CN109634274A - A kind of Coil transport trolley positioning system and method - Google Patents
A kind of Coil transport trolley positioning system and method Download PDFInfo
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- CN109634274A CN109634274A CN201811486985.8A CN201811486985A CN109634274A CN 109634274 A CN109634274 A CN 109634274A CN 201811486985 A CN201811486985 A CN 201811486985A CN 109634274 A CN109634274 A CN 109634274A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000001133 acceleration Effects 0.000 claims abstract description 35
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 238000012545 processing Methods 0.000 claims description 10
- 230000004807 localization Effects 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 6
- 235000013399 edible fruits Nutrition 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000033764 rhythmic process Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000005097 cold rolling Methods 0.000 description 1
- 238000005098 hot rolling Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000037452 priming Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The present invention is suitable for location control technical field, provides a kind of Coil transport trolley positioning system and method, this method comprises the following steps: detection cycle of the setting from start position to target position；In current detection end cycle, drive speed measuring device and positioning device to read the current vehicle speed of current Coil transport trolley and away from the distance of target position；If distance of the Coil transport trolley away from target position be greater than error tolerances, based on Coil transport trolley current vehicle speed and the distance away from target position come determine next period braking deceleration or driving acceleration.Distance such as Coil transport trolley away from target position is less than or equal to error tolerances, then controls Coil transport trolley parking or travel at the uniform speed.Discrete control was carried out to acceleration, the control deviation in a upper period can be made up by the adjustment in rear period acceleration value, and under the premise of not influencing working efficiency, precise positioning is carried out in a manner of stable.
Description
Technical field
The invention belongs to location control technical field, a kind of Coil transport trolley positioning system and method are provided.
Background technique
Coil transport trolley is the important technological equipment of cold rolling, hot rolling line, carries the online and offline operation of coil of strip.
The upper volume of Coil transport trolley uncoiler is online operation；The volume operation of unloading of coiling machine is offline operation.No matter which kind of is operated, unit pair
Transportation safety, accurate positionin and the work pace of trolley all require.Coil transport trolley positioning accuracy and operation beat have production
Great influence.Existing frequently-used control method is to provide a priming speed, retro-speed slope using controller (such as: PLC),
Constant acceleration or the operation of permanent deceleration are done by frequency converter drive apparatus control motor, exercise end end put into position control into
Row fine tuning.Since the intrinsic feature of Coil transport trolley causes that difficult, reason one: uncertain coil of strip weight and steel is once accurately positioned
It is big to roll up inertia；Reason two: the structure of coil car electromechanical integration has larger impact to control precision.It is guarantee in actual production
The accurate positionin of coil of strip is had to fall-back, but actual effect is not very well, and to also reduce rhythm of production.It is practical raw
It producing in operational process, a position error is more than 100mm sometimes, though investment terminal position control can be by control errors to target model
In enclosing, but rhythm of production has received influence, reduces the operating efficiency of unit.
Summary of the invention
The embodiment of the present invention provides a kind of Coil transport trolley positioning system, in the case where not influencing working efficiency, reaches fixed
Position is precisely.
To achieve the goals above, the present invention provides Coil transport trolley positioning system, which includes:
Speed measuring device and positioning device in Coil transport trolley；
The processing unit being connect with speed measuring device and positioning device；
Processing unit driving periodically drives speed measuring device and positioning device, to detect the current speed of Coil transport trolley and away from mesh
The distance of cursor position, and determine the braking deceleration or driving acceleration of next detection cycle.
Further, the positioning device includes: the laser range finder in Coil transport trolley, set on the reflective of target position
Plate, with laser range finder communication connection PLC controller, PLC controller and processing unit communication connection.
To achieve the goals above, the present invention provides the localization method of Coil transport trolley, described method includes following steps:
The detection cycle T of S1, setting from start position to target position；
S2, in current detection end cycle, drive speed measuring device and positioning device to read working as current Coil transport trolley
Preceding speed and distance away from target position；
S3, judge whether distance of the Coil transport trolley away from target position is greater than error tolerances, if the determination result is YES, then base
The braking deceleration or driving acceleration in next period are determined in Coil transport trolley current vehicle speed and distance away from target position, if
Judging result be it is no, then control Coil transport trolley parking or uniform motion.
Further, after step s 3 further include:
Whether S4, the braking deceleration for judging next period or driving acceleration exceed acceleration secure threshold amaxIf sentencing
Disconnected result be it is yes, then by the braking deceleration in next period or acceleration is driven to be set as preset value.
Further, after the step S4 further include:
S5, the braking deceleration based on next period or driving acceleration, calculate the fortune of various time points in the next period
Roll up small vehicle velocity value.
Further, the braking deceleration or driving acceleration a in i-th of periodiCalculation formula is as follows:
Wherein, k is empirical parameter, related to the load of Coil transport trolley and running environment, Vi-1For (i-1)-th end cycle
When, the speed of service of Coil transport trolley, Si-1When for (i-1)-th end cycle, distance of the Coil transport trolley away from target position.
Coil transport trolley localization method provided by the invention has following advantageous effects:
1. the acceleration of fortune Coil transport trolley is fluctuation during trolley travelling, constantly adjusted according to practical situation
It is whole, under the premise of not influencing working efficiency, it ensure that positioning accuracy；
2. pair acceleration carries out Discrete control, the control deviation in a upper period can pass through the adjustment in rear period acceleration value
It is made up, precise positioning is achieved the effect that with steady, reliable way；
3. real-time monitoring position and present speed, dynamic, which adjusts acceleration (by changing velocity interpolation), ensures final goal
Positioning is precisely controlled, and positioning accuracy greatly improves, and rhythm of production is also effectively promoted, and positions a precision and averagely guarantees in 3mm
Within.It is consistent when positioning accuracy is with zero load when coil car carries design maximum weight volume, it overcomes control mode and coil of strip is used
Influence of the property to positioning accuracy.
Detailed description of the invention
Fig. 1 is the positioning system structure schematic diagram of Coil transport trolley provided in an embodiment of the present invention；
Fig. 2 is the flow chart of Coil transport trolley localization method provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Fig. 1 is that the positioning system structure schematic diagram of Coil transport trolley provided in an embodiment of the present invention only shows for ease of description
Part related to the embodiment of the present invention out.
The system includes:
Speed measuring device and positioning device in Coil transport trolley；
The processing unit being connect with speed measuring device and positioning device,
For speed measuring device for detecting the current speed of Coil transport trolley, speed measuring device is velocity sensor；
Positioning device is for detecting distance of the Coil transport trolley away from target position, in embodiments of the present invention, positioning device packet
It includes: being set to laser range finder in Coil transport trolley, the reflector set on target position is controlled with laser range finder communication connection PLC
Device, PLC controller and processing unit communication connection；Laser range finder emits laser to reflector, and PLC is based on laser emission time
And the time difference of receiving time measures distance of the Coil transport trolley away from target position, and is sent to processing unit.
Processing unit driving periodically drives speed measuring device and positioning device to detect the current speed of Coil transport trolley and away from mesh
The distance of cursor position, and determine the braking deceleration or driving acceleration of next detection cycle.
Fig. 2 is the flow chart of Coil transport trolley localization method provided in an embodiment of the present invention, and this method specifically includes following step
It is rapid:
The detection cycle T of S1, setting from start position to target position；
S2, in current detection end cycle, drive speed measuring device and positioning device to read working as current Coil transport trolley
Preceding speed and distance away from target position；
S3, judge whether distance of the Coil transport trolley away from target position is greater than error tolerances, if the determination result is YES, then base
The braking deceleration or driving acceleration in next period are determined in Coil transport trolley current vehicle speed and distance away from target position, if
Judging result be it is no, then control Coil transport trolley parking or uniform motion.
In embodiments of the present invention, after step S3 further include:
Whether S4, the braking deceleration for judging next period or driving acceleration exceed acceleration secure threshold amaxIf sentencing
Disconnected result be it is yes, then the braking deceleration in next period or driving acceleration are set as preset value, the preset value is lower than acceleration
Secure threshold.
In embodiments of the present invention, after step s4 further include:
S5, the braking deceleration based on next period or driving acceleration, calculate next cycle Coil transport trolley velocity amplitude,
The frequency-variable controller of Coil transport trolley is based on speed setting value automatic control motor torque, and motor speed is made to follow setting value.
In embodiments of the present invention, the distance based on Coil transport trolley current vehicle speed and away from target position determines next period
Braking deceleration or driving acceleration it is specific as follows:
Wherein, k is scale parameter, related to the load of Coil transport trolley and running environment, aiBraking for i-th of period subtracts
Speed or driving acceleration, Vi-1When for (i-1)-th end cycle, the speed of service of Coil transport trolley, Si-1It is tied for (i-1)-th period
Shu Shi, distance of the Coil transport trolley away from target position.
The Coil transport trolley velocity amplitude of various time points t within i-th of period are as follows:
tiFor the t moment in i-th of period,For tiThe velocity amplitude at moment.
In embodiments of the present invention, it is illustrated by taking Reduced Speed Now as an example, the initial velocity of Coil transport trolley is V0, first
The deceleration a in period1=V0 2/k·S0,S0For Coil transport trolley initial position far from the distance of target position, in a cycle knot
Beam, i.e. second period start, and detect the current vehicle speed V of Coil transport trolley1And the current distance S away from target position of Coil transport trolley1,
If distance S1Greater than deviation feasible value, then illustrate Coil transport trolley miss the mark position, and determine the deceleration in second period
Spend a2=V1 2/k·S1；
Terminate in second period, i.e. the third period, detects the current vehicle speed V of Coil transport trolley2And Coil transport trolley
The currently distance S away from target position2If distance S2Greater than deviation feasible value, then illustrate Coil transport trolley miss the mark position, and
Determine the deceleration a in the third period3=V2 2/k·S2；
And so on, until position detecting device detects Coil transport trolley current location away from target after n-th of end cycle
The distance of position is less than error tolerances, then assert that Coil transport trolley arrived target position, and Coil transport trolley parking is immediately controlled, this
When Coil transport trolley speed level off to zero, braking distance is very short, so that positioning accuracy is greatly improved.
Coil transport trolley localization method provided by the invention has following advantageous effects:
1. the acceleration of Coil transport trolley is fluctuation during trolley travelling, constantly adjusted according to practical situation
It is whole, under the premise of not influencing working efficiency, it ensure that positioning accuracy；
2. pair acceleration carries out Discrete control, the control deviation in a upper period can pass through the tune in latter period acceleration value
It is whole made up, precise positioning is achieved the effect that with steady, reliable way；
3. real-time monitoring position and present speed, dynamic, which adjusts acceleration (by changing velocity interpolation), ensures final goal
Positioning is precisely controlled.Positioning accuracy greatly improves, and rhythm of production is also effectively promoted, and positions a precision and averagely guarantees in 3mm
Within.It is consistent when positioning accuracy is with zero load when coil car carries design maximum weight volume, it overcomes control mode and coil of strip is used
Influence of the property to positioning accuracy.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (6)
1. a kind of Coil transport trolley positioning system, which is characterized in that the positioning system includes:
Speed measuring device and positioning device in Coil transport trolley；
The processing unit being connect with speed measuring device and positioning device；
Processing unit driving periodically drives speed measuring device and positioning device, to detect the current speed of Coil transport trolley and away from target position
The distance set, and determine the braking deceleration or driving acceleration of next detection cycle.
2. Coil transport trolley positioning system as described in claim 1, which is characterized in that the positioning device includes: small set on fortune volume
Laser range finder on vehicle, the reflector set on target position, and laser range finder communication connection PLC controller, PLC controller with
Processing unit communication connection.
3. a kind of localization method based on Coil transport trolley positioning system as claimed in claim 1 or 2, which is characterized in that the method
Include the following steps:
The detection cycle T of S1, setting from start position to target position；
S2, in current detection end cycle, drive speed measuring device and positioning device to read current Coil transport trolley works as front truck
Speed and the distance away from target position；
S3, judge whether distance of the Coil transport trolley away from target position is greater than error tolerances, if the determination result is YES, then based on fortune
Volume trolley current vehicle speed and distance away from target position determine the braking deceleration or driving acceleration in next period, if judgement
As a result be it is no, then control Coil transport trolley parking or uniform motion.
4. the localization method of Coil transport trolley as claimed in claim 3, which is characterized in that after step s 3 further include:
Whether S4, the braking deceleration for judging next period or driving acceleration exceed acceleration secure threshold amaxIf judgement knot
Fruit be it is yes, then by the braking deceleration in next period or driving acceleration be set as preset value.
5. the localization method of Coil transport trolley as claimed in claim 4, which is characterized in that after the step S4 further include:
S5, the braking deceleration based on next period or driving acceleration, the fortune volume for calculating various time points in the next period are small
Vehicle velocity value.
6. the localization method of Coil transport trolley as claimed in claim 3, which is characterized in that the braking deceleration in i-th period or drive
Dynamic acceleration aiCalculation formula is as follows:
Wherein, k is empirical parameter, related to the load of Coil transport trolley and running environment, Vi-1When for (i-1)-th end cycle, fortune
Roll up the speed of service of trolley, Si-1When for (i-1)-th end cycle, distance of the Coil transport trolley away from target position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811486985.8A CN109634274A (en) | 2018-12-06 | 2018-12-06 | A kind of Coil transport trolley positioning system and method |
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| CN201811486985.8A CN109634274A (en) | 2018-12-06 | 2018-12-06 | A kind of Coil transport trolley positioning system and method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110723137A (en) * | 2019-10-24 | 2020-01-24 | 重庆长安汽车股份有限公司 | Deceleration control method and system for short-distance automatic parking and computer readable storage medium |
| CN112279099A (en) * | 2020-10-23 | 2021-01-29 | 三一汽车起重机械有限公司 | Crane work assistance system and method |
| CN112744268A (en) * | 2019-10-31 | 2021-05-04 | 比亚迪股份有限公司 | Vehicle control method and device and vehicle |
| CN116627144A (en) * | 2023-07-21 | 2023-08-22 | 中国船舶集团有限公司第七〇七研究所 | Low-speed broken line tracking guiding method for power positioning ship |
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| CN102886393A (en) * | 2012-09-29 | 2013-01-23 | 鞍钢股份有限公司 | Control method for fast and accurately positioning steel coil trolley |
| CN104971946A (en) * | 2014-04-10 | 2015-10-14 | 鞍钢股份有限公司 | Strip tail positioning control method of cold continuous rolling coiler |
| CN105583255A (en) * | 2014-10-18 | 2016-05-18 | 新兴铸管新疆有限公司 | Application of laser range finder in positioning of rolled steel coil car |
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2018
- 2018-12-06 CN CN201811486985.8A patent/CN109634274A/en active Pending
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110723137A (en) * | 2019-10-24 | 2020-01-24 | 重庆长安汽车股份有限公司 | Deceleration control method and system for short-distance automatic parking and computer readable storage medium |
| CN112744268A (en) * | 2019-10-31 | 2021-05-04 | 比亚迪股份有限公司 | Vehicle control method and device and vehicle |
| CN112279099A (en) * | 2020-10-23 | 2021-01-29 | 三一汽车起重机械有限公司 | Crane work assistance system and method |
| CN112279099B (en) * | 2020-10-23 | 2023-08-29 | 三一汽车起重机械有限公司 | Crane operation auxiliary system and method |
| CN116627144A (en) * | 2023-07-21 | 2023-08-22 | 中国船舶集团有限公司第七〇七研究所 | Low-speed broken line tracking guiding method for power positioning ship |
| CN116627144B (en) * | 2023-07-21 | 2023-09-22 | 中国船舶集团有限公司第七〇七研究所 | Low-speed broken line tracking guiding method for power positioning ship |
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Application publication date: 20190416 |