CN110228754A - A kind of industrial overhead crane control method and system of adaptive speed planning - Google Patents
A kind of industrial overhead crane control method and system of adaptive speed planning Download PDFInfo
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- CN110228754A CN110228754A CN201811424588.8A CN201811424588A CN110228754A CN 110228754 A CN110228754 A CN 110228754A CN 201811424588 A CN201811424588 A CN 201811424588A CN 110228754 A CN110228754 A CN 110228754A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Feedback Control In General (AREA)
Abstract
The invention discloses a kind of industrial overhead crane control method and system of adaptive speed planning, under given acceleration and maximum speed restrictive condition, overhead crane motion profile is cooked up online, crane multiple-pulse speed planning curve is proposed according to move distance computation model simultaneously, the umber of pulse Adaptive Planning of speed, it is calculated without adding offline optimization, lesser pivot angle and higher positioning accuracy during crane transfer article can be realized, greatly improve safety, reliability and the working efficiency of crane allocation and transportation article in industrial production.The industrial overhead crane control method and system of the adaptive speed planning mainly include PLC controller (1), angel measuring instrument (2), laser range finder (3), frequency converter (4), AC induction motor (5), the crane (6) and host computer (7) moved along crossbeam direction.
Description
Technical field
Prevent shaking localization method the present invention relates to a kind of high-performance for drive lacking technical grade overhead crane.By based on certainly
Speed-adaptive planing method is calculated online technical grade bridge-type and hangs under given acceleration and maximum speed restrictive condition
The anti-method for shaking motion profile of vehicle.
Background technique
With the development and production-scale expansion of global industry, the effect of overhead crane in the industrial production increases increasingly
Greatly, overhead crane is a kind of important weight handler, has in each industry spot and is widely applied.However, bridge-type
Crane is inevitably resulted from during handling and is waved.Therefore, waving when research controls and eliminates overhead crane handling
And realize accurate positioning, there is important meaning to the operating efficiency, handling precision and the industrial control automation that improve industry spot
Justice.
Overhead crane always inevitably results in waving for hanging object during handling, it usually needs very skilled bridge
Formula crane operation work manual operation control hanging object is waved, this is also presently the most common way.Waving for hanging object can accelerate
Mechanical wear, increases the transhipment time of hanging object, or even causes safety accident.Anti- wave of machinery requires to increase mechanical equipment self weight
And cost is higher, is restricted in the more demanding occasion of some sizes, is unfavorable for lifting equipment lightweight development, at present brand-new
Manufacturing apparatus seldom uses.Therefore crane running track is controlled by all kinds of algorithms to carry out preventing that waving control has obtained more weights
Depending on, it is anti-shake that location control can eliminate that hanging object generates in the process of running automatically wave, be more quickly completed the transhipment of hanging object, it is special
It is not the automatic industrial grade overhead crane with positioning function, anti-swing system can make the operation of overhead crane become higher
It imitates, is safer.The crane of industry spot needs to advance different distances, for the uncertainty of target range, provides corresponding
Speed planning seems very necessary, and this patent gives that a kind of speed planning is anti-to shake control method and system, is effectively reduced bridge
Formula crane waving during the work time, and reach ideal positioning accuracy.
Summary of the invention
Technical problem: the object of the present invention is to provide a kind of industrial overhead crane control method of adaptive speed planning and it is
System can seriously affect carrying because weight caused by steel cable inertia waves phenomenon in revolution, carrying, braking process for crane
Efficiency, or even dangerous potential problem is generated to surface personnel, the present invention proposes that a kind of drive lacking technical grade bridge-type that is directed to is hung
The high-performance of vehicle is anti-to shake localization method, by adaptive speed planning control handling process it is anti-shake it is simple to operation, do not need from
Line optimization, improves working efficiency, and meet technical grade requirement.
Technical solution: first the present invention is based on the anti-control method and system waved of the industrial crane of adaptive speed planning
Mechanical model of motion before this based on Lagrange establishing equation crane system shakes Controlling model, adaptive speed planning with anti-
Run crane according to the rate curve of planning using the control algolithm of multistage acceleration and deceleration, thus obtain it is stable it is anti-shake effect,
The maximum operational speed of setting crane is divided into k grades, and kth shelves are maximum speed, and the 1st grade is minimum speed, adaptive speed planning
It is specifically divided into following steps:
Step 1: by current location x1With target position x2Calculate target range (Δ x=| x2-x1|), set crane
Maximum speed vnEqual to the kth notch speed degree of crane, according to formulaWherein a is the setting acceleration of crane, and T is
The period of single pendulum of crane calculates acceleration and deceleration number of segment n；
Step 2: judging whether current acceleration and deceleration number of segment n is more than or equal to 2, if n is more than or equal to 2, continue step 3, such as
Fruit n is less than 2, then by the final speed v of cranenA gear is reduced, step 1 is gone to, recalculates n；
Step 3: starting boost phase plans the rate curve of boost phase and accelerates displacement, by initial velocity v0(0m/
S, stationary state) speed v accelerated to acceleration a (default)1, with present speed v1Keep a period of time tsAt the uniform velocity fortune
It is dynamic, then by speed v1Speed v is accelerated to acceleration a2, with present speed v2Keep a period of time tsUniform motion, by this rule
Rule accelerates n times to reach target velocity vn, the speed after accelerating every time is respectively v1、v2……vn, obtain the speed of boost phase
Curve and displacement；
Step 4: stopping the decelerating phase, the rate curve in decelerating phase is planned and displacement of slowing down, by initial velocity vnTo add
Speed-a decelerates to speed vn-1, with present speed vn-1Keep a period of time tsUniform motion, then by speed vn-1To accelerate
Degree-a decelerates to speed vn-2, with present speed vn-2Keep a period of time tsUniform motion, by this rule, speed after deceleration n times
Degree is 0m/s, and the speed after slowing down every time is respectively vn-1……v2、 v1, 0, obtain rate curve and the displacement in decelerating phase；
Step 5: by target range, boost phase displacement, decelerating phase displacement and speed vnIt calculates used in constant velocity stage
Time trIf trGreater than zero, then obtains constant velocity stage's rate curve and be displaced and go to step 6, if trIt will add less than zero
Deceleration number of segment n subtracts 1, returns again to step 2；
Step 6: exporting the adaptive speed planning curve of crane.
According to crane system model analysis to v1、v2……vnThis n velocity amplitude and tsThe setting of time value is realized stable
Anti- to shake, l is rope length, and g is acceleration of gravity, period of single pendulumIt sets as follows:
A kind of industrial overhead crane control method and system of the adaptive speed planning, the device mainly includes: PLC
Controller (1), angel measuring instrument (2), laser range finder (3), frequency converter (4), AC induction motor (5), along crossbeam direction move
Dynamic crane (6) and host computer (7), the PLC controller (1) and host computer (6) use the DCS of Ke Yuan company independent research
Module in system, angel measuring instrument (2) use company, Saite section product, laser range finder (3) use SICK company production
Product.
Realize that the industrial crane planned based on adaptive speed is prevented shaking by host computer (7) configuration software in DCS system
The control system algorithm of pendulum, output are connect with the input of PLC controller (1), for program to be downloaded write-in PLC controller
(1), the output of PLC controller (1) is connect with the input of frequency converter (4), realizes the control of PLC controller (1) to frequency converter (4)
System can be moved by the speed of frequency converter (4) control AC induction motor (5) by AC induction motor (5) driving along crossbeam direction
Dynamic crane (5) is mobile by the rate curve of planning, while can be by angel measuring instrument (2), laser range finder (3) by crane
Real-time angular and real time position is passed to included host computer (6) inspection software of DCS system and real-time dataBase system monitoring is hung
The rate curve and real-time angular curve of vehicle.
Adaptive speed planning flow chart as shown in figure 3, final output planning after rate curve, velocity amplitude is direct
Incoming crane motor frequency conversion machine.
The utility model has the advantages that control method provided by the invention uses the control algolithm of adaptive speed planning, it can be adaptive
Different target ranges cooks up corresponding rate curve, provides motion profile, inhibits hunting of load when realizing crane work, and
And it is able to satisfy position accuracy demand.
Detailed description of the invention
Fig. 1 is the rough schematic view for the drive lacking crane system that the present invention is implemented.
Fig. 2 is that the high-performance that the present invention is implemented prevents shaking position control method block diagram.
Fig. 3 is the speed planning method flow diagram of the embodiment of the present invention.
Fig. 4 is the system global structure block diagram that the present invention is implemented.
Specific embodiment
With reference to the accompanying drawing, the method for the present invention is explained in detail.
Overhead crane trolley is a kind of under-actuated systems of complexity, and it is free that the independent control variable number of system is less than system
The nonlinear systems for spending number, the overhead crane trolley that quality is M as shown in Figure 1: after simplifying processing are acted in power F
Under move along the x-axis, quality is that the weight block of m is hung over by wirerope and does approximate simple harmonic motion on overhead crane trolley.
The displacement of overhead crane trolley and weight in plane coordinate system:
Wherein L is system gross energy, is modeled by Euler-Lagrange method to overhead crane trolley, is
The differential equation of motion of system:
Wherein QxIt is applied force of the freedom degree x to overhead crane, disregards the weight and air drag of wirerope, wirerope
Rigidity is sufficiently large, and length variation can be ignored.Since θ is generally less than 10 degree, sin θ ≈ 0, cos θ ≈ 1, system differential
Equation simplification is as follows:
It can be seen that only one Q of system input variable from the mathematical model obtainedx, output variable one is angle, θ,
The other is displacement x, therefore the system is a second order nonlinear under-actuated systems.
According to the resulting differential equation, primary condition is taken: t=0, θ=0,It enables:The differential equation is solved, θ is enabled
(t)=ω (t), state equation and the Equation of Motion that can obtain system are as follows:
According to formula (9) it can be seen that the model meets elliptic curve equation, if original state meets θ (t)=θ (t0),
ω (t)=ω (t0), available θ (t) at any time in formula (9) is substituted into, ω (t) meets following relationship:
According to formula (10), the phase plane movement relation equation that cancellation t obtains system is as follows:
According to formula (11) it can be gathered that three kinds of phase plane situations: at any time, as original state θ (t)=θ (t0), ω
(t)=ω (t0) it is constant value, the relative trajectory of θ (t), ω (t) are with pointFor one group of concentration ellipse in the center of circle；Work as trolley
When uniform motion, approximate simple harmonic motion of the center on upright position is done in a=0, load, and motion profile is with (0,0) for the center of circle
One group of concentration ellipse；As original state θ (t)=0, ω (t)=0,When, motion profile is one that right endpoint is (0,0)
Group is oval, and size is related with acceleration a.
Therefore the phase plane motion profile of crane is constructed by changing acceleration a, when the even acceleration of trolley or even deceleration
If process time when meeting the integral multiple of class period of single pendulum, it is 0 that the angle and angular speed of swing, which can return, reaches trolley
The effect of swing is eliminated after stopping.When angles of loading and angular speed are 0, if trolley moves with uniform velocity, it is supported on
The uniform motion stage there will be no swinging, achievees the effect that eliminate swing in trolley at the uniform velocity traveling process.In order to avoid adding and subtracting
Biggish angle is generated during speed, when trolley is with original state θ (t)=0, ω (t)=0,Acceleration a is a certain normal
After number setting in motion, before load reaches maximum angle, trolley angular speed a is made to become 0 from a certain constant, i.e. trolley starts to do
Uniform motion, the motion profile being supported in phase plane become center in the ellipse of origin.Angles of loading continues to increase at this time, angle
Speed also continues to increase.At hunting of load to identical angle, the opposite angular speed position of the size same direction, trolley continues
Travelled forward with same acceleration a, until load angle and angular speed return be 0, can be effectively reduced in this way be supported on plus
Swing angle in moderating process.
The anti-control method and system waved of industrial crane based on adaptive speed planning, is based on actually
The Lagrange establishing equation mechanical model of motion of crane system and it is anti-shake Controlling model, adaptive speed planning uses more
The control algolithm of section acceleration and deceleration runs crane according to the rate curve of planning, thus obtain it is stable it is anti-shake effect, it is specific real
It applies and is divided into following steps:
Step 1: by current location x1With target position x2Calculate target range (Δ x=| x2-x1|), by adaptive speed
Degree planning algorithm obtains the maximum speed v of cranenWith acceleration and deceleration segments n,；
Step 2: starting boost phase, by initial velocity v0(0m/s, stationary state) is with acceleration a (default) acceleration
To speed v1, with present speed v1Keep a period of time tsUniform motion, then by speed v1Speed v is accelerated to acceleration a2,
With present speed v2Keep a period of time tsUniform motion, by this rule, accelerate n times reach target velocity vn, after accelerating every time
Speed be respectively v1、v2……vn, obtain rate curve and the displacement of boost phase；
Step 3: in the uniform motion stage, according to the uniform motion curve of speed planning curve, crane is with speed vnMove tr
Second；
Step 4: stopping the decelerating phase, by initial velocity vnSpeed v is decelerated to acceleration-an-1, with present speed vn-1
Keep a period of time tsUniform motion, then by speed vn-1Speed v is decelerated to acceleration-an-2, with present speed vn-2It keeps
A period of time tsUniform motion, by this rule, speed is 0m/s after deceleration n times, and the speed after slowing down every time is respectively
vn-1……v2、v1, 0, obtain rate curve and the displacement in decelerating phase.
A kind of industrial overhead crane control method and system of adaptive speed planning, the device described in this patent mainly wrap
Include: PLC controller (1), angel measuring instrument (2), laser range finder (3), frequency converter (4), AC induction motor (5), along crossbeam
Direction mobile crane (6) and host computer (7), the PLC controller (1) and host computer (6) use Ke Yuan company
(SCIYON) module in the DCS system of independent research, angel measuring instrument (2) use the product of company, Saite section (SATEC), swash
Optar (3) uses the product of SICK company.
It is realized by host computer (7) configuration software in the NT6000DCS system of SCIYON and is planned based on adaptive speed
The anti-control system algorithm waved of industrial crane, output is connect with the input of PLC controller (1), for downloading program
It is written PLC controller (1), the output of PLC controller (1) is connect with the input of frequency converter (4), realizes that PLC controller (1) is right
The control of frequency converter (4) can by AC induction motor (5) driving by the speed of frequency converter (4) control AC induction motor (5)
The crane (5) moved along crossbeam direction is mobile by the rate curve of planning, while can pass through the STAD-2000 of SATEC company
Angel measuring instrument (2), SICK company DL-100 laser range finder (3) real-time angular of crane and real time position are passed to DCS
The rate curve and real-time angular curve of included host computer (6) inspection software of system and real-time dataBase system monitoring crane.
Claims (4)
1. a kind of industrial overhead crane control method of adaptive speed planning, it is characterised in that this method is based on Lagrange equation and builds
The mechanical model of motion of vertical crane system shakes Controlling model with anti-, and adaptive speed planning is realized stable using multistage acceleration and deceleration
Anti- to shake effect, speed number of segment and maximum speed self adaptive control, the maximum operational speed for setting crane is divided into k grades, and kth shelves are most
At high speed, the 1st grade is minimum speed, and adaptive speed planning is specifically divided into following steps:
Step 1: by current location x1With target position x2Calculate target range (Δ x=| x2-x1|), set the maximum speed of crane
Spend vnEqual to the kth notch speed degree of crane, according to formulaAcceleration and deceleration number of segment n is calculated, wherein a is the setting of crane
Acceleration, T are the period of single pendulum of crane；
Step 2: judging whether current acceleration and deceleration number of segment n is more than or equal to 2, if n is more than or equal to 2, continue step 3, if n is small
In 2, then by the final speed v of cranenA gear is reduced, step 1 is gone to, recalculates n；
Step 3: starting boost phase plans the rate curve of boost phase and accelerates displacement, by initial velocity v0=0m/s, with
The acceleration a of default accelerates to speed v1, with present speed v1Keep a period of time tsUniform motion, then by speed v1
Speed v is accelerated to acceleration a2, with present speed v2Keep a period of time tsUniform motion, by this rule, accelerate n times reach
To target velocity vn, the speed after accelerating every time is respectively v1、v2……vn, obtain rate curve and the displacement of boost phase；
Step 4: stopping the decelerating phase, the rate curve in decelerating phase is planned and displacement of slowing down, by the initial velocity v in decelerating phasen
Speed v is decelerated to acceleration-an-1, with present speed vn-1Keep a period of time tsUniform motion, then by speed vn-1To add
Speed-a decelerates to speed vn-2, with present speed vn-2Keep a period of time tsUniform motion, by this rule, after deceleration n times
Speed is 0m/s, and the speed after slowing down every time is respectively vn-1……v2、v1, 0, obtain rate curve and the displacement in decelerating phase；
Step 5: by target range, boost phase displacement, decelerating phase displacement and speed vnCalculate the time used in constant velocity stage
trIf trGreater than zero, then obtains constant velocity stage's rate curve and be displaced and go to step 6, if trLess than zero by acceleration and deceleration
Number of segment n subtracts 1, returns again to step 2；
Step 6: exporting the adaptive speed planning curve of crane.
2. a kind of industrial overhead crane control method of adaptive speed planning according to claim 1, it is characterised in that step 3
In, v1、v2……vnThis n velocity amplitude and tsSetting for time value is as follows: for l as rope length, g is acceleration of gravity, period of single pendulum
3. the industrial overhead crane control system that a kind of adaptive speed of method as described in claim 1 is planned, it is characterised in that should
Control system specifically includes that PLC controller (1), angel measuring instrument (2), laser range finder (3), frequency converter (4), alternating current asynchronous
Motor (5), the crane (6) and host computer (7) moved along crossbeam direction；It is real by host computer (7) configuration software in DCS system
The anti-control system waved of industrial crane now based on adaptive speed planning, the output end and PLC controller of host computer (7)
(1) input terminal connection, for program to be downloaded write-in PLC controller (1), the output end and frequency converter of PLC controller (1)
(4) input terminal connection, realizes the control of PLC controller (1) to frequency converter (4), controls AC induction motor by frequency converter (4)
(5) speed, can be mobile by the rate curve of planning along the crane (6) that crossbeam direction is moved by AC induction motor (5) driving,
The real-time angular of crane and real time position can be passed to by DCS system by angel measuring instrument (2), laser range finder (3) simultaneously
The rate curve and real-time angular curve of included host computer (7) inspection software and real-time dataBase system monitoring crane.
4. the industrial overhead crane control system that the adaptive speed of method as claimed in claim 3 is planned, it is characterised in that described
Using the module in the DCS system of Ke Yuan company independent research, angel measuring instrument (2) is adopted for PLC controller (1) and host computer (7)
With the product of company, Saite section, laser range finder (3) uses the product of SICK company.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110716488A (en) * | 2019-10-22 | 2020-01-21 | 福建泉工股份有限公司 | Shot blasting equipment control method |
| CN111663016A (en) * | 2020-04-30 | 2020-09-15 | 中冶南方工程技术有限公司 | Automatic control method for tilting speed in converter tapping process |
| CN112476436A (en) * | 2020-12-10 | 2021-03-12 | 广东博智林机器人有限公司 | Speed planning method and device for mechanical arm movement |
| CN112777488A (en) * | 2020-12-21 | 2021-05-11 | 湖南天桥嘉成智能科技有限公司 | Accurate traveling crane positioning method based on operation track control |
| CN114604314A (en) * | 2022-03-31 | 2022-06-10 | 中南大学 | Non-zero-speed continuous steering control method for crane, crane and electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110716488A (en) * | 2019-10-22 | 2020-01-21 | 福建泉工股份有限公司 | Shot blasting equipment control method |
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| CN112476436A (en) * | 2020-12-10 | 2021-03-12 | 广东博智林机器人有限公司 | Speed planning method and device for mechanical arm movement |
| CN112476436B (en) * | 2020-12-10 | 2021-11-05 | 广东博智林机器人有限公司 | Speed planning method and device for mechanical arm movement |
| CN112777488A (en) * | 2020-12-21 | 2021-05-11 | 湖南天桥嘉成智能科技有限公司 | Accurate traveling crane positioning method based on operation track control |
| 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 |
| CN114604314A (en) * | 2022-03-31 | 2022-06-10 | 中南大学 | Non-zero-speed continuous steering control method for crane, crane and electronic equipment |
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|---|---|
| CN110228754B (en) | 2020-06-23 |
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