CN110104560B

CN110104560B - Method for improving running efficiency of automatic crown block

Info

Publication number: CN110104560B
Application number: CN201910235650.7A
Authority: CN
Inventors: 郑文瑞; 刘建; 朱清; 刘富春; 韩亮; 王喜福; 邱福双; 许西北
Original assignee: Beijing Shougang Automation Information Technology Co Ltd
Current assignee: Beijing Shougang Automation Information Technology Co Ltd
Priority date: 2019-03-27
Filing date: 2019-03-27
Publication date: 2020-08-21
Anticipated expiration: 2039-03-27
Also published as: CN110104560A

Abstract

A method for improving the running efficiency of an automatic crown block belongs to the technical field of automatic control of crown blocks and is suitable for an intelligent automatic crown block control technology. The method determines the working range of the next task of the newly allocated crown block by determining the time and the working range of the crown block for executing the task. The automatic control method can realize the automatic control of the crown block, improve the running efficiency of the crown block and reduce the occurrence of faults. Meanwhile, the working intensity of operators can be effectively reduced, and the automation level is obviously improved.

Description

Method for improving running efficiency of automatic crown block

Technical Field

The invention discloses a method for improving the running efficiency of an automatic crown block, belongs to the technical field of automatic control of crown blocks, and is suitable for the technical field of automatic driving transformation and automatic driving intelligent control.

Background

At present, the steel coil hoisting of cold and hot rolled steel coil storehouses and the steel coil management service of the storeroom area adopt a manual operation mode, a large number of personnel are needed, the cold and hot rolled steel coil storehouses belong to labor-intensive areas, and the cold and hot rolled steel coil storehouses and the steel coil management service of the storeroom area are impacted in various aspects such as safety, quality, cost and the like year by year, so that the logistics management.

Under the large background that the country greatly promotes the construction of 4.0 and intelligent factories, the development of automatic control systems of various domestic iron and steel enterprises is increased. The combination of the primary basic automatic control system (primary system) and the secondary overhead traveling crane dispatching process control system (secondary system) can realize unmanned operation of the whole reservoir area, so that the system is widely applied.

The automatic control technology of the crown block is vigorously developed and applied in a steel coil warehouse and a finished product warehouse, a plurality of crown blocks automatically transport steel coils and load, the coordination problem of a plurality of crown blocks can occur when the production line is combined, the operation efficiency is influenced, the crown blocks often interfere with each other in the task execution process, in order to solve the problem, the algorithm is added to solve the problem of the utilization efficiency of the crown blocks, the running state of the crown blocks is pre-judged in real time, and the crown blocks are ensured not to influence each other in the running process.

Disclosure of Invention

The invention discloses an automatic control algorithm of an automatic crown block, aiming at solving the problems of automatic coordination of two crown blocks in the running process of the automatic crown block, mutual interference of the two crown blocks in the running process, rationalization of tasks and the like. By the method, the coordination operation of a plurality of vehicles can be realized, the operation efficiency is improved, the working intensity of operators is reduced, and the automation level is obviously improved.

A method for improving the running efficiency of an automatic crown block comprises the following steps: the method comprises the following specific steps:

step one, setting the running speed V1 m/s, the acceleration and deceleration time T1 s and the acceleration a1 m/s of a cart²: the running speed of the trolley is V2 m/s, the acceleration and deceleration time is T2 s, and the acceleration a2 m/s²The walking distance from the cart to the target is D1 m, and the walking distance from the trolley to the target is D2 m. The main lifting speed is V3 m/s, and the main lifting distance is D3 m.

Time required for the cart to arrive at the target position:

time required for the trolley to reach the target position:

the time required by main lifting is as follows:

total time T required to complete a task_{General assembly}2 × tprimq + tuo;

if the time for large car "Tlarge" is less than the time for small car "Tsmall", T_{General assembly}2 × tprimr + T is small.

Step two, in a steel coil storehouse area with n crown blocks, in the time T0, after a dispatching system process control system distributes a task X of the crown block A, wherein A is 1,2 and … … n, the time T used by the crown block A to finish the task X is calculated_{AX Total}。

Step three, at T0 to T0+ T_{AX Total}Determining the working range of the crown block A for executing the task X within time; judging whether the working range of the crown block A for executing the task X is locked by the working ranges of other crown blocks for executing the tasks; if not, it is determined that crown block A can be assigned to perform task X while T0 through T0+ T will be performing task X on crown block A_{AX Total}In time, the working range is locked, the time T0 is T0+ T, and X is X +1, and step two is executed; if the time is locked, the crown block A is determined to execute the task X and cannot be distributed, the time T0 is T0+ T, wherein T is a time judgment period, and the step three is executed again.

Wherein t is a time judgment period.

The method has the advantages that:

1) by adding the method, the problem of mutual interference in the operation process of two or more vehicles is avoided, and the utilization efficiency of the crown block is improved.

2) The method can monitor the running time of the crown block in the whole process, and can obviously improve the continuous optimization of the operation time of the crown block in the reservoir area.

3) The method can realize automatic control, effectively reduce the working intensity of operators and obviously improve the automation level.

Drawings

FIG. 1 is a flow chart of the automatic control according to the present invention.

Detailed Description

The control flow shown in fig. 1 is implemented as follows:

an overhead traveling crane control automatic time calculation module is added in an overhead traveling crane dispatching system, a time calculation formula is compiled by defining variables such as speed, running time and acceleration of a large overhead traveling crane, and the time required by the running of the overhead traveling crane is calculated in real time: and continuously updating the target task state according to the required time.

An example of the implementation is as follows:

1) and the task receiving starting system receives data of the crown block, and collects and stores the data.

2) Before the primary basic automatic control system (primary system) receives a command issued by the secondary process control system (secondary system), the automatic time calculation module is called to calculate the time required by executing the task in real time.

3) And re-optimizing and adjusting the reasonably arranged path, and sending the path to the overhead traveling crane control system to execute a corresponding task.

4) And the automatic time calculation module acquires data of the overhead travelling crane system in real time in the task execution process, and the data are fed back to the input end of the module to form closed-loop logic control.

5) And optimally arranging a reasonable route readjustment task.

Claims

1. A method for improving the running efficiency of an automatic crown block is characterized in that:

step one, setting the running speed V1 m/s, the acceleration and deceleration time T1 s and the acceleration a1 m/s of a cart²: the running speed of the trolley is V2 m/s, the acceleration and deceleration time is T2 s, and the acceleration a2 m/s²The walking distance from the cart to the target is D1 m, and the walking distance from the trolley to the target is D2 m; the main lifting speed is V3 m/s, and the main lifting distance is D3 m;

time required for the cart to reach the target:

time required for the trolley to reach the target:

the time required by main lifting is as follows:

total time T required to complete a task_{General assembly}2 × tprimq + tuo;

if the time for large car "Tlarge" is less than the time for small car "Tsmall", T_{General assembly}2 + tuser;

step two, in a steel coil storehouse area with n crown blocks, in the time T0, after a dispatching system process control system distributes a task X of the crown block A, wherein A is 1,2 and … … n, the time T used by the crown block A to finish the task X is calculated_{AX Total}；

Step three, from T0 to T0+T_{AX Total}Determining the working range of the crown block A for executing the task X within time; judging whether the working range of the crown block A for executing the task X is locked by the working ranges of other crown blocks for executing the tasks; if not, it is determined that crown block A can be assigned to perform task X while T0 through T0+ T will be performing task X on crown block A_{AX Total}In time, the working range is locked, the time T0 is T0+ T, and X is X +1, and step two is executed; if the time is locked, the crown block A is determined to execute the task X and cannot be distributed, the time T0 is T0+ T, wherein T is a time judgment period, and the step three is executed again.