CN202346614U - Precise and automatic positioning control system for crane - Google Patents
Precise and automatic positioning control system for crane Download PDFInfo
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- CN202346614U CN202346614U CN 201120445724 CN201120445724U CN202346614U CN 202346614 U CN202346614 U CN 202346614U CN 201120445724 CN201120445724 CN 201120445724 CN 201120445724 U CN201120445724 U CN 201120445724U CN 202346614 U CN202346614 U CN 202346614U
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Abstract
The utility model relates to a precise and automatic positioning control system for a crane. The precise and automatic positioning control system comprises a master controller, a programmable controller, a frequency converter, a motor and an execution mechanism which are sequentially in control connection with one another, wherein a position sensor is arranged on the execution mechanism; and the output of the position sensor is connected to the signal input end of the programmable controller and used for feeding back a position signal of the execution mechanism. According to the precise and automatic positioning control system, when the programmable controller is used as a feedback controller, a target dynamic position of the execution mechanism is not required to be generated during running; and the programmable controller directly calculates a real-time target speed of the execution mechanism according to a target stopping position and the feedback position information of the execution mechanism and controls the execution mechanism to precisely reach the appointed target stopping position under the driving of the frequency converter and the motor. The motor adopted in the system is a common motor, and the system has a low requirement on the updating frequency of the programmable controller; and furthermore, the whole system has a simple structure and a relatively economic and rational price.
Description
Technical field
The utility model belongs to the automatic control technology field, location of operation machinery, relates to the accurate automatic positioning control system of a kind of hoisting crane.
Background technology
Because of production technology needs, the normal requirement of various industrial hoisting cranes has accurate Automatic Positioning Control function.The accurate Automatic Positioning Control of hoisting crane generally adopts the servocontrolled scheme at present.As shown in Figure 1, servo control unit need be by master controller 11, servo-control unit 12, and amplification driver 13, servomotor 14, actuating unit 15, position transduser 16 waits composition.In servo control unit, the target location that each constantly all will produce mechanical movement mechanism.In the operational process of mechanical movement mechanism, servo-control unit carries out adjusting control according to the measurement feedback of target location and actual position all the time.For guarantee mechanical movement mechanism in operational process all the time all on the target location of appointment, the measurement of actual position feedback and generally need be in the servo control unit up to the control renewal frequency more than 500 Hz to the control of servomotor.The motion control of various precision machine tools is representative type servocontrolled example application.
Yet, in many practical application in industry of positioning control, like rail locomotive; Multi-level elevator; Hoisting crane etc., we only require that mechanical movement mechanism realizes accurate self-orientation on postrun stop position, and in operational process; Level and smooth stable except running velocity do not have too high requirement to the dynamic position precision of mechanical movement mechanism.In these were used, the position measurement feedback and the control renewal frequency of many control system were more much lower than the control renewal frequency of Fu.For example, during as controlled reset, the control renewal frequency of Programmable Logic Controller is generally below 50 Hz, well below the control renewal frequency of Fu with Programmable Logic Controller (PLC).
Because servo control unit is complicated, cost an arm and a leg, in many Automatic Positioning Control were used, particularly the accurate self-orientation of hoisting crane hoped to have more economical rational accurately positioning control system to substitute servo control unit.
The utility model content
The purpose of the utility model provides the accurate automatic positioning control system of a kind of hoisting crane, and is complicated with servo control unit in the positioning control that solves existing hoisting crane, to controller and the high problem of motor precision requirement.
For realizing above-mentioned purpose; The accurate automatic positioning control system of a kind of hoisting crane of the utility model; Comprise master controller, Programmable Logic Controller, frequency converter, motor and the actuating unit of control linkage in order; This actuating unit is provided with position transduser, and the output of this position transduser is connected into the signal input part of said Programmable Logic Controller, is used to feed back the position signal of actuating unit.
The accurate automatic positioning control system of the hoisting crane of the utility model; With Programmable Logic Controller during as controlled reset; Need not generate actuating unit dynamic target location in operational process, Programmable Logic Controller directly calculates the real-time target velocity of actuating unit according to the actuating unit location information of target stop position and feedback; And the driving through frequency converter and motor, control executing mechanism accurately arrives the target stop position of appointment.Used motor is a common electric machine in the system, and system is less demanding to the renewal frequency of Programmable Logic Controller, and total system is simple in structure, and price is also more economical rationally.
Description of drawings
Fig. 1 is existing servo control unit schematic diagram;
Fig. 2 is the accurate automatic positioning control system embodiment of a utility model schematic diagram;
Fig. 3 is the time dependent scheme drawing of operating unit target velocity.
The specific embodiment
One, the accurate automatic positioning control system of hoisting crane
As shown in Figure 2; The accurate automatic positioning control system of this hoisting crane comprises master controller, Programmable Logic Controller, frequency converter, motor and the actuating unit of control linkage in order; This actuating unit is provided with position transduser; The output of this position transduser is connected into the signal input part of said Programmable Logic Controller, is used to feed back the position signal of actuating unit.
Two, the accurate automatic positioning control method of hoisting crane
The accurate automatic positioning control method of this hoisting crane; Utilize the position feedback control device of Programmable Logic Controller as crane executing mechanism; According to system update cycle, target stop position and actuating unit current location information; Calculate the current deceleration/decel and the target control speed in this cycle, and recomputate deceleration/decel and target control speed, accurately arrive the target stop position of appointment up to control executing mechanism in following one-period.
Concrete control method concrete steps are following:
(1) master controller sends the target stop position information of actuating unit to Programmable Logic Controller;
(2) the target stop position information of the actuating unit of Programmable Logic Controller reception master controller transmission and the actuating unit real-world operation position of position sensor feedback;
(3) Programmable Logic Controller obtains the distance of actuating unit from the target stop position according to target location and real-world operation position calculation, and calculates the deceleration/decel of actuating unit;
(4) Programmable Logic Controller obtains the target velocity of operating unit according to the deceleration/decel of its control replacement cycle and operating unit; And this target velocity passed to frequency converter;
(5) frequency converter and motor drive actuator make actuating unit accurately arrive the target stop position of appointment.
Programmable Logic Controller stops the distance of target location and the present speed of operating unit according to arrival in the said method, calculates the current required deceleration/decel of operating unit.When calculating deceleration/decel, select suitable numerical procedure for use, make operating unit As time goes on become more and more littler together in deceleration/decel and speed when stopping the target location, guarantee the precision of self-orientation with this.
Following formula has provided a kind of scheme of calculating deceleration/decel: A=KV
2/ D, wherein A is a deceleration/decel, and V is a present speed, and D is from the distance that stops the target location, and K is the adjustment coefficient.Present speed V can calculate from the actual position feedback, also can estimate according to the controlled target speed of controller output.The value of adjustment COEFFICIENT K should be between 0.5 to 1.5.Operating unit can be adjusted through the value of adjustment COEFFICIENT K according to the needs of practical application at the deceleration/decel when stopping the target location.The value of adjustment COEFFICIENT K is big more, and operating unit is just more little in deceleration/decel when stopping the target location and speed, and the precision of self-orientation is just high more.In this case, time of stopping of operation can become long more.
Calculate the target control speed of operating unit according to control replacement cycle of required deceleration/decel of operating unit and controller.The concrete computing formula that controller upgrades operating unit target control speed is: V
n=V
N-1-AT, wherein V
nBe the target velocity of current operating unit, V
N-1Be the target velocity of controller at the last once operating unit that calculates when control is upgraded, T is the control replacement cycle of controller.Fig. 3 has provided the time dependent scheme drawing of operating unit target velocity.
This control method makes operating unit arrive final stop position from current location, and N cycle will be passed through in the centre, and this N value is indefinite, with the speed of operating unit with from the distance dependent of final stop position.In accurate Positioning Process; Very little up to the speed of operating unit; The actual position of operating unit (promptly being obtained by position sensor feedback) is during with the error of target stop position very little (promptly less than threshold value); Control process just finishes, and also just makes actuating unit accurately arrive the target stop position of appointment.
It should be noted last that: above embodiment is the technical scheme of non-limiting the utility model in order to explanation only, although with reference to the foregoing description the utility model is specified, those of ordinary skill in the art is to be understood that; Still can make amendment or be equal to replacement the utility model, and not break away from any modification or the local replacement of the spirit and the scope of the utility model, it all should be encompassed in the middle of the claim scope of the utility model.
Claims (1)
1. accurate automatic positioning control system of hoisting crane; It is characterized in that: comprise master controller, Programmable Logic Controller, frequency converter, motor and the actuating unit of control linkage in order; This actuating unit is provided with position transduser; The output of this position transduser is connected into the signal input part of said Programmable Logic Controller, is used to feed back the position signal of actuating unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120445724 CN202346614U (en) | 2011-08-19 | 2011-11-11 | Precise and automatic positioning control system for crane |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120303627.6 | 2011-08-19 | ||
| CN201120303627 | 2011-08-19 | ||
| CN 201120445724 CN202346614U (en) | 2011-08-19 | 2011-11-11 | Precise and automatic positioning control system for crane |
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| Publication Number | Publication Date |
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| CN202346614U true CN202346614U (en) | 2012-07-25 |
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| CN201110357081.7A Active CN102502411B (en) | 2011-08-19 | 2011-11-11 | Accurate automatic positioning control system of crane and method thereof |
| CN 201120445724 Expired - Fee Related CN202346614U (en) | 2011-08-19 | 2011-11-11 | Precise and automatic positioning control system for crane |
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| CN201110357081.7A Active CN102502411B (en) | 2011-08-19 | 2011-11-11 | Accurate automatic positioning control system of crane and method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102502411A (en) * | 2011-08-19 | 2012-06-20 | 河南卫华重型机械股份有限公司 | Accurate automatic positioning control system of crane and method thereof |
| CN104891335A (en) * | 2015-05-28 | 2015-09-09 | 泰富海洋工程装备（天津）有限公司 | Walk rectifying method and device and engineering machinery having device |
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| CN102730570B (en) * | 2012-06-27 | 2015-04-08 | 抚顺市特种设备监督检验所 | Comprehensive protector for crane |
| CN103803418B (en) * | 2012-11-08 | 2016-05-18 | 沈阳新松机器人自动化股份有限公司 | Overhead traveling crane jaw control system |
| CN103466452B (en) * | 2013-08-23 | 2014-12-17 | 苏州汇川技术有限公司 | Crane operation control method and system |
| CN104692249B (en) * | 2013-12-10 | 2017-02-22 | 沈阳铝镁设计研究院有限公司 | Method and system for automatically positioning anode carbon block stacking crane |
| CN103838260B (en) * | 2014-03-26 | 2017-07-11 | 山信软件股份有限公司 | A kind of Asynchronous Motor Driving equipment position control device and method |
| CN105446335B (en) * | 2015-11-13 | 2018-04-06 | 长沙有色冶金设计研究院有限公司 | One kind driving position control method |
| CN105438991A (en) * | 2015-12-10 | 2016-03-30 | 中国船舶重工集团公司第七一三研究所 | Automatic addressing and positioning control system and method for static-pressure traveling cranes |
| CN105836623B (en) * | 2016-06-14 | 2018-06-26 | 徐州重型机械有限公司 | Crane quantitative control methodin, device and system |
| CN108423574B (en) * | 2018-05-10 | 2024-05-28 | 浙江虎霸建设机械有限公司 | Tower crane hoisting mechanism distance millimeter-level accurate positioning system |
| CN109384149B (en) * | 2018-11-27 | 2020-01-21 | 东南大学 | Anti-shaking positioning method and system for bridge crane at operation tail section |
| CN109634274A (en) * | 2018-12-06 | 2019-04-16 | 飞马智科信息技术股份有限公司 | A kind of Coil transport trolley positioning system and method |
| CN112225076A (en) * | 2020-10-10 | 2021-01-15 | 湖南天桥嘉成智能科技有限公司 | Positioning control method of unmanned crane |
| CN112777488B (en) * | 2020-12-21 | 2022-04-12 | 湖南天桥嘉成智能科技有限公司 | Accurate traveling crane positioning method based on operation track control |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11228072A (en) * | 1998-02-12 | 1999-08-24 | Kajima Corp | Method and device for detecting position of traverse trolley |
| CN1560993A (en) * | 2004-02-18 | 2005-01-05 | 金治平 | Method for controlling horizontal, vertical moving in hot-dip plastic coating production line |
| CN101139069A (en) * | 2007-06-29 | 2008-03-12 | 大连华锐股份有限公司 | Multiple hanging points crane electric control method |
| CN201825661U (en) * | 2010-10-22 | 2011-05-11 | 湖南中铁五新重工有限公司 | Electrical control system of gantry crane |
| CN102167265B (en) * | 2011-03-11 | 2013-11-27 | 中国电力科学研究院 | DC (direct current) converter valve hoisting system |
| CN102502411B (en) * | 2011-08-19 | 2015-07-01 | 河南卫华重型机械股份有限公司 | Accurate automatic positioning control system of crane and method thereof |
-
2011
- 2011-11-11 CN CN201110357081.7A patent/CN102502411B/en active Active
- 2011-11-11 CN CN 201120445724 patent/CN202346614U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102502411A (en) * | 2011-08-19 | 2012-06-20 | 河南卫华重型机械股份有限公司 | Accurate automatic positioning control system of crane and method thereof |
| CN102502411B (en) * | 2011-08-19 | 2015-07-01 | 河南卫华重型机械股份有限公司 | Accurate automatic positioning control system of crane and method thereof |
| CN104891335A (en) * | 2015-05-28 | 2015-09-09 | 泰富海洋工程装备（天津）有限公司 | Walk rectifying method and device and engineering machinery having device |
| CN104891335B (en) * | 2015-05-28 | 2017-04-26 | 泰富海洋工程装备（天津）有限公司 | Walk rectifying method and device and engineering machinery having device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102502411A (en) | 2012-06-20 |
| CN102502411B (en) | 2015-07-01 |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120725 Termination date: 20181111 |
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| CF01 | Termination of patent right due to non-payment of annual fee |