CN116969331A - Five-time polynomial smooth self-defined track precision parallel crane - Google Patents

Five-time polynomial smooth self-defined track precision parallel crane Download PDF

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Publication number
CN116969331A
CN116969331A CN202311218663.6A CN202311218663A CN116969331A CN 116969331 A CN116969331 A CN 116969331A CN 202311218663 A CN202311218663 A CN 202311218663A CN 116969331 A CN116969331 A CN 116969331A
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point
position information
lifting platform
assembly
wire rope
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CN116969331B (en
Inventor
黄琪琛
林添良
缪骋
付胜杰
李芊芊
彭怡红
胡鑫海
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Huaqiao University
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Huaqiao University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • 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
    • 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
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The application provides a five-time polynomial smooth self-defining track precision parallel crane, relates to the technical field of cranes, can realize large load, flexibility, stability, no shake, high speed and precision lifting of a fixed point or a self-defining path by inputting a target point or continuous path point coordinates through a human-computer interface, and has high load ratio and simple operation. The actuating mechanism is formed by connecting three sets of steel wire ropes, a universal pulley block, a stand column support, a servo motor and a speed reduction winch with a cross rod through a diagonal rod to form an equilateral triangular prism, and the three steel wire ropes act on a lifting platform together to realize movement in a working space.

Description

Five-time polynomial smooth self-defined track precision parallel crane
Technical Field
The application relates to the technical field of cranes, in particular to a five-time polynomial smooth self-defining track precision parallel crane.
Background
A crane is a mechanical device for lifting and carrying heavy objects. They are widely used in construction sites, ports, storage sites, manufacturing and other environments where lifting or moving of weights is required.
The traditional fixed crane has the defects of larger structure, lower load ratio (namely the ratio of self mass to effective load), poorer flexibility in the operation process (generally, three degrees of freedom can only move with one degree of freedom each time, and three degrees of freedom linkage is difficult to realize), and poorer operation stability (shake is easy to occur during lifting). Meanwhile, the traditional crane uses a control lever, a button or a remote controller to carry out remote control operation by a worker, so that the fixed-point precision and stable operation are difficult to realize, and the operation has certain requirements on the worker.
In view of this, the present application has been proposed.
Disclosure of Invention
In view of the above, the application aims to provide a five-time polynomial smooth self-defining track precision parallel crane, which can effectively solve the problems of low operation efficiency, low load ratio, poor flexibility, low lifting stability, low precision and high requirements on operators of the traditional fixed crane in the prior art.
The application discloses a five-time polynomial smooth self-defined track precision parallel crane, which comprises: the system comprises a controller, a human-computer interface module, a driving assembly, an executing assembly and a platform position acquisition module;
the output end of the human-computer interface module, the output end of the platform position acquisition module and the output end of the execution assembly are electrically connected with the input end of the controller, the output end of the controller is electrically connected with the input end of the driving assembly, and the output end of the driving assembly is electrically connected with the input end of the execution assembly;
the device comprises an execution assembly, a lifting platform, a wire rope assembly, a first upright support, a second upright support, a third upright support, a first universal pulley arranged at the upper end part of the first upright support, a first servo motor and a first speed reducing winch arranged at the bottom of the first upright support, a second universal pulley arranged at the upper end part of the second upright support, a second servo motor and a second speed reducing winch arranged at the bottom of the second upright support, a third universal pulley arranged at the upper end part of the third upright support, a third servo motor and a third speed reducing winch arranged at the bottom of the third upright support, a cross rod assembly and a diagonal rod assembly, wherein the first upright support, the second upright support and the third upright support are fixedly connected through the cross rod assembly and the diagonal rod assembly, and the lifting platform is movably arranged in a working space through the wire rope assembly;
wherein the controller is configured to implement the following steps by executing a computer program stored therein:
respectively acquiring coordinate information sent by the man-machine interface moduleAnd the track initial position point of the lifting platform acquired by the platform position acquisition module +.>Wherein the coordinate information +.>The coordinates of the target point or the coordinates of the continuous path point;
for the coordinate informationTrack initial position point of the lifting platform +.>And real time->Preprocessing to generate ideal position information +.>Wherein the ideal position information is the track initial position point of the lifting platform +.>To the coordinate information->Said real time between +.>Ideal position information corresponding to the moment point, and the initial position point of the track of the lifting platform +.>To the coordinate information->A plurality of time points exist between the two, and each time point corresponds to ideal position information;
acquiring the ideal position information acquired by the platform position acquisition moduleCorresponding current position of the lifting platform +.>And adopts PID control law algorithm to carry out +.>And the ideal position information +.>Performing position closed loop processing to generate time control position information +.>；
Calling the established kinematic model of the actuating mechanism to control the position information for the momentPerforming conversion processing to generate rotation speed control signal +.>；
Acquiring current time rotating speed information acquired by the execution assembly, and adopting a PID control law algorithm to control the current time rotating speed information and the rotating speed control signalPerforming rotating speed closed loop processing to generate a moment rotating speed signal;
and sending the moment rotating speed signal to the driving assembly so as to drive the servo motor of the executing assembly to correspondingly rotate, so that the movement of the lifting platform in the working space is realized.
Preferably, the driving assembly comprises three groups of circuit breakers of different types, an electromagnetic contactor, a transformer, a reactor, an interference filter, a servo driver and a braking resistor, wherein the circuit breakers are electrically connected with the electromagnetic contactor, the transformer is electrically connected with the electromagnetic contactor, the reactor is electrically connected with the interference filter, and the servo driver is electrically connected with the executing assembly, the interference filter and the braking resistor.
Preferably, the wire rope assembly comprises a first wire rope, a second wire rope and a third wire rope, wherein one end of the first wire rope is connected with the lifting platform, the other end of the first wire rope is movably configured on the first speed reduction winch through the first universal pulley, one end of the second wire rope is connected with the lifting platform, the other end of the second wire rope is movably configured on the second speed reduction winch through the second universal pulley, one end of the third wire rope is connected with the lifting platform, and the other end of the third wire rope is movably configured on the third speed reduction winch through the third universal pulley.
Preferably, the platform position acquisition module is an infrared sensor.
Preferably, for the coordinate informationThe initial position point of the track of the lifting platformAnd real time->Preprocessing to generate ideal position information +.>The method specifically comprises the following steps:
the coordinate information is mapped by adopting a fifth order polynomial programming equation setTrack initial position point of the lifting platform +.>And real time->Performing calculation to generate ideal position information +.>；
The system of the fifth order polynomial programming equations is as follows:
wherein ,is ideal position information->X-axis coordinate point of>Is ideal position information->Y-axis coordinate point of>Is ideal position information->Z-axis coordinate point of>、/>、/>、/>、/>、/>、/>、/>、/>、/>、/>、/>、、/>、/>、/>、/> and />Is constant (I)>Is->First derivative of>Is->Second derivative of>Is->First derivative of>Is->Second derivative of>Is->First derivative of>Is->Is a second derivative of (c).
Preferably, a PID control law algorithm is adopted for the current position of the lifting platformAnd the ideal position informationPerforming position closed loop processing to generate time control position information +.>The method specifically comprises the following steps:
according to the formulaThe current position of the lifting platform is +.>And the ideal position information +.>Performing position closed loop processing, wherein ∈>Control position information for time instant>，/>Is->，/>Is a proportional coefficient->For the integral coefficient +.>Is a differential coefficient.
Preferably, the established kinematic model of the actuator is invoked to control the position information for the momentPerforming conversion processing to generate rotation speed control signal +.>The method specifically comprises the following steps:
according to the formula, wherein ,/>For reducing the speed of the winch, the speed is reduced by ∈10>For decelerating the winding drum radius +.>Is->Deriving the time t, namely hanging the speed of the loading platform at the next moment,/for the next moment>，/>Data acquisition cycle>Is a jacobian matrix.
Preferably, the position information is controlled for the moment upon invoking the established actuator kinematics modelBefore the conversion process, the method further comprises the following steps:
is provided withIs unknown quantity (X1, Y1, Z1), the mass center point of the pulley is A, and A is obtained>Point distance->；
The radius of the pulley of the universal pulley block is set as R, and the rope outlet point C of the pulley are obtainedPoint distance->Obtain pulley C point and +.>Point angle->；
A pulley rope inlet point Q is arranged to obtain Q andpoint distance->；
The Q point of the pulley is obtained by cosine theoremIncluded angle of pointsObtaining the arc length of the Q point and the C point of the pulleyFurther get the point Q to->Rope length->；
To the length of ropeDeriving available->, wherein ,/>As jacobian matrix, it can be expressed as:，/>is->The derivative of the time t is the speed of the lifting platform at the next moment,，/>a data acquisition period.
In summary, the five-time polynomial smooth self-defining track precision parallel crane provided by the embodiment inputs the coordinates of the target point or the continuous path point through the human-computer interface, can realize the heavy load, flexibility, stability, no shake, high speed and precision lifting of the fixed point or the self-defining path, and has high load ratio and simple operation; the actuating mechanism is formed by connecting three sets of steel wire ropes, a universal pulley block, a stand column support, a servo motor and a speed reduction winch with a cross rod through inclined rods to form an equilateral triangular prism, and the three steel wire ropes act on a lifting platform together to realize movement in a working space; therefore, the problems of low operation efficiency, low load ratio, poor flexibility, low lifting stability, low precision and high requirements on operators of the traditional fixed crane in the prior art are solved.
Drawings
Fig. 1 is a schematic structural diagram of a parallel crane with five-degree polynomial smooth custom track precision.
Fig. 2 is a schematic structural diagram of a driving assembly of a five-degree polynomial smooth custom track precision parallel crane according to an embodiment.
Fig. 3 is a schematic structural diagram of an execution assembly of a parallel crane with a fifth order polynomial smooth custom track precision.
Fig. 4 is a mathematical plan schematic of an actuator kinematic model provided by an embodiment.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, based on the embodiments of the application, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the application. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, based on the embodiments of the application, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the application.
Specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1 to 4, a first embodiment of the present application provides a parallel crane with five-degree polynomial smooth custom trajectory precision, comprising: the system comprises a controller, a human-computer interface module, a driving assembly, an executing assembly and a platform position acquisition module;
the output end of the human-computer interface module, the output end of the platform position acquisition module and the output end of the execution assembly are electrically connected with the input end of the controller, the output end of the controller is electrically connected with the input end of the driving assembly, and the output end of the driving assembly is electrically connected with the input end of the execution assembly;
the device comprises an execution assembly, a lifting platform, a wire rope assembly, a first upright support, a second upright support, a third upright support, a first universal pulley arranged at the upper end part of the first upright support, a first servo motor and a first speed reducing winch arranged at the bottom of the first upright support, a second universal pulley arranged at the upper end part of the second upright support, a second servo motor and a second speed reducing winch arranged at the bottom of the second upright support, a third universal pulley arranged at the upper end part of the third upright support, a third servo motor and a third speed reducing winch arranged at the bottom of the third upright support, a cross rod assembly and a diagonal rod assembly, wherein the first upright support, the second upright support and the third upright support are fixedly connected through the cross rod assembly and the diagonal rod assembly, and the lifting platform is movably arranged in a working space through the wire rope assembly;
specifically, in this embodiment, the driving assembly includes three sets of circuit breakers of different types, an electromagnetic contactor, a transformer, a reactor, an interference filter, a servo driver, and a brake resistor, wherein the circuit breakers are electrically connected with the electromagnetic contactor, the transformer, the electromagnetic contactor is electrically connected with the transformer, the reactor is electrically connected with the interference filter, and the servo driver is electrically connected with the executing assembly, the interference filter, and the brake resistor.
The steel wire rope assembly comprises a first steel wire rope, a second steel wire rope and a third steel wire rope, wherein one end of the first steel wire rope is connected with the lifting platform, the other end of the first steel wire rope is movably configured on the first speed reduction winch through the first universal pulley, one end of the second steel wire rope is connected with the lifting platform, the other end of the second steel wire rope is movably configured on the second speed reduction winch through the second universal pulley, one end of the third steel wire rope is connected with the lifting platform, and the other end of the third steel wire rope is movably configured on the third speed reduction winch through the third universal pulley.
The platform position acquisition module may be an infrared sensor.
In the embodiment, the quintic polynomial smooth self-defining track precision parallel crane inputs the coordinates of the target point or the continuous path point through a human-computer interface, so that the large load, flexibility, stability, no shake, high speed, precision lifting of the fixed point or the self-defining path can be realized, the load ratio is high, and the operation is simple. The actuating mechanism is formed by connecting three sets of steel wire ropes, a universal pulley block, a stand column support, a servo motor and a speed reduction winch with a cross rod through a diagonal rod, and the three steel wire ropes jointly act on a lifting platform to realize movement in a working space, wherein the side length of the equilateral triangular prism is 6m, and the height of the equilateral triangular prism is 4.295 m. The drive assembly consists of three groups of circuit breakers, electromagnetic contactors, reactors, interference filters, servo drivers and braking resistors, clutter and noise in mains supply can be effectively filtered, the voltage and current of the circuit are stabilized, and damage to electrical devices caused by short-circuit current is prevented. The circuit connections of the drive assembly are shown in fig. 2.
Wherein the controller is configured to implement the following steps by executing a computer program stored therein:
s101, respectively acquiring coordinate information sent by the man-machine interface moduleAnd the track initial position point of the lifting platform acquired by the platform position acquisition module +.>Wherein the coordinate informationThe coordinates of the target point or the coordinates of the continuous path point;
specifically, in the present embodiment, the target point is input in the human-machine interface moduleCoordinates or continuous path points->Coordinates, the coordinate information +.>Is input to the controller via ethernet.
S102, for the coordinate informationTrack initial position point of the lifting platform +.>And real time->Preprocessing to generate ideal position information +.>Wherein the ideal position information is the track initial position point of the lifting platform +.>To the coordinate information->Said real time between +.>Ideal position information corresponding to the moment point, and the initial position point of the track of the lifting platform +.>To the coordinate informationA plurality of time points exist between the two, and each time point corresponds to ideal position information;
specifically, step S102 includes: the coordinate information is mapped by adopting a fifth order polynomial programming equation setTrack initial position point of the lifting platform +.>And real time->Performing calculation to generate ideal position information +.>；
The system of the fifth order polynomial programming equations is as follows:
wherein ,is ideal position information->X-axis coordinate point of>Is ideal position information->Y-axis coordinate point of>Is ideal position information->Z-axis coordinate point of>、/>、/>、/>、/>、/>、/>、/>、/>、/>、/>、/>、、/>、/>、/>、/> and />Is constant (I)>Is->First derivative of>Is->Second derivative of>Is->First derivative of>Is->Second derivative of>Is->First derivative of>Is->Is a second derivative of (c).
Specifically, in the present embodiment, the position calculation of the controller is performed on the received human-machine interface coordinate informationTrack initial position information +.>And (5) performing position calculation. Position calculation, the initial position point of the track can be output>To the target point or path point->Ideal position information +.>. In the machine, the movement of the sling platform is not a continuous line in the microscopic level, but is macroscopically perceived as a continuous action by walking through a point in an extremely short time, so that the machine is controlled to quickly execute by outputting coordinate points one by one in an extremely short time, resulting in macroscopic movement. Assuming that the starting point and the target point are connected by a straight line and are dispersed into a uniform countless points, each point has own coordinate (x, y, z) value, we walk through each small point in the same extremely short time, thus being uniform motion. The start and stop points in uniform motion are not slowly added from zero, but are stepped, which causes an impact.
In order to realize stability of the lifting process, a five-time polynomial track planning method is adopted, and speed and acceleration control is added to the path from the current position point to the target point or the path point, so that the starting and stopping do not generate impact phenomenon. The basic idea is thatThe distance to travel through two microscopic discrete points in the same extremely short time is different, the same extremely short time travels a relatively short distance during start and stop, the speed is relatively slow, the same extremely short time travels a relatively long distance during the middle section, and the speed is relatively fast. In order to realize speed and acceleration planning and output, a five-time polynomial equation is established to input the real time t, so that the discrete point positions at the corresponding time points, namely the ideal position information corresponding to each time point, can be obtained。
The set of fifth order polynomial programming equations is as follows:
first, the starting time t is set to 0, the position is the current point coordinate, and the stopping time is set to
wherein ,for the coordinates of the target point or the continuation point, i.e. the coordinate information,/->Is the initial position coordinate of the track, namely the initial position point of the track of the lifting platform, +.>For maximum machine operating speed, pi is an anti-overspeed coefficient.
Setting start, stop speeds and accelerations to 0, i.e、/>、/>、/>、/>、/>For 0, including the time and position of the known start and stop points, 18 known conditions, are brought into the above-mentioned fifth order polynomial to obtain the constant ∈ ->、/>、/>、/>、/>、/>、/>、/>、/>、/>、/>、/>、/>、/>、/>、/>、/>、/>。
The solution constant is brought into a fifth order polynomial
The variable is time t, and ideal position information at each time t can be obtained。
S103, acquiring the ideal position information acquired by the platform position acquisition moduleCorresponding current position of the lifting platform +.>And adopts PID control law algorithm to carry out +.>And the ideal position information +.>Performing position closed loop processing to generate time control position information +.>；
Specifically, step S103 includes: according to the formulaThe current position of the lifting platform is +.>And the ideal position information +.>Performing position closed loop processing, wherein ∈>Control position information for time instant>，/>Is->，/>Is a proportional coefficient->For the integral coefficient +.>Is a differential coefficient.
Specifically, in the embodiment, the position closed loop adopts an infrared sensor to detect the current real-time position, and PID is adopted on the control law to perform position closed loop control, so that the position accuracy is ensured.
The PID control law is as follows:
wherein Control position information +_ for the time instant entered into the controller>，/>Is->，/>Is a proportional coefficient->For the integral coefficient +.>For the differential coefficient, it is set by multiple tests>、/>、/>Coefficients, achieving positional accuracy.
S104, calling the established kinematic model of the actuating mechanism to control the position information at the momentPerforming conversion processing to generate rotation speed control signal +.>；
Specifically, step S104 includes: according to the formula, wherein ,/>For reducing the speed of the winch, the speed is reduced by ∈10>For decelerating the winding drum radius +.>Is->The derivative of the time t is the speed of the lifting platform at the next moment,，/>data acquisition cycle>Is a jacobian matrix.
Specifically, in the present embodiment, the rotation speed is obtained by setting the reduction ratio of the reduction hoist to i and the radius to r, wherein ,/>Is->The derivative of the time t is the speed of the lifting platform at the next moment,，/>is a data acquisition period in which->Is a jacobian matrix. By the above calculation method, carry in->The actual value can be obtained, and the rotation speeds of the three servo motors are all the time.
Referring to fig. 4, in particular, in the present embodiment, the position information is controlled for the time instant when the established actuator kinematic model is invokedBefore the conversion process, the method further comprises the following steps:
is provided withIs unknown quantity (X1, Y1, Z1), the mass center point of the pulley is A, and A is obtained>Point distance->；
The radius of the pulley of the universal pulley block is set as R, and the rope outlet point C of the pulley are obtainedPoint distance->Obtain pulley C point and +.>Point angle->；
A pulley rope inlet point Q is arranged to obtain Q andpoint distance->；
The Q point of the pulley is obtained by cosine theoremIncluded angle of pointsObtaining the arc length of the Q point and the C point of the pulleyFurther get the point Q to->Rope length->；
To the length of ropeDeriving available->, wherein ,/>As jacobian matrix, it can be expressed as: />，/>Is->Deriving the time t, namely hanging the speed of the loading platform at the next moment,/for the next moment>，/>A data acquisition period.
In the present embodiment, the control calculation reception time control position informationOutput speed control signal +.>. The control calculation needs to establish an actuator kinematics model, and the establishment is as follows:
is provided withIs unknown quantity (X1, Y1, Z1), the mass center point of the pulley is A, and A is obtained>Point distance
Setting the pulley radius R to obtain the pulley rope outlet point CPoint distance
Obtain the C point of the pulleyPoint angle->
A pulley rope inlet point Q is arranged to obtain Q andpoint distance
The Q point of the pulley is obtained by cosine theoremIncluded angle of points
Obtain the arc length of the Q point and the C point of the pulley
Can get the Q point toRope length->
To the length of ropeDeriving available->, wherein ,/>As jacobian matrix, it can be expressed as: />，/>Is->Deriving the time t, namely hanging the speed of the loading platform at the next moment,/for the next moment>，/>A data acquisition period.
S105, acquiring the current time rotating speed information acquired by the execution assembly, and adopting a PID control law algorithm to control the current time rotating speed information and the rotating speed control signalPerforming rotating speed closed loop processing to generate a moment rotating speed signal;
specifically, in this embodiment, the driving component receives the rotation speed information from the controller and the rotation speed information at the current time to perform PID rotation speed closed-loop control, and the control rate is the same as that in step S103. Wherein the driving assembly consists of three groups of circuit breakers, electromagnetic contactors, reactors, interference filters, servo drivers and braking resistors, and can effectively filter clutter and noise in mains supply and stabilize the voltage and the braking resistance of a circuitCurrent flow, and prevent damage to electrical devices caused by short circuit current. Setting servo drives in drive systems、/>、/>And parameters can realize the coupling execution of three servo motors.
And S106, sending the moment rotating speed signal to the driving assembly so as to drive the servo motor of the executing assembly to correspondingly rotate, so that the movement of the lifting platform in the working space is realized.
Specifically, in the embodiment, three servo motors are controlled by a driver to drive a speed-reducing winch to retract and retract a steel wire rope so as to realize the movement of a lifting platform in a working space.
In conclusion, the five-time polynomial smooth self-defined track precision parallel crane adopts a parallel structure to realize high load and flexible lifting, uses a human-machine interface for information interaction, adopts a five-time polynomial track planning method to plan the speed and the acceleration of a running track, establishes a control system to realize quick, stable and impact-free lifting, and adopts double closed-loop control of position and rotating speed to realize precise control. The five-time polynomial smooth self-defined track precision parallel crane has the advantages of reduced mechanism quality, enhanced load capacity and high load ratio, and can be flexibly controlled in three degrees of freedom; the human-computer interface is adopted to input the position or continuous point coordinates to realize fixed point or continuous point movement, and the operation is simple and convenient; the track speed and the acceleration are planned by adopting a quintic polynomial track planning, so that high-speed, stable and impact-free lifting load is realized, the operation stability is good, and the efficiency is high; and the advantages of millimeter-level precision lifting can be realized by adopting double closed-loop control of position and speed.
The above is only a preferred embodiment of the present application, and the protection scope of the present application is not limited to the above examples, and all technical solutions belonging to the concept of the present application belong to the protection scope of the present application.

Claims (8)

1. The utility model provides a smooth custom orbit precision parallel crane of quintic polynomial which characterized in that includes: the system comprises a controller, a human-computer interface module, a driving assembly, an executing assembly and a platform position acquisition module;
the output end of the human-computer interface module, the output end of the platform position acquisition module and the output end of the execution assembly are electrically connected with the input end of the controller, the output end of the controller is electrically connected with the input end of the driving assembly, and the output end of the driving assembly is electrically connected with the input end of the execution assembly;
the device comprises an execution assembly, a lifting platform, a wire rope assembly, a first upright support, a second upright support, a third upright support, a first universal pulley arranged at the upper end part of the first upright support, a first servo motor and a first speed reducing winch arranged at the bottom of the first upright support, a second universal pulley arranged at the upper end part of the second upright support, a second servo motor and a second speed reducing winch arranged at the bottom of the second upright support, a third universal pulley arranged at the upper end part of the third upright support, a third servo motor and a third speed reducing winch arranged at the bottom of the third upright support, a cross rod assembly and a diagonal rod assembly, wherein the first upright support, the second upright support and the third upright support are fixedly connected through the cross rod assembly and the diagonal rod assembly, and the lifting platform is movably arranged in a working space through the wire rope assembly;
wherein the controller is configured to implement the following steps by executing a computer program stored therein:
respectively acquiring coordinate information sent by the man-machine interface moduleAnd the track initial position point of the lifting platform acquired by the platform position acquisition module +.>Wherein the coordinate information +.>The coordinates of the target point or the coordinates of the continuous path point;
for the coordinate informationTrack initial position point of the lifting platform +.>And real time->Preprocessing to generate ideal position information +.>Wherein the ideal position information is the track initial position point of the lifting platform +.>To the coordinate information->Said real time between +.>Ideal position information corresponding to the moment point, and the initial position point of the track of the lifting platform +.>To the coordinate information->A plurality of time points exist between the two, and each time point corresponds to ideal position information;
acquiring the ideal position acquired by the platform position acquisition moduleInformation settingCorresponding current position of the lifting platform +.>And adopts PID control law algorithm to carry out +.>And the ideal position information +.>Performing position closed loop processing to generate time control position information +.>；
Calling the established kinematic model of the actuating mechanism to control the position information for the momentPerforming conversion processing to generate rotation speed control signal +.>；
Acquiring current time rotating speed information acquired by the execution assembly, and adopting a PID control law algorithm to control the current time rotating speed information and the rotating speed control signalPerforming rotating speed closed loop processing to generate a moment rotating speed signal;
and sending the moment rotating speed signal to the driving assembly so as to drive the servo motor of the executing assembly to correspondingly rotate, so that the movement of the lifting platform in the working space is realized.
2. The five-degree polynomial smooth custom trajectory precision parallel crane of claim 1, wherein the drive assembly comprises three sets of circuit breakers of different types, electromagnetic contactors, transformers, reactors, interference filters, servo drivers, and braking resistors, wherein the circuit breakers are electrically connected with the electromagnetic contactors, the transformers, the electromagnetic contactors, the reactors are electrically connected with the interference filters, and the servo drivers are electrically connected with the actuator assembly, the interference filters, and the braking resistors.
3. The parallel crane with the five-time polynomial smooth self-defined track precision according to claim 1, wherein the steel wire rope assembly comprises a first steel wire rope, a second steel wire rope and a third steel wire rope, one end of the first steel wire rope is connected with the lifting platform, the other end of the first steel wire rope is movably configured on the first speed reduction winch through the first universal pulley, one end of the second steel wire rope is connected with the lifting platform, the other end of the second steel wire rope is movably configured on the second speed reduction winch through the second universal pulley, one end of the third steel wire rope is connected with the lifting platform, and the other end of the third steel wire rope is movably configured on the third speed reduction winch through the third universal pulley.
4. The parallel crane with five-degree polynomial smooth custom trajectory accuracy according to claim 1, wherein the platform position acquisition module is an infrared sensor.
5. The parallel crane with five-degree polynomial smooth custom trajectory accuracy as claimed in claim 1, wherein the coordinate information isTrack initial position point of the lifting platform +.>And real time->Preprocessing to generate ideal position information +.>The method specifically comprises the following steps:
the coordinate information is mapped by adopting a fifth order polynomial programming equation setTrack initial position point of the lifting platform +.>And real time->Performing calculation to generate ideal position information +.>；
The system of the fifth order polynomial programming equations is as follows:
wherein ,is ideal position information->X-axis coordinate point of>Is ideal position information->Y-axis coordinate point of>Is ideal position information->Z-axis coordinate point of>、/>、/>、/>、/>、/>、/>、/>、/>、/>、/>、/>、/>、/>、/>、/>、/> and />Is constant (I)>Is->First derivative of>Is->Second derivative of>Is->Is used as a first derivative of (a),is->Second derivative of>Is->First derivative of>Is->Is a second derivative of (c).
6. The parallel crane with five-degree polynomial smooth custom trajectory precision according to claim 1, wherein the current position of the lifting platform is determined by PID control law algorithmAnd the ideal position information +.>Performing position closed loop processing to generate time control position information +.>The method specifically comprises the following steps:
according to the formulaThe current position of the lifting platform is +.>And the ideal position information +.>Performing position closed loop processing, wherein ∈>Control position information for time instant>，/>Is that，/>Is a proportional coefficient->For the integral coefficient +.>Is a differential coefficient.
7. The parallel crane with five-degree polynomial smooth custom trajectory accuracy as claimed in claim 1, wherein the moment control position information is controlled by invoking the established actuator kinematics modelPerforming conversion processing to generate rotation speed control signal +.>The method specifically comprises the following steps:
according to the formula, wherein ,/>For reducing the speed of the winch, the speed is reduced by ∈10>For decelerating the winding drum radius +.>Is->Deriving the time t, namely hanging the speed of the loading platform at the next moment,/for the next moment>，/>Data acquisition cycle>Is a jacobian matrix.
8. The parallel crane with five-degree polynomial smooth custom trajectory accuracy as claimed in claim 1, wherein the position information is controlled for the moment upon invoking the established actuator kinematics modelBefore the conversion process, the method further comprises the following steps:
is provided withIs unknown quantity (X1, Y1, Z1), the mass center point of the pulley is A, and A is obtained>Point distance->；
The radius of the pulley of the universal pulley block is set as R, and the rope outlet point C of the pulley are obtainedPoint distance->Obtain pulley C point and +.>Point angle->；
A pulley rope inlet point Q is arranged to obtain Q andpoint distance->；
The Q point of the pulley is obtained by cosine theoremIncluded angle of pointsObtaining the arc length of the Q point and the C point of the pulleyFurther get the point Q to->Rope length->；
To the length of ropeDeriving available->, wherein ,/>As jacobian matrix, it can be expressed as: />，Is->Deriving the time t, namely hanging the speed of the loading platform at the next moment,/for the next moment>，/>A data acquisition period.
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