CN101723248A - System and method for optimizing control of track of rotary crane - Google Patents
System and method for optimizing control of track of rotary crane Download PDFInfo
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- CN101723248A CN101723248A CN200910225160A CN200910225160A CN101723248A CN 101723248 A CN101723248 A CN 101723248A CN 200910225160 A CN200910225160 A CN 200910225160A CN 200910225160 A CN200910225160 A CN 200910225160A CN 101723248 A CN101723248 A CN 101723248A
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Abstract
The invention relates to a system and a method for the optimizing control of the track of a rotary crane. The system comprises a crane optimization track control device, a movement mechanism position detection module and a position control module, wherein the crane optimization track control device is connected with the movement mechanism position detection module and the position control module, and the movement mechanism position detection module and a movement mechanism control module are connected with movement mechanisms. The method comprises the following steps of: pre-designing and optimizing coordinate movement tracks in a natural space; converting the coordinate movement tracks into coordinates of the movement mechanisms; and performing real-time control on each movement mechanism. The system and the method can conveniently realize track optimization and track tracing, effectively reduce the running distance, improve the movement speed, save the movement space, reduce shaking and twisting of objects, are convenient for positioning control, are convenient to realize lifting and synergistic operations of large-size objects by a plurality of cranes, realize safety, high efficiency, energy conservation and emission reduction in the lifting process, greatly reduce the labor intensity, and has good economical efficiency and wide application range.
Description
Technical field
The present invention relates to the cranage technical field, particularly the operation of the track in whirley hoisting process control technology field specifically is meant a kind of track of rotary crane optimal control system and control method thereof.
Background technology
In the modern society, the fast development of logistics makes the hoisting crane lifting more and more pursue safe, efficient, energy-conservation, in the common hoisting crane, it is revolving that most of hoisting cranes contain at least one kinematic mechanism, as door machine, tower crane etc., it all has the rotation movable part, and the part hoisting crane has more than one rotating mechanism, except a rotation travel mechanism is arranged, the luffing of door machine is also realized by rotating mechanism as part door machine.
Traditional revolving crane movement control mode is to carry out design-calculated for the operation mode of the operation mode that meets the crane mechanical motion mechanism rather than people's custom, such mode is in the manufacturing of crane and realize fairly simple convenience, therefore, just having comprised rotation in the kinematic mechanism of revolving crane moves.
Because the kinematic mechanism of hoisting crane is realized by control handle by the driver, so driver's control often also is to like the direct control kinematic mechanism by the motion of hoisted object.Owing to there is rotating mechanism to exist, driver's motion control has to design motion control according to the path of motion of rotation, and this just makes object be difficult to design path of motion (as straight-line motion or specific space tracking) according to the natural vertical space coordinate (Cartesian coordinates) of people's custom in space motion.In addition, owing to rotatablely move, be difficult to be optimized by the hoisted object track, increase move distance and time, waste work efficiency and energy occupy more motion and survival space, and exist a series of difficulty to be difficult to overcome, as rock, twist, location difficulty etc.The oil consumption and the mechanical wear of crane also can have been increased simultaneously.
Shortcut is to take the air line as far as possible between 2 naturally in the lifting approach, and straight line also understands easily in people's natural vertical space and reaction, can also overcome simultaneously because a lot of problems and the difficulty that rotatablely moves and bring.Yet, for whirley, its straight-line motion often needs a plurality of kinematic mechanism coordinated movements of various economic factors to realize, if and the co-operative control of a plurality of kinematic mechanisms allows the driver realize it being promptly not directly perceived by M/C, also inconvenient, normally difficulty is very big, so, the driver realizes lifting path of motion by controlling single kinematic mechanism respectively separately mostly at present, thereby can not guarantee to carry out the motion of straight line; The part lifting is because the safety movement space constraint, must move by straight line or particular space track, at this moment, the driver has to by sacrificing lifting speed, by the segmentation to path of motion, the low speed small step comes fitting a straight line or specific space tracking apart from the position of a plurality of kinematic mechanisms of ground co-operative control.
Simultaneously, increasing by hoisted object now, the operation that many hoisting cranes lift also becomes more and more, when revolving hoisting crane lifts, its track following or the coordination difficulty that becomes very, the mechanical movement structure that it is had no idea with a crane is the motor initial point, for operator and director, all be to come work according to the vertical space coordinate (cartesian space) that people are accustomed to, therefore, many cranes lift relatively difficulty of large-sized object.
In sum, because not directly perceived, the inconvenient and driver of operation pursues the instinct of speed, also there is certain potential safety hazard in this type games, therefore, the lifting operation mode that provides a kind of people of meeting to be accustomed to naturally is provided, and become gradually particularly important.
Summary of the invention
The objective of the invention is to have overcome above-mentioned shortcoming of the prior art, provide a kind of and can meet lifting operating mode that people are accustomed to naturally, the operation operation is convenient and swift, system is safe and reliable to operation, save motion space, reduce the track of rotary crane optimal control system and the control method thereof of rocking and twist, can realize the collaborative work of many cranes of hanging object.
In order to realize above-mentioned purpose, track of rotary crane optimal control system of the present invention and control method thereof are as follows:
This track of rotary crane optimal control system, this whirley comprises the suspender kinematic mechanism, described suspender kinematic mechanism comprises several kinematic mechanisms, its principal feature is, described control system comprises crane optimization TRAJECTORY CONTROL device, suspender kinematic mechanism position detecting module and suspender kinematic mechanism position control module, described crane is optimized the TRAJECTORY CONTROL device and is connected with suspender kinematic mechanism control module with described suspender kinematic mechanism position detecting module respectively, and described suspender kinematic mechanism position detecting module is connected with described several kinematic mechanisms respectively with suspender kinematic mechanism control module.
Suspender kinematic mechanism in this track of rotary crane optimal control system comprises at least two kinematic mechanisms, and wherein at least one kinematic mechanism is a rotate-stationary mode mechanism.
Include in the suspender kinematic mechanism position detecting module in this track of rotary crane optimal control system and the corresponding kinematic mechanism position coder of described kinematic mechanism quantity, described each kinematic mechanism position coder is corresponding one by one mutually with each kinematic mechanism respectively, and described each kinematic mechanism position coder all is connected with described crane optimization TRAJECTORY CONTROL device.
Include in the suspender kinematic mechanism position control module in this track of rotary crane optimal control system and the corresponding kinematic mechanism control unit of described kinematic mechanism quantity, described each kinematic mechanism control unit is corresponding one by one mutually with each kinematic mechanism respectively, and described each kinematic mechanism control unit all is connected with described crane optimization TRAJECTORY CONTROL device.
Kinematic mechanism control unit in this track of rotary crane optimal control system can be PLC programmable logic controller (PLC), nonshared control unit or industrial computer.
Crane in this track of rotary crane optimal control system is optimized the TRAJECTORY CONTROL device and also is connected with the path of motion signal input module.
The crane that this crane is optimized in TRAJECTORY CONTROL device is optimized the design of TRAJECTORY CONTROL device and is optimized place coordinate motion track, and the producing method of this place coordinate motion track is following a kind of in several:
(11) driver of whirley sets;
(12) system stores in advance;
(13) system's self study produces;
(14) system produces by target tracking;
(15) system produces according to constraint condition optimization.Crane in this track of rotary crane optimal control system is optimized the TRAJECTORY CONTROL device can be PLC programmable logic controller (PLC), nonshared control unit or industrial computer.
This utilizes above-mentioned system to realize the method for track of rotary crane optimal control, and its principal feature is that described method may further comprise the steps;
(1) system carries out initialization operation;
(2) system reads the place coordinate motion trace information that designs in advance and optimize;
(3) system converts place coordinate motion trace information to the coordinate information of design-calculated suspender kinematic mechanism in advance according to the parameter of whirley;
(4) system controls in real time to each suspender kinematic mechanism.
Place coordinate in the method for this realization track of rotary crane optimal control is the Cartesian coordinates of nature vertical space; Include the rotation information of suspender kinematic mechanism in the coordinate information of the described suspender of design-calculated in advance kinematic mechanism.
The track of rotary crane optimal control system and the control method thereof of this invention have been adopted, because in hoisting process, the driver can design path of motion (rotatablely moving) not according to crane design-calculated rotating mechanism, but the natural vertical space coordinate (Cartesian coordinates) that can only be accustomed to according to people designs path of motion, as straight-line motion or specific space tracking, thereby reach the effect of optimizing track, this vertical space coordinate design-calculated path of motion can realize track optimizing and track following easily, thereby because according to the orbiting motion of optimizing, can reduce range ability effectively, improve kinematic velocity, the movement toward economizing space, and can lower rocking of object, twisting, make things convenient for positioning control, particularly the track following technology conveniently realizes many cranes lifting large-sized object, can realize the collaborative work of many cranes, thereby can expand the lifting ability of crane effectively, realize the safety in the hoisting process, efficiently, energy-saving and emission-reduction, and can reduce working strength of workers greatly, simultaneously economical and practical, safe and reliable, simple in structure, cost is lower, and Applicable scope is extensive.
Description of drawings
Fig. 1 is the functional module structure scheme drawing of track of rotary crane optimal control of the present invention system.
Fig. 2 is the overall workflow figure of track of rotary crane optimal control method of the present invention.
The specific embodiment
In order more to be expressly understood technology contents of the present invention, describe in detail especially exemplified by following examples.
See also shown in Figure 1, this track of rotary crane optimal control system, described whirley comprises the suspender kinematic mechanism, described suspender kinematic mechanism comprises several kinematic mechanisms, wherein, described control system comprises crane optimization TRAJECTORY CONTROL device 3, suspender kinematic mechanism position detecting module 1 and suspender kinematic mechanism position control module 2, described crane is optimized TRAJECTORY CONTROL device 3 and is connected with suspender kinematic mechanism position control module 2 with described suspender kinematic mechanism position detecting module 1 respectively, and described suspender kinematic mechanism position detecting module 1 is connected with described several kinematic mechanisms respectively with suspender kinematic mechanism position control module 2.
Wherein, described suspender kinematic mechanism comprises at least two kinematic mechanisms, and wherein at least one kinematic mechanism is a rotate-stationary mode mechanism; Include in the described suspender kinematic mechanism position detecting module 1 and the corresponding kinematic mechanism position coder of described kinematic mechanism quantity, described each kinematic mechanism position coder is corresponding one by one mutually with each kinematic mechanism respectively, and described each kinematic mechanism position coder all is connected with described crane optimization TRAJECTORY CONTROL device 3.
Simultaneously, include in the described suspender kinematic mechanism position control module 2 and the corresponding kinematic mechanism control unit of described kinematic mechanism quantity, described each kinematic mechanism control unit is corresponding one by one mutually with each kinematic mechanism respectively, and described each kinematic mechanism control unit all is connected with described crane optimization TRAJECTORY CONTROL device 3.
Moreover, described kinematic mechanism control unit can be PLC programmable logic controller (PLC), nonshared control unit or industrial computer.Described crane is optimized TRAJECTORY CONTROL device 3 and also is connected with path of motion signal input module 4, and described crane is optimized TRAJECTORY CONTROL device 3 also can be PLC programmable logic controller (PLC), nonshared control unit or industrial computer.
See also shown in Figure 2ly again, this utilizes above-mentioned system to realize the method for track of rotary crane optimal control, and its principal feature is that described method may further comprise the steps;
(1) system carries out initialization operation;
(2) system reads design-calculated place coordinate motion trace information in advance; This in advance the producing method of design-calculated place coordinate motion trace information be following a kind of in several:
(a) driver of whirley sets;
(b) system stores in advance;
(c) system's self study produces;
(d) system produces by target tracking;
(e) system produces according to constraint condition optimization;
This place coordinate is the Cartesian coordinates of nature vertical space;
(3) system converts place coordinate motion trace information to the coordinate information of design-calculated suspender kinematic mechanism in advance according to the parameter of whirley;
(4) system controls in real time to each suspender kinematic mechanism, and is specific as follows:
(a) system judges whether to exist the real time position data information of suspender kinematic mechanism position path of motion;
(b) if having, then described crane is optimized the TRAJECTORY CONTROL device and is read the real time position data information of described suspender kinematic mechanism position path of motion, otherwise reads the coordinate information of design-calculated suspender kinematic mechanism in advance; Include the rotation information of kinematic mechanism in the coordinate information of the described suspender of design-calculated in advance kinematic mechanism;
(c) described suspender kinematic mechanism position detecting module is delivered to described crane optimization TRAJECTORY CONTROL device with the real time position data information of detected suspender kinematic mechanism;
(d) described crane optimization TRAJECTORY CONTROL device uses close-loop control mode to calculate the pairing controlling quantity information of each kinematic mechanism in real time;
(e) described crane optimization TRAJECTORY CONTROL device is delivered to described suspender kinematic mechanism position control module with the pairing controlling quantity information of each kinematic mechanism;
(f) described suspender kinematic mechanism position control module is carried out real time kinematics control according to described controlling quantity information to each kinematic mechanism.
In the middle of reality is used, see also shown in Figure 1, this track of rotary crane optimal control system, comprise crane optimization TRAJECTORY CONTROL device 3, wherein this system also comprises suspender kinematic mechanism position detecting module 1 and suspender kinematic mechanism position control module 2, and crane track optimal control device 3 is connected with suspender kinematic mechanism control module 2 with described suspender kinematic mechanism position detecting module 1 respectively.
The suspender kinematic mechanism of this track of rotary crane optimal control system comprises two kinematic mechanism parts at least, and wherein at least one kinematic mechanism partly is revolving kinematic mechanism.Each kinematic mechanism of suspender all has position coder 11,12,13, forms the kinematic mechanism position detecting module 1 of suspender, and is connected with described crane optimization TRAJECTORY CONTROL device 3.Each kinematic mechanism of suspender all has control unit 21,22,23, forms the kinematic mechanism control module 2 of suspender, and is connected with described crane optimization TRAJECTORY CONTROL device 3.
In this track of rotary crane optimal control system, the path of motion of 3 pairs of cranes of crane optimization TRAJECTORY CONTROL device designs and plans, it can be expanded to have and accept path of motion signal input module 4, thereby can realize the track following function, many hoisting cranes of convenient realization lift the function of large-sized object.
In treating process, the path of motion of the 3 pairs of cranes of crane optimization TRAJECTORY CONTROL device in the track of rotary crane optimal control system of this invention designs and plans, utilize mechanical dimension's information of the kinematic mechanism of suspender to map out nature vertical space coordinate (Cartesian coordinates) by calculating, can map out the particular location of the kinematic mechanism of suspender equally by the track under the nature vertical space coordinate (Cartesian coordinates) by calculating, be the cooresponding position of kinematic mechanism position detecting module 1 (position coder), and utilize corresponding motion-control module 2 is carried out the position control and the coordination of kinematic mechanism.By above-mentioned conversion, can realize easily that operating personal is according to the spatial coordinates of natural vertical space coordinate (Cartesian coordinates) to the suspender kinematic mechanism like this.
Mechanical dimension's information of the kinematic mechanism of suspender can obtain by the concrete mechanical parameter that each suspender provides, and also can come fixing natural vertical space coordinate points is calibrated acquisition by the method for self study.
When the crane more than two or two lifts, lift object according to different quilts, at first determine relative position and attitude between the suspension centre, the function that can accept the trajectory signal input by the crane optimization TRAJECTORY CONTROL device 3 of track of rotary crane optimal control system instructs or controls their path of motion then, this motion can guarantee that the relative position of hanging object and attitude do not change, thus realize two or two above whirleys lift jointly and guarantee to lift safe and reliable.
Described control method may further comprise the steps:
(1) crane track optimal control system carries out initialization;
(2) crane track optimal control system reads nature vertical space coordinate (Cartesian coordinates) path of motion;
(3) according to the crane parameter natural vertical space coordinate (Cartesian coordinates) path of motion is converted into trolley movement mechanism coordinate (containing rotation);
(4) read the real time position data of trolley movement mechanism position path of motion;
(5) read the real time position data of trolley movement mechanism position detection module 1;
(6) the utilization Closed loop Control calculates the controlling quantity of each kinematic mechanism in real time;
(7) carry out real time kinematics control by 2 pairs of each kinematic mechanisms of trolley movement mechanism position control module.
Above-mentioned track of rotary crane optimal control system and control method thereof have been adopted, because in hoisting process, the driver can design path of motion (rotatablely moving) not according to crane design-calculated rotating mechanism, but the natural vertical space coordinate (Cartesian coordinates) that can only be accustomed to according to people designs path of motion, as straight-line motion or specific space tracking, thereby reach the effect of optimizing track, this vertical space coordinate design-calculated path of motion can realize track optimizing and track following easily, thereby because according to the orbiting motion of optimizing, can reduce range ability effectively, improve kinematic velocity, the movement toward economizing space, and can lower rocking of object, twisting, make things convenient for positioning control, particularly the track following technology conveniently realizes many cranes lifting large-sized object, can realize the collaborative work of many cranes, thereby can expand the lifting ability of crane effectively, realize the safety in the hoisting process, efficiently, energy-saving and emission-reduction, and can reduce working strength of workers greatly, simultaneously economical and practical, safe and reliable, simple in structure, cost is lower, and Applicable scope is extensive.
In this specification sheets, the present invention is described with reference to its certain embodiments.But, still can make various modifications and conversion obviously and not deviate from the spirit and scope of the present invention.Therefore, specification sheets and accompanying drawing are regarded in an illustrative, rather than a restrictive.
Claims (10)
1. track of rotary crane optimal control system, this whirley comprises the suspender kinematic mechanism, described suspender kinematic mechanism comprises several kinematic mechanisms, it is characterized in that, described control system comprises crane optimization TRAJECTORY CONTROL device, suspender kinematic mechanism position detecting module and suspender kinematic mechanism position control module, described crane is optimized the TRAJECTORY CONTROL device and is connected with suspender kinematic mechanism control module with described suspender kinematic mechanism position detecting module respectively, and described suspender kinematic mechanism position detecting module is connected with described several kinematic mechanisms respectively with suspender kinematic mechanism control module.
2. track of rotary crane optimal control according to claim 1 system is characterized in that described suspender kinematic mechanism comprises at least two kinematic mechanisms, and wherein at least one kinematic mechanism is a rotate-stationary mode mechanism.
3. track of rotary crane optimal control according to claim 1 and 2 system, it is characterized in that, include in the described suspender kinematic mechanism position detecting module and the corresponding kinematic mechanism position coder of described kinematic mechanism quantity, described each kinematic mechanism position coder is corresponding one by one mutually with each kinematic mechanism respectively, and described each kinematic mechanism position coder all is connected with described crane optimization TRAJECTORY CONTROL device.
4. track of rotary crane optimal control according to claim 1 and 2 system, it is characterized in that, include in the described suspender kinematic mechanism position control module and the corresponding kinematic mechanism control unit of described kinematic mechanism quantity, described each kinematic mechanism control unit is corresponding one by one mutually with each kinematic mechanism respectively, and described each kinematic mechanism control unit all is connected with described crane optimization TRAJECTORY CONTROL device.
5. track of rotary crane optimal control according to claim 4 system is characterized in that described kinematic mechanism control unit is PLC programmable logic controller (PLC), nonshared control unit or industrial computer.
6. track of rotary crane optimal control according to claim 1 and 2 system is characterized in that, described crane is optimized the TRAJECTORY CONTROL device and also is connected with the path of motion signal input module.
7. optimize the TRAJECTORY CONTROL device according to each described crane in the claim 1 to 6, it is characterized in that, described crane is optimized the design of TRAJECTORY CONTROL device and is optimized place coordinate motion track, and the producing method of this place coordinate motion track is following a kind of in several:
(11) driver of whirley sets;
(12) system stores in advance;
(13) system's self study produces;
(14) system produces by target tracking;
(15) system produces according to constraint condition optimization.
8. track of rotary crane optimal control according to claim 1 and 2 system is characterized in that, it is PLC programmable logic controller (PLC), nonshared control unit or industrial computer that described crane is optimized the TRAJECTORY CONTROL device.
9. method of utilizing the described system of claim 1 to realize the track of rotary crane optimal control is characterized in that described method may further comprise the steps:
(1) system carries out initialization operation;
(2) system reads the place coordinate motion trace information that designs in advance and optimize;
(3) system converts place coordinate motion trace information to the coordinate information of design-calculated suspender kinematic mechanism in advance according to the parameter of whirley;
(4) system controls in real time to each suspender kinematic mechanism.
10. the method for realization track of rotary crane according to claim 9 optimal control is characterized in that, described place coordinate is the Cartesian coordinates of nature vertical space; Include the rotation information of suspender kinematic mechanism in the coordinate information of the described suspender of design-calculated in advance kinematic mechanism.
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