CN105565159A - Deviation rectification control method of nuclear waste intelligent bridge crane - Google Patents
Deviation rectification control method of nuclear waste intelligent bridge crane Download PDFInfo
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- CN105565159A CN105565159A CN201610104751.7A CN201610104751A CN105565159A CN 105565159 A CN105565159 A CN 105565159A CN 201610104751 A CN201610104751 A CN 201610104751A CN 105565159 A CN105565159 A CN 105565159A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/16—Travelling gear incorporated in or fitted to trolleys or cranes with means for maintaining alignment between wheels and track
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
- B66C17/06—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a deviation rectification control method of a nuclear waste intelligent bridge crane, and solves the problem of safe and reliable real-time deviation rectification control of the nuclear waste intelligent bridge crane under the working condition of unattended operation. A control system adopts a master-slave working mode; position encoding systems are respectively mounted on the outer sides of rails at two ends of a cart; and position data is sent to a controller from a code reader through a RS485 interface. The position encoding systems respectively acquire position scale values, actual walking distance values and the like of master-slave two ends of the cart to obtain a deviation value of the master-slave two ends; and a Siemens PLC S7-300 PID feedback control module is used in the controller for real-time deviation rectification control of the cart of the nuclear waste intelligent bridge crane. The method can enable the cart of the nuclear waste intelligent bridge crane to realize real-time synchronous deviation rectification control function, guarantees qualified precision of the control system, is efficient, safe and reliable in system operation, and has important actual use meaning.
Description
Technical field
The present invention relates to weight-lifting equipment, especially a kind of correction control method of nuke rubbish intelligence crane in bridge type.
Background technology
Nuke rubbish crane in bridge type is used for Radwastes treatment center, is transported in storage well by the solidification bucket that radioactivation concentrating spent liquor and concrete grey are housed and stores.At present, domestic nuke rubbish crane in bridge type automatic operating degree is lower, its control accuracy depends on rich experiences and the proficiency skills of professional driver mostly, rely on the remote operations such as chaufeur carries out manualling locate in operator's compartment, correction to control, govern operating efficiency and cost of labor to a great extent.Therefore, under particular job environment of the contour radiation of nuke rubbish, realize nuke rubbish hoisting crane unmanned automated job of far-reaching significance.
On the one hand, when crane in bridge type runs under common operating mode, because the cart of crane in bridge type fails to keep walking synchronous regime in two ends in the process of walking, the phenomenons such as rail (gnawingrail) will be gnawed, then can accelerate the wearing and tearing of wheel rim, reduce the service life of wheel or track, cause the wheel rim wear down even whole wheel that exceeds standard the series of problems such as to scrap, this greatly threatens the safe operation of hoisting crane, increases service expenditure.On the other hand, under nuke rubbish crane in bridge type needs to reach high fix (example: in absolute fix precision ± 3mm) operating mode, crane two ends operation deviation also can have a strong impact on nuclear waste barrel too greatly and enter well, goes out the positioning precisions such as well when follow-up intelligent positioning, cause the nuke rubbish in Intelligent crane control system to solidify bucket cannot accurately enter well, go out well, the stability of unattended system is had a greatly reduced quality.Therefore, how from control policy angle, solve the deviation at two ends when cart runs when nuke rubbish intelligence crane in bridge type runs, namely synchronously rectify a deviation control problem in bridge crane two ends, become the technical matters that of correction control technology field is urgently to be resolved hurrily.
Summary of the invention
The object of this invention is to provide a kind of nuke rubbish intelligence crane in bridge type correction control method, solve the correction control problem that nuke rubbish intelligence crane in bridge type is safe and reliable under unmanned operating mode, have real-time.
In order to realize object of the present invention, employ following scheme:
A kind of correction control method of nuke rubbish intelligence crane in bridge type, control for the safe and reliable real-time correction under unmanned operating mode of nuke rubbish intelligence crane in bridge type, the cart two ends of hoisting crane for drive respectively, adopt one end be main, then the other end be from MS master-slave mode of operation; Comprise following process means:
1.) position setting: difference installation site coding scheme outside the track of nuke rubbish intelligence bridge crane two ends, position encoded system is primarily of the data carrier-coded scale of absolute coding with the instrument of photoelectricity form reading encoded radio-code reader composition; Along with cart runs forward or backward, the code reader of position encoded system then reads the scale value of present encoding chi in real time, coded scale then can detect a new position scale value every 0.8mm code reader, and position data is then sent to controller by RS485 interface from code reader.
2.) mode of operation: whole intelligent nuke rubbish Bridge Crane Control System adopts MS master-slave mode of operation, and cart main side is by the position encoded system acquisition correspondence position scale value P1 outside track; From holding also corresponding by the position encoded system acquisition outside track position scale value P2.
3.) controlled reset: according to PID controlled reset, under cart MS master-slave mode of operation, hoisting crane is the master and slave end positions scale value P1 of difference Real-time Collection, P2 in operational process, and the servo interface sending into correspondence is respectively analyzed, respectively position scale value P1, P2 are deducted corresponding initial point value and obtain the actual travel distance value P10 of cart, P11 respectively, and be setting value by main side travel distance value P10 artificially, be value of feedback from end P11.Value of feedback and setting value are sent into PID module interface, then have | P10-P11|=deviate, according to the deviate situation drawn, correspondence makes velocity process feedback, when setting value and value of feedback close to time can governing speed change within the specific limits.
4.) parameter regulates: the PID feedback control module using controller, external data according to gathering carries out Real-time Feedback, and combine corresponding actual condition, regulate relevant parameter: comprise scale parameter P, integral parameter I, differential parameter D, the walking deviate at nuke rubbish intelligence bridge-type crane trolley two ends is made to obtain optimal result, make whole control system operational effect best, improve stability, the reliability of system.
The present invention is adopted synchronously to rectify a deviation control method, nuke rubbish intelligence crane in bridge type is in operational process, and in whole nuke rubbish intelligence Bridge Crane Control System, the cart two ends of hoisting crane are for drive respectively, adopt one end be main, then the other end be from MS master-slave mode of operation.Difference installation site coding scheme outside the track of cart two ends, and corresponding mechanical origin, remote location point are set artificially according to equipment actual conditions, be convenient to do reference by location, analysis to real-world operation position, cart two ends respectively.Along with cart runs forward or backward, the code reader of position encoded system then can read the scale value of present encoding chi in real time, and position data is then sent to controller by RS485 interface from code reader.Collect the position scale value at cart MS master-slave two ends, actual travel distance value etc. respectively according to position encoded system and obtain MS master-slave two ends deviate, and be combined SIEMENS PLC S7-300PID feedback control module in the controller, real-time deviation correcting control is carried out to nuke rubbish intelligence bridge crane.
The inventive method gathers external data and carries out Real-time Feedback, and combines corresponding actual condition, regulates relevant parameter P, I, D.P and scale parameter, proportional action is the most basic regulating action, concussion corresponding to system amplitude/concussion frequency factor can be made effectively to be adjusted, tentatively P is set to very little numerical value according to equipment self practical operation situation, ascending adjustment parameter P again, until obtain comparatively satisfied control effects, improve the stability of system; I and integral parameter, the speed of reflection system acting speed of response, after ratio is adjusted, makes system roughly stable, then drops into integral action.During adjustment parameter I, can suitably increase P value, adjustment I value is until obtain comparatively satisfied control effects; D and differential parameter, the differential action, for eliminating systematic static error, during adjustment parameter D, suitably can increase P value, I value, and constantly adjustment D value is until control effects reaches optimum regime.Constantly follow-up optimizing and combining is carried out to this control system, makes the walking deviate at nuke rubbish intelligence bridge-type crane trolley two ends obtain optimal result, make whole control system operational effect best, improve stability, the reliability of system.
The inventive method has obvious beneficial effect: whole intelligent control system first definite kernel waste material bridge crane adopts MS master-slave mode of operation, at cart two ends, mechanical location is set respectively, carry out real-time data acquisition be sent to controller and make controlled reset, adjustment associated control parameters, this feedback control system of integrated optimization, makes the synchronous correction control effects of nuke rubbish intelligence crane in bridge type realize smoothly.This kind of feedback control strategy tool has the following advantages: 1) correction precision is high, in whole nuke rubbish Intelligent crane control system operational process, this kind of control policy can realize high-precise synchronization deviation-correcting function, namely crane end positions deviation remain on ± 3mm within the scope of, guarantee that whole intelligent control system is effectively run; 2) real-time, runs through whole system operational process, and this kind of control policy can make the synchronous deviation-correcting function of cart have efficient real-time, guarantees that correction precision can meet system requirements in real time; 3) intelligent decision, when system is normally run, this kind of control policy can make crane correction control have intelligent decision, when cart two ends deviate does not exceed allowed band ± 3mm, does not then need correction; When deviate exceeds allowed band, then carry out correction immediately and control; 4) unmanned, this kind of control policy can be applied in the intelligent control system under unmanned smoothly, control system can be made effectively to improve operating efficiency on the one hand, time saving and energy saving, staff can be made to avoid exposing to the open air under particular job environment with nuclear radiation harmfulness on the other hand; 5) one-sided centre-of gravity shift is avoided, this kind of control policy also can be applicable to the dolly of hoisting crane, dolly can be made to avoid the lateral deviation due to self center of gravity and the phenomenon that causes single wheel to suspend running in engineering, not only improve operational security, and make dolly two ends also can realize control of effectively rectifying a deviation; 6) mechanism's maintenance, the successful Application of this kind of control policy, the large and small car of hoisting crane can be made to realize high-precise synchronization correction and control, the hardware consume of reducing mechanism self, reduces the work work such as the maintenance in mechanism's later stage, also reduces relevant maintenance cost etc. greatly.
The present invention can make nuke rubbish intelligence bridge crane realize real-time synchronization correction controlling functions, guarantee that Control system resolution is up to standard, make nuke rubbish intelligence Bridge Crane Control System realize unattended function smoothly simultaneously, greatly reduce the waste etc. of human resources, later period maintenance expense, and system cloud gray model is efficient, safely, reliably, have great actual use meaning.
Accompanying drawing explanation
Fig. 1 is nuke rubbish intelligence crane in bridge type partial 3 d schematic diagram.
Fig. 2 is position encoded system schematic.
Fig. 3 is synchronous correction control policy diagram of circuit of the present invention.
Fig. 4 is nuke rubbish intelligence Rail Damage by Main Driving Device of Overhead Crane phenomenon schematic diagram.
Fig. 5 is MS master-slave mode controlling mode schematic diagram.
Cart running state analysis figure when Fig. 6 is correction.
Fig. 7 is the synchronous correction control effects schematic diagram of cart.
Detailed description of the invention
Basic ideas of the present invention are: crane in bridge type walking produces deviation and needs correction to control, and the principal element that deviation produces is to gnaw rail, and it is synchronous to avoid the key of gnawing rail to be to crane correction, to be walked in cart two ends.From control policy, nuke rubbish intelligence crane in bridge type is rectified a deviation, according to non-MS master-slave pattern, then can because of the accumulated error of cart two ends physical construction Mismachining tolerance, coded scale self error, data-transmission efficiency error and other uncertainty error etc., make cart circulate back and forth walking time, shake violent time during walking states steadily, and deviate is not obviously in a fixed range, fluctuates excessive.Consider change correction control policy mode of operation, adopt MS master-slave mode of operation, cart one end is main, the other end be from, carry out real-time deviation correcting, take this measure not only make subsequent fine certainly potential energy realize smoothly, and be conducive to the suspender anti-shake in lifting direction.Therefore, MS master-slave pattern is taked to carry out rectifying a deviation and all have important practical significance to nuke rubbish intelligence bridge crane, suspender.The asynchronous problem in two ends during large vehicle walking, namely cart two ends produce deviation, and there are four kinds of situations, see Fig. 5: when a) walking forward, left end is delayed, and right-hand member is advanced; When b) walking forward, left end is advanced, and right-hand member is delayed; When c) walking backward, left end is advanced, and right-hand member is delayed; When d) walking backward, left end is delayed, and right-hand member is advanced.Synchronous for making cart two ends walk, under MS master-slave mode of operation, in conjunction with PID feedback control function, expect to realize real-time deviation correcting function.See Fig. 6, mounted position encoded chi is arranged mechanical origin P respectively
01, P
02, then the other end is set to far-end f respectively
1, f
2; If based on cart right-hand member, left end be from, in cart operational process, coded scale will detect a new position scale value every 0.8mm code reader; Respectively by both sides position scale value P
1, P
2send into the corresponding servo interface controlling cart two ends, adopt pid function block to read the numerical value of this interface, and respectively by P
1, P
2deduct corresponding point of origin P
01, P
02obtain actual travel distance value, by main side travel distance value P
10for setting value, from end P
11for value of feedback, value of feedback and setting value compare by PID functional module, | P
10-P
11|=deviate, correspondence makes the feedback accelerated from end or slow down, when setting value and value of feedback close to time also adjustable running velocity etc.After the incoming signal connection that control cart is walked forward corresponding, then cart is walked forward, if P
1-P
01=P
10for setting value, P
2-P
02=P
11for value of feedback, if P
10>P
11, then need to accelerate from end; If P
10<P
11, then need to slow down from end.After the incoming signal connection that control cart is walked corresponding backward, cart is walked backward, if f
1-P
1=P
10for setting value, f
2-P
2=P
11for value of feedback, if P
10>P
11, then need to accelerate from end; If P
10<P
11, then need to slow down from end.
Below in conjunction with the related data of accompanying drawing, specific embodiment and collection, the invention will be further described.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, of the present invention is the correction control method of nuke rubbish intelligence crane in bridge type.See the following form 1, be when crane in bridge type runs for cart forward, the partial data of the cart two ends scale deflection value gathered; When table 2 is crane in bridge type operations for cart backward, the partial data of the two ends scale deflection value gathered; Wherein " scale value × 0.8=distance value (mm) ", according to this conversion relation, in man-machine interface, the actual position deviate at cart two ends can be observed intuitively.
Table 1
Table 2
Observe and analyze image data table 1, table 2, also can by reference to the accompanying drawings 7, can find out:
1) cart is forward in walking process, and two ends deviate maxim is no more than ± 3 scales, and namely cart end positions deviation remains within the scope of 3 × 0.8=3mm, and deviate is less, and keep real-time deviation correcting, during large vehicle walking, stationarity is better;
2) cart is backward in walking process, and two ends deviate maxim is no more than ± 3 scales, and namely cart end positions deviation remains within the scope of 3mm, and deviate is less, and keep real-time deviation correcting, during large vehicle walking, stationarity is better;
3) in real-time deviation correcting process, recurrent states such as " generation deviations-rectify a deviation to 0-generation deviation " that system is in always, but owing to can guarantee that real-time deviation correcting controls, can ensure that cart two ends deviation is within the scope of 3mm all the time;
4) whole control system all has priority arbitration functions when processing each controlling functions.Such as: while cart two ends have produced and exceed deviate allowed band, when moving to again some correlation circumstances such as limit switch place, control system had both needed to carry out correction control originally, needed again to do to stop process, then system can judge according to priority, and system is suspended immediately.Because this control system correction control has real-time, even if deviation exceeds allowed band, deviation is also not too large, treats that next actuation signal sends after system halt, and system continues then can process correction problem immediately when running.
The present invention is described for bridge crane, controls also to be suitable for monkey correction.In addition, this correction control method is also applicable to the traveling gear correction control with MS master-slave drive configuration.
In sum, under nuke rubbish intelligence crane in bridge type unmanned realizes the operating mode of nuke rubbish automated operation, storage, the invention process situation has better control effects than other remote manual control system current.
Those of ordinary skill in the art will appreciate that, embodiment described here is to help reader understanding's principle of the present invention, should be understood to that the protection domain invented is not limited to so special statement and embodiment.Everyly make various possible equivalent replacement or change according to foregoing description, be all considered to belong to the protection domain of claim of the present invention.
Claims (1)
1. the correction control method of a nuke rubbish intelligence crane in bridge type, control for the safe and reliable real-time correction under unmanned operating mode of nuke rubbish intelligence crane in bridge type, the cart two ends of hoisting crane for drive respectively, adopt one end be main, then the other end be from MS master-slave mode of operation; Comprise following process means:
1.) position setting: difference installation site coding scheme outside the track of nuke rubbish intelligence bridge crane two ends, position encoded system is primarily of the data carrier-coded scale of absolute coding with the instrument of photoelectricity form reading encoded radio-code reader composition; Along with cart runs forward or backward, the code reader of position encoded system then reads the scale value of present encoding chi in real time, coded scale then can detect a new position scale value every 0.8mm code reader, and position data is then sent to controller by RS485 interface from code reader;
2.) mode of operation: whole intelligent nuke rubbish Bridge Crane Control System adopts MS master-slave mode of operation, and cart main side is by the position encoded system acquisition correspondence position scale value P outside track
1; From holding also corresponding by the position encoded system acquisition outside track position scale value P
2;
3.) controlled reset: according to PID controlled reset, under cart MS master-slave mode of operation, hoisting crane is the master and slave end positions scale value P of difference Real-time Collection in operational process
1, P
2, and the servo interface sending into correspondence is respectively analyzed, respectively by position scale value P
1, P
2deduct corresponding initial point value and obtain the actual travel distance value P of cart respectively
10, P
11, and artificially by main side travel distance value P
10for setting value, from end P
11for value of feedback; Value of feedback and setting value are sent into PID module interface, then have | P
10-P
11|=deviate, according to the deviate situation drawn, correspondence makes velocity process feedback, when setting value and value of feedback close to time can governing speed change within the specific limits;
4.) parameter regulates: the PID feedback control module using controller, external data according to gathering carries out Real-time Feedback, and combine corresponding actual condition, regulate relevant parameter: comprise scale parameter P, integral parameter I, differential parameter D, the walking deviate at nuke rubbish intelligence bridge-type crane trolley two ends is made to obtain optimal result, make whole control system operational effect best, improve stability, the reliability of system.
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|---|---|---|---|
| CN201610104751.7A CN105565159A (en) | 2016-02-26 | 2016-02-26 | Deviation rectification control method of nuclear waste intelligent bridge crane |
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|---|---|---|---|
| CN201610104751.7A CN105565159A (en) | 2016-02-26 | 2016-02-26 | Deviation rectification control method of nuclear waste intelligent bridge crane |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105776027A (en) * | 2016-05-12 | 2016-07-20 | 中南大学 | Deviation rectification control method and system for car of bridge crane in walking process |
| CN107943020A (en) * | 2017-10-17 | 2018-04-20 | 上海辛格林纳新时达电机有限公司 | A kind of tyre crane cart automatic correction method |
| GB2605428A (en) * | 2021-03-31 | 2022-10-05 | Alumatlq As | Positioning system for a lifting apparatus and method of use |
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