CN105776027A - Deviation rectification control method and system for car of bridge crane in walking process - Google Patents
Deviation rectification control method and system for car of bridge crane in walking process Download PDFInfo
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- CN105776027A CN105776027A CN201610316437.5A CN201610316437A CN105776027A CN 105776027 A CN105776027 A CN 105776027A CN 201610316437 A CN201610316437 A CN 201610316437A CN 105776027 A CN105776027 A CN 105776027A
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- sides
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- deviation
- bridge crane
- cart
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
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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 and system for a car of a bridge crane in the walking process. The method comprises the steps of detecting real-time displacement signals on the two sides of the car in real time in the walking process of the car; comparing the real-time displacement signals on the two sides of the car for obtaining a displacement difference value; adopting the displacement difference value as a control signal and controlling the walking speed and the displacement of the two sides of the car for adjusting the deviation of the two sides. The system comprises a detection module used for detecting the real-time displacement signals on the two sides of the car in real time in the walking process of the car, a comparison module used for comparing the real-time displacement signals on the two sides of the car for obtaining the displacement difference value, and a deviation rectification controller used for adopting the displacement difference value as the control signal and controlling the walking speed and the displacement of the two sides of the car for adjusting the deviation of the two sides. According to the deviation rectification control method and system, the deviation problem in the walking process of the car of the bridge crane can be effectively solved, the stability in the operation process of the bridge crane can be improved, the maintenance cost can be lowered, and the production efficiency can be improved.
Description
Technical field
The present invention relates to the cart security control of bridge crane technical field, particularly relate to the correction control method in bridge crane walking process and system.
Background technology
Bridge crane is a kind of to be set up in Factory Building or outdoor hoisting and transport equipment, and shape is like bridge, and be otherwise known as driving.In the big production of modernization, bridge crane has become the requisite production equipment of many industrial and mining establishment.It is formed crane span structure by one or two girders and two butt beams, is set up on the track being laid on support rail beam and runs, is generally equipped with 4 wheels (can equipped with 6 or 8 wheels when load is big).Bridge crane obtains application widely in the industrial production, is use a kind of hoisting machinery widest in area, quantity is maximum.
In use there is the feature that span is big, horizontal rigidity is low, part is many, installation process is complicated due to bridge crane, and the installation accuracy of drive mechanism is difficult to be completely secured, particularly run crane frequently, the accumulated error of its drive mechanism is bigger, various complex situations can be run into when adding real work, therefore bridge crane operationally has sideslip in various degree unavoidably or gnaws the phenomenon appearance of rail, time serious, the wheel rim of bridge crane will produce to contact with track, mutual extrusion friction.
Bridge crane generation deviation phenomenon has following main cause: consider from cart vehicle body error, and wheel processing and manufacturing exists error, abrasion causes crane span structure deviation that wheel diameter error, drive mechanism alignment error and speed error, span cause greatly and horizontal stiffness is not enough；, rail supported rigidity deficiency not enough from track structure consideration, rail linearity and planarization；It addition, in running, inconsistent or dolly the movement of cart two lateral load causes that two lateral loads are inconsistent all can cause that deviation occurs.Bridge crane can be caused very big harm by cart sideslip, and it greatly threatens the safe operation of crane, too increases operation and maintenance cost.Therefore, bridge crane is carried out correction and control very necessary.
In the production of many large industrial enterprises, the utilization of bridge crane is very general, it is part the most key in its production process, and the frequency producing deviation phenomenon in process of production is also very high, drastically influence the production security of its production and production efficiency.In sum, the deviation phenomenon of crane travel mechanism can not be ignored, and controls to further investigate have very great practical significance to the correction of bridge crane.
Summary of the invention
Present invention aim at providing the correction control method in a kind of bridge crane walking process and system, to solve the technical problem of the aberrancy harm bridge crane of existing crane travel mechanism.
For achieving the above object, the invention provides the correction control method in a kind of bridge crane walking process, comprise the following steps:
S1: in large vehicle walking process, detects the real-time displacement signal of cart both sides in real time；
S2: the real-time displacement signal of cart both sides is compared, shift differences will be obtained；
S4: using shift differences as control signal, the gait of march and the displacement that control cart both sides make both sides deviation be adjusted.
As a further improvement on the present invention:
After step S2 completes, before step S4 carries out, method also includes:
Step S3: judge that whether the change of shift differences is beyond preset difference value scope, when beyond difference preset range, proceeds to step S4.
Step S4 comprises the following steps:
S401: using shift differences as control signal, inputs deviation correcting device, and deviation correcting device adopts neutral net adaptive congestion control algorithm algorithm to carry out parameter optimization；
S402: the output obtained by deviation correcting device flows to cart both sides converter, adjusts both sides frequency converter frequency, changes both sides motor speed, and then adjustment cart both sides gait of march and displacement make both sides deviation be adjusted.
After step S402 completes, step S4 also includes:
S403: controller carries out real-time circulation correction and adjusts, and makes cart both sides speed difference and displacement difference control within the scope of preset difference value.
Controller carries out real-time circulation correction and adjusts, and carries out real-time speed detection including to left motor and right motor, and testing result returns deviation correcting device, for the speed basis adjusted as circulation correction.
Conceive as a total technology, present invention also offers the deviation correction control system in a kind of bridge crane walking process, including:
Detection module, for, in large vehicle walking process, detecting the real-time displacement signal of cart both sides in real time；
Comparison module, for being compared by the real-time displacement signal of cart both sides, will obtain shift differences；
Deviation correcting device, is used for shift differences as control signal, and the gait of march and the displacement that control cart both sides make both sides deviation be adjusted.
Further improvement as the system of the present invention:
System also includes:
Judge module, whether the change for judging shift differences exceeds preset difference value scope, when beyond difference preset range, as control signal, shift differences is inputted deviation correcting device.
The method have the advantages that
1, the correction control method in the bridge crane walking process of the present invention and system, directly obtain cart both sides real-time displacement, correction control is carried out thus changing both sides wheel velocity by calculating both sides displacement difference, the final purpose realizing controlling both sides displacement difference, avoids, with this, the problem that bridge crane produces serious sideslip in walking.Can effectively solve sideslip problem during bridge crane walking, improve bridge crane stationarity operationally, reduce maintenance cost, improve production efficiency.
2, in a preferred approach, correction control method in the bridge crane walking process of the present invention, understanding in depth on the basis of bridge crane operation mechanism, based on cross-coupling control thought, utilize neutral net adaptive congestion control algorithm algorithm that correction process is controlled, it is achieved both sides displacement difference is controlled purpose in preset range.
Except purpose described above, feature and advantage, the present invention also has other purpose, feature and advantage.Below with reference to accompanying drawings, the present invention is further detailed explanation.
Accompanying drawing explanation
The accompanying drawing constituting the part of the application is used for providing a further understanding of the present invention, and the schematic description and description of the present invention is used for explaining the present invention, is not intended that inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the schematic flow sheet of the correction control method in the bridge crane walking process of the preferred embodiment of the present invention；
Fig. 2 is the theory diagram of the deviation correction control system of the preferred embodiment of the present invention；
Fig. 3 is the cross-coupling control principle schematic of the preferred embodiment of the present invention；
Fig. 4 is the displacement difference change curve schematic diagram under the effect of deviation correction control system of the preferred embodiment of the present invention；
Fig. 5 is the speed difference change curve schematic diagram under the effect of deviation correction control system of the preferred embodiment of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are described in detail, but the multitude of different ways that the present invention can be defined by the claims and cover is implemented.
Referring to Fig. 1, the correction control method in the bridge crane walking process of the present invention, comprise the following steps:
S1: in large vehicle walking process, detects the real-time displacement signal of cart both sides in real time；
S2: the real-time displacement signal of cart both sides is compared, shift differences will be obtained；
S4: using shift differences as control signal, the gait of march and the displacement that control cart both sides make both sides deviation be adjusted.
Directly obtaining cart both sides real-time displacements, carrying out correction control thus changing both sides wheel velocity by calculating both sides displacement difference, the final purpose realizing controlling both sides displacement difference, avoid, with this, the problem that bridge crane produces serious sideslip in walking.Can effectively solve sideslip problem during bridge crane walking, improve bridge crane stationarity operationally, reduce maintenance cost, improve production efficiency.
In actual applications, on the basis of above-mentioned steps, the present invention also can increase following steps and be optimized, and the following describes the embodiment after an optimization:
Referring to Fig. 1, the correction control method in the bridge crane walking process of the present embodiment, comprise the following steps:
S1: in large vehicle walking process, detects the real-time displacement signal X of cart both sides in real time1、X2。
S2: compared by the real-time displacement signal of cart both sides, will obtain shift differences Δ X.
S3: judge that whether the change of shift differences is beyond preset difference value scope, when beyond difference preset range, proceeds to step S4；Otherwise do not act on, continue to detect the change of its displacement difference in real time.
S4: when control of rectifying a deviation starts to act on, using shift differences Δ X as control signal, adopting neutral net adaptive congestion control algorithm algorithm to carry out parameter optimization, the gait of march and the displacement that control cart both sides make both sides deviation be adjusted.Specific as follows:
S401: using shift differences as control signal, inputs deviation correcting device, and deviation correcting device adopts neutral net adaptive congestion control algorithm algorithm to carry out parameter optimization；Neural Network Adaptive Control algorithm is embodied in: the present invention adopts neural network adaptive controller, Neural Network Control Algorithm is used in this nonlinear control system and can optimize it well controls parameter, constantly it is optimized calculating online to adjust, makes control effect reach optimum.
It is as follows that Neural Network Adaptive Control implements process:
1) first the displacement difference signal delta X that conveying is come in being made reverse process, obtain deviation error, on this basis to its integration, obtain error_1 then integration, obtain error_2,3 deviation variables will be used in the middle of parameter self-tuning calculating herein；
2) utilize error variable respectively PID3 parameter to be adjusted, in this tuning process, use output parameter u_1, this parameter is the integration to output parameter out, and therefore, this is the process that an online circulation is adjusted, constantly adjust controller output, make control effect more preferably；
3) PID3 parameter after adjusting being added and obtain operational parameter w_add, this parameter will apply in the middle of next step calculating；
4) PID3 parameter after adjusting, w_add, error, error_1, error_2 is utilized to be calculated obtaining output parameter out；
5) finally it is calculated obtaining final output valve with the frequency adjustment freq_cmd set by output parameter out.
S402: the output obtained by deviation correcting device flows to cart both sides converter, adjusts both sides frequency converter frequency, changes both sides motor speed, and then adjustment cart both sides gait of march and displacement make both sides deviation be adjusted.
S403: controller carries out real-time circulation correction and adjusts (referring to Fig. 2, controller carries out real-time circulation correction and adjusts, carrying out real-time speed detection including to left motor and right motor, testing result returns deviation correcting device, for the speed basis adjusted as circulation correction.), make cart both sides speed difference and displacement difference control within the scope of preset difference value.
According to controlling to require and control strategy, obtain the control block diagram of deviation correction control system as shown in Figure 2.Referring to Fig. 2, the deviation correction control system in the bridge crane walking process of the present embodiment, including detection module, comparison module and deviation correcting device, detection module is for, in large vehicle walking process, detecting the real-time displacement signal of cart both sides in real time；Comparison module, for being compared by the real-time displacement signal of cart both sides, will obtain shift differences；Deviation correcting device is used for shift differences as control signal, and the gait of march and the displacement that control cart both sides make both sides deviation be adjusted.The present embodiment adopts cross-coupling control strategy, this control strategy is embodied in: cart both sides are realized Synchronization Control by cross-coupling control method, using the displacement difference input signal as deviation correcting device, controller output controls cart both sides change of error simultaneously, realizing the good synchronicity in cart both sides and real-time, cross-coupling control schematic diagram is as shown in Figure 3.
In the present embodiment, judge module it is also associated with between deviation correcting device and comparison module, whether judge module exceeds preset difference value scope for the change judging shift differences, when beyond difference preset range, as control signal, shift differences is inputted deviation correcting device.
Utilize the present embodiment to carry out correction and control example: bridge crane is in the process of walking, when walking 1 second, load torque becomes 180Nm from 200Nm, this interference factor makes both sides speed and displacement change, now correction controls generation effect, and under the effect of deviation correction control system, controller parameter change curve and speed difference, displacement difference change curve are as shown in Figure 4, Figure 5.
From Fig. 4, Fig. 5 it can be seen that control fast response time, the velocity perturbation of crane both sides is minimum, very stable, and the both sides adjustment of displacement time reduces, and only about 5s can complete, and controls respond well.Use this correction control method to efficiently solve sideslip problem when bridge crane runs, improve bridge crane stationarity operationally, reduce maintenance cost, improve production efficiency.
In summary, correction control method in the bridge crane walking process of the present invention, understanding in depth on the basis of bridge crane operation mechanism, based on cross-coupling control thought, utilize neutral net adaptive congestion control algorithm algorithm that correction process is controlled, it is achieved both sides displacement difference is controlled purpose in preset range.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention.
Claims (7)
1. the correction control method in a bridge crane walking process, it is characterised in that comprise the following steps:
S1: in large vehicle walking process, detects the real-time displacement signal of cart both sides in real time；
S2: the real-time displacement signal of cart both sides is compared, shift differences will be obtained；
S4: using described shift differences as control signal, the gait of march and the displacement that control cart both sides make both sides deviation be adjusted.
2. the correction control method in bridge crane walking process according to claim 1, it is characterised in that after described step S2 completes, before described step S4 carries out, described method also includes:
Step S3: judge that whether the change of described shift differences is beyond preset difference value scope, when beyond difference preset range, proceeds to step S4.
3. the correction control method in bridge crane walking process according to claim 1 and 2, it is characterised in that described step S4 comprises the following steps:
S401: using shift differences as control signal, inputs deviation correcting device, and described deviation correcting device adopts neutral net adaptive congestion control algorithm algorithm to carry out parameter optimization；
S402: the output obtained by deviation correcting device flows to cart both sides converter, adjusts both sides frequency converter frequency, changes both sides motor speed, and then adjustment cart both sides gait of march and displacement make both sides deviation be adjusted.
4. the correction control method in bridge crane walking process according to claim 3, it is characterised in that after described step S402 completes, described step S4 also includes:
S403: controller carries out real-time circulation correction and adjusts, and makes cart both sides speed difference and displacement difference control within the scope of preset difference value.
5. the correction control method in bridge crane walking process according to claim 4, it is characterized in that, described controller carries out real-time circulation correction and adjusts, real-time speed detection is carried out including to left motor and right motor, testing result returns described deviation correcting device, for the speed basis adjusted as circulation correction.
6. the deviation correction control system in a bridge crane walking process, it is characterised in that including:
Detection module, for, in large vehicle walking process, detecting the real-time displacement signal of cart both sides in real time；
Comparison module, for being compared by the real-time displacement signal of cart both sides, will obtain shift differences；
Deviation correcting device, is used for described shift differences as control signal, and the gait of march and the displacement that control cart both sides make both sides deviation be adjusted.
7. the deviation correction control system in bridge crane walking process according to claim 6, it is characterised in that described system also includes:
Judge module, whether the change for judging described shift differences exceeds preset difference value scope, when beyond difference preset range, as control signal, shift differences is inputted described deviation correcting device.
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| CN108217466A (en) * | 2018-03-14 | 2018-06-29 | 法兰泰克重工股份有限公司 | The electric-control system of annular bending track double girder overhead crane |
| CN111847240A (en) * | 2020-07-15 | 2020-10-30 | 上海海事大学 | Crane synchronization error measuring device and deviation rectifying method thereof |
| WO2021175164A1 (en) * | 2020-03-04 | 2021-09-10 | 上海驭矩信息科技有限公司 | Automatic deviation correction control method for hoisting system |
| CN113643288A (en) * | 2021-10-13 | 2021-11-12 | 启东市德立神起重运输机械有限公司 | Crane wheel control method based on artificial intelligence |
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| CN117437609A (en) * | 2023-12-20 | 2024-01-23 | 博大视野(厦门)科技有限公司 | Method, system, equipment and storage medium for correcting driving deviation of tire crane |
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