket is set to prevent shaking, firstly, equivalent swing length information is obtained according to the swing amplitude of the grab bucket, the equivalent swing length information is a length value corresponding to the maximum swing amplitude of the grab bucket when the grab bucket swings at the highest position, an average swing period is calculated according to the equivalent swing length information, a speed theoretical curve is generated according to the average swing period, first deceleration point information and second deceleration point information are obtained according to the speed theoretical curve, the difference between the average swing period and the second deceleration point is calculated and set as deceleration time information, and the first deceleration point information and the deceleration time information are adjusted until the first deceleration point information is the same as the deceleration time information.
Based on the method, the embodiment of the application also discloses a control device for inhibiting the swing of the grab bucket.
As shown in fig. 4, the apparatus includes the following modules:
the equivalent swing length obtaining module 401 is configured to obtain equivalent swing length information according to the swing amplitude of the grab bucket, where the equivalent swing length information is a length value corresponding to the swing motion of the grab bucket at the highest position;
a swing period obtaining module 402, configured to generate an average swing period according to the equivalent swing length information;
a speed curve generating module 403, configured to generate a speed theoretical curve according to the average swing period;
a deceleration information obtaining module 404, configured to obtain first deceleration point information and second deceleration point information according to a speed theoretical curve;
a deceleration time calculation module 405; for calculating a difference between the average wobbling period and the second deceleration point information and setting the difference as deceleration time information;
and a deceleration time control module 406, configured to control the first deceleration time point to be the same as the deceleration time information.
In an embodiment, the equivalent swing length obtaining module 401 is further configured to obtain the swing amplitude of the grab bucket to obtain the equivalent swing length information, where the step of obtaining the equivalent swing length information includes: controlling the grab bucket to ascend to the highest position until the grab bucket cannot continue to ascend; controlling the grab bucket to swing until the swing amplitude of the grab bucket reaches the maximum; counting the swing period of the grab bucket, wherein the swing period of the grab bucket is the time for the grab bucket to reach the position with the maximum swing amplitude in the same direction twice; repeating the steps until a preset number of swing cycles of the grab buckets are obtained; calculating the average value of the preset number of swing periods of the grab buckets and setting the average value as the average swing period; and obtaining equivalent pendulum length information according to a simple pendulum period calculation formula.
In an embodiment, the speed curve generating module 403 is further configured to generate a speed theoretical curve according to the equivalent pendulum length information, and includes: acquiring current height position information of the grab bucket, wherein the height position information is the distance between the current grab bucket and the highest position of the grab bucket; acquiring an actual swing period according to a simple pendulum period calculation formula; acquiring initial position information, target position information and real-time position information of the grab bucket; calculating a difference value between the initial position information and the target position information and setting the difference value as system theoretical distance information; acquiring preset buffer displacement information; calculating a difference value between the system theoretical distance information and the buffer displacement information and setting the difference value as system theoretical curve information; calculating the ratio between the theoretical curve information of the system and the actual swing period and setting the ratio as the maximum anti-swing speed; the system generates a speed theoretical curve according to the maximum anti-swing speed and the actual swing period.
In one embodiment, the speed curve generating module 403 is further configured to, after the system generates the speed theoretical curve according to the maximum anti-sway speed and the actual sway period, further include: calculating a product value between a preset low-speed buffer adjustment coefficient and the anti-shaking maximum speed and setting the product value as position compensation information;
calculating the anti-shake minimum speed according to the maximum anti-shake speed; calculating and acquiring position information of a first deceleration point and position information of a second deceleration point according to system theoretical curve information, maximum anti-swing speed, anti-swing minimum speed, position compensation information and an actual swing period; calculating a product value between a preset low-speed buffer adjustment coefficient and the anti-shake minimum speed and setting the product value as low-speed buffer displacement information; calculating a sum value between the position information of the second deceleration point and the low-speed buffer displacement information and setting the sum value as hysteresis displacement information; if the initial position information of the grab bucket is larger than 0 and smaller than or equal to the position information of the first speed reducing point, setting the output value of the motor as the maximum anti-shaking speed; and if the target position information of the grab bucket is greater than the second speed reducing point position information and greater than the first speed reducing point position information, setting the output value of the motor to be the minimum anti-shaking speed.
In one embodiment, the grapple curve calibration device 407 is further configured to obtain theoretical end point coordinate information corresponding to the grapple; acquiring actual grab bucket coordinate information corresponding to a grab bucket in real time; calculating an actual grab bucket distance in real time, wherein the actual grab bucket distance is the distance between theoretical end point coordinate information and actual grab bucket coordinate information; calculating actual grab bucket time according to the speed theoretical curve; judging whether the actual grab bucket time is within a preset standard grab bucket time range; if so, controlling the gantry crane to drive the grab bucket to move until the grab bucket moves to the theoretical terminal coordinate.
In one embodiment, the grab bucket movement determining device 408 is further configured to obtain theoretical end point coordinate information corresponding to the grab bucket; acquiring actual grab bucket coordinate information corresponding to the grab bucket in real time; calculating an actual grab bucket distance in real time, wherein the actual grab bucket distance is the distance between the theoretical terminal point coordinate information and the actual grab bucket coordinate information; calculating actual grab bucket time according to the speed theoretical curve; judging whether the actual grab bucket time is within a preset standard grab bucket time range; if yes, the gantry crane is controlled to drive the grab bucket to move until the grab bucket moves to the theoretical terminal coordinate.
In one embodiment, the grab bucket movement determining device 408 is further configured to control the gantry crane to drive the grab bucket to move until the grab bucket moves to the theoretical end coordinate, and includes: acquiring obstacle coordinate information in a preset obstacle database; acquiring a standard operation route of a grab bucket; judging whether the coordinate information of the obstacle exists in a standard running route of the grab bucket; and if so, replacing the standard operation route of the grab bucket until the coordinate information of the obstacle does not exist on the standard operation route of the grab bucket.
The embodiment of the application also discloses computer equipment.
In particular, the computer device comprises a memory and a processor, the memory having stored thereon a computer program that can be loaded by the processor and that executes the above-described control method of suppressing the swing of the grapple.
The embodiment of the application also discloses a computer readable storage medium.
Specifically, the computer-readable storage medium, which stores a computer program that can be loaded by a processor and executes the control method of suppressing the swing of the grapple as described above, includes, for example: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (10)
1. A control method for suppressing swinging of a grab bucket by an automatic gantry crane is characterized by comprising the following steps:
obtaining equivalent pendulum length information according to the swing amplitude of the grab bucket, wherein the equivalent pendulum length information is a length value corresponding to the swing motion of the grab bucket at the highest position;
generating an average swing period according to the equivalent swing length information;
generating a speed theoretical curve according to the average swing period;
acquiring first deceleration point information and second deceleration point information according to a speed theoretical curve;
calculating a difference value between the average swing period and the second deceleration point information and setting the difference value as deceleration time information;
and controlling the time values corresponding to the first deceleration time point information and the deceleration time information to be the same.
2. The method of claim 1, wherein the obtaining equivalent pendulum length information from the grapple swing amplitude comprises:
controlling the grab bucket to perform swing operation, wherein the swing operation specifically comprises the following steps:
controlling the grab bucket to ascend until the grab bucket cannot continue to ascend;
controlling the grab bucket to swing until the swing amplitude of the grab bucket reaches the maximum;
counting a swing period of the grab bucket, wherein the swing period of the grab bucket is the time for the grab bucket to reach the position with the maximum swing amplitude in the same direction twice;
controlling the grab bucket to repeatedly carry out swing amplitude operation until a preset number of grab bucket swing periods are obtained;
calculating an average value of the swing periods of the grab buckets in a preset number and setting the average value as an average swing period;
and obtaining equivalent pendulum length information according to the average pendulum period and the simple pendulum period calculation formula.
3. The method of claim 1, wherein the generating a velocity theoretical curve from equivalent pendulum length information comprises:
acquiring current height position information of the grab bucket, wherein the height position information is the height from the current grab bucket to the highest position of the grab bucket;
acquiring an actual swing period according to a simple swing period calculation formula;
acquiring initial position information and target position information of a grab bucket;
calculating a difference value between the initial position information and the target position information and setting the difference value as system theoretical distance information;
acquiring preset buffer displacement information;
calculating a difference value between the system theoretical distance information and the buffer displacement information and setting the difference value as system theoretical curve information;
calculating the ratio between the theoretical curve information of the system and the actual swing period and setting the ratio as the maximum anti-swing speed;
and generating a speed theoretical curve according to the anti-shaking maximum speed and the actual shaking period.
4. The method of claim 3, further comprising, after said generating a velocity theoretical curve from the anti-sway maximum velocity and the actual sway period:
calculating a product value between a preset low-speed buffer adjustment coefficient and the anti-shaking maximum speed and setting the product value as position compensation information;
calculating a product value between the anti-shaking maximum speed and a preset minimum coefficient and setting the product value as the anti-shaking minimum speed;
calculating and acquiring position information of a first deceleration point and position information of a second deceleration point according to system theoretical curve information, anti-shaking maximum speed, anti-shaking minimum speed, position compensation information and an actual swing period;
calculating a product value between a preset low-speed buffer adjustment coefficient and the anti-shaking minimum speed and setting the product value as low-speed buffer displacement information;
calculating a sum value between the position information of the second deceleration point and the low-speed buffer displacement information and setting the sum value as hysteresis displacement information;
if the height value corresponding to the initial position information of the grab bucket is larger than zero and not larger than the position information of the first speed reducing point, setting a preset motor output value as the anti-shaking maximum speed;
and if the target position information of the grab bucket is greater than the second speed reducing point position information and greater than the first speed reducing point position information, setting the output value of the motor to be the minimum anti-shaking speed.
5. The method of claim 1, further comprising:
acquiring a theoretical running track range preset by a grab bucket;
acquiring an actual running track of the grab bucket in real time;
comparing the actual running track with the theoretical running track range;
and if the actual running track is outside the theoretical running track range, controlling the gantry crane to move until the actual running track of the grab bucket is within the preset theoretical running track range.
6. The method of claim 1, further comprising:
acquiring theoretical end point coordinate information corresponding to the grab bucket;
acquiring actual grab bucket coordinate information corresponding to the grab bucket in real time;
calculating an actual grab bucket distance in real time, wherein the actual grab bucket distance is a track distance between theoretical end point coordinate information and actual grab bucket coordinate information;
calculating actual grab bucket time according to the speed theoretical curve;
judging whether the actual grab bucket time is within a preset standard grab bucket time range;
if so, controlling the gantry crane to drive the grab bucket to move until the grab bucket moves to the theoretical end point coordinate.
7. The method of claim 6, wherein controlling the gantry crane to move the grapple until the grapple moves to the theoretical endpoint coordinates comprises:
acquiring obstacle coordinate information in a preset obstacle database;
acquiring a standard running route of the grab bucket;
judging whether the coordinate information of the obstacle exists on a standard running route of the grab bucket;
and if so, replacing the standard operation route of the grab bucket until the coordinate information of the obstacle does not exist on the standard operation route of the grab bucket.
8. A control device of an automatic gantry crane for inhibiting swinging of a grab bucket is characterized by comprising:
the equivalent pendulum length acquisition module (401) is used for acquiring equivalent pendulum length information according to the swing amplitude of the grab bucket, wherein the equivalent pendulum length information is a length value corresponding to the swing motion of the grab bucket at the highest position;
the swing period acquisition module (402) is used for generating an average swing period according to the equivalent swing length information;
a speed curve generating module (403) for generating a speed theoretical curve according to the average swing period;
the deceleration information acquisition module (404) is used for acquiring first deceleration point information and second deceleration point information according to the speed theoretical curve;
a deceleration time calculation module (405) for calculating a difference between the average swing period and the second deceleration point information and setting the difference as deceleration time information;
and a deceleration time control module (406) for controlling the first deceleration time point to be the same as the deceleration time information.
9. A computer device comprising a memory and a processor, the memory having stored thereon a computer program which can be loaded by the processor and which performs the method of any of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored which can be loaded by a processor and which executes the method of any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210297214.4A CN114572842B (en) | 2022-03-24 | 2022-03-24 | Control method, device and equipment for inhibiting swinging of grab bucket and storage medium |
| PCT/CN2023/082673 WO2023179583A1 (en) | 2022-03-24 | 2023-03-21 | Control method and apparatus for inhibiting swings of grab bucket, and device and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210297214.4A CN114572842B (en) | 2022-03-24 | 2022-03-24 | Control method, device and equipment for inhibiting swinging of grab bucket and storage medium |
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| CN114572842A CN114572842A (en) | 2022-06-03 |
| CN114572842B true CN114572842B (en) | 2023-02-14 |
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| CN114572842B (en) * | 2022-03-24 | 2023-02-14 | 江苏苏港智能装备产业创新中心有限公司 | Control method, device and equipment for inhibiting swinging of grab bucket and storage medium |
| CN115709914B (en) * | 2022-11-14 | 2023-08-18 | 中科航宇(北京)自动化工程技术有限公司 | Grab bucket anti-swing control method and device of door type ship unloader |
| CN117105098B (en) * | 2023-10-24 | 2024-02-09 | 山东朝辉自动化科技有限责任公司 | Door machine grab bucket control system and method based on multi-sensor fusion |
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| CN114572842A (en) | 2022-06-03 |
| WO2023179583A1 (en) | 2023-09-28 |
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