WO2023207152A1 - Procédé et appareil de commande pour flèche de grue, et dispositif de commande et grue - Google Patents

Procédé et appareil de commande pour flèche de grue, et dispositif de commande et grue Download PDF

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Publication number
WO2023207152A1
WO2023207152A1 PCT/CN2022/140422 CN2022140422W WO2023207152A1 WO 2023207152 A1 WO2023207152 A1 WO 2023207152A1 CN 2022140422 W CN2022140422 W CN 2022140422W WO 2023207152 A1 WO2023207152 A1 WO 2023207152A1
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WIPO (PCT)
Prior art keywords
speed
current
boom
crane
deviation
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PCT/CN2022/140422
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English (en)
Chinese (zh)
Inventor
罗贤智
谭松涛
郭纪梅
范卿
陈嘉
张军花
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中联重科股份有限公司
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Publication of WO2023207152A1 publication Critical patent/WO2023207152A1/fr

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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
    • 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
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/68—Jibs foldable or otherwise adjustable in configuration

Definitions

  • the present application relates to the field of mechanical engineering, and specifically to a control method, controller, device and crane for a crane boom.
  • a crane is a crane installed on an ordinary car chassis or a special car chassis.
  • the construction work of the crane requires the movement of the boom to drive the hook for lifting operations, and the movement control of the boom is set through the control room.
  • the boom movement actuator of a truck crane is usually a hydraulic mechanism.
  • the traditional control method of the crane cannot quantify the movement speed of the boom. It is essentially an open-loop control with unknown movement speed of the boom.
  • the operator operates the manipulator in the control room and outputs control values.
  • the control values are then converted into control currents to control the operation of the hydraulic components and control the movement of the boom.
  • the method of controlling the movement of the boom based on the traditional controller's direct output control current cannot effectively control the movement speed of the boom.
  • the control effect of the movement speed of the boom depends on the operator's operating experience; when the controller output value is stable, it cannot be adjusted by the outside world. Speed fluctuations caused by factors.
  • the purpose of this application is to provide a control method, controller, device and crane for a crane boom that collects the movement speed of the crane boom in real time to control the movement of the boom so that the movement speed of the boom meets the desired speed.
  • the first aspect of this application provides a control method for a crane boom.
  • the control method includes:
  • the preset mapping relationship is determined based on the historical speed amplitude value and current amplitude value
  • the second speed deviation is used as the first speed deviation, and returns to the step of determining the first proportional control parameter for the current according to the preset mapping relationship and the first speed deviation. , until the second speed deviation is less than the preset value.
  • determining the first proportional control parameter for the current based on the preset mapping relationship and the first speed deviation includes: obtaining the first current corresponding to when the speed of the crane boom is the first actual speed; When the actual speed is the initial default speed and the first current is the initial default current, the initial proportional control parameter is determined to be the first proportional control parameter according to the preset mapping relationship; when the first actual speed is not the initial default speed and/or the first When the current is not the initial default current, the first proportional control parameter is determined based on the first speed deviation.
  • determining the desired current corresponding to the desired speed according to the first speed deviation and the first proportional control parameter includes: determining the first current amplitude value according to the first speed deviation and the first proportional control parameter; The current and the first current amplitude value determine the predicted current; determine the third speed deviation between the predicted speed corresponding to the predicted current and the expected speed; when the third speed deviation is less than the preset value, the third speed deviation is determined based on the third speed deviation.
  • the size between the corresponding predicted current and the current limiting value determines the expected current; when the third speed deviation is greater than or equal to the preset value, the predicted current is adjusted according to the third speed deviation to adjust the third speed deviation until the third speed deviation.
  • the three-speed deviation is less than the preset value.
  • determining the expected current based on the size between the predicted current corresponding to the third speed deviation and the current amplitude limit value includes: when the predicted current corresponding to the third speed deviation is greater than the current limit amplitude value, The current limit amplitude value is determined as the expected current; when the predicted current corresponding to the third speed deviation is less than or equal to the current limit amplitude value, the predicted current is determined as the expected current.
  • the control method also includes: obtaining multiple historical speed amplitudes and historical current amplitude values corresponding to the historical speed amplitude values; determining each historical speed amplitude value and its corresponding historical speed amplitude value.
  • the functional relationship between the historical current variation amplitude values is determined according to all functional relationships.
  • the functional relationship curve between the historical speed variation amplitude value and the historical current variation amplitude value is determined; the functional relationship curve is divided according to the size of the historical speed variation amplitude value.
  • the function relationship curve is divided into multiple segmented curves; in each segmented curve, a preset mapping relationship between the historical speed amplitude value and the historical current amplitude value is determined.
  • determining the first proportional control parameter for the current according to the preset mapping relationship and the first speed deviation includes: determining the segmented curve where the first speed deviation is located; The corresponding preset mapping relationship determines the first proportional control parameter of the current.
  • determining the execution signal for the actuator of the crane boom according to the expected current includes: inputting the expected current into the current controller; determining the output current of the crane corresponding to the expected current through the current controller; determining according to the output current Execution signal of the actuator.
  • the actuator includes a boom rotary joint and a boom luffing joint.
  • Obtaining the expected speed and the first actual speed of the boom includes: determining the first motion trajectory of the boom rotary joint and the boom luffing joint. the second movement trajectory; determine the rotation speed of the boom according to the first movement trajectory; determine the luffing speed of the boom according to the second movement trajectory; determine the first actual speed according to the rotation speed and the luffing speed.
  • determining the rotation speed of the boom based on the first movement trajectory includes: determining the first movement trajectory of the boom's rotary joint based on the execution signal; determining the rotation angle of the boom's rotary joint based on the first movement trajectory; The angle is filtered to obtain a smooth rotation angle; the smooth rotation angle is time interpolated to determine the rotation speed of the boom.
  • determining the luffing speed of the boom based on the second movement trajectory includes: determining the second movement trajectory of the boom's rotary joint based on the execution signal; determining the amplitude angle of the boom's luffing joint based on the second movement trajectory. ; Filter the luffing angle to obtain a smooth luffing angle; perform time interpolation on the smooth luffing angle to determine the luffing speed of the boom.
  • a second aspect of the present application provides a controller configured to perform any one of the above control methods for a crane boom.
  • the third aspect of this application provides a control device for a crane boom, including the above-mentioned controller.
  • the fourth aspect of this application provides a crane including:
  • a speed closed loop controller configured to determine the desired current of the crane based on the desired speed of the crane boom
  • the boom rotation joint is configured to control the boom to rotate
  • a boom luffing joint configured to control the boom to luff; and the above-mentioned control device for the crane boom.
  • the actual movement speed of the crane boom is collected in real time, and according to the expected speed of the crane boom, the proportional control parameters of the speed closed-loop controller are adjusted to adjust the desired current, so that the actual movement speed of the crane boom reaches Desired speed.
  • the proportional control parameters of the speed closed-loop controller are adjusted to adjust the desired current, so that the actual movement speed of the crane boom reaches Desired speed.
  • Figure 1 schematically shows a flow chart of a control method for a crane boom according to an embodiment of the present application
  • Figure 2 schematically shows an example diagram for determining the movement speed of the crane boom according to an embodiment of the present application
  • Figure 3 schematically shows an example diagram of a control method for a crane boom according to an embodiment of the present application
  • Figure 4 schematically shows an example diagram of a control method for a crane boom according to another embodiment of the present application
  • Figure 5 schematically shows a schematic diagram of determining the expected current of the slewing mechanism according to an embodiment of the present application
  • Figure 6 schematically shows a schematic diagram of determining the expected current of the amplitude-amplifying mechanism according to another embodiment of the present application
  • Figure 7 schematically shows a schematic diagram of a control device for a crane jib of the present application
  • FIG. 8 is a schematic diagram illustrating the internal structure of a computer device according to an embodiment of the present application.
  • FIG. 1 a schematic flow chart of a control method for a crane boom according to an embodiment of the present application is schematically shown.
  • a control method for a crane boom including the following steps:
  • Step 101 Obtain the expected speed and the first actual speed of the boom.
  • Step 102 Determine a first speed deviation between the desired speed and the first actual speed.
  • Step 103 Determine the first proportional control parameter for the current according to the preset mapping relationship and the first speed deviation.
  • the preset mapping relationship is determined based on the historical speed amplitude value and current amplitude value.
  • Step 104 Determine the desired current corresponding to the desired speed according to the first speed deviation and the first proportional control parameter.
  • the controller may obtain a desired movement speed of the crane's boom and a first actual speed of the crane's boom. After the controller obtains the desired speed and the first actual speed of the crane boom, a first speed deviation between the desired speed and the first actual speed of the crane boom may be determined.
  • the controller may determine a preset mapping relationship based on the historical speed amplitude and historical current amplitude value of the crane boom, and determine the first proportional control parameter for the crane control current based on the preset mapping relationship and the first speed deviation.
  • the controller may determine a desired current corresponding to the desired speed according to the determined first proportional control parameter.
  • the controller can obtain multiple historical speed amplitudes and historical current amplitudes corresponding to the historical speed amplitudes, and determine the functional relationship between each historical speed amplitude and the historical current amplitude value corresponding to the historical speed amplitude value. For example, assume that a historical speed variation is ⁇ V_1 and the corresponding historical current variation is ⁇ I_1, and the functional relationship between the two is determined based on the corresponding ⁇ V_1 and ⁇ I_1. After the controller obtains the functional relationship between each historical speed amplitude value and the historical current amplitude value corresponding to the historical speed amplitude value, it determines the relationship between the historical speed amplitude value and the historical current amplitude value based on all functional relationships. The curve of the functional relationship between. The controller can divide the function relationship curve according to the size of the current, and has divided the function relationship curve into multiple segmented curves. The controller can also accept multiple segmented curves divided by the operator.
  • the controller can fit all functions in each segmented curve to obtain the prediction between the historical speed amplitude value and the historical current amplitude value of each segmented curve. Assume a mapping relationship.
  • determining the first proportional control parameter for the current according to the preset mapping relationship and the first speed deviation includes: determining the segmented curve where the first speed deviation is located; according to the segmented curve corresponding to the first speed deviation.
  • the preset mapping relationship determines the first proportional control parameter of the current.
  • each segmented curve has a corresponding preset mapping relationship
  • multiple preset mapping relationships can also be set based on multiple segmented curves.
  • the controller determines the first proportional control parameter for the current based on the preset silver snake relationship and the first speed deviation, it can determine the segmented curve where the first speed deviation is located, and determine the preset mapping relationship corresponding to the segmented curve. . Therefore, the controller can determine the first proportional control parameter of the current according to the preset mapping relationship corresponding to the first speed deviation and the segmented curve where the first speed deviation is located.
  • determining the first proportional control parameter for the current according to the preset mapping relationship and the first speed deviation includes: obtaining the first current corresponding to when the speed of the crane boom is the first actual speed; When the speed is the initial default speed and the first current is the initial default current, the initial proportional control parameter is determined to be the first proportional control parameter according to the preset mapping relationship; when the first actual speed is not the initial default speed and/or the first current If it is not the initial default current, the first proportional control parameter is determined based on the first speed deviation.
  • the controller can obtain the operating parameters of the crane, determine the feedforward current of the crane through the operating parameters of the crane, determine the feedforward current of the crane as the initial default current of the crane, and determine the operating speed of the crane boom determined based on the initial default current. is the initial default speed.
  • the controller determines the first proportional control parameter for the current according to the preset mapping relationship and the first speed deviation.
  • the controller may first obtain the first current corresponding to when the speed of the crane boom is the first actual speed.
  • the controller determines that the first actual speed of the crane is the initial default speed and the first current is the initial default current, the controller can determine the initial proportional control parameter as the first proportional control parameter according to the preset mapping relationship.
  • the controller determines the first proportional control parameter, it can determine a new first current based on the deviation between the actual speed and the desired speed and the first proportional control parameter, and determine the first actual speed corresponding to the first current based on the first current, The first proportional control parameter is then determined based on the first speed deviation between the first actual speed and the desired speed.
  • the controller uses the determined initial proportional control parameter as the first proportional control parameter according to the preset mapping relationship, the initial default current and the initial default speed corresponding to the initial default current, and determines the first current ( That is, the changed initial default current), and the first proportional control parameter is subsequently determined based on the first speed deviation between the first actual speed corresponding to the first current and the desired speed.
  • determining the desired current corresponding to the desired speed according to the first speed deviation and the first proportional control parameter includes: determining the first current amplitude value according to the first speed deviation and the first proportional control parameter; according to the first current Determine the predicted current with the first current amplitude value; determine the third speed deviation between the predicted speed corresponding to the predicted current and the expected speed; when the third speed deviation is less than the preset value, determine the predicted current according to the third speed deviation corresponding to the third speed deviation.
  • the size between the predicted current and the current limit value determines the expected current; when the third speed deviation is greater than or equal to the preset value, the predicted current is adjusted according to the third speed deviation to adjust the third speed deviation until the third The speed deviation is less than the preset value.
  • the controller may determine the first speed deviation based on the first actual speed and the desired speed of the crane boom, and determine the first current amplitude value based on the first speed deviation and the first proportional control parameter.
  • the controller may obtain the first current corresponding to the first actual speed, and determine the predicted current of the crane boom based on the first current and the first current amplitude value. Determine the predicted speed of the boom movement of the crane boom under the control of the predicted current based on the predicted current. and determine the third speed deviation between the predicted speed and the desired speed of the crane boom movement.
  • the controller can determine the desired current based on the size between the predicted current corresponding to the third speed deviation and the current limit value of the crane.
  • the predicted current is adjusted according to the third speed deviation, that is, the third speed deviation is input to the speed closed-loop controller, and the third speed deviation is used to control the speed closed-loop controller.
  • the first proportional control parameter is adjusted to adjust the predicted current output by the speed closed-loop controller. Determining a corresponding new predicted speed based on the obtained new predicted current is equivalent to adjusting the third speed deviation until the third speed deviation is less than the preset value set by the controller.
  • the preset values can be set by the operator based on the physical component properties of the crane.
  • determining the expected current based on the size between the predicted current corresponding to the third speed deviation and the current amplitude limit value includes: when the predicted current corresponding to the third speed deviation is greater than the current amplitude limit value, The current limit amplitude value is determined as the expected current; when the predicted current corresponding to the third speed deviation is less than or equal to the current limit amplitude value, the predicted current is determined as the expected current.
  • the controller can determine the desired current based on the size between the predicted current corresponding to the third speed deviation and the current limit value of the crane.
  • the controller determines that the third speed deviation is less than the preset value set by the controller, that is to say, the predicted speed reaches the expected speed set by the controller at this time.
  • the controller can stop adjusting the predicted current.
  • the predicted current at this time is the corresponding predicted current when the predicted speed reaches the desired speed. And obtain the current limit value of the crane.
  • the predicted current is greater than the current limit value of the crane, determine the current limit value of the crane as the expected current of the crane.
  • the controller can determine the predicted current as the expected current of the crane.
  • Step 105 Determine the execution signal for the actuator of the crane boom according to the expected current to control the actuator to adjust the actual speed according to the execution signal.
  • the controller can determine an execution signal for the actuator of the crane boom based on the expected current, and control the actuator to adjust the actual speed of the crane boom according to the execution signal.
  • determining the execution signal for the actuator of the crane boom according to the expected current includes: inputting the expected current into the current controller; determining the output current of the crane corresponding to the expected current through the current controller; determining the execution according to the output current. Agency execution signals.
  • the controller can input the expected current into the current controller, and use the current controller to determine the output current of the crane corresponding to the expected current.
  • the output current at this time is Physical signal, the crane can determine the execution signal of the crane's actuator according to the output current output by the current controller.
  • the actuator includes a boom rotary joint and a boom luffing joint.
  • Obtaining the expected speed and the first actual speed of the boom includes: determining the first motion trajectory of the boom rotary joint and the boom luffing joint. the second movement trajectory; determine the rotation speed of the boom based on the first movement trajectory; determine the luffing speed of the boom based on the second movement trajectory; determine the first actual speed based on the rotation speed and the luffing speed.
  • the actuator can adjust the movement speed of the crane boom according to the execution signal, so that the controller can obtain the first actual speed of the boom.
  • the actuator of the crane boom may include a boom slewing joint and a boom luffing joint.
  • the first motion trajectory of the boom rotary joint and the second motion trajectory of the boom luffing joint can be determined according to the execution signal.
  • the controller can determine the rotation speed of the boom according to the first motion trajectory, and can determine the boom's rotation speed according to the second motion trajectory.
  • the controller can determine the first actual speed of the boom based on the rotation speed of the boom and the luffing speed of the boom.
  • determining the rotation speed of the boom based on the first movement trajectory includes: determining the first movement trajectory of the boom's rotary joint based on the execution signal; determining the rotation angle of the boom's rotary joint based on the first movement trajectory; and determining the rotation angle. Filtering is performed to obtain a smooth rotation angle; time interpolation is performed on the smooth rotation angle to determine the rotation speed of the boom.
  • determining the luffing speed of the boom according to the second movement trajectory includes: determining the second movement trajectory of the boom rotary joint according to the execution signal; determining the amplitude angle of the boom luffing joint according to the second movement trajectory; Filter the luffing angle to obtain a smooth luffing angle; perform time interpolation on the smooth luffing angle to determine the luffing speed of the boom.
  • the controller After the controller determines the first movement trajectory of the boom rotary joint based on the execution signal, it can determine the rotation angle of the boom rotary joint based on the first movement trajectory, perform limiting average filtering on the obtained rotation angle, thereby obtaining a smooth rotation angle, and then The smooth rotation angles are time-differenced to determine the rotation speed of the boom.
  • the controller determines the second movement trajectory of the boom amplitude joint according to the execution signal, it can determine the amplitude angle of the boom amplitude joint according to the second movement trajectory, and perform limiting average filtering on the obtained amplitude angle, thereby Obtain the smooth luffing angle, and then perform a time difference on the smooth luffing angle to determine the luffing speed of the boom.
  • the controller determines the rotation speed and luffing speed of the crane boom, it can determine the movement speed of the crane boom based on the two.
  • an example diagram for determining the movement speed of the boom in this application is schematically shown.
  • the operator can determine the desired boom movement trajectory based on the operator's desired speed, and the controller can decompose the boom movement trajectory into boom joint movement trajectories (paths), because the movement of the boom is controlled by slewing joints and luffing joints. , so the controller can divide the motion path into the boom rotation joint motion path and the boom luffing joint motion path.
  • the controller performs time interpolation on the movement path of the boom's rotary joint and calculates the movement speed of the rotary joint within this time period.
  • the speed controller implements tracking of the movement speed of the rotary joint.
  • the controller performs time interpolation on the movement path of the luffing joint of the boom to calculate the movement speed of the luffing joint within this time period.
  • the speed controller implements tracking of the movement speed of the luffing joint. According to the movement speed tracking of the slewing joint and the movement speed tracking of the luffing joint, the movement trajectory of the boom can be tracked, so that the movement speed of the boom can be determined based on the movement trajectory of the boom.
  • Step 106 Determine the adjusted actual speed of the crane boom, and determine the second speed deviation between the desired speed and the adjusted actual speed.
  • Step 107 When the second speed deviation is less than the preset value, determine that the actual speed of the crane boom reaches the desired speed.
  • Step 108 If the second speed deviation is greater than or equal to the preset value, use the second speed deviation as the first speed deviation, and return to determining the first proportional control of the current according to the preset mapping relationship and the first speed deviation. Parameter steps until the second speed deviation is less than the preset value.
  • the controller determines the adjusted actual speed of the crane boom according to the expected current, it determines a second speed deviation between the expected speed and the adjusted actual speed. And compare the second speed deviation with the preset value set by the controller. When it is determined that the second speed deviation is less than the preset value, it is determined that the actual speed of the crane boom reaches the desired speed. When it is determined that the second speed deviation is greater than or If it is equal to the preset value, the obtained second speed deviation is regarded as the first speed deviation, and returns to the above-mentioned step of determining the first proportional control parameter for the current based on the preset mapping relationship and the first speed deviation. The first proportional control parameter is adjusted to adjust the output desired current until the second speed deviation is less than the preset value, that is, the movement speed of the crane boom reaches the desired speed.
  • the execution joints include slewing joints and luffing joints. Therefore, determining the transport speed of the crane boom can also be determined by separately determining the movement speed of the execution joints.
  • technicians can input the desired rotation speed into the programmable PLC, that is, the programmable controller, by operating the handle.
  • the programmable PLC can determine the corresponding actual control current according to the expected rotation speed input by the operating handle.
  • the electronically controlled pump of the crane boom is controlled according to the actual control current.
  • the electronically controlled pump controls the hydraulic oil according to the actual control current to push the slewing motor to rotate.
  • the slewing motor drives the slewing mechanism to rotate.
  • the sensor can monitor the rotation of the slewing mechanism. That is to say, the rotation of the slewing mechanism can cause the sensor data to change.
  • the controller can determine the rotation angle data of the crane boom by detecting the rotation of the slewing mechanism through the rotation angle displacement sensor.
  • the controller can re-input the rotation angle data determined by the rotation angle displacement sensor to the programmable PLC to adjust the actual control current.
  • technicians can input the desired luffing speed into the programmable PLC, that is, the programmable controller, by operating the handle.
  • the programmable PLC can determine the corresponding actual control current according to the expected amplitude speed input by the operating handle.
  • the electro-hydraulic proportional valve of the crane boom is controlled according to the actual control current.
  • the electro-hydraulic proportional valve controls the hydraulic oil to push the luffing cylinder to expand and contract according to the actual control current.
  • the sensor can monitor the expansion and contraction of the luffing cylinder, that is to say, the luffing cylinder Telescopicity can drive changes in sensor data.
  • the controller can determine the luffing angle data of the crane boom through the detection of the oil cylinder telescopicity by the luffing cylinder displacement sensor.
  • the controller can re-input the luffing angle data determined by the luffing cylinder displacement sensor to the programmable PLC to adjust the actual control current.
  • a controller configured to perform the above-described control method for a crane jib.
  • the controller can obtain multiple historical speed amplitudes and historical current amplitudes corresponding to the historical speed amplitudes, and determine the functional relationship between each historical speed amplitude and the historical current amplitude value corresponding to the historical speed amplitude value. For example, assume that a historical speed variation is ⁇ V_1 and a corresponding historical current variation is ⁇ I_1, and the functional relationship between the two is determined based on the corresponding ⁇ V_1 and ⁇ I_1.
  • the controller After the controller obtains the functional relationship between each historical speed amplitude value and the historical current amplitude value corresponding to the historical speed amplitude value, it determines the relationship between the historical speed amplitude value and the historical current amplitude value based on all functional relationships.
  • the operator can divide the curve of the functional relationship according to the current into multiple piecewise function curves.
  • the controller receives the multiple piecewise function curves divided by the operator, it can perform operations on all functions in each piecewise function curve. Fitting is performed to obtain the preset mapping relationship between the historical speed amplitude value and the historical current amplitude value of each segmented curve.
  • the controller may obtain the desired movement speed of the crane's boom and the first actual speed of the crane's boom. After the controller obtains the desired speed and the first actual speed of the crane boom, a first speed deviation between the desired speed and the first actual speed of the crane boom may be determined. And determine the first proportional control parameter for the crane control current according to the preset mapping relationship and the first speed deviation. Thus, the controller can determine the desired current corresponding to the desired speed according to the determined first proportional control parameter.
  • the controller may first obtain the first current corresponding to when the speed of the crane boom is the first actual speed.
  • the controller can determine the initial default current of the crane based on the feedforward current of the crane, determine the movement speed of the crane boom corresponding to the initial default current based on the initial default current of the crane, and determine the movement speed as the initial default speed of the crane.
  • the controller may obtain the desired speed of the crane boom and determine the initial speed deviation between the initial default speed and the desired speed, According to the initial speed deviation, the segmented curve where the initial speed deviation is located is determined, and according to the preset mapping relationship corresponding to the segmented curve, the initial proportional control parameters of the speed controller are determined as the first based on the preset mapping relationship and the initial speed deviation. Proportional control parameters.
  • the speed controller determines the predicted current based on the initial proportional control parameters.
  • the predicted speed corresponding to the predicted current is determined based on the predicted current, and the predicted speed deviation between the predicted speed and the expected speed is determined.
  • the predicted speed deviation is input into the speed closed-loop controller, and the preset mapping relationship corresponding to the segmented curve is determined based on the segmented curve where the predicted speed deviation is located, so that the initial proportional control parameters are adjusted according to the preset mapping relationship and the predicted speed deviation. Adjust to determine the first proportional control parameter of the speed controller.
  • the controller judges the predicted speed deviation.
  • the predicted current is adjusted according to the predicted speed deviation. That is, the predicted speed deviation is input into the speed closed-loop controller, and the predicted speed deviation is passed to the speed closed-loop controller. Adjust the first proportional control parameter of the speed closed-loop controller to adjust the predicted current output by the speed closed-loop controller.
  • a new predicted speed corresponding to the obtained new predicted current is determined, and a new predicted speed deviation is determined based on the new predicted speed and the expected speed. It is equivalent to adjusting the predicted speed deviation until the predicted speed deviation is less than the preset value set by the controller.
  • the preset values can be set by the operator based on the physical component properties of the crane.
  • the controller can suspend the adjustment of the predicted current.
  • the predicted current at this time is the predicted current corresponding to when the predicted speed reaches the expected speed. And obtain the current limit value of the crane.
  • the controller can determine the predicted current limit value of the crane as the expected current of the crane.
  • the controller can determine the predicted current as the expected current of the crane.
  • FIG. 5 schematically shows a schematic diagram for determining the desired current of the slewing mechanism.
  • the controller can provide the desired slew speed value based on the operator's desired movement speed of the crane boom.
  • the feedforward module can provide the feedforward rotation control value.
  • the feedforward module can determine the feedforward rotation control by providing the feedforward current, thereby obtaining the feedforward rotation current control value.
  • the rotation current control value the corresponding actual rotation speed value can be obtained.
  • the speed deviation can be determined from the actual speed of rotation and the desired speed.
  • the proportional separation module can separate the proportional control parameters according to the deviation between the desired speed and the actual speed, thereby outputting the proportional control parameters (P) to the PID controller.
  • the PID controller adjusts the control output value according to the deviation between the expected value and the actual value.
  • the control output value is the predicted rotation current.
  • the corresponding predicted actual rotation speed is determined based on the predicted rotation current, and the control is performed based on the deviation between the predicted actual rotation speed and the expected rotation speed. Compare it with the preset value set by the controller. If the speed deviation is greater than or equal to the preset value, the PID controller will adjust the control current output value again according to the deviation, that is, adjust the rotation prediction control current until the speed deviation is less than the preset value.
  • the controller can stop adjustment and stably output the rotation control value, that is, the rotation prediction control current value.
  • the control value is compared with the current limit value of the crane. If it is determined that the control value is greater than the limit value of the crane, the maximum allowable rotation control current value is output as the desired current.
  • the actual swing control current value that is, the predicted swing control current value, is output as the expected current.
  • the angle sensor can feed back the actual rotation speed value, and the proportional separation module can separate the proportional control parameters through the speed deviation between the feedback actual rotation speed value and the desired speed value.
  • FIG. 6 schematically shows a schematic diagram for determining the desired current of the amplitude increasing mechanism.
  • the test experiment initially fits the relationship between the amplitude ⁇ V and ⁇ I.
  • After obtaining the relationship between the amplitude ⁇ V and ⁇ I it is determined The operator can divide the function curve into four segments according to the current, and fit the function curves of the variable amplitudes ⁇ V and ⁇ I respectively to obtain the second-order functions of the variable amplitudes ⁇ V and ⁇ I.
  • the controller can provide the desired luffing speed value based on the movement speed of the crane boom expected by the operator.
  • the feedforward module can provide the feedforward amplitude control value.
  • the feedforward module can determine the feedforward amplitude control by providing the feedforward current, thereby obtaining the feedforward amplitude current control value.
  • the corresponding amplitude can be obtained according to the amplitude current control value.
  • Actual speed value, the speed deviation can be determined based on the actual speed of the variable amplitude and the expected speed.
  • the proportional separation module can separate the proportional control parameters according to the deviation between the desired speed and the actual speed, thereby outputting the proportional control parameters (P) to the PID controller.
  • the PID controller adjusts the control output value according to the deviation between the expected value and the actual value.
  • the control output value is the predicted amplitude current.
  • the corresponding predicted amplitude actual speed is determined based on the predicted amplitude current, and the corresponding predicted amplitude actual speed is determined based on the predicted amplitude actual speed and the expected amplitude.
  • the speed deviation is compared with the preset value set by the controller. If the speed deviation is greater than or equal to the preset value, the PID controller adjusts the control current output value again according to the deviation, that is, the amplitude prediction control current is adjusted until the speed deviation less than the default value.
  • the controller can stop adjustment and stably output the variable amplitude control value, that is, the variable amplitude predictive control current value. Compare the control value with the current amplitude limit value of the crane. If it is determined that the control value is greater than the amplitude limit value of the crane, the maximum allowed amplitude control current value is output as the desired current. When it is determined that the control value is less than or equal to the crane's amplitude limit value, the actual amplitude control current value, that is, the predicted control current value, is output as the expected current.
  • the only sensor can feedback the actual luffing cylinder speed value, and the proportional separation module can separate the proportional control parameters through the speed deviation between the feedback actual luffing cylinder speed value and the desired speed value.
  • the controller can input the expected current into the current controller, and use the current controller to determine the output current of the crane corresponding to the expected current.
  • the output current at this time is Physical signal, the crane can determine the execution signal of the crane's actuator according to the output current output by the current controller.
  • the actuator of the crane boom may include a boom slewing joint and a boom luffing joint.
  • the first movement trajectory of the boom rotary joint and the second movement trajectory of the boom luffing joint can be determined according to the execution signal of the controller. After the controller determines the first movement trajectory of the boom rotary joint based on the first movement trajectory, For the rotation angle of the boom's rotation joint, the obtained rotation angle is subjected to limiting average filtering to obtain a smooth rotation angle, and then a time difference is performed on the smooth rotation angle to determine the rotation speed of the boom.
  • the controller determines the luffing angle of the boom luffing joint according to the second motion trajectory of the boom luffing joint
  • the obtained luffing angle is subjected to amplitude limiting average filtering to obtain a smooth luffing angle, and then perform a time difference on the smoothed luffing angle to determine the luffing speed of the boom.
  • the first actual speed of the boom can be determined based on the determined rotation speed of the boom and the luffing speed of the boom.
  • the controller determines the adjusted actual speed of the crane boom according to the expected current, it determines a second speed deviation between the expected speed and the adjusted actual speed. And compare the second speed deviation with the preset value set by the controller. When it is determined that the second speed deviation is less than the preset value, it is determined that the actual speed of the crane boom reaches the desired speed. When it is determined that the second speed deviation is greater than or If it is equal to the preset value, the obtained second speed deviation is regarded as the first speed deviation, and returns to the above-mentioned step of determining the first proportional control parameter for the current based on the preset mapping relationship and the first speed deviation. The first proportional control parameter is adjusted to adjust the output desired current until the second speed deviation is less than the preset value, that is, the movement speed of the crane boom reaches the desired speed.
  • the controller adjusts the proportional control parameters in the speed closed-loop controller according to the speed deviation between the desired speed and the actual speed, thereby adjusting the desired current determined by the speed closed-loop controller, so that the boom of the crane moves at the desired speed Stable operation.
  • the crane's resistance to external disturbances is improved.
  • the operating difficulty for the operator is reduced.
  • a control device for a crane boom including the above-mentioned controller.
  • control device for the crane boom may also include a controller.
  • the controller may send control instructions to the controller, and the controller may determine the control instructions required by the crane based on the control instructions.
  • the actuator can execute according to the control instructions, obtain the actuator's posture data through the sensor, and input the posture data to the controller.
  • the controller can adjust the control instructions according to the control instructions and the posture data obtained by the sensor, so that The actual movement speed of the crane boom reaches the desired speed.
  • a crane including: a speed closed-loop controller configured to determine an expected current of the crane according to an expected speed of the crane boom; a boom slewing joint configured to control the boom to rotate; a luffing joint configured to control the luffing of the jib; and a control device for the crane jib.
  • the controller contains a kernel, which retrieves the corresponding program unit from the memory.
  • One or more kernels can be set to implement the control method for the crane boom by adjusting the kernel parameters.
  • Memory may include non-permanent memory in computer-readable media, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM).
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash memory
  • a computer device is provided.
  • the computer device may be a server, and its internal structure diagram may be shown in Figure 8 .
  • the computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected through a system bus.
  • the processor A01 of the computer device is used to provide computing and control capabilities.
  • the memory of the computer device includes internal memory A03 and non-volatile storage medium A04.
  • the non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure).
  • the internal memory A03 provides an environment for the execution of the operating system B01 and the computer program B02 in the non-volatile storage medium A04.
  • the database of this computer device is used to store relevant operating data of the crane, as well as relevant data input by the operator.
  • the network interface A02 of the computer device is used to communicate with external terminals through a network connection.
  • the computer program B02 is executed by the processor A01 to implement a control method for a crane boom.
  • Figure 1 is a schematic flowchart of a control method for a crane boom in one embodiment. It should be understood that although various steps in the flowchart of FIG. 1 are shown in sequence as indicated by arrows, these steps are not necessarily executed in the order indicated by arrows. Unless explicitly stated in this article, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in Figure 1 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but may be executed at different times. The execution of these sub-steps or stages The sequence is not necessarily sequential, but may be performed in turn or alternately with other steps or sub-steps of other steps or at least part of the stages.
  • An embodiment of the present invention provides a device.
  • the device includes a processor, a memory, and a program stored in the memory and executable on the processor.
  • the processor executes the program, it implements the following steps: obtaining the desired speed of the boom and the first actual speed.
  • determining the first proportional control parameter for the current according to the preset mapping relationship and the first speed deviation includes: obtaining the first current corresponding to when the speed of the crane boom is the first actual speed; When the speed is the initial default speed and the first current is the initial default current, the initial proportional control parameter is determined to be the first proportional control parameter according to the preset mapping relationship; when the first actual speed is not the initial default speed and/or the first current If it is not the initial default current, the first proportional control parameter is determined according to the first speed deviation.
  • determining the desired current corresponding to the desired speed according to the first speed deviation and the first proportional control parameter includes: determining the first current amplitude value according to the first speed deviation and the first proportional control parameter; according to the first current Determine the predicted current with the first current amplitude value; determine the third speed deviation between the predicted speed corresponding to the predicted current and the expected speed; when the third speed deviation is less than the preset value, determine the predicted current according to the third speed deviation corresponding to the third speed deviation.
  • the size between the predicted current and the current limit value determines the expected current; when the third speed deviation is greater than or equal to the preset value, the predicted current is adjusted according to the third speed deviation to adjust the third speed deviation until the third The speed deviation is less than the preset value.
  • determining the expected current based on the size between the predicted current corresponding to the third speed deviation and the current amplitude limit value includes: when the predicted current corresponding to the third speed deviation is greater than the current amplitude limit value, The current limit amplitude value is determined as the expected current; when the predicted current corresponding to the third speed deviation is less than or equal to the current limit amplitude value, the predicted current is determined as the expected current.
  • control method further includes: acquiring a plurality of historical speed amplitude values and historical current amplitude values corresponding to the historical speed amplitude values; determining each historical speed amplitude value and the historical speed amplitude value corresponding to the historical speed amplitude value.
  • the functional relationship between the historical current amplitude values determines the functional relationship curve between the historical speed amplitude value and the historical current amplitude value based on all functional relationships; the functional relationship curve is divided according to the size of the historical speed amplitude value, so as to Divide the functional relationship curve into multiple segmented curves; determine the preset mapping relationship between the historical speed amplitude value and the historical current amplitude value in each segmented curve.
  • determining the first proportional control parameter for the current according to the preset mapping relationship and the first speed deviation includes: determining the segmented curve where the first speed deviation is located; according to the segmented curve corresponding to the first speed deviation.
  • the preset mapping relationship determines the first proportional control parameter of the current.
  • determining the execution signal for the actuator of the crane boom according to the expected current includes: inputting the expected current into the current controller; determining the output current of the crane corresponding to the expected current through the current controller; determining the execution according to the output current. Agency execution signals.
  • the actuator includes a boom rotary joint and a boom luffing joint.
  • Obtaining the expected speed and the first actual speed of the boom includes: determining the first motion trajectory of the boom rotary joint and the boom luffing joint. the second movement trajectory; determine the rotation speed of the boom based on the first movement trajectory; determine the luffing speed of the boom based on the second movement trajectory; determine the first actual speed based on the rotation speed and the luffing speed.
  • determining the rotation speed of the boom based on the first movement trajectory includes: determining the first movement trajectory of the boom's rotary joint based on the execution signal; determining the rotation angle of the boom's rotary joint based on the first movement trajectory; and determining the rotation angle. Filtering is performed to obtain a smooth rotation angle; time interpolation is performed on the smooth rotation angle to determine the rotation speed of the boom.
  • determining the luffing speed of the boom according to the second movement trajectory includes: determining the second movement trajectory of the boom rotary joint according to the execution signal; determining the amplitude angle of the boom luffing joint according to the second movement trajectory; Filter the luffing angle to obtain a smooth luffing angle; perform time interpolation on the smooth luffing angle to determine the luffing speed of the boom.
  • embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment that combines software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including, but not limited to, disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction means, the instructions
  • the device implements the functions specified in a process or processes of the flowchart and/or a block or blocks of the block diagram.
  • These computer program instructions may also be loaded onto a computer or other programmable data processing device, causing a series of operating steps to be performed on the computer or other programmable device to produce computer-implemented processing, thereby executing on the computer or other programmable device.
  • Instructions provide steps for implementing the functions specified in a process or processes of a flowchart diagram and/or a block or blocks of a block diagram.
  • a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • Memory may include non-volatile memory in computer-readable media, random access memory (RAM) and/or non-volatile memory in the form of read-only memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash memory
  • Computer-readable media includes both persistent and non-volatile, removable and non-removable media that can be implemented by any method or technology for storage of information.
  • Information may be computer-readable instructions, data structures, modules of programs, or other data.
  • Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), and read-only memory.
  • PRAM phase change memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • RAM random access memory
  • read-only memory read-only memory
  • ROM read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • flash memory or other memory technology
  • compact disc read-only memory CD-ROM
  • DVD digital versatile disc
  • Magnetic tape cassettes tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium can be used to store information that can be accessed by a computing device.
  • computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

Abstract

Procédé et appareil de commande pour une flèche de grue, et dispositif de commande et grue. Le procédé de commande comprend : l'acquisition d'une vitesse prévue et d'une première vitesse réelle d'une flèche (101) ; la détermination d'un premier écart de vitesse entre la vitesse prévue et la première vitesse réelle (102) ; la détermination d'un premier paramètre de commande proportionnel pour un courant selon une relation de mappage prédéfinie et le premier écart de vitesse (103) ; en fonction du premier paramètre de commande proportionnelle, la détermination d'un courant prévu (104) ; la commande d'un mécanisme d'actionnement de la flèche en fonction du courant prévu, de façon à déterminer une vitesse réelle ajustée (105) ; la détermination d'un second écart de vitesse entre la vitesse prévue et la vitesse réelle ajustée (106) ; lorsque le second écart de vitesse est inférieur à une valeur prédéfinie, la détermination que la vitesse réelle de la flèche atteint la vitesse prévue (107) ; et lorsque le second écart de vitesse est supérieur ou égal à la valeur prédéfinie, l'utilisation du second écart de vitesse en tant que premier écart de vitesse, et le retour à l'étape de détermination d'un premier paramètre de commande proportionnel pour un courant jusqu'à ce que le second écart de vitesse soit inférieur à la valeur prédéfinie (108). Des fonctions adaptatives et d'autoajustement sont obtenues sans dépendre excessivement d'un opérateur, de telle sorte que la difficulté dans l'opération de l'opérateur est réduite, et la résistance d'une flèche de grue à une perturbation externe est améliorée.
PCT/CN2022/140422 2022-04-29 2022-12-20 Procédé et appareil de commande pour flèche de grue, et dispositif de commande et grue WO2023207152A1 (fr)

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CN115432527B (zh) * 2022-09-30 2024-04-05 深圳市中金岭南有色金属股份有限公司凡口铅锌矿 提升系统的控制方法、装置及提升系统

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