CN102914968B - 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 multiple operation driver element, relate to the synchronous deviation correction control system of self study and method.

Background technology

When mechanism and load that two or more operation driver elements drive one to associate simultaneously, we need this multiple driver element to realize synchronous operation.Such as, when the crane with multiple dolly and lifting mechanism carries out lifting load operation, dolly hoist and level run need be synchronized with the movement.Further, when large span overhead and gantry cranes runs on two siding tracks, the driver element of both sides needs to keep high level of synchronization, and what occur crane wheel to avoid crane two lateral movement to have deviation gnaws rail phenomenon.

In order to ensure being synchronized with the movement of multiple driver element, need to feed back according to the physical location of its driver element, driver element is synchronously rectified a deviation control.Conventional synchronous correction control method only utilizes the deviation of position to carry out simple FEEDBACK CONTROL.And in working control operational process, because of difference and the change of environmental factor, the actual driving parameter of each driver element always has a small amount of unknown difference and change.In synchronous correction control method, the non-intellectual of actual for driver element driving parameter and time dependent characteristic are taken into account, can realize better synchronously rectifying a deviation control.

Summary of the invention

The object 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 control of synchronously rectifying a deviation.

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, each driven equipment is respectively equipped with position detector, the signal output part of position detector connects with described synchronous deviation correcting device, this synchronous deviation correcting device is used for the synchronous operation command speed sent according to operational control unit, the positional information of the driven equipment of position detector feedback sends synchronous operation speed command to each driver element.

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

Synchronously the rectify a deviation step of control method of self study of the present invention is as follows:

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

(2) set 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 synchronous operation that synchronous deviation correcting device sends according to operational control unit _cwith the positional information of each driven equipment of position detector feedback, determine the synchronous correction controling parameters H of each driven driver element via automatic measure on line _i, 1≤i≤m;

(4) synchronous deviation correcting device sends action command speed to each driver element, and the action command speed wherein sent to mark post driver element is V _cb=V _c, the action command speed sent to each driven driver element is V _czi=H _iv _c, 1≤i≤m, realizes driven driver element self study and synchronously to rectify a deviation 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, described step (2) and (3) middle self study cycle T are according to mark post drive unit drives parameter K _bwith driven drive unit drives parameter K _zithe speed degree of the change of (1≤i≤m) and the accuracy requirement that synchronous correction controls is determined.

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

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

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

Wherein a _i1, a _i2for weighting coefficient, subscript (n) represented for the n-th self study cycle, and subscript (n-1) represents (n-1)th self study cycle, H _{i (n-1)}represent the value of (n-1)th self study cycle synchronisation correction controling parameters, H _{i (n)}initial value H _{i (0)}be 1, L _{i (n-1)}represent that (n-1)th self study cycle is to mark post drive unit drives parameter K _bwith i-th driven drive unit drives parameter K _ziratio 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)th self study cycle that mark post driver element and i-th driven driver element drive, P _{b (n)}, P _{zi (n)}the driven equipment driven for mark post driver element and i-th driven driver element n-th start time in self study cycle driven equipment position, V _{c (n)}be n-th start time in self study cycle the command speed of synchronous operation that sends of operational control unit, K _zimaxbe i-th driven drive unit drives parameter K _zimaximum estimated value.

Further, when crane runway is arc-shaped rail, described driver element is the level run driver element run along arc-shaped rail, and mark post driver element, driven driver element are respectively 1, and two drived units are around orbital arc center rotating, its angular velocity is respectively ω _band ω _z1, angular displacement δ _band δ _z1, and Angle Position θ _band θ _z1, synchronous deviation correcting device is respectively ω to the angular velocity action command of mark post driver element and driven driver element _cband ω _cz1, and obtained by following loop iteration formula:

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

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

ω _cb＝ω _c

ω _cz1=H ₁ω _c

Wherein a ₁₁, a ₁₂for weighting coefficient, subscript (n) represented for the n-th self study cycle, and subscript (n-1) represents (n-1)th self study cycle, H _{1 (n-1)}represent the value of (n-1)th self study cycle synchronisation correction controling parameters, H _{1 (n)}initial value H _{1 (0)}be 1, L _{1 (n-1)}represent that (n-1)th self study cycle drives parameter K to mark post driver element angular velocity _bparameter K is driven with driven driver element angular velocity _z1ratio 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 actual angular displacement run around orbital arc center rotating of driven equipment driven equipment within (n-1)th self study cycle that mark post driver element and driven driver element drive, θ _{b (n)}, θ _{z1 (n)}the driven equipment driven for mark post driver element and driven driver element n-th start time in self study cycle driven equipment Angle Position, ω _{c (n)}be n-th start time in self study cycle the angular velocity command speed of synchronous operation that sends of operational control unit, K _z1maxfor driven driver element angular velocity drives parameter K _z1maximum estimated value, ω _cthe crane sent for operational control unit rotates the order angular velocity run, H around the center of arc of arc-shaped rail ₁for the synchronous correction controling parameters of driven driver element.

The synchronous deviation correction control system of self study of the present invention and method, make synchronous deviation correcting device can constantly on-line automatic study each driver element the unknown, time dependent driving mechanism parameter, and the driving mechanism parameter that institute's self study is obtained be for revising the controling parameters of synchronous deviation correcting device.In the synchronous deviation correction control system of multi-drive, can select wherein that any one driver element is as mark post driver element, remaining driver element is as driven driver element.According to the Distance geometry real time position of the operation that mark post driver element and each driven driver element on-line measurement obtain, the driving parameter of on-line automatic study driver element, constantly adjust the controling parameters of each driven driver element respectively, simultaneously 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.The synchronous deviation correcting device with self-learning function can realize more stable, more accurate control of synchronously rectifying a deviation.

Accompanying drawing explanation

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

Fig. 2 is the overhead and gantry cranes synchronous operation schematic diagram that rectilinear orbit runs;

Fig. 3 is the overhead and gantry cranes synchronous operation schematic diagram that arc orbit runs.

Embodiment

For the synchronous deviation correction control system of crane, the synchronous deviation correction control system of self study of the present invention is described.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, each driven equipment is respectively equipped with position detector, the signal output part of position detector connects with described synchronous deviation correcting device, this synchronous deviation correcting device is used for the synchronous operation command speed sent according to operational control unit, the positional information of the driven equipment of position detector feedback sends synchronous operation speed command to each driver element.Driver element is a mark post driver element and m driven driver element, wherein m >=1, is positive integer.Driver element can run the level run driver element running driver element, many crane systems each crane level run driver element, crane both ends horizontal operation driver element or run along parallel orbit that hoists of driver element, the dolly level run driver element of each crane of many crane systems, each crane of many crane systems for the level run driver element of each dolly of many small car hoists, hoisting of each dolly of many small car hoists.

Synchronously the rectify a deviation step of control method of self study is as follows:

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

V _b=K _bV _cb

V _zi=K _ziV _czi,1≤i≤m

Wherein V _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 it general, suppose that the design and operation speed of each driver element equals its command speed here, 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 to change in time.

(2) set 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 synchronous operation that synchronous deviation correcting device sends according to operational control unit _cwith the positional information of each driven equipment of position detector feedback, determine the synchronous correction controling parameters H of each driven driver element via automatic measure on line _i, 1≤i≤m;

(4) synchronous deviation correcting device sends action command speed to each driver element, and the action command speed wherein sent to mark post driver element is V _cb=V _c, the action command speed sent to each driven driver element is V _czi=h _iv _c, 1≤i≤m, the self study realizing driven driver element is synchronously rectified a deviation.

In above-mentioned steps describes, we represent speed command with subscript c, and subscript b represents mark post driver element, and subscript z represents driven driver element, and numeric suffix i represents i-th driven driver element.

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

As shown in Figure 1, when crane carries out lifting operation, if the dolly driver element of dolly 17 is mark post driver element, 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.Be arranged on position detection device 3 on dolly respectively and 4(can be made up of scrambler) detect the position P of dolly 1 _bwith the position P of dolly 2 _z1.Allow each dolly at respective initial initial point, suppose that dolly is when initial initial point, two little truck positions are synchronous, and namely alternate position spike is zero.The position P of dolly 1 _bwith the position P of dolly 2 _z1be transferred to synchronous deviation correcting device 5.Synchronous deviation correcting device 5 can by Programmable Logic Controller (PLC), or other have equipment composition of computing function.Operational control unit 6 sends the command speed V of two dolly synchronous operations to synchronous deviation correcting device 5 _c.Synchronous deviation correcting device 5 is with the position P of dolly 1 _bwith the position P of 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 by action command speed V _cband V _cz1, be transferred to the driver element 7 and 8 of dolly 1 and dolly 2 respectively.The driver element of dolly can by frequency converter and motor etc. electrically and mechanical part formed.Two dollies are run by drive unit drives respectively.In Fig. 1, load 10 is lifted on two dollies by hoist cable 11, and two dollies run on trolley track 9 according to control command.

In working control operational process, because of the difference of each trolley driving mechanism and the difference of environmental factor and change, two identical dolly order travelling speed also may cause the actual motion speed of dolly to have deviation, cause the deviation of two little truck positions.For realizing controlling the synchronous correction of dolly, controller sends synchronous operation command speed V to mark post driver element dolly 1 _c, and give 2 one, 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 _cbfor controller is to the action command speed of mark post driver element 7 and dolly 1, V _cz1for the action command speed that controller 5 sends to (first) driven driver element 8 and dolly 2, V _cfor the command speed of dolly synchronous operation, H ₁for controller 5 is for the synchronous correction controling parameters of (first) driven driver element dolly 2.Below describe synchronous correction controling parameters H in detail ₁computing method.

Allow K _bfor actual motion speed and the synchronous ratio controlled to the order travelling speed of mark post driver element 7 of rectifying a deviation of dolly 1, K _z1for actual motion speed and the synchronous ratio controlled to the order travelling speed of mark post driver element 7 of rectifying a deviation of dolly 2, 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 when actual Driving Scheme, and driver element 7 and 8 is designed to identical system, and allows the design and operation speed of dolly 1 and dolly 2 equal the command speed of each driver element, that is, 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 systems in practice, parameter K _band K _z1being unknown, is also change, so we need controller 5 ceaselessly to learn online the parameter of driver element, and and then synchronously to rectify a deviation control to drived unit.

Allow the driving parameter K of driver element _band K _z1ratio be R ₁, namely

$R_1=\frac{K_b}{K_{z1}}---\left(5\right)$

Synchronous deviation correcting device is to R ₁carry out periodic automatic measure on line 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 according to the driving parameter K of driver element _band K _z1the speed degree of change and accuracy requirement that synchronous correction is controlled and determine.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 objectives:

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

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

Self study synchro control:

The principle of self study synchro control for convenience of description, we first do not consider that correction controls, and hypothesis is in original state two dolly not location deviation.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 easily from little truck position P _band P _z1change in calculate.Suppose the driving parameter K of two driver elements _band K _z1change 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 two formulas after carrying out integration to be again divided by, Wo Menyou

$\frac{D_b}{D_{z1}}=\frac{K_b}{K_{z1}{H}_1}=\frac{R_1}{H_1}---\left(6a\right)$

$R_1=H_1\frac{D_b}{D_{z1}}---\left(6b\right)$

We represent the current self study cycle by subscript (n), and subscript (n-1) represents the previous self study cycle.I.e. 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 above formula _{1 (n-1)}for previous self study cycle synchronisation correction controling parameters H ₁value.According to stochastic variable Kalman Kalman filter loop iteration optimum estimate principle, we utilize R ₁the estimated value L in previous self study cycle _{1 (n-1)}provide with above formula (7) to R ₁carry out optimum estimate.Allow weighting coefficient a ₁₁and a ₁₂, 0<a ₁₁<1,0<a ₁₂<1, meets

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 above formula right maximum error estimated value, constant σ ₁to L _{1 (n-1)}maximum error estimated value.

Suppose R ₁self study estimated value L _{1 (n)}error is not had, i.e. L with actual value _{1 (n)}=R ₁, so, if allow synchronous correction controling parameters H ₁=L _{1 (n)}from formula (3), (4) and (5) can obtain V _z1=V _b.This formula shows that two dollies reach Complete Synchronization and run.In Complete Synchronization operational process, two dollies do not produce alternate position spike.

Correction controls:

Owing to affecting by environment and measuring error etc., two dollies can not definitely run by Complete Synchronization, thus always likely produce certain alternate position spike.We are on the basis of self study synchro control, carry out positional deviation correction by the mode of FEEDBACK CONTROL.

Allow P _{b (n)}, P _{z1 (n)}, and V _{c (n)}be illustrated respectively in the position of current start time in self study cycle dolly 1, the position of dolly 2, and the command speed of dolly synchronous operation.Allow E _(n)represent the alternate position spike of two dollies, that is,

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

We allow controling parameters of synchronously rectifying a deviation

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

In above formula and K _{e (n)}for correction feedback control parameters.Allow

$K_{e\left(n\right)}=\frac{1}{K_{z1\max }{V}_{c\left(n\right)}T}---\left(13\right)$

K in above formula _zlmaxfor the maximum estimated value of parameter Kz1, T is the self study cycle.Formula (7)-(13) give following synchronous correction controling parameters H ₁complete self study loop iteration computing method

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

$H_{1\left(n\right)}=L_{1\left(n\right)}+\frac{P_{b\left(n\right)}-P_{z1\left(n\right)}}{K_{z1\max }{V}_{c\left(n\right)}T}---\left(14b\right)$

Owing to adopting loop iteration algorithm, the above control method of synchronously rectifying a deviation does not need store historical data.It only uses moving of car measurement data and the controling parameters in previous and current self study cycle.It is constantly to parameter R ₁carry out automatic measure on line and obtain estimated value L _{1 (n)}, and through type (1) and formula (2) adjustment are to the action command speed of dolly, eliminate the alternate position spike of dolly, make two dollies keep synchronous operation.

For the correction control principle of correction control method synchronous formula (14) Suo Shi, be analyzed as follows:

Suppose when the current self study cycle starts, two dolly location difference E _(n)=P _{b (n)}-P _{z1 (n)}.We reasonably can suppose the command speed V of dolly synchronous operation _cchange in a very short self study cycle T is very little, and due to the automatic measure on line of synchronous 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), when we can obtain current self study end cycle, the alternate position spike of two dollies is

$E_{(n+1)}=(P_{b\left(n\right)}+{\&Integral;}_{t_n}^{t_n+T}{K}_b{V}_c\mathrm{dt})-(P_{z1\left(n\right)}+{\&Integral;}_{t_n}^{t_n+T}{K}_{z1}(L_{1\left(n\right)}+\frac{P_{b\left(n\right)}-P_{z1\left(n\right)}}{K_{z1\max }{V}_{c\left(n\right)}T})V_c\mathrm{dt})$

$=E_{\left(n\right)}(1-\frac{1}{K_{z1\max }{V}_{c\left(n\right)}T}{\&Integral;}_{t_n}^{t_n+T}{K}_{z1}{V}_c\mathrm{dt})+{\&Integral;}_{t_n}^{t_n+T}(K_b-K_{z1}{L}_{1\left(n\right)})V_c\mathrm{dt}---\left(16\right)$

$\&ap;E_{\left(n\right)}\left(\frac{K_{z1\max }-{\tilde{K}}_{z1\left(n\right)}}{K_{z1\max }}\right)$

T in above formula _nfor the start time in current self study cycle, K _zlmaxfor parameter K _z1maximum estimated value, for K _z1mean value within the current self study cycle.Above formula shows, within each self study cycle, the alternate position spike of two dollies is reduced to original doubly.Due to, 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.Illustrate thus, control method of the present invention achieve self study synchronously rectify a deviation control target.

When have multiple dolly carry out level lift load time, we have a mark post driver element and multiple driven driver element, i.e. m>1, above computing method are applicable equally.

The above self study control method of synchronously rectifying a deviation can be applicable in the synchronous correction control that carrying out when crane has multiple dolly to lift load hoists runs equally.

The above self study synchronous correction that control method can be applicable to when multiple stage crane (cart) lifts load equally of synchronously rectifying a deviation controls.When multiple stage crane (cart) lifts load, need that same self study is carried out to the cart of multiple stage crane and dolly and synchronously to rectify a deviation control.

Above self study synchronously rectify a deviation control method be applicable to too large span overhead and gantry cranes both sides drive synchronous correction motion control.For the overhead and gantry cranes of walking on common rectilinear orbit, as shown in Figure 2,21 represent dolly, and 22 represent crane rectilinear orbit, and its control objectives is the travelling speed V making crane both sides driver element _band V _z1, and the position P of both sides driver element _band P _z1, keep synchronous, crane kept along the smooth linear running of track, does not produce the generation of gnawing rail phenomenon.

When crane runway is arc-shaped rail, driver element is the level run driver element run along arc-shaped rail, for the overhead and gantry cranes of turning operation on arc-shaped rail, as shown in Figure 3, need the center rotating that crane operationally keeps around orbital arc, in figure, 31 represent dollies, 32 represent loading bridge, 33 represent Inner arc track, and 34 represent external arc track, the center of arc of 35 expression tracks.The driver element of crane both sides independently controls orbital motion.Utilize the above self study synchronously to rectify a deviation control method, similarly can control both sides driver element, make the angular velocity omega around orbital arc center rotating two driver element _band ω _z1, angular displacement δ _band δ _z1, and Angle Position θ _band θ _z1, keep synchronous, make crane maintenance around center of arc's smooth rotation of track.Synchronously the rectify a deviation computing formula of control method of its self study is similar with linear running crane, and difference is only to replace space rate with angular velocity, and straight-line displacement is replaced in angular displacement, and Angle Position replaces linear position.The self study of the crane that arc-shaped rail runs controlling calculation method of synchronously rectifying a deviation is shown below:

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

$H_{1\left(n\right)}=L_{1\left(n\right)}+\frac{{\mathrm{\&theta;}}_{b\left(n\right)}-{\mathrm{\&theta;}}_{z1\left(n\right)}}{K_{z1\max }{\mathrm{\&omega;}}_{c\left(n\right)}T}---\left(17b\right)$

ω _cb=ω _c (17c)

ω _cz1=H ₁ω _c (17d)

In above formula, we make use of same identifier convention, repeat no more the implication of each identifier.

Claims (4)

1. self study is synchronously rectified a deviation a control method, and it is characterized in that, the step of the method is as follows:

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

(2) set 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 synchronous operation that synchronous deviation correcting device sends according to operational control unit _cwith the positional information of each driven equipment of position detector feedback, determine the synchronous correction controling parameters H of each driven driver element via automatic measure on line _i, 1≤i≤m;

(4) synchronous deviation correcting device sends action command speed to each driver element, and the action command speed wherein sent to mark post driver element is V _cb=V _c, the action command speed sent to each driven driver element is V _czi=H _iv _c, 1≤i≤m, realizes driven driver element self study and synchronously to rectify a deviation control, V _band V _zibe respectively the travelling speed of mark post driver element and driven driver element, V _cband V _czibe respectively the action command speed that synchronous deviation correcting device sends to mark post driver element and driven driver element.

2. method according to claim 1, is characterized in that: described step (2) and (3) middle self study cycle T are according to mark post drive unit drives parameter K _bwith driven drive unit drives parameter K _zichange speed degree and the accuracy requirement that synchronous correction controls is determined, 1≤i≤m.

3. method according to claim 1 and 2, is characterized in that: synchronous correction controling parameters H in described step (3) and (4) _i, 1≤i≤m, is obtained by following self study loop iteration computing method

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

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

Wherein a _i1, a _i2for weighting coefficient, subscript (n) represented for the n-th self study cycle, and subscript (n-1) represents (n-1)th self study cycle, H _{i (n-1)}represent the value of (n-1)th self study cycle synchronisation correction controling parameters, H _{i (n)}initial value H _{i (0)}be 1, L _{i (n-1)}represent that (n-1)th self study cycle is to mark post drive unit drives parameter K _bwith i-th driven drive unit drives parameter K _ziratio 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)th self study cycle that mark post driver element and i-th driven driver element drive, P _{b (n)}, P _{zi (n)}the driven equipment driven for mark post driver element and i-th driven driver element n-th start time in self study cycle driven equipment position, V _{c (n)}be n-th start time in self study cycle the command speed of synchronous operation that sends of operational control unit, K _zimaxbe i-th driven drive unit drives parameter K _zimaximum estimated value.

4. method according to claim 3, it is characterized in that, when crane runway is arc-shaped rail, described driver element is the level run driver element run along arc-shaped rail, mark post driver element, driven driver element are respectively 1, and two drived units are around orbital arc center rotating, its angular velocity is respectively ω _band ω _z1, angular displacement δ _band δ _z1, and Angle Position θ _band θ _z1, synchronous deviation correcting device is respectively ω to the angular velocity action command of mark post driver element and driven driver element _cband ω _cz1, and obtained by following loop iteration formula:

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

$H_{s1\left(n\right)}=L_{1\left(n\right)}+\frac{{\mathrm{\&theta;}}_{b\left(n\right)}-{\mathrm{\&theta;}}_{z1\left(n\right)}}{K_{z1\max }{\mathrm{\&omega;}}_{c\left(n\right)}T}$

ω _cb＝ω _c

ω _cz1＝H ₁ω _c

Wherein a ₁₁, a ₁₂for weighting coefficient, subscript (n) represented for the n-th self study cycle, and subscript (n-1) represents (n-1)th self study cycle, H _{1 (n-1)}represent the value of (n-1)th self study cycle synchronisation correction controling parameters, H _{1 (n)}initial value H _{1 (0)}be 1, L _{1 (n-1)}represent that (n-1)th self study cycle drives parameter K to mark post driver element angular velocity _bparameter K is driven with driven driver element angular velocity _z1ratio 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 actual angular displacement run around orbital arc center rotating of driven equipment driven equipment within (n-1)th self study cycle that mark post driver element and driven driver element drive, θ _{b (n)}, θ _{z1 (n)}the driven equipment driven for mark post driver element and driven driver element n-th start time in self study cycle driven equipment Angle Position, ω _{c (n)}be n-th start time in self study cycle the angular velocity command speed of synchronous operation that sends of operational control unit, K _z1maxfor driven driver element angular velocity drives parameter K _z1maximum estimated value, ω _cthe crane sent for operational control unit rotates the order angular velocity run, H around the center of arc of arc-shaped rail ₁for the synchronous correction controling parameters of driven driver element.