CN102914968A - Self-learning synchronous corrosion control system and method - Google Patents

Abstract

The invention relates to a self-learning synchronous corrosion control system and a self-learning synchronous corrosion control method. The system comprises operating control equipment, wherein the operating control equipment is connected with at least two driving units through a synchronous correction controller; each driving unit is connected with corresponding driven equipment in a driving mode; a position detector is arranged on each driven equipment; and the signal output end of each position detector is connected with the synchronous corrosion controller. The system automatically learns the driving parameter of each driving unit on line and respectively adjusts the control parameter of each driven/driving unit continuously according to the operating distance and the real-time position obtained through on-line measurement of a range pole driving unit and each driven/driving unit, and adjusts the corrosion control quantity of each driven/driving unit according to the position deviation value of the range pole driving unit and each driven/driving unit, so that all the driven/driving units and the range pole driving unit operate synchronously, and the synchronous correction controller with the self-learning function can realize synchronous correction control more stably and precisely.

Description

The synchronous deviation correction control system of self study and method

Technical field

The invention belongs to the synchronous correction movement control technology field of a plurality of operation driver elements, relate to the synchronous deviation correction control system of self study and method.

Background technology

When two or more operation driver elements drove the mechanism of an association and load simultaneously, we needed this a plurality of driver elements to realize synchronous operations.For example, when the crane with a plurality of dollies and lifting mechanism lifted the load operation, hoisting of dolly need to be synchronized with the movement with level run.Have, large span overhead and gantry cranes is when two siding tracks move again, and the driver element of both sides need to keep high level of synchronization, and what crane wheel occurs to avoid crane two lateral movements that deviation is arranged gnaws the rail phenomenon.

In order to guarantee being synchronized with the movement of a plurality of driver elements, need to be according to the physical location feedback of its driver element, to the driver element control of rectifying a deviation synchronously.Synchronous correction control method commonly used only utilizes the deviation of position to carry out simple FEEDBACK CONTROL.And in the working control operational process, because of the different and variation of environmental factor, the actual driving parameter of each driver element always has difference and the variation of a small amount of the unknown.In the control method of rectifying a deviation synchronously, not intellectual and the time dependent characteristic of the actual driving of driver element parameter are taken into account, can realize that better synchronous correction is controlled.

Summary of the invention

The purpose of this invention is to provide the synchronous deviation correction control system of a kind of self study and method, to realize more stable, more accurate synchronous correction control.

For achieving the above object, the synchronous deviation correction control system of self study of the present invention comprises operational control unit, this operational control unit control linkage has synchronous deviation correcting device, this synchronous deviation correcting device control linkage has at least two driver elements, each driver element drives respectively and connects corresponding driven equipment, be respectively equipped with position detector on each driven equipment, the signal output part of position detector is connected with described synchronous deviation correcting device, and this synchronous deviation correcting device is for the synchronous operation command speed of sending according to operational control unit, the positional information of the driven equipment of position detector feedback is sent the synchronous operation speed command to each driver element.

Further, described driver element is a mark post driver element and m driven driver element, and wherein m 〉=1 is positive integer.

Rectify a deviation the synchronously step of control method of self study of the present invention is as follows:

(1) make up the synchronous deviation correction control system of self study, this system comprises a mark post driver element and m driven driver element, and wherein m 〉=1 is positive integer;

(2) set the self study cycle T, operational control unit sends the command speed V of synchronous operation _c

(3) in a self study cycle T, the command speed V of the synchronously deviation correcting device synchronous operation of sending according to operational control unit _cWith the positional information of each driven equipment of position detector feedback, determine the synchronous correction control Parameter H of each driven driver element via online self study _i, 1≤i≤m;

(4) deviation correcting device sends action command speed to each driver element synchronously, and the action command speed that wherein sends to the mark post driver element is V _Cb=V _c, the action command speed that sends to each driven driver element is V _Czi=H _iV _c, 1≤i≤m realizes driven driver element self study rectify a deviation synchronously control, wherein V _bAnd V _Zi, be respectively the travelling speed of mark post driver element and driven driver element, V _CbAnd V _Czi

Further, the self study cycle T is according to mark post drive unit drives parameter K in described step (2) and (3) _bWith driven drive unit drives parameter K _Zi(the speed degree of the variation of 1≤i≤m) and the accuracy requirement of synchronous correction control determined.

Further, synchronously correction control Parameter H in described step (3) and (4) _i, 1≤i≤m is obtained by following self study loop iteration computing method

$L_{i\left(n\right)}=a_{i1}{L}_{i(n-1)}+a_{i2}{H}_{i(n-1)}\frac{D_{b(n-1)}}{D_{\mathrm{zi}(n-1)}}$

$H_{i\left(n\right)}=L_{i\left(n\right)}+\frac{P_{b\left(n\right)}-P_{\mathrm{zi}\left(n\right)}}{K_{\mathrm{zi}\max }{V}_{c\left(n\right)}T}$

A wherein _I1, a _I2Be weighting coefficient, subscript (n) n self study cycle of expression, subscript (n-1) n-1 self study cycle of expression, H _{I (n-1)}The value that represents n-1 self study cycle synchronisation correction control parameter, H _{I (n)}Initial value H _{I (0)}Be 1, L _{I (n-1)}Represent that n-1 self study cycle is to mark post drive unit drives parameter K _bWith i driven drive unit drives parameter K _ZiRatio

The self study estimated value, L _{I (n)}Initial value L _{I (0)}Be 1, D _{B (n-1)}, D _{Zi (n-1)}Be respectively the distance of driven equipment driven equipment actual motion within n-1 self study cycle that mark post driver element and i driven driver element drives, P _{B (n)}, P _{Zi (n)}The driven equipment that drives for mark post driver element and i driven driver element n the zero hour in self study cycle driven equipment the position, V _{C (n)}Be the command speed of n the synchronous operation that operational control unit the sends zero hour in self study cycle, K _ZimaxBe i driven drive unit drives parameter K _ZiThe maximum estimated value.

Further, when crane runway was arc-shaped rail, described driver element was that mark post driver element, driven driver element respectively are 1 along the level run driver element of arc-shaped rail operation, and two drived units rotate around track center of arc, and its angular velocity is respectively ω _bAnd ω _Z1, angular displacement δ _bAnd δ _Z1, and position, angle θ _bAnd θ _Z1, deviation correcting device is respectively ω to the angular velocity action command of mark post driver element and driven driver element synchronously _CbAnd ω _Cz1, and obtained by following loop iteration formula:

$L_{1\left(n\right)}=a_{11}{L}_{1(n-1)}+a_{12}{H}_{1(n-1)}\frac{{\mathrm{\δ}}_{b(n-1)}}{{\mathrm{\δ}}_{z1(n-1)}}$

$H_{1\left(n\right)}=L_{1\left(n\right)}+\frac{{\mathrm{\&theta;}}_{b\left(n\right)}-{\mathrm{\&theta;}}_{z1\left(n\right)}}{{\mathrm{<figure-callout\; id="1"\; label="K\; z"\; filenames="121011145743.png"\; state="\{\{state\}\}">K</figure-callout>}}_z{\mathrm{\&omega;}}_{c\left(n\right)}T}$

ω _cb＝ω _c

ω _cz1=H ₁ω _c

A wherein ₁₁, a ₁₂Be weighting coefficient, subscript (n) n self study cycle of expression, subscript (n-1) n-1 self study cycle of expression, H _{1 (n-1)}The value that represents n-1 self study cycle synchronisation correction control parameter, H _{1 (n)}Initial value H _{1 (0)}Be 1, L _{1 (n-1)}Represent that n-1 self study cycle drives parameter K to mark post driver element angular velocity _bDrive parameter K with driven driver element angular velocity _Z1Ratio

The self study estimated value, L _{1 (n)}Initial value L _{1 (0)}Be 1, δ _{B (n-1)}, δ _{Z1 (n-1)}Be respectively the driven equipment angular displacement that driven equipment reality is moved around the rotation of track center of arc within n-1 self study cycle that mark post driver element and driven driver element drive, θ _{B (n)}, θ _{Z1 (n)}The driven equipment that drives for mark post driver element and driven driver element n the zero hour in self study cycle driven equipment the position, angle, ω _{C (n)}Be the angular velocity command speed of n the synchronous operation that operational control unit the sends zero hour in self study cycle, K _Z1maxFor driven driver element angular velocity drives parameter K _Z1The maximum estimated value, ω _cThe crane that sends for operational control unit rotates the order angular velocity that moves, H around the center of arc of arc-shaped rail ₁Synchronous correction control parameter for driven driver element.

The synchronous deviation correction control system of self study of the present invention and method, make constantly each the driver element the unknown of on-line automatic study of synchronous deviation correcting device, time dependent driving mechanism parameter, and the driving mechanism parameter that institute's self study obtains is used for revising the control parameter of synchronous deviation correcting device.In the synchronous deviation correction control system of multi-drive, can select that wherein any one driver element is as the mark post driver element, remaining driver element is as driven driver element.Distance and the real time position of the operation that obtains according to mark post driver element and each driven driver element on-line measurement, the driving parameter of on-line automatic study driver element, constantly adjust respectively the control parameter of each driven driver element, while is according to the position deviation amount of mark post driver element and driven driver element, adjust the correction controlled quentity controlled variable of driven driver element, make all driven driver elements always with the synchronous operation of mark post driver element.Synchronous deviation correcting device with self-learning function can be realized more stable, more accurate synchronous correction control.

Description of drawings

Fig. 1 is the system architecture synoptic diagram of the embodiment of the invention;

Fig. 2 is the overhead and gantry cranes synchronous operation synoptic diagram of rectilinear orbit operation;

Fig. 3 is the overhead and gantry cranes synchronous operation synoptic diagram that moves on the arc orbit.

Embodiment

Take the synchronous deviation correction control system of crane as example illustrates the synchronous deviation correction control system of self study of the present invention.The synchronous deviation correction control system of self study comprises operational control unit, this operational control unit control linkage has synchronous deviation correcting device, this synchronous deviation correcting device control linkage has at least two driver elements, each driver element drives respectively and connects corresponding driven equipment, be respectively equipped with position detector on each driven equipment, the signal output part of position detector is connected with described synchronous deviation correcting device, and this synchronous deviation correcting device is for the synchronous operation command speed of sending according to operational control unit, the positional information of the driven equipment of position detector feedback is sent the synchronous operation speed command to each driver element.Driver element is a mark post driver element and m driven driver element, and wherein m 〉=1 is positive integer.Driver element can be for the operation driver element that hoists of the dolly level run driver element of the operation driver element that hoists of the level run driver element of many each dollies of small car hoist, many each dollies of small car hoist, each crane of a lot of heavy-duty machine system, each crane of a lot of heavy-duty machine system, each crane level run driver element of a lot of heavy-duty machine system, crane both ends horizontal operation driver element or along the level run driver element of parallel orbit operation.

Rectify a deviation the synchronously step of control method of self study is as follows:

(1) make up the synchronous deviation correction control system of self study, this system comprises a mark post driver element and m driven driver element, and wherein m 〉=1 is positive integer; Driver element satisfies drive characteristic

V _b=K _bV _cb

V _zi=K _ziV _czi,1≤i≤m

V wherein _bAnd V _Zi, 1≤i≤m is respectively the travelling speed of mark post driver element and driven driver element, V _CbAnd V _Czi, 1≤i≤m is respectively the action command speed that synchronous deviation correcting device sends to mark post driver element and driven driver element, K _bAnd K _Zi, 1≤i≤m is respectively the actual driving parameter of mark post driver element and driven driver element.Do not lose its generality, suppose that here the design and operation speed of each driver element equals its command speed, namely the design driven parameter of each driver element is 1.Its actual driving parameter K _bAnd K _Zi, 1≤i≤m, value be unknown number close to design load 1, and temporal evolution.

(2) set the self study cycle T, operational control unit sends the command speed V of synchronous operation _c

(3) in a self study cycle T, the command speed V of the synchronously deviation correcting device synchronous operation of sending according to operational control unit _cWith the positional information of each driven equipment of position detector feedback, determine the synchronous correction control Parameter H of each driven driver element via online self study _i, 1≤i≤m;

(4) deviation correcting device sends action command speed to each driver element synchronously, and the action command speed that wherein sends to the mark post driver element is V _Cb=V _c, the action command speed that sends to each driven driver element is V _Czi=H _iV _c, 1≤i≤m realizes that the self study of driven driver element is rectified a deviation synchronously.

In above-mentioned steps was described, we had used subscript c to represent speed command, and subscript b represents the mark post driver element, and subscript z represents driven driver element, and numeric suffix i represents i driven driver element.

We during with double trolley crane lifting load horizontal synchronization operate to example this self study control method of rectifying a deviation synchronously be described.We have two dollies and two driver elements in this example, and one of them is the mark post driver element, another driven driver element, i.e. m=1.

As shown in Figure 1, when crane lifted operation, the dolly driver element 7 of establishing dolly 1 was the mark post driver element, and the dolly driver element 8 of dolly 2 is (first) driven driver element, and dolly 1 and dolly 2 are the unit of drive and independent operating.The position detection device 3 and the 4(that are installed in respectively on the dolly can be comprised of scrambler) detect the position P of dolly 1 _bPosition P with dolly 2 _Z1Allow each dolly at separately initial initial point, suppose dolly when initial initial point, two little truck positions are synchronous, and namely alternate position spike is zero.The position P of dolly 1 _bPosition P with dolly 2 _Z1Be transferred to synchronous deviation correcting device 5.Synchronously deviation correcting device 5 can be by Programmable Logic Controller (PLC), or other equipment with computing function form.Operational control unit 6 sends the command speed V of two dolly synchronous operations for synchronous deviation correcting device 5 _c Deviation correcting device 5 is with the position P of dolly 1 synchronously _bPosition P with dolly 2 _Z1And V _cAs input, utilize control method of the present invention, calculate the action command speed V of dolly 1 and dolly 2 _CbAnd V _Cz1, and with action command speed V _CbAnd V _Cz1, be transferred to respectively the driver element 7 and 8 of dolly 1 and dolly 2.The driver element of dolly can be formed with mechanical part by frequency converter and motor etc. are electric.Two dollies are moved by drive unit drives respectively.Load 10 is lifted on two dollies by hoist cable 11 among Fig. 1, and two dollies run on the trolley track 9 according to control command.

In the working control operational process, because of the different of the difference of each trolley driving mechanism and environmental factor with change, two identical dolly order travelling speed also may cause the actual motion speed of dolly that deviation is arranged, and cause the deviation of two little truck positions.For realizing the synchronous correction control to dolly, controller sends synchronous operation command speed V to mark post driver element dolly 1 _c, and give 2 one in driven driver element dolly proportional, but be different from synchronous operation command speed V _cCommand speed, that is:

V _cb=V _c (1)

V _cz1=H ₁V _c (2)

Formula V _CbBe the action command speed of controller to mark post driver element 7 and dolly 1, V _Cz1Be the action command speed that controller 5 sends for (first) driven driver element 8 and dolly 2, V _cBe the command speed of dolly synchronous operation, H ₁Be the synchronous correction control parameter of controller 5 for (first) driven driver element dolly 2.Below describe synchronously correction control Parameter H in detail ₁Computing method.

Allow K _bBe the actual motion speed of dolly 1 and the ratio of synchronously correction control to the order travelling speed of mark post driver element 7, K _Z1Be the actual motion speed of dolly 2 and the ratio of synchronously correction control to the order travelling speed of mark post driver element 7, namely

V _b=K _bV _cb=K _bV _c (3)

V _z1=K _z1V _cz1=K _z1H ₁V _c (4)

Do not lose its ubiquity, we suppose that driver element 7 and 8 is designed to identical system when actual Driving Scheme, and allow the design and operation speed of dolly 1 and dolly 2 equal the command speed of each driver element, that is, and and K _bAnd K _Z1Design load be 1.Therefore, the driving parameter K of driver element _bAnd K _Z1Be two close to 1 coefficient.Because of in real system, parameter K _bAnd K _Z1Be unknown, also change, so we need controller 5 ceaselessly to learn online the parameters of driver element, and and then to the drived unit control of rectifying a deviation synchronously.

Allow the driving parameter K of driver element _bAnd K _Z1Ratio be R ₁, namely

${\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="121011145743.png"\; state="\{\{state\}\}">R</figure-callout>}}_1=\frac{K_b}{K_{z1}}---\left(5\right)$

Deviation correcting device is to R synchronously ₁Carry out periodic online self study and estimation.We use L ₁Represent that synchronous deviation correcting device is to R ₁Carry out the estimated value that self study obtains.The cycle T of self study can be according to the driving parameter K of driver element _bAnd K _Z1The speed degree that changes and the accuracy requirement of synchronous correction control determined.Allow L ₁Initial value L _{1 (0)}, i.e. R ₁Initial best estimate is R ₁Design load.Because of K _bAnd K _Z1Design load be 1, according to formula (5) L ₁Initial value L _{1 (0)}Elect 1 as.

The synchronous deviation correcting device of self study has two control targets:

(1) self study synchro control: in each self study cycle, according to the distance of two dollies actual motion in the self study cycle in the past, upgrade calculating parameter R ₁Best estimate L ₁

(2) correction control: in each self study cycle, if the location, position of two dollies is poor, within a self study cycle, eliminate most possibly known dolly alternate position spike.

The self study synchro control:

The principle of for convenience of description self study synchro control, we do not consider first correction control, and hypothesis is in original state two dollies location deviation not.If D _bAnd D _Z1Be respectively the distance of dolly 1 and dolly 2 actual motion in the cycle T of a self study.Obviously, D _bAnd D _Z1Can be easily from dolly position P _bAnd P _Z1Variation in calculate.Suppose the driving parameter K of two driver elements _bAnd K _Z1Variation in a very short self study cycle T can be ignored, to the actual motion speed V of two dollies in formula (3) and (4) _bAnd V _Z1Carry out carrying out two formulas behind the integration again and be divided by, we have

$\frac{D_b}{D_{z1}}=\frac{K_b}{K_{z1}{\mathrm{<figure-callout\; id="1"\; label="H"\; filenames="121011145743.png"\; state="\{\{state\}\}">H</figure-callout>}}_1}=\frac{R_1}{H_1}---\left(6a\right)$

${\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="121011145743.png"\; state="\{\{state\}\}">R</figure-callout>}}_1=H_1\frac{D_b}{D_{z1}}---\left(6b\right)$

We represent the current self study cycle with subscript (n), subscript (n-1) the previous self study cycle of expression.Be L _{1 (n)}Represent that the current self study cycle is to R ₁Estimated value, L _{1 (n-1)}Represent that the previous self study cycle is to R ₁Estimated value.If only consider dolly 1 and dolly 2 range ability D in the previous self study cycle _{B (n-1)}And D _{Z1 (n-1)}, so in the current self study cycle, to R ₁Estimated value be

$L_{1\left(n\right)}^{*}=H_{1(n-1)}\frac{D_{b(n-1)}}{D_{z1(n-1)}}---\left(7\right)$

H in the following formula _{1 (n-1)}Be previous self study cycle synchronisation correction control Parameter H ₁Value.According to stochastic variable Kalman Kalman filtering loop iteration optimum estimate principle, we utilize R ₁The estimated value L in previous self study cycle _{1 (n-1)}And following formula (7) provides

To R ₁Carry out optimum estimate.Allow weighting coefficient a ₁₁And a ₁₂, 0＜a ₁₁＜1,0＜a ₁₂＜1, satisfy

a ₁₁+a ₁₂=1 (8)

We get the current self study cycle to R ₁Best estimate be

$L_{1\left(n\right)}=a_{11}{L}_{1(n-1)}+a_{12}{L}_{1\left(n\right)}^{*}---\left(9\right)$

Weighting coefficient a ₁₁And a ₁₂Can determine according to following formula.

$a_{11}=\frac{{\mathrm{\&sigma;}}_1^{*}}{{\mathrm{\&sigma;}}_1+{\mathrm{\&sigma;}}_1^{*}}---\left(10a\right)$

$a_{12}=\frac{{\mathrm{\&sigma;}}_1}{{\mathrm{\&sigma;}}_1+{\mathrm{\&sigma;}}_1^{*}}---\left(10b\right)$

Constant in the following formula

Right

The maximum error estimated value, constant σ ₁To L _{1 (n-1)}The maximum error estimated value.

Suppose R ₁Self study estimated value L _{1 (n)}There is not error with actual value, i.e. L _{1 (n)}=R ₁, so, if allow synchronous correction control Parameter H ₁=L _{1 (n)}From formula (3), (4) and (5) can get V _Z1=V _bThis formula shows that two dollies have reached the Complete Synchronization operation.In the Complete Synchronization operational process, two dollies do not produce alternate position spike.

Correction control:

Owing to affected by environment and measuring error etc., two dollies can not move by absolute Complete Synchronization, thereby always might produce certain alternate position spike.We carry out positional deviation correction with the mode of FEEDBACK CONTROL on the basis of self study synchro control.

Allow P _{B (n)}, P _{Z1 (n)}, and V _{C (n)}Be illustrated respectively in current zero hour in self study cycle of dolly 1 position, the position of dolly 2, and the command speed of dolly synchronous operation.Allow E _(n)The alternate position spike that represents two dollies, that is,

E _(n)=P _b(n)-P _z1(n) (11)

We allow synchronous correction control parameter

H _1(n)=L _1(n)+K _e(n)E _(n) (12)

In the following formula and K _{E (n)}Be the correction feedback control parameters.Allow

$K_{e\left(n\right)}=\frac{1}{{\mathrm{<figure-callout\; id="1"\; label="K\; z"\; filenames="121011145743.png"\; state="\{\{state\}\}">K</figure-callout>}}_z{V}_{c\left(n\right)}T}---\left(13\right)$

K in the following formula _ZlmaxBe the maximum estimated value of parameter K z1, T is the self study cycle.Formula (7)-(13) have provided following synchronous correction control Parameter H ₁Complete self study loop iteration computing method

$L_{1\left(n\right)}=a_{11}{L}_{1(n-1)}+a_{12}{H}_{1(n-1)}\frac{D_{b(n-1)}}{D_{z1(n-1)}}---\left(14a\right)$

$H_{1\left(n\right)}=L_{1\left(n\right)}+\frac{P_{b\left(n\right)}-P_{z1\left(n\right)}}{{\mathrm{<figure-callout\; id="1"\; label="K\; z"\; filenames="121011145743.png"\; state="\{\{state\}\}">K</figure-callout>}}_z{V}_{c\left(n\right)}T}---\left(14b\right)$

Because adopt the loop iteration algorithm, the above control method of rectifying a deviation does not synchronously need store historical data.It only uses moving of car measurement data and the control parameter in previous and current self study cycle.It is constantly to parameters R ₁Carry out online self study and obtain estimated value L _{1 (n)}, and through type (1) and formula (2) adjust the action command speed to dolly, eliminates the alternate position spike of dolly, makes two dollies keep synchronous operation.

Correction control principle for the control method of rectifying a deviation synchronously shown in the formula (14) is analyzed as follows:

Suppose when the current self study cycle begins the poor E in two dolly locations _(n)=P _{B (n)}-P _{Z1 (n)}We can reasonably suppose the command speed V of dolly synchronous operation _cVariation in a very short self study cycle T is very little, and since the synchronously online self study of deviation correcting device, R ₁Estimated value L _{1 (n)}With actual value R ₁Error is very little, namely

V _c≈V _c(n) (15a)

L _1(n)≈R ₁ (15b)

Utilize formula (3), (4), (5), (14) and (15), the alternate position spike of two dollies was when we can obtain current self study end cycle

$E_{(n+1)}=(P_{b\left(n\right)}+{\&Integral;}_{t_n}^{t_n+T}{K}_b{V}_c\mathrm{dt})-(P_{z1\left(n\right)}+{\&Integral;}_{t_n}^{t_n+T}{K}_{z1}(L_{1\left(n\right)}+\frac{P_{b\left(n\right)}-P_{z1\left(n\right)}}{{\mathrm{<figure-callout\; id="1"\; label="K\; z"\; filenames="121011145743.png"\; state="\{\{state\}\}">K</figure-callout>}}_z{V}_{c\left(n\right)}T})V_c\mathrm{dt})$

$=E_{\left(n\right)}(1-\frac{1}{{\mathrm{<figure-callout\; id="1"\; label="K\; z"\; filenames="121011145743.png"\; state="\{\{state\}\}">K</figure-callout>}}_z{V}_{c\left(n\right)}T}{\&Integral;}_{t_n}^{t_n+T}{K}_{z1}{V}_c\mathrm{dt})+{\&Integral;}_{t_n}^{t_n+T}(K_b-K_{z1}{L}_{1\left(n\right)})V_c\mathrm{dt}---\left(16\right)$

$\&ap;E_{\left(n\right)}\left(\frac{{\mathrm{<figure-callout\; id="1"\; label="K\; z"\; filenames="121011145743.png"\; state="\{\{state\}\}">K</figure-callout>}}_z-{\tilde{K}}_{z1\left(n\right)}}{{\mathrm{<figure-callout\; id="1"\; label="K\; z"\; filenames="121011145743.png"\; state="\{\{state\}\}">K</figure-callout>}}_z}\right)$

T in the following formula _nBe the zero hour in current self study cycle, K _ZlmaxBe parameter K _Z1The maximum estimated value, Be K _Z1Mean value within the current self study cycle.Following formula shows that within each self study cycle, the alternate position spike of two dollies is reduced to original Doubly.Because, as previously mentioned, the driving parameter K of driver element _Z1Design load is 1.For most Practical Project system, the actual value of this parameter is a very little number with the difference of design load, therefore

It is the number much smaller than 1.Thus explanation, control method of the present invention has realized the target that self study is rectified a deviation synchronously and controlled.

When there being a plurality of dollies to carry out level when lifting load, we have a mark post driver element and a plurality of driven driver element, i.e. m〉1, above computing method are applicable equally.

The above self study control method of rectifying a deviation synchronously can be applicable in the synchronous correction control control of the operation that hoists when crane has a plurality of dollies to lift load equally.

The above self study control method of rectifying a deviation synchronously can be applicable to the synchronous correction control of many cranes (cart) when lifting load equally.Many cranes (cart) are when lifting load, need to carry out the same self study control of rectifying a deviation synchronously to the cart of many cranes and dolly.

The above self study control method of rectifying a deviation synchronously is applicable to the synchronous correction motion control of large span overhead and gantry cranes two side drives too.For the overhead and gantry cranes of walking at common rectilinear orbit, as shown in Figure 2,21 expression dollies, 22 expression crane rectilinear orbits, its control target is the travelling speed V that makes crane both sides driver element _bAnd V _Z1, and the position P of both sides driver element _bAnd P _Z1, keep synchronously, crane is kept along the smooth linear running of track, do not produce the generation of gnawing the rail phenomenon.

When crane runway is arc-shaped rail, driver element is the level run driver element along the arc-shaped rail operation, overhead and gantry cranes for turning operation on arc-shaped rail, as shown in Figure 3, need crane to keep centering on the center rotating of track circular arc when operation, 31 represent dollies among the figure, 32 expression loading bridges, arc orbit in 33 expressions, 34 expression external arc tracks, the center of arc of 35 expression tracks.The driver element of crane both sides is independently controlled orbital motion.Utilize the above self study control method of rectifying a deviation synchronously, similarly can control the both sides driver element, make the angular velocity omega that rotates two driver elements around track center of arc _bAnd ω _Z1, angular displacement δ _bAnd δ _Z1, and position, angle θ _bAnd θ _Z1, keep synchronously, make crane keep rotating smoothly around the center of arc of track.Rectify a deviation the synchronously computing formula of control method of its self study is similar with the linear running crane, and difference only is to replace space rate with angular velocity, and straight-line displacement is replaced in angular displacement, and linear position is replaced in the position, angle.The self study of the crane that moves at the arc-shaped rail control computing method of rectifying a deviation synchronously are shown below:

$L_{1\left(n\right)}=a_{11}{L}_{1(n-1)}+a_{12}{H}_{1(n-1)}\frac{{\mathrm{\&delta;}}_{b(n-1)}}{{\mathrm{\&delta;}}_{z1(n-1)}}---\left(17a\right)$

$H_{1\left(n\right)}=L_{1\left(n\right)}+\frac{{\mathrm{\&theta;}}_{b\left(n\right)}-{\mathrm{\&theta;}}_{z1\left(n\right)}}{{\mathrm{<figure-callout\; id="1"\; label="K\; z"\; filenames="121011145743.png"\; state="\{\{state\}\}">K</figure-callout>}}_z{\mathrm{\&omega;}}_{c\left(n\right)}T}---\left(17b\right)$

ω _cb=ω _c (17c)

ω _cz1=H ₁ω _c (17d)

In following formula, we have utilized same identifier convention, and the implication of each identifier is repeated no more.

Claims (6)

1. synchronous deviation correction control system of self study, it is characterized in that, this system comprises operational control unit, this operational control unit control linkage has synchronous deviation correcting device, this synchronous deviation correcting device control linkage has at least two driver elements, each driver element drives respectively and connects corresponding driven equipment, be respectively equipped with position detector on each driven equipment, the signal output part of position detector is connected with described synchronous deviation correcting device, and this synchronous deviation correcting device is for the synchronous operation command speed of sending according to operational control unit, the positional information of the driven equipment of position detector feedback is sent the synchronous operation speed command to each driver element.

2. system according to claim 1 is characterized in that: described driver element is a mark post driver element and m driven driver element, and wherein m 〉=1 is positive integer.

3. self study control method of rectifying a deviation synchronously is characterized in that the step of the method is as follows:

(1) make up the synchronous deviation correction control system of self study, this system comprises a mark post driver element and m driven driver element, and wherein m 〉=1 is positive integer;

(2) set the self study cycle T, operational control unit sends the command speed V of synchronous operation _c

(3) in a self study cycle T, the command speed V of the synchronously deviation correcting device synchronous operation of sending according to operational control unit _cWith the positional information of each driven equipment of position detector feedback, determine the synchronous correction control Parameter H of each driven driver element via online self study _i, 1≤i≤m;

(4) deviation correcting device sends action command speed to each driver element synchronously, and the action command speed that wherein sends to the mark post driver element is V _Cb=V _c, the action command speed that sends to each driven driver element is V _Czi=H _iV _c, 1≤i≤m realizes driven driver element self study rectify a deviation synchronously control, wherein V _bAnd V _Zi, be respectively the travelling speed of mark post driver element and driven driver element, V _CbAnd V _Czi

4. method according to claim 3 is characterized in that: the self study cycle T is according to mark post drive unit drives parameter K in described step (2) and (3) _bWith driven drive unit drives parameter K _Zi(the speed degree of the variation of 1≤i≤m) and the accuracy requirement of synchronous correction control determined.

5. it is characterized in that according to claim 3 or 4 described methods: synchronously correction control Parameter H in described step (3) and (4) _i, 1≤i≤m is obtained by following self study loop iteration computing method

$L_{i\left(n\right)}=a_{i1}{L}_{i(n-1)}+a_{i2}{H}_{i(n-1)}\frac{D_{b(n-1)}}{D_{\mathrm{zi}(n-1)}}$

$H_{i\left(n\right)}=L_{i\left(n\right)}+\frac{P_{b\left(n\right)}-P_{\mathrm{zi}\left(n\right)}}{K_{\mathrm{zi}\max }{V}_{c\left(n\right)}T}$

A wherein _I1, a _I2Be weighting coefficient, subscript (n) n self study cycle of expression, subscript (n-1) n-1 self study cycle of expression, H _{I (n-1)}The value that represents n-1 self study cycle synchronisation correction control parameter, H _{I (n)}Initial value H _{I (0)}Be 1, L _{I (n-1)}Represent that n-1 self study cycle is to mark post drive unit drives parameter K _bWith i driven drive unit drives parameter K _ZiRatio The self study estimated value, L _{I (n)}Initial value L _{I (0)}Be 1, D _{B (n-1)}, D _{Zi (n-1)}Be respectively the distance of driven equipment driven equipment actual motion within n-1 self study cycle that mark post driver element and i driven driver element drives, P _{B (n)}, P _{Zi (n)}The driven equipment that drives for mark post driver element and i driven driver element n the zero hour in self study cycle driven equipment the position, V _{C (n)}Be the command speed of n the synchronous operation that operational control unit the sends zero hour in self study cycle, K _ZimaxBe i driven drive unit drives parameter K _ZiThe maximum estimated value.

6. method according to claim 5, it is characterized in that: when crane runway is arc-shaped rail, described driver element is the level run driver element along the arc-shaped rail operation, mark post driver element, driven driver element respectively are 1, and two drived units rotate around track center of arc, and its angular velocity is respectively ω _bAnd ω _Z1, angular displacement δ _bAnd δ _Z1, and position, angle θ _bAnd θ _Z1, deviation correcting device is respectively ω to the angular velocity action command of mark post driver element and driven driver element synchronously _CbAnd ω _Cz1, and obtained by following loop iteration formula:

$L_{1\left(n\right)}=a_{11}{L}_{1(n-1)}+a_{12}{H}_{1(n-1)}\frac{{\mathrm{\&delta;}}_{b(n-1)}}{{\mathrm{\&delta;}}_{z1(n-1)}}$

$H_{1\left(n\right)}=L_{1\left(n\right)}+\frac{{\mathrm{\&theta;}}_{b\left(n\right)}-{\mathrm{\&theta;}}_{z1\left(n\right)}}{K_{z1\max }{\mathrm{\&omega;}}_{c\left(n\right)}T}$

ω _cb＝ω _c

ω _cz1=H ₁ω _c

A wherein ₁₁, a ₁₂Be weighting coefficient, subscript (n) n self study cycle of expression, subscript (n-1) n-1 self study cycle of expression, H _{1 (n-1)}The value that represents n-1 self study cycle synchronisation correction control parameter, H _{1 (n)}Initial value H _{1 (0)}Be 1, L _{1 (n-1)}Represent that n-1 self study cycle drives parameter K to mark post driver element angular velocity _bDrive parameter K with driven driver element angular velocity _Z1Ratio

The self study estimated value, L _{1 (n)}Initial value L _{1 (0)}Be 1, δ _{B (n-1)}, δ _{Z1 (n-1)}Be respectively the driven equipment angular displacement that driven equipment reality is moved around the rotation of track center of arc within n-1 self study cycle that mark post driver element and driven driver element drive, θ _{B (n)}, θ _{Z1 (n)}The driven equipment that drives for mark post driver element and driven driver element n the zero hour in self study cycle driven equipment the position, angle, ω _{C (n)}Be the angular velocity command speed of n the synchronous operation that operational control unit the sends zero hour in self study cycle, K _Z1maxFor driven driver element angular velocity drives parameter K _Z1The maximum estimated value, ω _cThe crane that sends for operational control unit rotates the order angular velocity that moves, H around the center of arc of arc-shaped rail ₁Synchronous correction control parameter for driven driver element.

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