CN117049362A - Driving anti-shaking control method - Google Patents
Driving anti-shaking control method Download PDFInfo
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- CN117049362A CN117049362A CN202310971241.XA CN202310971241A CN117049362A CN 117049362 A CN117049362 A CN 117049362A CN 202310971241 A CN202310971241 A CN 202310971241A CN 117049362 A CN117049362 A CN 117049362A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000005259 measurement Methods 0.000 claims abstract description 18
- 230000001133 acceleration Effects 0.000 claims description 37
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 230000002265 prevention Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 6
- 238000009776 industrial production Methods 0.000 abstract description 2
- 230000001276 controlling effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
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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
- B66C13/06—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
- B66C13/22—Control systems or devices for electric drives
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The application relates to a driving anti-swing control method, which is based on an electromechanical integrated anti-swing control system of an inertial measurement unit, actively and timely monitors the motion state of a crane through the inertial measurement unit, and adopts a closed-loop control method to drive a servo system according to the swing speed and the position of the crane so as to control the driving motion and generate inertia force. The technical scheme provided by the application has the advantages of quick response, quick response and ideal anti-shake effect, improves the safety and stability of hoisting operation, and meets the industrial production requirement.
Description
Technical Field
The application belongs to the field of hoisting machinery, and particularly relates to an electromechanical integrated anti-swing control method based on an inertial measurement unit.
Background
In the working process of the crane, the heavy objects swing due to acceleration or deceleration or the influence of external force on the crane weight during the running of the crane, so that the crane weight unloading difficulty is increased, and unsafe factors are brought to the crane operation. Therefore, in the hoisting operation, it is important to control the swing of the hoisting weight. For this reason, various anti-shake methods have been proposed.
For example, the electronic anti-shake technology of the vision sensor comprises the following steps: the detected information is transmitted to a microcomputer in the control system through a sensor and a detection element, and the microcomputer is used for providing the optimal control parameters (such as PID control parameters) for the trolley speed regulating system after being processed by microcomputer internal control software, and the swing amplitude of the lifting appliance and the load is reduced by regulating the speed and the direction of the travelling crane and controlling the travelling crane. However, vision-type sensors tend to be expensive, and in severe weather conditions (such as heavy fog, heavy rain, direct sunlight, etc.), vision sensors are difficult to measure accurately, and the control effect is not ideal.
And detecting running acceleration of the crane in time and estimating and obtaining the deflection angle of the crane by using a micro-accelerometer based anti-swing control technology. By establishing a closed-loop control system, the speed command of the trolley is corrected timely according to the size of the swing amplitude of the crane, so that the anti-shake control is realized. The control method is only suitable for hanging swing caused by acceleration and deceleration during running of the travelling crane, and cannot solve the technical problem of hanging swing caused by external force during uniform running of the travelling crane.
Disclosure of Invention
The application aims to: in order to overcome the defects and the shortcomings of the prior art, the application provides an electromechanical integrated anti-shaking control method based on an inertial measurement unit, which actively and timely monitors the motion state of a crane, adopts a closed-loop control method, drives a servo crane according to the swinging speed and the position to generate inertial force, quickly responds, has ideal anti-shaking effect, improves the safety and the stability of the crane operation, and meets the industrial production requirement.
The technical scheme is as follows: in order to achieve the above purpose, the present application adopts the following technical scheme:
the control system consists of a PLC (programmable logic controller) main control unit, an inertial measurement unit, a servo system and a crane, wherein the inertial measurement unit is fixedly connected with a lifting hook of the crane and transmits measured values to the PLC main control unit in real time in a serial communication mode, the inertial measurement unit measures a real-time swing angle theta and a real-time swing speed omega of a crane in real time and transmits the theta and the omega to the PLC main control unit in real time, and the PLC controls the crane to move through the servo system according to detection data of the inertial measurement unit after calculation when certain conditions are met, so that the anti-swing braking effect is achieved, and the control steps are as follows:
(1) When the inertial measurement unit detects swing of the crane, the PLC main control unit controls the servo system to accelerate the crane to move in the positive direction in time t after calculation and when a starting condition or a positive reversing condition is met, the final speed is a maximum linear speed value Vc of the crane, vc=K is a coefficient, the value range (0.5-4) is a single pendulum maximum linear speed;
(2) When the hoisting load is detected to reverse in the direction, the PLC main control unit calculates, and when a negative reversing condition is met, the servo system is controlled to enable the travelling crane to move in the negative direction for decelerating movement in time t, the final speed is a minimum linear speed value-Vc, -Vc=K x-Vt, K is a coefficient, the value range (0.5-4) is a single pendulum minimum linear speed;
(3) The step (1) and the step (2) are used for controlling the travelling crane to reciprocate to accelerate and decelerate along with the crane in a closed loop manner, and the master control PLC unit immediately stops the servo system until a stop condition is met;
further, the start-up condition or the forward commutation condition is set to ω > +0.01 rad/s, θ < -0.1 rad;
the negative direction reversing condition is set to omega < -0.01 rad/s, theta > +0.1 rad;
the stop condition is set to-0.01 rad/s < omega < +0.01 rad/s, -0.1 rad < theta < +0.1 rad;
further, the driving anti-shaking control method comprises the following steps: the time T is set to be 1/4 (T/4) of the swing period T of the crane;
further, when the start condition is satisfied, i.e., 0~T/4 time, T/4=t 1 +t 2 +t 3 2, wherein t 1 Is the delay time of the PLC signal, t 2 Is the extension time t of the PLC for starting the driving 3 The driving acceleration and deceleration time is that t is adjusted in the PLC 2 Make the travelling crane at T/4-T 3 Acceleration of 0 to Vc is started at the time of/2, and the acceleration is started at the time of T/4+t 3 /2And (3) completing acceleration of 0-Vc, wherein the acceleration is +a, so that a reverse inertia force-F acting on the crane weight is generated. Then the travelling crane keeps Vc advancing at a constant speed, wherein Vc is the linear speed value with the maximum hoisting weight;
further, when the negative direction reversing condition is satisfied, namely, within a time of T/4-3T/4, T/4=t 1 +t 4 +t 3 /2+t 3 2, wherein t 1 Is the delay time of the PLC signal, t 4 Is the extension time t of the PLC for reversing the travelling crane 3 The driving acceleration and deceleration time is that t is adjusted in the PLC 4 Let t 4 =t 2 -t 3 2, making the travelling crane at 3T/4-T 3 The speed reduction of Vc-0 is started at the time of 3T/4, the speed reduction of 0 to-Vc is started at the time of 3T/4+t 3 The deceleration of 0 to-Vc is completed, the acceleration is-a, so that a reverse inertia force F acting on the crane weight is generated, and then the crane keeps-Vc advancing at a constant speed;
further, when the forward direction commutation condition is satisfied, T/4=t 1 +t 4 +t 3 /2+t 3 2, i.e., 3T/4 to 5T/4 time, where T 1 Is the delay time of the PLC signal, t 4 Is the extension time t of the PLC for reversing the travelling crane 3 The driving acceleration and deceleration time is that t is adjusted in the PLC 4 Let t4=t 2 -t 3 2, making the travelling crane at 5T/4-T 3 Starting acceleration of-Vc to 0 at the time of 5T/4, starting acceleration of 0 to Vc at the time of 5T/4+t 3 And (3) completing acceleration of 0-Vc, wherein the acceleration is +a, so that a reverse inertia force-F acting on the crane weight is generated, and then the crane keeps Vc advancing at a constant speed.
The beneficial effects are that: the driving anti-swing system composed of the inertia measurement unit, the servo unit and the PLC main control unit is simple in structure, corresponding and rapid, reasonable setting of control positions and control speeds is achieved through adjustment and setting of the PLC on control time, the direction and the size of the inertia force are accurately controlled, and the rapid anti-swing braking effect is achieved.
Drawings
FIG. 1 is a diagram of an anti-roll control system of the present application;
fig. 2-4 are diagrams of the anti-roll control method of the present application.
Detailed Description
The technical scheme of the application is further described below with reference to the attached drawings and specific embodiments.
When the travelling crane accelerates and decelerates or external force interferes with the hanging weight, the hanging weight can swing, and the swing at the moment is single swing motion under a non-inertial system taking the travelling crane as a reference system.
Referring to fig. 1, the driving anti-swing control system provided in this embodiment is composed of a PLC (programmable logic controller) main control unit, an inertial measurement unit, a servo system and a driving unit, wherein the servo system can be a frequency converter driving an ac asynchronous motor or a servo unit driving an ac synchronous motor, the inertial measurement unit is a gyroscope and is fixedly connected with a lifting hook of the driving unit, measured values are transmitted to the PLC main control unit in real time in a serial communication manner, the gyroscope measures a real-time swing angle θ and a real-time swing speed ω of a lifting weight in real time, and transmits the θ and ω to the PLC main control unit in real time through an RS422 serial communication interface, and the PLC controls the driving motion through the servo system according to detection data of the gyroscope, so as to play a role in anti-swing braking when certain conditions are met through calculation, and the anti-swing control system comprises the following control steps:
(1) When the gyroscope detects the swing of the crane, the PLC main control unit controls the servo system to accelerate the crane to move in the single pendulum movement direction in time t when a starting condition or a forward direction reversing condition is met, the final speed is a maximum linear speed value Vc of the crane, vc=K is Vt, K is a coefficient, the value range is 0.5-4, vt is the maximum linear speed of the single pendulum, the starting condition or the forward direction starting condition of the embodiment is the same as the swing speed omega > +0.01rad/s, and the swing angle theta < -0.1rad;
(2) When detecting the reverse direction of the crane load, the PLC main control unit calculates, when the reverse direction reversing condition is met, controls the servo system to enable the crane to move in the negative direction for speed reduction movement within time t, the final speed is the minimum linear speed value-Vc, -Vc=K x-Vt of the crane, K is a coefficient, the value range (0.5-4), vt is the minimum linear speed of the single pendulum, and the reverse direction reversing condition of the embodiment is the crane load swinging speed omega < -0.01 rad/s, and the swinging angle theta > +0.1 rad;
(3) The step (1) and the step (2) are used for controlling the travelling crane to reciprocate to accelerate and decelerate along with the crane, and the master control PLC unit immediately stops the servo system until a stopping condition is met, wherein the stopping condition in the embodiment is-0.01 rad/s < omega < +0.01 rad/s, -0.1 rad < theta < +0.1 rad;
referring to fig. 2-4, the control method of the present application is further illustrated, wherein T is the period of the simple pendulum, and t=t/4 is set as the control condition.
Referring to fig. 2, when the start condition is satisfied, i.e., 0~T/4 time, T/4=t 1 +t 2 +t 3 2, wherein t 1 Is the delay time of the PLC signal, t 2 Is the extension time t of the PLC for starting the driving 3 The driving acceleration and deceleration time is that t is adjusted in the PLC 2 Make the travelling crane at T/4-T 3 Acceleration of 0 to Vc is started at the time of/2, and the acceleration is started at the time of T/4+t 3 And (2) completing acceleration of 0-Vc, wherein the acceleration is +a, so that a reverse inertia force-F acting on the crane weight is generated. The travelling crane keeps Vc advancing at a constant speed, wherein Vc is the maximum linear speed value of the travelling crane;
referring to fig. 3, when the negative commutation condition is satisfied, i.e., T/4 to 3T/4 time, T/4=t 1 +t 4 +t 3 /2+t 3 2, wherein t 1 Is the delay time of the PLC signal, t 4 Is the extension time t of the PLC for reversing the travelling crane 3 The driving acceleration and deceleration time is that t is adjusted in the PLC 4 Let t 4 =t 2 -t 3 2, making the travelling crane at 3T/4-T 3 The speed reduction of Vc-0 is started at the time of 3T/4, the speed reduction of 0 to-Vc is started at the time of 3T/4+t 3 The deceleration of 0 to-Vc is completed, the acceleration is-a, so that a reverse inertia force F acting on the crane weight is generated, and then the crane keeps-Vc advancing at a constant speed;
referring to fig. 4, T/4=t when the forward commutation condition is satisfied 1 +t 4 +t 3 /2+t 3 2, i.e., 3T/4 to 5T/4 time, where T 1 Is the delay time of the PLC signal, t 4 Is the extension time t of the PLC for reversing the travelling crane 3 The driving acceleration and deceleration time is adjusted in the PLCt 4 Let t4=t 2 -t 3 2, making the travelling crane at 5T/4-T 3 Starting acceleration of-Vc to 0 at the time of 5T/4, starting acceleration of 0 to Vc at the time of 5T/4+t 3 And (3) completing acceleration of 0-Vc, wherein the acceleration is +a, so that a reverse inertia force-F acting on the crane weight is generated, and then the crane keeps Vc advancing at a constant speed.
Through the repeated action of the inertia force at the lowest point of the single pendulum movement, the kinetic energy of the crane is rapidly reduced, and the anti-swing braking effect is achieved.
The present application is not limited to the above-mentioned preferred embodiments, and any person who can obtain other various products under the teaching of the present application can make any changes in shape or structure, and all the technical solutions that are the same or similar to the present application fall within the scope of the present application.
Claims (8)
1. The utility model provides a driving anti-swing control method which is characterized in that, control system comprises PLC (programmable logic controller) main control unit, inertial measurement unit, servo system, driving, inertial measurement unit and the lifting hook fixed link of driving, and send the measured value to in the PLC main control unit through serial communication's mode in real time, inertial measurement unit measures the real-time angle of swing θ and real-time pendulum speed ω of hanging weight in real time, and sends θ and ω in real time to in the PLC main control unit, the PLC is according to inertial measurement unit's detection data, through calculation, when satisfying certain condition, control driving motion through servo system, includes the following control step:
(1) When the inertial measurement unit detects swing of the crane, the PLC main control unit controls the servo system to accelerate the crane to move in the positive direction in time t after calculation and when a starting condition or a positive reversing condition is met, the final speed is a maximum linear speed value Vc of the crane, vc=K is a coefficient, the value range (0.5-4) is a single pendulum maximum linear speed;
(2) When the hoisting load is detected to reverse in the direction, the PLC main control unit calculates, and when a negative reversing condition is met, the servo system is controlled to enable the travelling crane to move in the negative direction for decelerating movement in time t, the final speed is a minimum linear speed value-Vc of the travelling crane, vc=K is a coefficient, the value range (0.5-4) is a coefficient, and Vt is a minimum linear speed of the simple pendulum;
(3) And (3) performing closed-loop control on the travelling crane in the steps (1) and (2) to follow the crane to reciprocate to accelerate and decelerate until the stopping condition is met, and immediately stopping the servo system by the main control PLC unit.
2. The driving anti-crank control method according to claim 1, wherein the starting condition or the forward direction reversing condition is set to ω > +0.01 rad/s, θ < -0.1 rad; the negative direction reversing condition is set to omega < -0.01 rad/s, theta > +0.1 rad; the stop condition is set to-0.01 rad/s < omega < +0.01 rad/s, -0.1 rad < theta < +0.1 rad.
3. The method for controlling the swing prevention of the traveling crane according to claim 2, wherein the time T is set to be 1/4 of the swing period T of the crane, i.e., T/4.
4. A driving anti-crank control method as claimed in claim 3, characterized in that T/4 = T when the start condition is met, i.e. within 0~T/4 time 1 +t 2 +t 3 2, wherein t 1 Is the delay time of the PLC signal, t 2 Is the extension time t of the PLC for starting the driving 3 The driving acceleration and deceleration time is that t is adjusted in the PLC 2 Make the travelling crane at T/4-T 3 Acceleration of 0 to Vc is started at the time of/2, and the acceleration is started at the time of T/4+t 3 And (2) completing acceleration of 0-Vc, wherein the acceleration is +a, so that a reverse inertia force-F acting on the crane weight is generated, and then the crane keeps Vc advancing at a constant speed, wherein Vc is the maximum linear speed value of the crane weight.
5. The driving anti-crank control method according to claim 4, wherein when the negative direction reversing condition is satisfied, namely within a time of T/4-3T/4, T/4=t 1 +t 4 +t 3 /2+t 3 2, wherein t 1 Is the delay time of the PLC signal, t 4 Is the extension of the PLC for reversing the travelling craneTime t 3 The PLC is used for accelerating and decelerating time, and t is adjusted in the PLC 4 Let t 4 =t 2 -t 3 2, making the travelling crane at 3T/4-T 3 The speed reduction of Vc-0 is started at the time of 3T/4, the speed reduction of 0 to-Vc is started at the time of 3T/4+t 3 And finishing deceleration of 0 to-Vc, wherein the acceleration is-a, so that reverse inertia force F acting on the crane weight is generated, and then the crane keeps-Vc to advance at a constant speed, wherein-Vc is a linear speed value with the minimum crane weight.
6. The driving anti-crank control method according to claim 5, wherein T/4 = T when the forward direction reversing condition is satisfied 1 +t 4 +t 3 /2+t 3 2, i.e., 3T/4 to 5T/4 time, where T 1 Is the delay time of the PLC signal, t 4 Is the extension time t of the PLC for reversing the travelling crane 3 The PLC is used for accelerating and decelerating time, and t is adjusted in the PLC 4 Let t 4 =t 2 -t 3 2, making the travelling crane at 5T/4-T 3 Starting acceleration of-Vc to 0 at the time of 5T/4, starting acceleration of 0 to Vc at the time of 5T/4+t 3 And (3) completing acceleration of 0-Vc, wherein the acceleration is +a, so that a reverse inertia force-F acting on the crane weight is generated, and then the crane keeps Vc advancing at a constant speed.
7. The vehicle anti-roll control method according to claim 1, wherein the inertial measurement unit is preferably a gyroscope.
8. The method of claim 1, wherein the servo system is preferably a frequency converter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310971241.XA CN117049362A (en) | 2023-08-03 | 2023-08-03 | Driving anti-shaking control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310971241.XA CN117049362A (en) | 2023-08-03 | 2023-08-03 | Driving anti-shaking control method |
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| CN117049362A true CN117049362A (en) | 2023-11-14 |
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| CN202310971241.XA Pending CN117049362A (en) | 2023-08-03 | 2023-08-03 | Driving anti-shaking control method |
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