CN117284932A - Automatic control method for cyclone well driving - Google Patents
Automatic control method for cyclone well driving Download PDFInfo
- Publication number
- CN117284932A CN117284932A CN202310944373.3A CN202310944373A CN117284932A CN 117284932 A CN117284932 A CN 117284932A CN 202310944373 A CN202310944373 A CN 202310944373A CN 117284932 A CN117284932 A CN 117284932A
- Authority
- CN
- China
- Prior art keywords
- automobile
- model
- loading
- height
- grab bucket
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 44
- 239000000463 material Substances 0.000 claims abstract description 147
- 238000001514 detection method Methods 0.000 claims abstract description 33
- 238000005096 rolling process Methods 0.000 claims abstract description 4
- 238000005516 engineering process Methods 0.000 claims description 22
- 238000012937 correction Methods 0.000 claims description 17
- 230000002093 peripheral effect Effects 0.000 claims description 11
- 238000007599 discharging Methods 0.000 claims description 10
- 238000009826 distribution Methods 0.000 claims description 9
- 238000013178 mathematical model Methods 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 4
- 238000010276 construction Methods 0.000 claims description 4
- 210000000481 breast Anatomy 0.000 claims description 3
- 238000005192 partition Methods 0.000 claims 1
- 239000002893 slag Substances 0.000 description 12
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 10
- 230000008569 process Effects 0.000 description 9
- UQSXHKLRYXJYBZ-UHFFFAOYSA-N Iron oxide Chemical compound [Fe]=O UQSXHKLRYXJYBZ-UHFFFAOYSA-N 0.000 description 8
- 238000004422 calculation algorithm Methods 0.000 description 5
- 229910052742 iron Inorganic materials 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000005303 weighing Methods 0.000 description 4
- 230000003405 preventing effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000005674 electromagnetic induction Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 238000009749 continuous casting Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005315 distribution function Methods 0.000 description 1
- 238000009851 ferrous metallurgy Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000003892 spreading Methods 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- B66C13/04—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
-
- 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
- B66C13/12—Arrangements of means for transmitting pneumatic, hydraulic, or electric power to movable parts of 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
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
- B66C13/44—Electrical transmitters
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- 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]
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- Geometry (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a rotational flow well driving automatic control method, which belongs to the field of automatic control and comprises driving positioning detection; anti-rolling control of the travelling crane; detecting the position of an automobile; building a material pile model and controlling the material pile model; and (5) building and controlling an automobile loading model. Compared with the prior art, the automatic grabbing, storing, loading, driving positioning control and driving stability and speed control can be realized.
Description
Technical Field
The invention discloses a division application of a rotational flow well driving automatic control system (2021107364780), relates to an automatic control method, and particularly relates to an automatic control method suitable for rotational flow well driving.
Background
Iron oxide scale generated in the ferrous metallurgy continuous casting and steel rolling processes is flushed into a cyclone well through high-pressure water, is precipitated in the cyclone well, and then grabbing, storing and loading of the iron oxide scale slag in the cyclone well are realized through controlling a driving grab bucket. The automatic positioning control technology of the travelling crane is mature, but to realize grabbing, storing and loading of oxide scales in the cyclone well, complete automatic control of the travelling crane of the cyclone well is realized, a complete set of complete technical support is needed, and the automatic positioning control method comprises the following steps: driving positioning, stock pile model modeling, stock pile model control, automobile positioning, loading model and the like.
However, automatic stacking after material grabbing of the cyclone well, automatic material taking and automatic loading of materials in a material pool and the like involve the technologies of stack model modeling, stack model control and loading model control, a conventional PLC control algorithm is difficult to realize, for example, the technology of laser scanning, image recognition and the like is adopted, the stack model control can be realized through complex computer modeling, but the development cost is high, the period is long, so that no successful application cases exist in China, the application of automatic slag grabbing of the cyclone well crane is limited, and the cyclone well crane is generally realized by adopting manual operation.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an automatic control method for the travelling crane of the cyclone well, and the automatic positioning of the travelling crane grab bucket is completed through a PLC automatic control technology; a material pile model is built, so that automatic material pile model control and material taking model control of the material pile are realized, and automatic stacking and material taking of oxide scale materials are realized; through car positioning technology and loading control model, realize the automatic loading function to the material. Through the application of the techniques, the automatic grabbing and storing functions of the scale slag in the cyclone well and the automatic grabbing and loading functions of the materials in the material pool are realized.
The technical scheme for solving the technical problems is as follows: an automatic control method for a cyclone well driving is characterized by comprising the following steps of: an automatic control method for a cyclone well driving is characterized by comprising the following steps of: comprises driving positioning detection; anti-rolling control of the travelling crane; detecting the position of an automobile; building a material pile model and controlling the material pile model; establishing and controlling an automobile loading model; wherein: the travelling crane positioning detection comprises a large car plane position, a small car plane position and a grab bucket vertical position; the driving anti-swing control is characterized in that an open-loop anti-swing control technology is adopted by a variable-frequency self-contained anti-swing control technology, swing is continuously limited by modifying a speed command signal sent to an electric control system, the swing angle is calculated by checking the lifting height of a lifting hook, and then the swing angle is counteracted by given acceleration and deceleration; detecting the position of the automobile to obtain a three-dimensional position model of the automobile hopper; the pile model establishment comprises pile model planning and collapse slope setting; the material pile model is designed to divide a material pool into n multiplied by m lattice; each lattice records the height of the material, and constructs a material pool into a mathematical model of a three-dimensional area; the stockpile model control comprises stockpile model control and material taking model control; the automobile loading model and control comprises automobile loading model construction, collapse slope setting, automobile loading material height determination, automobile loading lattice sequence setting and loading stop mode setting after automobile discharging.
Furthermore, in the travelling crane positioning detection, the plane position detection of the large and small vehicles is realized by adopting a Gray code cable positioning technology; the vertical position of the grab bucket is positioned by an absolute value encoder.
Furthermore, the automobile position detection is that the automobile is required to be parked and fixed at one side, the laser ranging is installed at the tail of the automobile, so that the absolute angle position of the rear side of the automobile hopper can be obtained, and then the three-dimensional position model of the automobile hopper can be obtained according to the input length, width, floor height and breast board height of the automobile hopper.
Further, in the above-mentioned stock pile model establishment, the lattice width is the width of the grab bucket opening.
Further, the control of the stacking model comprises (1) grab bucket state judgment, (2) material distribution of the material to be discharged, (3) material discharging of the hopper, and obtaining the center position and the material height of the material to be discharged, (4) correction of the lattice height around the center point of the stacking and (5) correction of the lattice height around the periphery of the lattice.
Further, the material taking model control comprises (1) grab bucket state judgment, (2) grab bucket material taking influence area, (3) grab bucket center point peripheral lattice height correction and (4) peripheral lattice height correction of a circle of peripheral lattice.
Further, the construction of the automobile loading model comprises the steps of determining the number of lattices, calculating the width of the lattices, recording the height of materials for each lattice of automobile loading, and finally constructing the automobile hopper materials into a mathematical model of a three-dimensional area.
Further, the loading lattice sequence is set according to the loading of the points when the grab bucket is loaded.
Further, the loading stop mode includes a full mode, a weight mode and a loading frequency mode; any mode condition is reached and loading is stopped.
Compared with the prior art, the invention has the following outstanding beneficial effects:
1. the invention screens the limited material space of the material pile, and establishes a pile model control algorithm when the material pile is used for material storage of the material pile;
2. through the automatic control of the stacking model, the automatic stacking function of the material stack is realized, even though the cab is manually operated, the automatic correction can be carried out on the spot array model under the condition of discharging at random positions, and the instantaneity and the accuracy of the material stack model are ensured;
3. the driving positioning control is realized through the driving automatic positioning detection and control technology;
4. through the application of the variable frequency anti-shake technology, the stable and rapid control of the driving is realized;
5. the automatic grabbing and storing functions of the scale slag in the cyclone well and the automatic grabbing and loading functions of the materials in the material pool stack are realized, the defects of low repeated labor efficiency, long working time and high labor intensity of manual control are overcome, and the running safety of the crane is improved.
Drawings
Fig. 1 is a functional block diagram of a system of the present invention.
FIG. 2 is a flow chart of the one-key automatic slag grabbing control of the present invention.
FIG. 3 is a flow chart of the one-key auto-launch control of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and the detailed description.
The invention relates to an automatic control method for a cyclone well crane, which adopts a PLC automatic control system technology to realize detection of signals such as positioning of the crane, and develops an automatic stacking control model and a material taking control model of a material stack model by establishing the material stack model and an automobile to realize automatic material taking and stacking of an iron oxide scale material stack; the automatic loading function of the materials is realized through the automobile positioning technology and the loading control model. Through the application of the techniques, the automatic grabbing and storing functions of the iron oxide scale slag in the cyclone well and the automatic grabbing and loading functions of the materials in the material pool stack are realized.
As shown in fig. 1, the embodiment of the invention comprises a main control unit, a ground operation unit, a central control HMI, an electrical control unit, a cart address detection unit, a field signal detection unit and an automobile positioning unit.
(1) Main control unit
The system comprises a PLC control system which is in data connection with a wireless switch, is a core control part of the whole system, and is arranged in an automatic control cabinet. The PLC control system is connected with the wireless switch and is in data connection with the ground wireless switch to realize communication with the touch screen and the central control HMI.
(2) Ground operation unit
The intelligent driving system comprises a touch screen and a wireless switch which are in data connection with the switch, and the on-site operation of driving is realized through the touch screen.
(3) Central control HMI
For remote man-machine operation interface, the central control HMI is connected with the switch and is in data connection with the switch of the ground control unit through optical fiber to realize network connection and data exchange with the PLC control system
(4) Electrical control unit
The device comprises a cart anti-shake frequency converter, a cart anti-shake frequency converter and a grab bucket frequency converter which are connected in series, wherein the head end of the cart anti-shake frequency converter is connected with the main control unit in a data manner, and the tail end of the grab bucket frequency converter is connected with the field signal detection unit in a data manner. The electric control loop for the trolley and the grab bucket motor realizes the control of the trolley through the frequency converter. The large and small car frequency converter is an anti-shake frequency converter, has an anti-shake function and is used for driving anti-shake control. The frequency converter is arranged in the driving power distribution cabinet.
(5) Address detection unit
Comprises a cart address detection part, a trolley address detection part and a Gray positioning control cabinet.
The cart address detection part comprises a cart Gray coding cable, a cart antenna box, a cart address code generator and a cart decoder. The cart address code generator is arranged in the initial end box of the cart Gray code cable and is sequentially connected with the antenna box of the cart and signals of the cart decoder, and the signal exchange with the Gray code cable is realized through electromagnetic induction, so that the position detection is realized.
The trolley address detection part comprises a trolley Gray code cable, a trolley antenna box, a trolley address code generator and a trolley decoder. The trolley address code generator and the antenna box are directly arranged on the trolley, and after the trolley antenna box transmits the electromagnetic induction of the Gray code cable, the trolley decoder receives signals.
And an address converter is arranged in the Gray positioning control cabinet and is respectively connected with a cart decoder and a trolley decoder through signals. The address converter is provided with a DP network interface, and realizes network connection with the PLC control system through a DP communication protocol to finish the detection of the vehicle position.
(6) On-site signal detection unit
The device comprises a weighing transmitter, a support and a closing cable encoder which are in data connection with a weighing sensor. The weighing sensor and the weighing transmitter convert the weight signal into a 4-20 mA signal, the 4-20 mA signal is directly connected with the main control unit through a shielded cable and a sliding wire, and data enter a PLC control system analog signal module of the main control unit to realize the detection of the weight signal; the support and closing cable encoder is provided with a DP communication interface and is connected to the tail end frequency converter of the electric control unit in series through a slide wire DP cable, so that the PLC control system realizes the vertical position detection of the grab bucket through the series connection of the DP cable.
(7) Automobile positioning unit
The switch is used for detecting the position of the automobile and is in data connection with the ground operation unit.
It should be noted that, where not described in detail in the above embodiments, the technology is well known in the art.
The control of the automatic control system of the present invention comprises:
1. driving positioning detection
The driving position detection comprises a plane position of the cart and a plane position of the trolley, and the vertical position of the grab bucket, so that the driving grab bucket position forms a three-dimensional model.
The detection of the plane positions of the large and small vehicles is realized by adopting a Gray code cable positioning technology, and the technology has the characteristics of strong anti-interference capability, suitability for severe industrial environments and absolute position detection, and positioning accuracy of 5mm.
The vertical position of the grab bucket is positioned by an absolute value encoder.
2. Driving anti-swing control
When the crane normally works, the acceleration and deceleration processes generated in the starting and braking processes of the large and small car running mechanisms can cause the suspended grab bucket to swing with a certain swing amplitude, the grabbing and unloading operation of the lifting appliance on materials cannot be safely and effectively performed, the production efficiency of crane starting is directly affected, the production efficiency is restricted by the swing in the case of the crane of a rotational flow well which frequently works, and the equipment and the crane are also greatly hidden by safety hazards. For this reason, it is also a problem to be solved to suppress the swing amplitude of the grab bucket swing within a certain safety range.
When the vehicle is driven in an automatic control mode, the load is prevented from swinging only by virtue of the anti-swinging equipment and an automatic control algorithm, the anti-swinging equipment is generally realized by adopting an electronic anti-swinging product, the frequency conversion anti-swinging control function is mature, and the technology is wide in application and low in cost.
The frequency conversion self-contained anti-swing control technology adopts an open loop anti-swing control technology, continuously limits swinging by modifying a speed command signal sent to an electric control system, calculates a swinging angle by checking the lifting height of a lifting hook, and then counteracts the swinging angle by given acceleration and deceleration. This technique is prior art and will not be described in detail herein.
The grab bucket lifting mechanism adopts a standard special frequency converter for lifting, and the large and small cars adopt the special frequency converter for the crane with the anti-shaking function.
3. Automobile position detection
To realize material loading, the position of a three-dimensional space region of an automobile hopper is required to be obtained, and the automobile position detection method comprises the following steps: the automobile is required to be parked and fixed at one side, the laser ranging is installed at the tail part of the automobile, so that the absolute position of an angle at the rear side of the automobile hopper can be obtained, and then the three-dimensional position model of the automobile hopper can be obtained according to the length, width, floor height and breast board height of the input automobile hopper, and the automobile position detection is realized.
4. Stock pile model building
(1) Stockpile model planning
The pool is divided into n×m lattices. Each lattice records the height of the material, so that the material pool is constructed as a mathematical model of a three-dimensional area, the model precision is the distance between the lattices, the more the number of the lattices, the more the material pile model in the material pool can be reflected, and the more accurate the material pile model is. However, when the grab bucket is used for carrying out material piling and taking control on materials, the heights of the materials in the control range of the grab bucket are basically the same, and the calculated amount and the storage space of the PLC are increased by excessive three-dimensional lattices, so that the lattice width, namely the lattice distance, is generally the width of the open grab bucket.
(2) Slump slope setting
The iron scale material pile model is consistent with the sand pile model, and when the height of the iron scale pile reaches a certain degree in the piling process, a small point of iron scale falls down to possibly cause the collapse of the whole material pile and spread to the periphery. When the material pile collapses, the slope angle alpha of the material pile slope is the maximum slope of the material pile, the alpha is selected to be 30-70 degrees according to the characteristics of iron scales, the optimal scheme is 35-50 degrees, and the slope of the material pile slope is tag (alpha).
The pile model meets the collapse slope, namely the slope (height difference/lattice distance) of adjacent lattices is less than or equal to tag (alpha).
5. Stockpile model control
The stockpile model control comprises stockpile model control and material taking model control.
The control of the stockpile model aims at updating a control algorithm of the stockpile model after the grab bucket is discharged once.
(1) Grab bucket state judgment
Control of the grapple is achieved by a support cable and a closure cable.
When the grab bucket is closed, the heights of the supporting cable and the closing cable are consistent, and the supporting cable and the closing cable are used as the judgment basis for the closing of the grab bucket.
When the grab bucket is in a closed state and the closed cable descends, the grab bucket is gradually opened under the action of gravity until the grab bucket reaches the maximum opening position, and the height difference between the supporting cable and the closed cable is used as the judging basis for opening the grab bucket.
The grab closing process is reversed.
When the grab bucket is lifted integrally (the grab bucket is not opened or closed), the supporting cable and the closing cable simultaneously execute the same action, namely lifting or lowering simultaneously.
(2) Distribution of discharged materials
When the grab bucket is piled up on the horizontal plane, the material distribution area takes the closing and closing shaft of the grab bucket as the center line, the grab bucket spreads to two sides in the opening direction of the grab bucket, and the increasing height h of each spreading point on the two sides basically follows a normal distribution curve function:
wherein h is max The height is increased for the center point, which is determined according to the discharge amount. During slope piling, objects are piledThe material is discharged to one side of the downward slope, so that in the distribution of the material piling area, the influence area of the upward slope is smaller, the distribution curve is close to the center, the variance sigma of the downward slope is larger, the influence area is enlarged, and the distribution curve expands to the periphery.
(3) After the hopper discharges, the center position of a discharge point and the height of the material are obtained
(4) Correction of lattice height around stacking center point
And calculating and correcting the heights of the surrounding lattices according to the distances from the center point to the lattice, the heights of the center point, the heights of the original lattice, the discharging weight and the material distribution function.
(5) Peripheral lattice height correction
The correction method is mainly used for adjusting the height according to the principle of maximum collapse slope gradient.
The purpose of the material taking model control is to realize a material taking algorithm in one-key automatic loading.
(1) Grab bucket state judgment
(2) Grab bucket material taking influence area
When the grab bucket is used for taking materials, the open area of the grab bucket is used for taking materials, and after the grab bucket is used for taking materials once, collapse factors are not considered, and the influence area of the grab bucket on the material pile is in the open area of the grab bucket.
If the level of the material is uneven, the process is shown in figure 2. In the process of grabbing materials, the closed cable is lifted, so that the grab bucket grabs materials downwards on the high material level side, the grab bucket on the low material level side is lifted, the grabbing capacity is weakened, and finally the grabbing material influence area is mostly on the high material level side, and the influence on the low material level side is small.
(3) Correction of lattice height around grab bucket center point
And calculating and correcting the height of the lattice around according to the height and distance of the center point of the grab bucket after grabbing the material and the height of the center point and the original lattice.
The method comprises the following steps: after one material grabbing, the impact area uses four lattices around the center of the grab bucket, and the impact lattices are four lattices marked with h11, h12, h21 and h22 on the right lower part of fig. 3. The height of the grab bucket center point is h, and the original heights affecting the four points are h11, h12, h21 and h22. The distances from the grab bucket center point to the 4 lattice center points are d11, d12, d21 and d22 respectively. There are of course cases where the center point is located at the edge or 4 corners of the pool, which is the area of influence of 2 or a single lattice (single at the corners), and this special case needs to be considered, and the method for calculating the material taking height model is consistent with four points.
The dot matrix height correction formula is:
corrected lattice height h = grab center point height h0+ distance coefficient df x height difference hb× (1-grab area ratio Sp).
a) Center point height h0 of grab bucket after grabbing material
When the weight of the grab bucket is reduced to 0, the grab bucket falls, the grab bucket is lifted by the closing cable, the grab bucket starts to grab the material until the grab bucket is closed, and the height of the supporting cable is the height of the material after the material is taken.
b) Distance coefficient df
The distance coefficient is determined according to the distance d between the grab bucket center point and the lattice center points (d 11, d12, d21 and d22 are respectively used for four lattices), the functional relation is an exponential function, the closer the distance is, the more the lattice height is consistent with the height after grabbing materials.
c) Height difference hb
hb=lattice original height-grab bucket center point height h0 after grabbing
d) Grab bucket area ratio Sp
The grab bucket area ratio refers to the area ratio of the grab point influence area in the lattice when grabbing materials. Equal to 1 indicates complete coverage.
After the corrected lattice height is calculated according to the formula, the lattice height is corrected for one time according to the collapse slope, namely the corrected lattice height h and the grab bucket center point height h0 after grabbing meet the collapse slope.
First, the slope k= |h-h0|/d is calculated. And then analyzing according to k:
if k is less than or equal to tag (alpha), then: a corrected lattice height is received.
If k > tag (α), then: the corrected lattice height is: the height of the center point of the grab bucket after grabbing the material is h0+d multiplied by tag (alpha).
(4) Peripheral lattice height correction
After the material is taken, the position and the height of a material taking center point can be obtained, the material height slope of a circle of material from the material taking center point to the periphery of each point array is calculated, and the point array exceeding the collapse slope is corrected.
The peripheral dot matrix is compared with the height of the grab bucket center point, when the slope is smaller than the collapse slope, the height of the peripheral dot is not modified, otherwise, the peripheral dot is modified according to the collapse slope.
6. Automobile loading control model
(1) Automobile loading model
The width of the truck is generally between 2.2 meters and 2.5 meters, the grab bucket is opened to be 1.8 meters and 2 meters, the grab bucket discharging width can be exactly contained, so that the automobile model is divided into a row of automobile loading lattices, the number of the lattices is determined according to the length of the automobile, and the lattices at the two ends of each automobile bucket are required to be kept at a sufficient safety distance so as to ensure that the grab bucket can not touch the head and tail baffle of the automobile bucket during loading, and the anti-collision safety control is realized.
Lattice number = (car length-2 x grab bucket-car safety distance)/grab bucket width
The number of the lattices obtained by the formula needs to be rounded, the number of the lattices is finally determined after rounding, the lattice width is recalculated according to the determined number of the lattices, and the calculation formula is as follows:
lattice width= (automobile length-2 x grab bucket and automobile safety distance)/lattice number
And recording the height of the material for each lattice of the automobile loading, and thus constructing the automobile hopper material into a mathematical model of a three-dimensional area.
(2) Slump slope
After the automobile is loaded once, the partial area of the material pile may be collapsed. When the material pile collapses, the slope surface bevel alpha of the material pile is the maximum slope of the material pile, the alpha is selected to be 30-70 degrees according to the characteristics of iron scales, the optimal scheme is 35-50 degrees, and the slope surface collapse slope is tag (alpha).
When the automobile is charged, the slope of the adjacent lattice (height difference/lattice distance) is less than or equal to tag (alpha).
(3) Height of automobile loading material
When the material is discharged, the grab bucket falls in a closed state until the weight of the grab bucket is reduced to 0, the grab bucket is touched to the material, and the height of the grab bucket is the height of the material.
If the material is discharged below the height of the automobile bottom plate, the weight is not reduced, the grab bucket is not touched to the automobile floor, the automobile is not parked at the loading point, a fault alarm is sent out by the system, the material discharge is stopped, and the safety is ensured. If the position height of the grab bucket is not less than the height of the automobile bucket baffle plate when the material is discharged for the first time, the condition that the loading point touches the automobile bucket baffle plate is indicated that the automobile positioning has a problem, a system gives out a fault alarm, and the material discharge is stopped. The special situations that the automobile is not positioned accurately or the automobile is not at the parking position can be eliminated through the judgment of the unloading height of the grab bucket, so that the loading safety is effectively ensured. The safety control of preventing the scattering and collision under special conditions is realized.
(4) Material height correction after automobile discharging
The height correction method of each lattice after the automobile is discharged once is consistent with the discharging method of the material pool, except that the influence area is two adjacent lattices, and the two adjacent lattices are outwards carried out according to whether collapse rules are met or not.
(5) Dot matrix sequence of loading
When the grab bucket is loaded, the grab bucket is loaded not according to the lattice sequence, but at intervals. For example, the number of the automobile loading lattices is 5, and the loading lattice sequence is as follows: 1- & gt 3- & gt 5- & gt 2- & gt 4- & gt 1 … …, and repeating the steps.
The loading in this order has the advantages that the material is discharged between the two stacking peaks, the grab bucket is not easy to pour, and meanwhile, the material scattering preventing effect is good.
When the material height of a certain point is not less than (the height of the automobile bucket baffle plate is not less than the height of the anti-scattering material safety unloading), the point is full and can not be filled any more, otherwise, the material will overflow the baffle plate and scatter the material outwards, at this time, the point will be skipped, the next lattice is filled until all lattices are full, and the filling is finished.
(6) Loading stop mode
There are three modes of loading stop: a filling mode, a weight mode and a loading frequency mode.
(1) Filling mode: namely, the loading heights of all the lattices are not less than (the height of the automobile bucket baffle-the height of the anti-scattering safety unloading);
(2) weight mode: stopping the loading weight exceeding the set weight value, and stopping if the full mode condition is reached;
(3) loading frequency mode: the number of grapple loads is stopped beyond the set point and will also stop if the full mode condition is reached.
The system of the invention has the main control functions that: one-key automatic slag grabbing, one-key automatic loading and safety control functions. The automatic slag grabbing and automatic loading can not be operated at the same time, only one of the automatic slag grabbing and automatic loading can be selected, and the safety control function runs through the whole running process of the crane.
1) One-key automatic slag grabbing device
As shown in fig. 2, the automatic slag grasping of the travelling crane from the cyclone well is realized, and the slag is automatically stored in the material pool. The scale material pool needs to be controlled by a stacking model of a material stack model.
2) One-key automatic loading vehicle
As shown in fig. 3, the automatic loading function of the travelling crane is realized, namely, the material is automatically grasped from the material pool and stored in the automobile. The process uses a material taking model control and an automobile loading model of a material pile model.
3) Safety control function
The safety control runs through the whole running process of the travelling crane and comprises the following steps: communication fault emergency stop control function, emergency stop button and extreme position stop function, driving anticollision function, lifting weight limiting function, grab bucket vertical position and translation safety anti-collision function, spill preventing function, personnel boarding prevention function and the like.
It should be noted that, in this embodiment, the details are not described, and the technology is well known in the art. In the foregoing, only certain exemplary embodiments have been described briefly. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in numerous different ways without departing from the spirit or scope of the embodiments of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.
While the invention has been described in detail and with reference to specific embodiments thereof, it will be apparent to one skilled in the art that various changes can be made therein without departing from the spirit and scope of the invention.
Claims (9)
1. An automatic control method for a cyclone well driving is characterized by comprising the following steps of: comprises driving positioning detection; anti-rolling control of the travelling crane; detecting the position of an automobile; building a material pile model and controlling the material pile model; establishing and controlling an automobile loading model; wherein:
the travelling crane positioning detection comprises a large car plane position, a small car plane position and a grab bucket vertical position;
the driving anti-swing control is characterized in that an open-loop anti-swing control technology is adopted by a variable-frequency self-contained anti-swing control technology, swing is continuously limited by modifying a speed command signal sent to an electric control system, the swing angle is calculated by checking the lifting height of a lifting hook, and then the swing angle is counteracted by given acceleration and deceleration;
detecting the position of the automobile to obtain a three-dimensional position model of the automobile hopper;
the pile model establishment comprises pile model planning and collapse slope setting; the material pile model is designed to divide a material pool into n multiplied by m lattice; each lattice records the height of the material, and constructs a material pool into a mathematical model of a three-dimensional area;
the stockpile model control comprises stockpile model control and material taking model control;
the automobile loading model and control comprises automobile loading model construction, collapse slope setting, automobile loading material height determination, automobile loading lattice sequence setting and loading stop mode setting after automobile discharging.
2. The automatic control method for the cyclone well traveling crane according to claim 1, wherein the method comprises the following steps: in the travelling crane positioning detection, the detection of the plane position of the large and small vehicles is realized by adopting a Gray code cable positioning technology; the vertical position of the grab bucket is positioned by an absolute value encoder.
3. The automatic control method for the cyclone well traveling crane according to claim 1, wherein the method comprises the following steps: the automobile position detection is to require an automobile to park and fix one side position, and the laser ranging is installed at the tail part of the automobile, so that the absolute angle position of the rear side of the automobile hopper can be obtained, and then the three-dimensional position model of the automobile hopper can be obtained according to the input length, width, floor height and breast board height of the automobile hopper.
4. The automatic control method for the cyclone well traveling crane according to claim 1, wherein the method comprises the following steps: in the building of the material pile model, the lattice width is equal to the opening width of the grab bucket.
5. The automatic control method for the cyclone well traveling crane according to claim 1, wherein the method comprises the following steps: the control of the stacking model comprises (1) grab bucket state judgment, (2) material distribution of the discharged materials, (3) material height and central position of a discharging point obtained after discharging of a hopper, (4) correction of the height of the dot matrix around the central point of the stacking and (5) correction of the height of the dot matrix around the periphery.
6. The automatic control method for the cyclone well traveling crane according to claim 1, wherein the method comprises the following steps: the material taking model control comprises (1) grab bucket state judgment, (2) grab bucket material taking influence area, (3) grab bucket center point peripheral lattice height correction and (4) peripheral lattice height correction of a circle of peripheral lattice.
7. The automatic control method for the cyclone well traveling crane according to claim 1, wherein the method comprises the following steps: the automobile loading model construction comprises the steps of determining the number of lattices, calculating the width of the lattices, recording the height of materials for each lattice of automobile loading, and finally constructing the automobile hopper materials into a mathematical model of a three-dimensional area.
8. The automatic control method for the cyclone well traveling crane according to claim 1, wherein the method comprises the following steps: the loading lattice sequence is set, and the loading is carried out according to the partition points when the grab bucket is loaded.
9. The automatic control method for the cyclone well traveling crane according to claim 1, wherein the method comprises the following steps: the loading stopping mode comprises a filling mode, a weight mode and a loading frequency mode; any mode condition is reached and loading is stopped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310944373.3A CN117284932A (en) | 2021-06-30 | 2021-06-30 | Automatic control method for cyclone well driving |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310944373.3A CN117284932A (en) | 2021-06-30 | 2021-06-30 | Automatic control method for cyclone well driving |
| CN202110736478.0A CN113371610B (en) | 2021-06-30 | 2021-06-30 | Automatic control system for cyclone well driving |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110736478.0A Division CN113371610B (en) | 2021-06-30 | 2021-06-30 | Automatic control system for cyclone well driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117284932A true CN117284932A (en) | 2023-12-26 |
Family
ID=77580198
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110736478.0A Active CN113371610B (en) | 2021-06-30 | 2021-06-30 | Automatic control system for cyclone well driving |
| CN202310944373.3A Pending CN117284932A (en) | 2021-06-30 | 2021-06-30 | Automatic control method for cyclone well driving |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110736478.0A Active CN113371610B (en) | 2021-06-30 | 2021-06-30 | Automatic control system for cyclone well driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN113371610B (en) |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0610079B2 (en) * | 1989-05-02 | 1994-02-09 | アイコク工業株式会社 | Swing lock and automatic lifting device for self-propelled cargo handling equipment |
| AUPQ183099A0 (en) * | 1999-07-27 | 1999-08-19 | Schmidt, Hans H. | Container handling apparatus or cradle |
| JP2005239422A (en) * | 2004-01-29 | 2005-09-08 | Mitsubishi Heavy Ind Ltd | Container crane |
| CN201809065U (en) * | 2009-11-03 | 2011-04-27 | 南通通镭软件有限公司 | Automatic container loading and unloading control system under shore bridge |
| CN209923368U (en) * | 2019-04-26 | 2020-01-10 | 马鞍山市佳腾节能环保科技有限公司 | Automatic slag grabbing system based on travelling crane |
| CN110817699A (en) * | 2019-12-16 | 2020-02-21 | 山西建龙实业有限公司 | Unmanned intelligent automatic slag grabbing control system and method for overhead travelling crane of cyclone well |
| CN112010176A (en) * | 2020-08-27 | 2020-12-01 | 三一海洋重工有限公司 | Automatic container grabbing and releasing system for container card and container loading and correcting method |
| CN112239147A (en) * | 2020-10-27 | 2021-01-19 | 贵州中科维视智能科技有限公司 | Full-automatic slag-dragging unmanned traveling system for cyclone well |
| CN215101567U (en) * | 2021-06-30 | 2021-12-10 | 日照钢铁控股集团有限公司 | Automatic control system for cyclone well travelling crane |
-
2021
- 2021-06-30 CN CN202110736478.0A patent/CN113371610B/en active Active
- 2021-06-30 CN CN202310944373.3A patent/CN117284932A/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| CN113371610A (en) | 2021-09-10 |
| CN113371610B (en) | 2023-07-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111487918B (en) | Bulk material unmanned loading control method, system and device based on multi-line laser radar | |
| CN201125130Y (en) | Container handling anticollision device using laser to scan | |
| CN109573836A (en) | For controlling the method and lifting device of lifting device | |
| CN203229326U (en) | Intelligent container gantry crane loading and unloading control system | |
| CN110705046B (en) | Concrete dam storehouse surface construction machinery configuration method based on simulation | |
| CN110422761B (en) | Automatic control system and method for preventing derailment of reach stacker container | |
| CN113283123A (en) | Emergency start-stop control protection device and method for unmanned tower crane equipment | |
| CN112731441B (en) | Open wagon carriage state detection device and method | |
| CN101244791B (en) | Safety operating control method for container hoisting and hanging system | |
| CN111377356A (en) | Semi-automatic loading and unloading bridge with path planning algorithm and control method | |
| CN111873884B (en) | Intelligent cabin moving method and system for ship loader | |
| CN212639241U (en) | Intelligent loading hopper | |
| CN113371610B (en) | Automatic control system for cyclone well driving | |
| KR101505254B1 (en) | Method and Apparatus for Controlling Movement of Crane | |
| CN210260442U (en) | Height adjusting system | |
| CN114560310B (en) | Full-automatic job scheduling method for screw ship unloader | |
| CN112850498A (en) | Positioning control system and method for lifting appliance of railway gantry crane | |
| CN115924750A (en) | Crane control method and crane control system | |
| CN109368502B (en) | Truck collection guiding method based on sound and light | |
| CN1676457A (en) | Dual-dan container crane capable of hoisting dual 40-foot box | |
| CN108275575A (en) | The adjacent shellfish position of gantry crane is anti-to hit intelligent secondary speed-reducing system | |
| CN215101567U (en) | Automatic control system for cyclone well travelling crane | |
| CN215905491U (en) | Automatic shipment system for wharf | |
| CN216582260U (en) | Intelligent warehousing loading and unloading platform system | |
| CN115140650A (en) | Rigid anti-swing container unloading equipment system and working method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |