CN115490149A - Wave-proof swing control system suitable for unmanned vehicle and control method thereof - Google Patents
Wave-proof swing control system suitable for unmanned vehicle and control method thereof Download PDFInfo
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- CN115490149A CN115490149A CN202110680449.7A CN202110680449A CN115490149A CN 115490149 A CN115490149 A CN 115490149A CN 202110680449 A CN202110680449 A CN 202110680449A CN 115490149 A CN115490149 A CN 115490149A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
Abstract
The invention provides a wave-proof swing control system suitable for unmanned driving, which comprises: the device comprises a sensing unit, a PLC control unit, an upper computer control unit, a driving unit and a mechanical transmission unit; acquiring real-time position information, real-time speed information, swing angle information and angular speed information of a large trolley and a hoisting weight through a sensing unit; the PLC control unit receives the information collected by the sensing unit and carries out filtering and verification on the information collected by the sensing unit through a filtering algorithm; the upper computer control unit receives the current running state data transmitted by the PLC control unit, takes the current running sensing unit data as an initial state, and solves the control rate of the current state based on a running dynamics differential equation; and the driving unit receives the control quantity of the PLC control unit, performs follow-up control according to the control information and drives the mechanical transmission unit. According to the invention, the wave-proof swing control system suitable for the unmanned crane is designed, so that the control precision of the crane is improved, and the operation efficiency and the safety of the crane are improved.
Description
Technical Field
The invention relates to the technical field of anti-shaking control, in particular to a wave-proof swing control system suitable for unmanned driving and a control method thereof.
Background
The travelling crane is widely applied to the process of distributing and transporting heavy objects, is used as a main tool for operation in a storage area, and has important influence on the operation efficiency of the storage area. The lifting device of the traveling crane lifts, and the cart and the trolley reciprocate to form three-dimensional space motion of the crane hoist. The trolley of the travelling crane is generally connected with the hoisting weight by adopting a flexible steel wire rope, and the flexible steel wire rope can reduce the impact of the hoisting weight on equipment in the processes of acceleration, braking and the like when the hoisting weight is in three-dimensional operation in space while the hoisting weight is dragged and the kinetic energy of the travelling crane is transmitted.
However, during the starting and braking of the large and small traveling vehicles, the heavy object and the steel wire rope swing around the hoisting point, the swing can increase the strain of mechanical equipment, and the large uncontrolled swing can also cause the potential safety hazards that the hoisting weight collides with equipment in a storage area and the like. The pendulum eliminating process consumes a large amount of time, reduces the operation efficiency of the traveling crane, and further influences the operation efficiency of the warehouse area.
Through search, patent document CN112079252A discloses an overhead traveling crane hoisted object anti-swing control system, which includes: an image acquisition module; the image processing module is connected with the image acquisition module; the anti-shake data generation module is connected with the image processing module; the central analysis processing system is connected with the anti-shaking data production module; and the vehicle body advancing driving module is connected with the central analysis processing system. The prior art has the disadvantage that the prior art cannot be applied to unmanned vehicles.
The patent document CN104609304B discloses an anti-swing control system of a crane and an anti-swing control method thereof, which comprises a sensing device, a SIMOTION motion controller, a first SINAMICS driver and a trolley mechanical driving device. The sensing device can sense the position of the grab bucket of the crane and form a sensing signal. The SIMOTION motion controller can calculate the swing period of the grab bucket according to the sensing signal and calculate the deceleration time information and the acceleration time information of the trolley according to the swing period. The first SINAMICS driver can convert the deceleration time information into a deceleration control signal and convert the acceleration time information into an acceleration control signal. The trolley mechanical driving device can control the trolley of the crane to move in a decelerating way according to the deceleration control signal or control the trolley of the crane to move in an accelerating way according to the acceleration control signal. The prior art has the defect that the prior art can not be applied to unmanned driving.
Therefore, it is necessary to develop and design a control method and method for preventing the swing of unmanned vehicles.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a wave-swing prevention control system suitable for unmanned driving and a control method thereof, which can realize the control of swing prevention based on a control theory, so that the artificial experience is replaced, an efficient and stable control strategy is achieved without depending on the technical level of field operators, and the stability and the reliability of the control method are ensured.
According to the invention, the wave-proof swing control system suitable for the unmanned traveling crane comprises:
a sensing unit: acquiring real-time position information of the large trolley and the hoisting weight through positioning equipment, acquiring real-time speed information of the large trolley and the hoisting weight through sensing equipment, and acquiring hoisting weight swing angle information and angular speed information through a camera;
a PLC control unit: the PLC control unit receives the information collected by the sensing unit, filters and verifies the information collected by the sensing unit through a filtering algorithm, and sends the preprocessed data of the sensing unit to the upper computer control unit;
the upper computer control unit: the upper computer control unit receives the current running state data transmitted by the PLC control unit, takes the current running sensing unit data as an initial state, and solves the control rate of the current state based on a running dynamics differential equation;
a drive unit: the driving unit receives the control quantity of the PLC control unit, carries out follow-up control according to the control information and drives the mechanical transmission unit;
a mechanical transmission unit: the mechanical transmission unit is used as an actuating mechanism to realize transportation of the unmanned travelling crane.
Preferably, the PLC control unit receives the control rate of the upper computer control unit and converts the control rate into a control quantity which can be recognized by the driving unit.
Preferably, the upper computer control unit issues the control rate of the current state to the PLC control unit for operation.
Preferably, after the sensing unit collects data, a wave-proof pendulum operation three-dimensional dynamic model is established:
in the formula: running speed v, running displacement x and initial swing angle theta; angular velocity
Rope length variation l (t);
gravity acceleration g, and running acceleration a.
Preferably, before the sensing unit collects data, a driving motion model is established, the driving operation process comprises the operation of a cart and a trolley, the cart moves along a ground track, the trolley moves along the track direction of the cart, the motion direction of the cart is taken as an X axis, and the direction of increasing the value of the detection sensor is taken as a positive direction; the moving direction of the trolley is a Y axis, and the direction of increasing the numerical value of the detection sensor is a positive direction; and the lifting direction is a Z axis, the direction of increasing the numerical value of the detection sensor is a positive direction, the motion process of the hoisting weight on the horizontal plane is relatively independent, but in the linkage process of the X axis and the Z axis, the motion of the X axis and the Z axis of the travelling crane jointly influences the motion track of the hoisting weight under an orthogonal coordinate system due to the physical relationship between the centripetal force in the circular arc motion and the tangential motion speed of the hoisting weight in the motion process of the two axes, and the motion of the Y axis and the Z axis generates a composite action on the operation of the hoisting weight.
The invention provides a wave-proof pendulum control method suitable for unmanned driving, which comprises the following steps:
step S1: utilizing target instruction information of the upper computer control unit;
step S2: the upper computer control unit acquires the position state of the current pedestrian through the PLC control unit;
and step S3: the upper computer control unit generates a driving operation task based on the existing information;
and step S4: the PLC control unit collects the running state of the current driving sensing unit.
Preferably, the method further comprises the step S5: the PLC control unit judges whether the sensing unit and the mechanical transmission unit are abnormal or not, and if the system is abnormal, the system alarms to the upper computer control unit; if the system is normal, the PLC control unit transmits the wave swing prevention task signal to the wave swing prevention control system;
preferably, the method further comprises the step S6: the wave-proof swing control system receives the operation signal, judges whether the current wave-proof swing angle meets the driving operation condition, and if the current wave-proof swing angle does not meet the driving operation condition, the driving is in a waiting state; if the running condition is met, the running three-dimensional dynamic model for preventing the running of the vehicle from swinging participates in implementation calculation;
step S7: establishing a driving wave-proof swing mechanical state equation:
preferably, the method further comprises the step S8: along with the change of the length of the rope, when the trolley runs at a constant speed, the running track changes in a spiral line mode, the angular speed of the intersection point position of the image and the Y axis is 0, and at the moment, the system reaches a balance state.
Preferably, the method further comprises the step S9:
when the process time of the uniform acceleration or uniform deceleration of the trolley is integral multiple of the swinging period T, the swinging angle and the angular speed can return to zero;
when the angle and the angular speed of the trolley return to zero, if the trolley moves at a constant speed, the trolley swings at the stage of the constant speed movement.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the running characteristics of the unmanned vehicle in the three-dimensional running state are solved by adopting a dynamic modeling method, so that a theoretical basis is provided for the design of the three-axis linkage anti-shaking controller of the unmanned vehicle.
2. The invention realizes the control effect of fast and stable positioning of the controlled unmanned crane sling by adopting the model-based crane anti-swing control method.
3. According to the invention, the speed of the trolley is designed into a three-section speed control curve, and the acceleration and deceleration time is integral multiple of the swing period, so that the trolley moves at a constant speed when the load swing just returns to the zero position, and the load does not swing any more, thereby achieving the purpose of eliminating the load swing.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is an overall structure diagram of a wave-proof swing control system suitable for unmanned vehicles according to the present invention;
FIG. 2 is a schematic view of a crane hoist system according to the present invention;
FIG. 3 is a schematic view of the movement of the traveling crane according to the present invention;
FIG. 4 is a differential equation diagram of the driving state transition in the present invention;
FIG. 5 is a schematic view of a driving speed control curve according to the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will aid those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any manner. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the concept of the invention. All falling within the scope of the present invention.
As shown in fig. 1, the present invention provides a wave-proof swing control system suitable for unmanned vehicles, comprising:
a sensing unit: the real-time position information of the large trolley and the hoisting weight is collected through the positioning equipment, the real-time speed information of the large trolley and the hoisting weight is collected through the sensing equipment, and the swinging angle information and the angular speed information of the hoisting weight are collected through the camera. Namely, collecting real-time position information of a large car, a small car and a hoisting weight through positioning equipment such as a Gray bus, a coding ruler, a laser range finder and the like; collecting real-time speed information of the large trolley and the hoisting weight through sensing equipment such as a hoisting encoder; the information of the swing angle and the angular speed of the hoisting weight is collected by a camera and a light source (a reflector).
A PLC control unit: the PLC control unit receives the information collected by the sensing unit, filters and verifies the information collected by the sensing unit through a filtering algorithm, and sends the preprocessed data of the sensing unit to the upper computer control unit; meanwhile, the PLC control unit receives the control rate of the upper computer control unit and converts the control rate into control quantity which can be recognized by the driving unit. Based on the communication protocol of the corresponding system, the corresponding control quantity is issued. Except for a communication module serving as a driving anti-swing system, the PLC system is also a main control system of the driving clamp, and in the automatic operation stage of non-anti-swing control of the driving, the PLC control unit carries out automatic operation such as lifting, opening and closing of the clamp and the like according to sensor information and operation preset actions.
The upper computer control unit: the upper computer control unit receives the current running state data transmitted by the PLC control unit, takes the current running sensing unit data as an initial state, and solves the control rate of the current state based on a running dynamics differential equation; and the corresponding control rate is transmitted to a PLC control system, and meanwhile, due to the strong computing capability of an upper computer system, functional modules such as an image recognition module and an object positioning module can be embedded according to the field process requirement.
A drive unit: the driving unit receives the control quantity of the PLC control unit, carries out follow-up control according to the control information and drives the mechanical transmission unit;
a mechanical transmission unit: the mechanical transmission unit is used as an actuating mechanism to realize the transportation of the unmanned travelling crane.
After the sensing unit collects data, a wave-proof pendulum operation three-dimensional dynamic model is established:
in the formula, the running speed v of the crane, the displacement x of the crane and the initial swing angle theta are calculated; angular velocity
Rope length variation l (t);
gravity acceleration g, and running acceleration a.
It can be seen from equation (1) that, assuming the change l (t) of the rope length as a parameter and a (t) as input, the system is a second-order linear unsteady system. Can be obtained by the principle of the system energy control and observability
And the system can control the energy.
When the trolley runs at variable speed, the swinging process of the load is as follows: when the trolley always performs uniform acceleration movement with the acceleration as a, assuming that the load is from the initial swing angle theta =0, the angular velocity
The hoisting weight swings from the initial position to the position of the balance angle phi, the swing angle theta gradually increases, and the angular speed
Also gradually increases, when the equilibrium angle phi is reached, the angular velocity increases to a maximum value, but the angle does not increase to a maximum value at this time; at this time, because the angular velocity is not 0, the angle continues to increase, but the hoisting weight is influenced by the resultant force of the system, the angular velocity is gradually reduced until the angular velocity is 0, and the angle theta reaches the maximum value at this time; and then the load swings back, and the process is symmetrical to the process from the vertical angle to the maximum angle until the load swings to the initial position, the swing angle theta =0, and the swing angle speed phi =0. Thereby can beIt is known that when the process time of the uniform acceleration or uniform deceleration of the trolley is an integral multiple of the swing period T, the swing angle and the angular speed can return to zero. And when the angle and the angular speed return to zero, if the trolley moves at a constant speed, the trolley does not swing at the constant speed stage. Thereby effectively preventing wobbling.
As shown in fig. 5, the obtained speed waveform curve of the trolley is a three-segment speed control curve, and the acceleration and deceleration time of the speed curve of the trolley corresponding to the wave-proof swinging method is integral multiple of the swinging period, so that the trolley moves at a constant speed when the swinging of the load just returns to the zero position, the load does not swing any more, and the purpose of eliminating the swinging of the load is achieved.
The invention relates to an automatic running system of an unmanned travelling crane, belonging to the field of anti-swing control, and mainly aiming at the phenomenon that a steel coil inevitably swings in the running process of large and small cars due to flexible connection of a lifting appliance and travelling crane hoisting equipment in the process of dispatching the steel coil by the travelling crane in a reservoir area.
Assume that in the initial state θ 0 ＝0，ω 0 ≠0，l 0 ≠0，
As shown in fig. 2 and 3, before the sensing unit collects data, a driving motion model is established, the driving operation process is divided into a cart operation and a trolley operation, the cart operation is carried out along a ground track, the trolley operation is carried out along the cart track, the cart movement direction is taken as an X axis, and the direction of detecting the increase of the sensor value is taken as a positive direction; the moving direction of the trolley is a Y axis, and the direction of increasing the numerical value of the detection sensor is a positive direction; the lifting direction is a Z axis, the direction of increasing the numerical value of the detection sensor is a positive direction, the motion process of the hoisting weight on the horizontal plane is relatively independent, but in the linkage process of the X axis and the Z axis, the motion process of the two axes runs due to the circular arcA physical relation exists between the centripetal force and the tangential running speed of the hoisting weight, the X-axis and Z-axis motions of the travelling crane jointly influence the running track of the hoisting weight under an orthogonal coordinate system, and the Y-axis and Z-axis motions generate a composite action on the running of the hoisting weight. As can be seen from the figure, with the change of the length of the rope, when the trolley runs at a constant speed, the running trajectory changes in a spiral line, wherein the angular speed of the intersection point position of the image and the Y axis is 0, and at the moment, the system reaches a balance state. The graphical method cannot be directly applied to solving of an actual control process in the operation process, so a numerical solving method is adopted to calculate system stable points in the three-dimensional anti-shaking operation process, and anti-shaking controller building is carried out on the basis.
Therefore, for convenience of analysis, a motion model is established in the X-axis direction and the Z-axis direction for analysis, and the controller is designed according to the motion model.
In the operation process, the hoisting weight mainly moves in three directions in the space, and as an actual system is usually a high-order nonlinear system, aiming at the operation characteristics of a driving anti-swing system, the following assumptions are made:
(1) The steel wire rope is a rigid rope in the running process of the travelling crane, and does not have extension and contraction
(2) Neglecting air resistance and wind force
(3) Irrespective of the damping of the wire
(4) Neglecting the shape and mass distribution of the hanging weight, abstracting the hanging weight into particles
(5) The movement of the traveling crane in the cart direction and the trolley direction are mutually independent and do not influence each other
On the basis, taking the movement in the direction of the X axis of the traveling crane as an example, a traveling crane movement model is analyzed, and as shown in fig. 3, the movement model is a movement model of the traveling crane operation process.
The system operates according to the lagrangian equation:
L＝T-U (2)
in the formula:
q-generalized degrees of freedom x (t), θ (t);
Q j -system generalized forces;
t and U are kinetic energy and potential energy of the system;
l is the total energy.
Kinetic energy of the system:
in the formula:
m is the trolley mass;
m is the hoisting mass;
V M -the trolley speed;
V m -hoisting speed.
Potential energy of the system:
U＝-mglcos(θ) (5)
then, bringing in the formulas (2) and (3) can obtain the formula (6)
The force applied according to the degree of freedom θ is zero Q θ Then:
the mass of the steel wire rope is assumed to be ignored, the air resistance is assumed to be ignored, the rigidity of the steel wire rope is large enough, and the length change of the steel wire rope can be ignored. Since θ is generally less than 10 degrees, in the case of a small θ, approximately sin θ ≈ θ, cos θ ≈ 1, the starting conditions t =0, θ =0,
at the same time order
According to the requirement, the control variable is determined to be the level a (t) of the travelling crane, the state variables are respectively theta (t) and omega (t), and the control target is t = t f When the sum of θ =0,
the system state equation is obtained from equation (6) as follows:
it can be seen from equation (11) that, assuming that the length change l (t) of the rope is a parameter and a (t) is input, the system is a second-order linear unsteady system. Can be obtained by the principle of the system energy control and observability
And the system can completely control the energy.
Assume that in the initial state θ 0 ＝0，ω 0 ≠0，l 0 ≠0，
The differential equation numerical image solution image drawn by the formula 10 is shown in fig. 2, and it can be seen from the image that along with the change of the rope length, the operation trajectory changes in a spiral line in the process of uniform speed operation of the trolley, and the image can be seen that the angular speed of the intersection point position of the image and the Y axis is 0, and at this time, the system reaches the equilibrium state. The graphical method cannot be directly applied to solving of an actual control process in the operation process, so a numerical solving method is adopted to calculate a system pole in the three-dimensional anti-shaking operation process, and the anti-shaking controller is built on the basis.
When the trolley runs at variable speed, the swinging process of the load is as follows: when the trolley always performs uniform acceleration movement with the acceleration as a, assuming that the load is from the initial swing angle theta =0, the angular velocity
The hoisting weight swings from the initial position to the position of the balance angle phi, the swing angle theta is gradually increased, and the angular speed
And is also gradually increased in size, and is gradually increased in size,when the equilibrium angle phi is reached, the angular velocity increases to a maximum value, but the angle does not increase to a maximum value at this time; at this time, the angle continues to increase because the speed is not 0, but the lifting weight is influenced by the resultant force of the system, at this time, the angular speed gradually decreases until the angular speed phi =0, and the angle theta reaches the maximum at this time; after that, the load swings back, the process is symmetrical with the process from the vertical angle to the maximum angle, and the swing angle is theta =0 and the swing angle speed is phi =0 until the load swings to the initial position. Therefore, when the process time of the uniform acceleration or uniform deceleration of the trolley is integral multiple of the swing period T, the swing angle and the angular speed can return to zero. And when the angle and the angular speed return to zero, if the trolley moves at a constant speed, the trolley does not swing at the constant speed stage. Therefore, the swinging can be effectively prevented, and the speed curve of the trolley corresponding to the swinging prevention method is as shown in figure 5: the speed waveform curve of the trolley is a three-section speed control curve, and the acceleration time and the deceleration time are integral multiples of the swing period, so that the trolley moves at a constant speed when the load swing just returns to the zero position, the load does not swing any more, and the aim of eliminating the load swing is fulfilled.
In the unmanned reservoir area, the steel coil transportation is carried out by an unmanned crane carrying 40 tons for carrying out the detailed description of the embodiment:
and the upper computer control unit collects various information required by operation and generates tasks. After the task is generated, the PLC control unit detects whether the execution structure and the sensing mechanism are in a normal operation state according to the state of the sensor, judges whether the current driving can execute the instruction or not, and triggers the wave-proof pendulum system to operate after the completion of the confirmation. The wave-proof pendulum system is used as a main control system for controlling the running motion, after a running operation instruction is received, the current running state is combined, the set speed is output according to the real-time position and angle of the running, the output speed is sent to the PLC control unit, the set speed is sent to a frequency converter in the motor driving system through a corresponding communication protocol, the frequency converter outputs current voltage to the motor system, the motor generates driving torque to drive a large car and a small car to run or a hoisting mechanism to act, and finally the lifting appliance is quickly and stably run to a preset target position, wherein the process mainly comprises the following steps:
step S1: the upper computer receives target instruction information of a stock management system (WMS).
Step S2: the upper computer control unit acquires the current parking space position state through the PLC system.
And step S3: upper computer generates running task based on existing information
And step S4: PLC system collects current running state of driving sensor equipment
Step S5: and the PLC system judges whether the sensor and the executing mechanism are abnormal or not, if so, the system alarms to an upper computer display interface, and if so, the PLC system transmits an anti-shaking task signal to the anti-shaking control system.
Step S6: the anti-shaking system receives the operation signal, judges whether the current anti-shaking angle meets the running condition of the vehicle, if not, the vehicle is in a waiting state, and if the running condition is met, the anti-shaking control model of the vehicle participates in implementing calculation.
Step S7: the anti-rolling dynamic state equation of the travelling crane is established as follows:
step S8: it can be seen from the figure that with the change of the length of the rope, when the trolley runs at a constant speed, the running trajectory changes in a spiral line, and as can be seen from the image, the angular speed of the intersection position of the image and the Y axis is 0, and at this time, the system reaches a balanced state. The graphical method cannot be directly applied to solving of an actual control process in the operation process, so a numerical solving method is adopted to calculate a system pole in the three-dimensional anti-shaking operation process, and the anti-shaking controller is built on the basis.
Step S8.1: when the trolley runs at variable speed, the swinging process of the load is as follows: when the trolley always performs uniform acceleration movement with the acceleration as a, assuming that the load is from the initial swing angle theta =0, the angular velocity
The sling is leveled from the initial positionThe position of the balance angle phi swings, the swing angle theta gradually increases, and the angular speed
And also gradually increases.
Step S8.2: when the equilibrium angle φ is reached, the angular velocity increases to a maximum, but the angle does not increase to a maximum at this time; at this time, the angle continues to increase because the speed is not 0, but the sling weight is influenced by the resultant force of the system, the angular speed gradually decreases until the angular speed phi =0, and the angle theta reaches the maximum value.
Step S8.3: and then the load swings back, and the process is symmetrical to the process from the vertical angle to the maximum angle until the load swings to the initial position, the swing angle theta =0, and the swing angle speed phi =0.
Step S9: when the process time of the uniform acceleration or uniform deceleration of the trolley is integral multiple of the swing period T, the swing angle and the angular speed can return to zero. And when the angle and the angular speed return to zero, if the trolley moves at a constant speed, the trolley does not swing in the constant speed movement stage. Therefore, the swing can be effectively prevented, and the speed curve of the trolley corresponding to the swing-preventing method is shown in figure 5.
Step S10: the speed waveform curve of the trolley is a three-section speed control curve, and the acceleration time and the deceleration time are integral multiples of the swing period, so that when the load swing just returns to the zero position, the trolley moves at a constant speed, the load does not swing any more, and the purpose of eliminating the load swing is achieved. .
Step S11: the anti-shaking controller calculates the real-time control quantity obtained by the control quantity by using the control model and sends the corresponding control quantity to the PLC control unit.
Step S12: the PLC control unit issues the current control quantity to the driving equipment through a motor driving mechanism communication protocol, and the driving equipment drives the executing mechanism to complete the running and dispatching task.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. The utility model provides a prevent unrestrained pendulum control system suitable for unmanned driving which characterized in that includes:
a sensing unit: acquiring real-time position information of the large trolley and the hoisting weight through positioning equipment, acquiring real-time speed information of the large trolley and the hoisting weight through sensing equipment, and acquiring swing angle information and angular speed information of the hoisting weight through a camera;
a PLC control unit: the PLC control unit receives the information collected by the sensing unit, filters and verifies the information collected by the sensing unit through a filtering algorithm, and sends the preprocessed data of the sensing unit to the upper computer control unit;
the upper computer control unit: the upper computer control unit receives the current running state data transmitted by the PLC control unit, takes the current running sensing unit data as an initial state, and solves the control rate of the current state based on a running dynamics differential equation;
a drive unit: the driving unit receives the control quantity of the PLC control unit, carries out follow-up control according to the control information and drives the mechanical transmission unit;
a mechanical transmission unit: the mechanical transmission unit is used as an actuating mechanism to realize transportation of the unmanned travelling crane.
2. The wave swing prevention control system suitable for unmanned vehicles according to claim 1, comprising: and the PLC control unit receives the control rate of the upper computer control unit and converts the control rate into a control quantity which can be identified by the drive unit.
3. The wave-swing prevention control system suitable for the unmanned aerial vehicle as claimed in claim 1, wherein the upper computer control unit issues the control rate of the current state to the PLC control unit for operation.
4. The wave-proof pendulum control system suitable for the unmanned aerial vehicle of claim 1, wherein after the sensing unit collects data, a wave-proof pendulum operation three-dimensional dynamic model is established:
in the formula: the method comprises the following steps of (1) driving running speed v, driving displacement x and initial swing angle theta; angular velocity
Rope length variation l (t);
gravity acceleration g, and running acceleration a.
5. The system of claim 1, wherein before the sensor unit collects data, a driving motion model is established, and during driving, the system is divided into a cart and a trolley, the cart moves along a ground track, the trolley moves along the cart track, the movement direction of the cart is taken as an X axis, and the direction of increasing the value of the sensor is taken as a positive direction; the moving direction of the trolley is a Y axis, and the direction of increasing the numerical value of the detection sensor is a positive direction; and the lifting direction is a Z axis, the direction of increasing the numerical value of the detection sensor is a positive direction, the motion process of the hoisting weight on the horizontal plane is relatively independent, but in the linkage process of the X axis and the Z axis, the motion of the X axis and the Z axis of the travelling crane jointly influences the motion track of the hoisting weight under an orthogonal coordinate system due to the physical relationship between the centripetal force in the circular arc motion and the tangential motion speed of the hoisting weight in the motion process of the two axes, and the motion of the Y axis and the Z axis generates a composite action on the operation of the hoisting weight.
6. A wave-proof pendulum control method suitable for unmanned driving is characterized by comprising the following steps:
step S1: the upper computer control system receives the instruction information;
step S2: the upper computer control unit acquires the current traffic position state through the PLC control unit;
and step S3: the upper computer control unit generates a driving operation task based on the existing information;
and step S4: the PLC control unit collects the running state of the current driving sensing unit.
7. The wave-swing prevention control method suitable for unmanned aerial vehicle according to claim 6, further comprising step S5: the PLC control unit judges whether the sensing unit and the mechanical transmission unit are abnormal or not, and if the system is abnormal, the system alarms to the upper computer control unit; if the system is normal, the PLC control unit transmits the wave swing prevention task signal to the wave swing prevention control system.
8. The wave-proof pendulum control method suitable for unmanned aerial vehicle of claim 6, further comprising step S6: the wave-proof swing control system receives the operation signal, judges whether the current wave-proof swing angle meets the driving operation condition, and if the current wave-proof swing angle does not meet the driving operation condition, the driving is in a waiting state; if the running condition is met, the running three-dimensional dynamic model for preventing the running of the vehicle from swinging participates in implementation calculation;
step S7: establishing a driving wave-proof swing mechanical state equation:
9. the wave-proof pendulum control method suitable for unmanned aerial vehicle of claim 6, further comprising step S8: along with the change of the length of the rope, when the trolley runs at a constant speed, the running trajectory changes in a spiral line, the angular speed of the intersection point position of the image and the Y axis is 0, and at the moment, the system reaches a balanced state.
10. The wave-proof pendulum control method suitable for unmanned aerial vehicle of claim 6, further comprising step S9:
when the process time of the uniform acceleration or uniform deceleration of the trolley is integral multiple of the swinging period T, the swinging angle and the angular speed can return to zero;
when the angle and the angular speed of the trolley return to zero, if the trolley moves at a constant speed, the trolley swings at the stage of the constant speed movement.
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