CN109879171B - Gantry crane operation control method - Google Patents
Gantry crane operation control method Download PDFInfo
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- CN109879171B CN109879171B CN201910246274.1A CN201910246274A CN109879171B CN 109879171 B CN109879171 B CN 109879171B CN 201910246274 A CN201910246274 A CN 201910246274A CN 109879171 B CN109879171 B CN 109879171B
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Abstract
The invention discloses a gantry crane operation control method, which relates to the technical field of automatic control and comprises the following steps: acquiring the distance from a part to be operated of the target gantry crane to a target position to obtain a target operation distance; performing closed-loop control according to the target running distance through an absolute value encoder on a servo motor of the component to be run, so that the servo motor completes a closed-loop control command, and the component to be run reaches a real position according to a preset safe running mode to obtain a real running distance; judging whether the error between the real running distance and the target running distance meets a preset condition, if so, ending; if not, starting the part to be operated again until the error meets the preset condition; the problem of can not realize the accurate control of portal crane walking and avoid the injury to the operating system of portal crane simultaneously among the correlation technique is solved, realized the accurate automated control of portal crane walking, and avoided the injury to the operating system of portal crane.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a gantry crane operation control method.
Background
A gantry crane (also called gantry crane) is a gantry crane in which a gantry is supported on a ground rail by legs at both sides. The method has the characteristics of high field utilization rate, large operation range, wide application range, strong universality and the like, and is widely applied.
At present, the control of a gantry crane mostly adopts manual remote control operation and also adopts automatic control, but the prior art has the following problems: the accurate control of the traveling of the gantry crane and the damage to the operation system of the gantry crane cannot be realized at the same time.
Disclosure of Invention
The embodiment of the application provides a gantry crane operation control method, so that the problems that in the related art, the accurate control of gantry crane walking cannot be realized and the damage to an operation system of the gantry crane is avoided at the same time are solved, the accurate automatic control of gantry crane walking is realized, and the damage to the operation system of the gantry crane is avoided.
The application provides the following technical scheme through an embodiment of the application:
a method for controlling the operation of a gantry crane comprises the following steps:
acquiring the distance from a part to be operated of the target gantry crane to a target position to obtain a target operation distance; performing closed-loop control according to the target running distance through an absolute value encoder on a servo motor of the component to be run, enabling the servo motor to complete a closed-loop control command, and controlling the component to be run to reach a real position according to a preset safe running mode to obtain a real running distance; judging whether the error between the real running distance and the target running distance meets a preset condition, if so, ending; if not, the part to be operated is started again to operate until the error meets the preset condition.
Optionally, the preset conditions include: and the error between the real running distance and the target running distance is less than or equal to 2 mm.
Optionally, the specific method for controlling the to-be-operated component to reach the real position according to the preset safe operation mode includes: and controlling the part to be operated to reach the real position after finishing starting acceleration, uniform speed and deceleration operation according to the set acceleration.
Optionally, the absolute value of the acceleration during the acceleration and the deceleration is the same.
Optionally, the component to be operated comprises a cart and a trolley.
Optionally, the target travel distance and the real travel distance are both obtained by laser ranging.
Optionally, the component to be operated comprises a hoisting system.
Optionally, the target travel distance and the real travel distance are both obtained by measuring with a drum absolute value encoder.
Optionally, the specifically starting the operation of the component to be operated again includes: and operating the part to be operated again according to the preset safe operation mode.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
the method comprises the steps of obtaining the distance from a part to be operated of a target gantry crane to a target position to obtain a target operation distance; performing closed-loop control according to the target running distance through an absolute value encoder on a servo motor of the component to be run, so that the servo motor completes a closed-loop control command, and the component to be run reaches a real position according to a preset safe running mode to obtain a real running distance; therefore, abnormal starting and stopping can not occur in the running process, and the damage to the running system is avoided; judging whether the error between the real running distance and the target running distance meets a preset condition, if so, ending; if not, starting the part to be operated again until the error meets the preset condition; therefore, the running precision can be ensured, and the error is controlled within a certain range. Therefore, the operation of forced stop or forced start of the system operation in order to realize automation in the prior art is avoided, and meanwhile, the low operation precision caused by the error of the laser ranging in the operation process due to the vibration during the closed-loop control in the operation process is avoided.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a flow chart of a method for controlling operation of a gantry crane according to an embodiment of the present invention;
Detailed Description
The embodiment of the application provides an electric power failure monitoring system, has solved electric power monitoring devices among the prior art, and structural function is single, can only monitor data, and follow-up whole depends on the manual work to carry out data record and analysis's problem.
In order to solve the technical problems, the general idea of the embodiment of the application is as follows:
a method for controlling the operation of a gantry crane comprises the following steps: acquiring the distance from a part to be operated of the target gantry crane to a target position to obtain a target operation distance; performing closed-loop control according to the target running distance through an absolute value encoder on a servo motor of the component to be run, so that the servo motor completes a closed-loop control command, and the component to be run reaches a real position according to a preset safe running mode to obtain a real running distance; judging whether the error between the real running distance and the target running distance meets a preset condition, if so, ending; if not, the part to be operated is started again to operate until the error meets the preset condition.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
First, it is stated that the term "and/or" appearing herein is merely one type of associative relationship that describes an associated object, meaning that three types of relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Example one
As shown in fig. 1, in this embodiment, a method for controlling operation of a gantry crane includes the following steps:
s101, obtaining the distance from a part to be operated of a target gantry crane to a target position to obtain a target operation distance;
s102, performing closed-loop control according to the target running distance through an absolute value encoder on a servo motor of the component to be run, enabling the servo motor to complete a closed-loop control command, and controlling the component to be run to reach a real position according to a preset safe running mode to obtain a real running distance;
s103, judging whether the error between the real running distance and the target running distance meets a preset condition, if so, ending; if not, the part to be operated is started again to operate until the error meets the preset condition.
Specifically, before each mechanism of portal crane moves, calculate the distance that needs to walk through target location and current position, the reduction ratio of rethread motor reducing gear box and the girth of wheel convert into the radian that needs to walk, give the radian to servo in, the mechanism moves and starts, realize inside closed-loop control through servo motor's absolute value encoder, the camber value that the operation was accomplished and was calculated, current value through laser rangefinder measurement does not get into closed-loop system in the operation process, carry out the check-up through laser rangefinder measurement value and target location after the operation is accomplished, guarantee the distance accuracy of operation, guarantee the operation of high accuracy.
The method ensures that the internal closed-loop control is realized in the running process of the running mechanism, the influence of the position of the laser range finder is avoided, the stability of a running curve is ensured, the influence on the precision due to the small-range fluctuation of laser ranging caused by slight vibration and uneven running track generated in the running process of the gantry crane is avoided, the correction is carried out after the running is stopped, and if the error range exceeds the allowable error range, the secondary running is carried out through the PLC program control, so that the aim of precise control is fulfilled.
The following describes in detail, with reference to fig. 1, specific implementation steps of the method provided in the embodiment of the present application:
firstly, executing step S101, obtaining the distance from a part to be operated of a target gantry crane to a target position, and obtaining a target operation distance;
specifically, the target position is an end position to which the component to be operated is operated in advance, and the target operation distance is a distance from the current position to the target position of the component to be operated.
Optionally, the part to be operated is a cart or a trolley.
At this time, the target travel distance is obtained by laser ranging.
Optionally, the component to be operated is a hoisting system.
At this time, the target running distance is obtained by measuring with a reel absolute value encoder. The absolute value encoder is used for measuring in the lifting operation process, and the absolute value encoder is calibrated through a proximity switch at a certain fixed position in the lifting process, so that the measuring precision of the absolute value encoder is ensured.
Next, step S102 is executed, closed-loop control is performed according to the target running distance through an absolute value encoder on a servo motor of the component to be run, so that the servo motor completes a closed-loop control command, and the component to be run reaches a real position according to a preset safe running mode to obtain a real running distance;
optionally, the specific method for controlling the to-be-operated component to reach the real position according to the preset safe operation mode includes: and controlling the part to be operated to reach the real position after finishing starting acceleration, uniform speed and deceleration operation according to the set acceleration.
The part to be operated is started from the current position to the target position, the operation process of starting acceleration and final deceleration stop is necessarily existed, and the reasonable acceleration and deceleration process can reduce the damage to the motor, the transmission and the deceleration system to the maximum extent, and the reasonable acceleration and deceleration is the existing program logic in the field, and can be realized by utilizing a PLC, for example, the relation curve of the speed and the time of the whole operation process in a safe operation mode is a trapezoid, and the technicians in the field can adjust according to the actual requirement, so long as the aim of reducing the damage to the motor, the transmission and the deceleration system is achieved.
Optionally, the absolute value of the acceleration during the acceleration and the deceleration is the same.
It should be noted that, here, the absolute value of the acceleration in the acceleration and deceleration processes is the same, so that the component to be operated can be ensured to stably operate to the real position according to the set acceleration and deceleration processes, the change of the speed is reduced as much as possible, and the damage to the gantry crane is reduced.
It should be noted that, with the closed-loop control, there may be vibration slip during the actual operation process, so that the actual operation distance has an error from the target operation distance.
Optionally, the part to be operated is a cart or a trolley.
At this time, the real travel distance is obtained by laser ranging.
Optionally, the component to be operated is a hoisting system.
At this time, the real running distance is obtained by the measurement of the absolute value encoder of the winding drum. The absolute value encoder is used for measuring in the lifting operation process, and the absolute value encoder is calibrated through a proximity switch at a certain fixed position in the lifting process, so that the measuring precision of the absolute value encoder is ensured.
Next, step S103 is executed to determine whether an error between the actual running distance and the target running distance satisfies a preset condition, and if yes, the process is ended; if not, the part to be operated is started again to operate until the error meets the preset condition.
Optionally, the preset conditions are: and the error between the real running distance and the target running distance is less than or equal to 2 mm.
Specifically, in practical application, such as in the field of steel refining, the error between the actual running distance and the target running distance is less than or equal to 2mm, so that the requirement can be met, and if the actual running distance and the target running distance are greater than 2mm, the running is started again until the error is less than or equal to 2 mm.
Optionally, the specifically starting the operation of the component to be operated again includes: and operating the part to be operated again according to the preset safe operation mode.
It should be noted that, taking a cart as an example, in actual operation, the vibration and slippage conditions are not too large, the error is not too large, and the actual running distance is generally smaller than the target running distance, so that during secondary adjustment, the cart runs according to the preset safe running mode, but can move more slowly, and here, no limitation is made, and accurate control can be realized as long as laser ranging is adopted to measure whether the error meets the requirement again until the error meets the requirement.
Gantry crane systems generally include a cart, a trolley, and a hoisting system, and optionally, one or more of the systems may be controlled by the above method, or may be other systems requiring traveling and hoisting, without limitation. However, the method of the invention is adopted to control all mechanisms of the gantry crane to operate, so that the control of the gantry crane is optimal.
The technical scheme in the embodiment of the application at least has the following technical effects or advantages:
the method comprises the steps of obtaining the distance from a part to be operated of a target gantry crane to a target position to obtain a target operation distance; performing closed-loop control according to the target running distance through an absolute value encoder on a servo motor of the component to be run, so that the servo motor completes a closed-loop control command, and the component to be run reaches a real position according to a preset safe running mode to obtain a real running distance; therefore, abnormal starting and stopping can not occur in the running process, and the damage to the running system is avoided; judging whether the error between the real running distance and the target running distance meets a preset condition, if so, ending; if not, starting the part to be operated again until the error meets the preset condition; therefore, the running precision can be ensured, and the error is controlled within a certain range. Therefore, the operation of forced stop or forced start of the system operation in order to realize automation in the prior art is avoided, and meanwhile, the low operation precision caused by the error of the laser ranging in the operation process due to the vibration during the closed-loop control in the operation process is avoided. The automatic operation of the gantry crane can reduce the working intensity of personnel, improve the accuracy of work in an area, improve the safety of the whole system and realize the automation and the intellectualization of the whole process.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (3)
1. A method for controlling the operation of a gantry crane is characterized by comprising the following steps:
the method comprises the steps of obtaining the distance from a part to be operated of a target gantry crane to a target position to obtain a target operation distance, wherein the part to be operated comprises a cart and a trolley; the target position is the end position of the part to be operated which is reached by pre-operation, and the target operation distance is the distance from the current position to the target position of the part to be operated;
performing closed-loop control according to the target running distance through an absolute value encoder on a servo motor of the component to be run, enabling the servo motor to complete a closed-loop control command, and controlling the component to be run to reach a real position according to a preset safe running mode to obtain a real running distance; the specific method for controlling the part to be operated to reach the real position according to the preset safe operation mode comprises the following steps: controlling the part to be operated to reach the real position after finishing starting acceleration, uniform speed and deceleration operation according to a set acceleration, wherein the target operation distance and the real operation distance are obtained by laser ranging;
judging whether the error between the real running distance and the target running distance meets a preset condition, if so, ending; if not, operating the component to be operated again according to the preset safe operation mode until the error meets the preset condition;
before each mechanism of the gantry crane runs, the distance required to walk is calculated through the target position and the current position, the radian required to walk is converted through the reduction ratio of a motor reduction box and the circumference of a wheel, the radian is given to a servo system, the mechanism runs and starts, the internal closed-loop control is realized through an absolute value encoder of a servo motor, the calculated radian value is finished during running, the current value measured through laser ranging in the running process does not enter the closed-loop system, the measured value and the target position are verified after the running is finished, and the running distance is accurate.
2. The method of claim 1, wherein the preset conditions include: and the error between the real running distance and the target running distance is less than or equal to 2 mm.
3. A method according to claim 2, characterized in that the acceleration and deceleration processes have the same absolute value of acceleration.
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| CN110568843A (en) * | 2019-08-19 | 2019-12-13 | 广东博智林机器人有限公司 | control method and control device for mobile operation equipment |
| CN113547531A (en) * | 2021-09-18 | 2021-10-26 | 华特数字科技有限公司 | Positioning method and system of intelligent flow measurement robot |
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| CN104444800A (en) * | 2014-11-26 | 2015-03-25 | 浙江科技学院 | Three-dimensional automatic control crane and control method thereof |
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| CN103466452B (en) * | 2013-08-23 | 2014-12-17 | 苏州汇川技术有限公司 | Crane operation control method and system |
| CN103776373A (en) * | 2014-01-21 | 2014-05-07 | 上海工程技术大学 | Crane track detection device |
| CN106865416A (en) * | 2017-04-20 | 2017-06-20 | 中南大学 | A kind of automatic anti-swinging control method in bridge crane walking process |
| JP6719835B2 (en) * | 2017-05-15 | 2020-07-08 | 東芝三菱電機産業システム株式会社 | Crane operation assist device |
| CN206915592U (en) * | 2017-06-29 | 2018-01-23 | 北京国泰星云科技有限公司 | Suspender safety anticollision system based on the identification of container case area contoured three-dimensional |
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| CN203033673U (en) * | 2013-01-08 | 2013-07-03 | 太原重工股份有限公司 | Accurate locating device for crane |
| CN104444800A (en) * | 2014-11-26 | 2015-03-25 | 浙江科技学院 | Three-dimensional automatic control crane and control method thereof |
| CN105438991A (en) * | 2015-12-10 | 2016-03-30 | 中国船舶重工集团公司第七一三研究所 | Automatic addressing and positioning control system and method for static-pressure traveling cranes |
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