CN116750647A - Anti-swing system for steel wire rope of permanent magnet direct-drive crane - Google Patents
Anti-swing system for steel wire rope of permanent magnet direct-drive crane Download PDFInfo
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- CN116750647A CN116750647A CN202311013747.6A CN202311013747A CN116750647A CN 116750647 A CN116750647 A CN 116750647A CN 202311013747 A CN202311013747 A CN 202311013747A CN 116750647 A CN116750647 A CN 116750647A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions 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
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- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
A permanent magnet direct-drive crane steel wire rope anti-swing system comprises a gesture estimation module, a PID controller, a central processing unit and a safety protection module; the gesture estimation module comprises a plurality of sensors and an algorithm estimation chip, and the algorithm estimation chip can calculate a mathematical model of the swing of the steel wire rope according to detection data of the plurality of sensors; the central processing unit can judge the current swinging state and the predicted swinging state of the steel wire rope according to the mathematical model; the PID controller can calculate a corresponding control signal according to the current swinging state and the predicted swinging state of the steel wire rope, and transmits the control signal to the central processing unit, and the central processing unit controls the crane to execute corresponding actions to counteract swinging of the steel wire rope; the safety protection module can carry out emergency braking on the crane when the swing angle of the steel wire rope exceeds a preset value; the system is suitable for various crane occasions.
Description
Technical Field
The invention relates to the technical field of cranes, in particular to a steel wire rope anti-swing system of a permanent magnet direct-drive crane.
Background
As known, a permanent magnet direct-drive crane is a crane system which adopts a permanent magnet synchronous motor as a driving source to realize direct drive of a load, and has higher efficiency, faster response speed and smaller volume compared with the traditional crane system, so that the permanent magnet direct-drive crane is widely applied in the field of cranes;
in addition, because the permanent magnet synchronous motor is adopted to directly drive the load, the traditional transmission structure such as a gear box, a coupling, a winch and the like is greatly simplified or omitted, so that the system is more compact and efficient, and in addition, the permanent magnet direct-drive crane also has better speed regulation performance and wider speed regulation range, so that the permanent magnet direct-drive crane is suitable for different lifting scenes and working condition requirements;
however, some challenges exist in the permanent magnet direct-drive crane, such as the arrangement of pulley blocks in a hoisting mechanism is more compact, namely, the distance between every two steel wire ropes is small, so that the whole steel wire rope is narrower, the radial stress of the whole steel wire rope is increased, and the steel wire rope is easy to swing, therefore, when a hoisting system in the permanent magnet direct-drive crane is designed and implemented, the factors in aspects of steel wire rope material selection, control algorithm optimization, system reliability and the like need to be comprehensively considered;
the traditional anti-swing system generally depends on sensor data obtained by a central processing unit to directly control the movement of a crane, so that certain hysteresis exists in the process of controlling swing, real-time and accurate swing inhibition cannot be realized, and the swing track of a steel wire rope cannot be accurately judged only by the obtained sensor data due to more factors of generating the swing of the steel wire rope, so that the anti-swing effect is poor;
chinese patent (CN 201310752291.5) discloses a crane and a method for controlling the swing prevention of a steel wire rope of the crane, wherein the crane enters a corresponding anti-swing control mode or a corresponding anti-swing control mode through setting a first swing set value and a second swing set value, and the two modes are respectively realized through automatically fine-tuning the rotation speed and the luffing speed of an arm support, so that the swing of the steel wire rope is reduced, the control precision of the crane is improved, and the time spent on links for accurately placing cargoes is saved; however, the swing of the steel wire rope is limited in the patent, and the steel wire rope is not limited in the case of bending by wind force and the like, so that the steel wire rope has a large limitation;
therefore, in view of the above, there is a need in the market for a wire rope anti-sway system with wide adaptability.
Disclosure of Invention
In order to overcome the defects in the background technology, the invention discloses a steel wire rope anti-swing system of a permanent magnet direct-drive crane.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
a permanent magnet direct-drive crane steel wire rope anti-swing control system comprises a gesture estimation module, a PID controller, a central processing unit and a safety protection module;
the attitude estimation module comprises a plurality of sensors and an algorithm estimation chip, wherein the sensors are respectively used for detecting the angle and the speed of the swing of the steel wire rope and the running speed and the running direction of the crane, and the algorithm estimation chip can calculate a mathematical model of the swing of the steel wire rope according to the detection data of the sensors;
the central processing unit can judge the current swinging state and the predicted swinging state of the steel wire rope according to the mathematical model;
the PID controller can calculate a corresponding control signal according to the current swinging state and the predicted swinging state of the steel wire rope, and transmits the control signal to the central processing unit, and the central processing unit controls the crane to execute corresponding actions to counteract swinging of the steel wire rope;
the safety protection module can carry out emergency braking on the crane when the swing angle of the steel wire rope exceeds a preset value.
Preferably, the algorithm of the algorithm estimation chip calculation mathematical model adopts Kalman filtering.
Preferably, the calculation method of the kalman filter is as follows:
1) Establishing a dynamic model of the swing of the steel wire rope, and establishing a state equation and an observation equation according to the dynamic model, wherein the state equation describes how the swing state of the steel wire rope evolves from one moment to the next moment, and the observation equation describes how part of state information of the system is acquired according to the measured value at the current moment;
2) Initializing a filter, and giving an estimated value and a covariance matrix of the initial state as the initial state of the filter;
3) And a prediction step: predicting a state estimation value at the current moment by using the state estimation value at the last moment according to a state equation of the system, and calculating a covariance matrix of the prediction value;
4) Updating: updating the state estimation value according to the predicted state estimation value by using the measured value and the observation equation at the current moment, and calculating an updated covariance matrix;
5) And repeating the steps of prediction and updating, and updating the state estimation value and the covariance matrix of the system in real time.
Preferably, the dynamic model of the swing of the steel wire rope is divided into:
(1) wire rope dynamics equation:
；
wherein ,is the tensile force applied to the steel wire rope>For the mass of the wire rope (assuming a uniform distribution),>is the length of the steel wire rope>Is the angular acceleration of the steel wire rope;
(2) load dynamics equation:
；
wherein ,resultant force applied to the load->For the mass of the load->For the length of the load>The g represents the gravity acceleration for the included angle between the load and the horizontal direction;
assuming that the load is considered a particle, according to Newton's second law, the angular acceleration of the load is obtained to satisfy:
；
(3) state space representation:
hypothesized state vector, wherein /> and />Respectively representing the angular speeds of the steel wire rope and the load;
from the above equations, the state equation and the observation equation can be written:
wherein the state equation is:
；
where k represents the time step, x (k) is the state vector of the system at time k, A (k-1) is the state transition matrix, B (k-1) is the input matrix, u (k-1) is the input vector of the system at time k-1, and w (k-1) is the process noise;
the observation equation is:
；
where y (k) is the system state vector observed by the sensor or measurement device, C (k) is the observation matrix, and v (k) is the observation noise.
Preferably, the safety protection module comprises a safety chip, a vibration sensor and an air speed sensor, wherein the safety chip is powered by an independent external power supply and is electrically connected with the central processing unit, and a limit value of the inclination angle of the steel wire rope, a limit value of the speed of the crane, a limit value of the vibration frequency of the crane and a limit value of the air speed are arranged in the safety chip; the vibration sensor is used for detecting the vibration frequency of the whole crane, the wind speed sensor is used for detecting the wind speed born by the steel wire rope, and the vibration sensor and the wind speed sensor are electrically connected with the central processing unit.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
according to the permanent magnet direct-drive crane steel wire rope anti-swing system disclosed by the invention, the mathematical model of the swing of the steel wire rope can be calculated through the gesture estimation module, so that the prediction of the motion state of the steel wire rope by using a central processing unit is facilitated, the current state of the steel wire rope is determined, the central processing unit can control the operation of a crane more accurately according to a PID (proportion integration differentiation) controller, the steel wire rope is ensured to be in a relatively stable state, and the safety of a cargo lifting process is correspondingly improved;
in addition, as sufficient factors are added in the construction of the mathematical model, the control system can be suitable for various crane occasions, and has higher applicability.
Drawings
Fig. 1 is a schematic structural view of the present invention.
In the figure: 1. a gesture estimation module; 101. a sensor; 102. an algorithm estimation chip; 2. a central processing unit; 3. a PID controller; 4. a security protection module; 401. a security chip; 402. a vibration sensor; 403. a wind speed sensor.
Detailed Description
In the description, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "upper", "lower", "front", "rear", "left", "right", etc., the drawings merely correspond to the drawings of the present invention, and in order to facilitate description of the present invention, it is not indicated or implied that the device or element referred to must have a specific azimuth:
the anti-sway system of the steel wire rope of the permanent magnet direct-drive crane, which is described with reference to the accompanying figure 1, comprises an attitude estimation module 1, a PID controller 3, a central processing unit 2 and a safety protection module 4;
the attitude estimation module 1 comprises a plurality of sensors 101 and an algorithm estimation chip 102, wherein the sensors 101 are respectively used for detecting the swinging angle and speed of the steel wire rope and the running speed and running direction of the crane, the data measured by the sensors 101 are obtained in real time, the algorithm estimation chip 102 can calculate a mathematical model of the swinging of the steel wire rope according to the detection data of the sensors, and the detection data are dynamic data updated in real time, so that the mathematical model is also a dynamic model, and the mathematical model can be subjected to post-time point prediction through a corresponding algorithm, namely the swinging state of the steel wire rope after the current time point is simulated, so that a central controller can timely perform corresponding control to offset the swinging amplitude of the steel wire rope; in addition, the sensors are generally composed of an acceleration sensor, an angular velocity sensor, a displacement sensor and a gyroscope, and the sensors 101 are respectively installed on the running mechanism of the wire rope or the crane and are used for detecting the data of the angle and the speed of the swing of the wire rope and the running speed and the running direction of the crane;
the central processing unit 2 can judge the current swinging state and the predicted swinging state of the steel wire rope according to the mathematical model, wherein the current swinging state refers to the posture data of the steel wire rope at the current moment, the predicted swinging state refers to the posture data of the steel wire rope possibly positioned after evolving from the current moment to the next moment, and the central processing unit 2 can judge the running advance of the crane according to the data;
the PID controller 3 can calculate a corresponding control signal according to the current swinging state and the predicted swinging state of the steel wire rope, and transmit the control signal to the central processing unit 2, and the central processing unit 2 controls the crane to execute corresponding actions to counteract swinging of the steel wire rope, wherein the calculation formula of the PID controller 3 is as follows:
control amount=kp error+ki accumulated error+kd error rate;
the control quantity is the output of the PID controller 3 and is used for controlling the anti-shake operation of the system; kp is the proportional gain, and is directly adjusted according to the current error; ki is the integral gain for adjustment based on accumulation of past errors; kd is differential gain, which is adjusted according to the rate of change of the error; error indicates the difference between the desired angle and the actual angle; the accumulated error is the accumulation of past errors for eliminating systematic static errors; the error change rate represents the change rate of the current error and is used for responding to the dynamic change of the system; in the calculation formula of the PID controller 3, the proportional term (kp×error) is adjusted according to the current error, the integral term (ki×accumulated error) is adjusted according to accumulation of past error, and the differential term (kd×error change rate) is adjusted according to the change rate of error. The stability, response speed and swing inhibition effect of the anti-swing system can be realized by reasonably selecting and adjusting Kp, ki and Kd parameters;
in addition, PID control has the following advantages:
the PID controller (3) has a simple calculation formula and structure, and is easy to realize and debug; b. by properly setting the parameters of the proportional term (Kp) and the integral term (Ki), the PID controller 3 can realize a rapid system response; the PID controller (3) can realize the stability control of the system through the combination of three control items of proportion, integral and differential, the proportion item provides quick response and error compensation, the integral item is used for eliminating the static error of the system, and the differential item can prevent the overshoot and oscillation of the system; the PID controller 3 can automatically adjust control parameters according to the dynamic characteristics of the system to adapt to different working conditions and system changes, so that the PID controller still has good control performance under the condition of facing uncertainty and parameter changes; the parameters of the PID controller 3 can be adjusted and optimized according to the requirements, and the optimal performance, stability and anti-interference capability of the system can be realized by carefully selecting the proportional gain (Kp), the integral time constant (Ti) and the differential time constant (Td);
the safety protection module 4 can carry out emergency braking on the crane when the swing angle of the steel wire rope exceeds a preset value.
Example 1 of the present invention is: the algorithm of the algorithm estimation chip 102 for calculating the mathematical model adopts Kalman filtering;
the Kalman filtering calculation method comprises the following steps:
1) Establishing a dynamic model of the swing of the steel wire rope, and establishing a state equation and an observation equation according to the dynamic model, wherein the state equation describes how the swing state of the steel wire rope evolves from one moment to the next moment, and the observation equation describes how part of state information of the system is acquired according to the measured value at the current moment;
2) Initializing a filter, and giving an estimated value and a covariance matrix of the initial state as the initial state of the filter;
3) And a prediction step: predicting a state estimation value at the current moment by using the state estimation value at the last moment according to a state equation of the system, and calculating a covariance matrix of the prediction value;
4) Updating: updating the state estimation value according to the predicted state estimation value by using the measured value and the observation equation at the current moment, and calculating an updated covariance matrix;
5) And repeating the steps of prediction and updating, and updating the state estimation value and the covariance matrix of the system in real time.
In addition, the dynamic model of the wire rope swing is divided into:
(1) wire rope dynamics equation:
；
wherein ,is the tensile force applied to the steel wire rope>For the mass of the wire rope (assuming a uniform distribution),>is the length of the steel wire rope>Is the angular acceleration of the steel wire rope;
(2) load dynamics equation:
；
wherein ,resultant force applied to the load->For the mass of the load->For the length of the load>The g represents the gravity acceleration for the included angle between the load and the horizontal direction;
assuming that the load is considered a particle, according to Newton's second law, the angular acceleration of the load is obtained to satisfy:
；
(3) state space representation:
hypothesized state vector, wherein /> and />Respectively representing the angular speeds of the steel wire rope and the load;
from the above equations, the state equation and the observation equation can be written:
wherein the state equation is:
；
wherein k represents a time step, and x (k) represents a state vector of the system at a moment k, namely a current state; f (k-1) is a state transition matrix, describing the evolution rule of the state from the last moment to the current moment; b (k-1) represents the influence of the system input vector u (k-1) on the state, and represents the change of the external control on the system state; u (k-1) is the input vector of the system at time k-1; w (k-1) is process noise, representing random disturbances in the system, typically assumed to be zero-mean Gaussian white noise;
the observation equation is:
；
where y (k) is the system state vector observed by the sensor or measurement device; c (k) is an observation matrix for mapping states to an observation space; v (k) is observation noise and represents the random error of the observed value.
Example 2 of the present invention is: the safety protection module 4 comprises a safety chip 401, a vibration sensor 402 and an air speed sensor 403, wherein the safety chip 401 is powered by an independent external power supply, the safety chip 401 is electrically connected with the central processing unit 2, and a limit value of a steel wire rope inclination angle, a limit value of a crane speed, a limit value of a crane vibration frequency and a limit value of an air speed are arranged in the safety chip 401; the vibration sensor 402 is used for detecting the vibration frequency of the whole crane, the wind speed sensor 403 is used for detecting the wind speed suffered by the steel wire rope, and the vibration sensor 402 and the wind speed sensor 403 are electrically connected with the central processing unit 2, and the safety chip 401 is not interfered during working because the safety chip 401 has an independent power supply function, namely, if the central processing unit 2 breaks down, and the swing amplitude of the steel wire rope exceeds the limit, the safety chip 401 can still take emergency braking measures to stop the crane, so that the steel wire rope and the hoisted articles cannot cause harm to the crane and the surrounding environment.
The invention has not been described in detail in the prior art, and it is apparent to those skilled in the art that the invention is not limited to the details of the above-described exemplary embodiments, but that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics thereof; the present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (5)
1. A permanent magnet direct-drive crane steel wire rope anti-swing system is characterized in that: comprises an attitude estimation module (1), a central processing unit (2), a PID controller (3) and a safety protection module (4);
the attitude estimation module (1) comprises a plurality of sensors (101) and an algorithm estimation chip (102), wherein the sensors (101) are respectively used for detecting the swinging angle and speed of the steel wire rope and the running speed and running direction of the crane, and the algorithm estimation chip (102) can calculate a mathematical model of the swinging of the steel wire rope according to the detection results of the sensors (101);
the central processing unit (2) can judge the current swinging state and the predicted swinging state of the steel wire rope according to the mathematical model;
the PID controller (3) can calculate a corresponding control signal according to the current swinging state and the predicted swinging state of the steel wire rope, the control signal is transmitted to the central processing unit (2), and the central processing unit (2) controls the crane to execute corresponding actions to counteract swinging of the steel wire rope;
the safety protection module (4) can carry out emergency braking on the crane when the swing angle of the steel wire rope exceeds a preset value.
2. The permanent magnet direct drive crane wire rope anti-sway system of claim 1, characterized in that: the algorithm of the algorithm estimation chip (102) for calculating the mathematical model adopts Kalman filtering.
3. The permanent magnet direct drive crane wire rope anti-sway system of claim 2, characterized in that: the calculation method of the Kalman filtering comprises the following steps:
1) Establishing a dynamic model of the swing of the steel wire rope, and establishing a state equation and an observation equation according to the dynamic model, wherein the state equation describes how the swing state of the steel wire rope evolves from one moment to the next moment, and the observation equation describes how part of state information of the system is acquired according to the measured value at the current moment;
2) Initializing a filter, and giving an estimated value and a covariance matrix of the initial state as the initial state of the filter;
3) And a prediction step: predicting a state estimation value at the current moment by using the state estimation value at the last moment according to a state equation of the system, and calculating a covariance matrix of the prediction value;
4) Updating: updating the state estimation value according to the predicted state estimation value by using the measured value and the observation equation at the current moment, and calculating an updated covariance matrix;
5) And repeating the steps of prediction and updating, and updating the state estimation value and the covariance matrix of the system in real time.
4. The permanent magnet direct drive crane wire rope anti-sway system of claim 3, characterized in that: the dynamic model of the swing of the steel wire rope is divided into:
(1) wire rope dynamics equation:
；
wherein ,is the tensile force applied to the steel wire rope>For the mass of the wire rope (assuming a uniform distribution),>is the length of the steel wire rope>Is the angular acceleration of the steel wire rope;
(2) load dynamics equation:
；
wherein ,resultant force applied to the load->For the mass of the load->For the length of the load>The g represents the gravity acceleration for the included angle between the load and the horizontal direction;
assuming that the load is considered a particle, according to Newton's second law, the angular acceleration of the load is obtained to satisfy:
；
(3) state space representation:
hypothesized state vector, wherein /> and />Respectively representing the angular speeds of the steel wire rope and the load;
from the above equations, the state equation and the observation equation can be written:
wherein the state equation is:
；
where k represents the time step, x (k) is the state vector of the system at time k, A (k-1) is the state transition matrix, B (k-1) is the input matrix, u (k-1) is the input vector of the system at time k-1, and w (k-1) is the process noise;
the observation equation is:
；
where y (k) is the system state vector observed by the sensor or measurement device, C (k) is the observation matrix, and v (k) is the observation noise.
5. The permanent magnet direct drive crane wire rope anti-sway system of claim 1, characterized in that: the safety protection module (4) comprises a safety chip (401), a vibration sensor (402) and an air speed sensor (403), wherein the safety chip (401) is powered by an independent external power supply, the safety chip (401) is electrically connected with the central processing unit (2), and a limit value of a steel wire rope inclination angle, a limit value of a crane speed, a limit value of a crane vibration frequency and a limit value of an air speed are arranged in the safety chip (401); the vibration sensor (402) is used for detecting the vibration frequency of the whole crane, the wind speed sensor (403) is used for detecting the wind speed borne by the steel wire rope, and the vibration sensor (402) and the wind speed sensor (403) are electrically connected with the central processing unit (2).
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