CN114368709A - Horizontal dual-drive control method and device for stacker - Google Patents
Horizontal dual-drive control method and device for stacker Download PDFInfo
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- CN114368709A CN114368709A CN202210110018.1A CN202210110018A CN114368709A CN 114368709 A CN114368709 A CN 114368709A CN 202210110018 A CN202210110018 A CN 202210110018A CN 114368709 A CN114368709 A CN 114368709A
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- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
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Abstract
The invention provides a horizontal dual-drive control method and device of a stacker, computing equipment and a computer readable medium. The method comprises the following steps: acquiring respective current torques of two horizontal driving mechanisms of the stacker; the two horizontal driving mechanisms are in an elastic connection mode; calculating current average torques of the two horizontal driving mechanisms according to the respective current torques of the two horizontal driving mechanisms, and calculating a torque difference value between each current torque and the current average torque; and if the torque difference value corresponding to any one horizontal driving mechanism is not in a preset range, carrying out rotation speed compensation on the horizontal driving mechanism of which the torque difference value is not in the preset range so as to enable the corresponding torque difference value to be in the preset range. The invention can realize reasonable load distribution, keep the stacker to run stably, reduce the replacement frequency of the rubber wheels and reduce the failure rate of the stacker.
Description
Technical Field
The invention relates to the technical field of stackers, in particular to a horizontal dual-drive control method and device of a stacker, computing equipment and a computer readable medium.
Background
At present, a horizontal driving part of a high-speed stacker generally adopts a dual-driving mode, a driving mechanism on one side is a main driving mechanism, a driving mechanism on the other side is a slave driving mechanism, and the main driving mechanism and the slave driving mechanism respectively drive corresponding rubber wheels to rotate through gears. The mode has extremely high control requirements on the two driving mechanisms, and the output forces of the two driving mechanisms are basically the same in normal operation, so that the two sides can realize basically the same load distribution. However, in some cases, the problem arises that the forces applied by the two drive mechanisms differ too much, so that a suitable load distribution cannot be achieved on both sides, which in turn leads to an accelerated wear of the rubber wheels on one side. Meanwhile, the difference between the motor torques in the driving mechanisms on the two sides is increased, so that the stacker body shakes, and the stability and the positioning accuracy of the mechanical structure are affected.
Disclosure of Invention
The invention provides a horizontal dual-drive control method and device of a stacker, computing equipment and a computer readable medium, so that the two horizontal drive mechanisms have equal output force.
In one aspect, an embodiment of the present invention provides a horizontal dual drive control method for a stacker, including:
acquiring respective current torques of two horizontal driving mechanisms of the stacker; the two horizontal driving mechanisms are in an elastic connection mode;
calculating current average torques of the two horizontal driving mechanisms according to the respective current torques of the two horizontal driving mechanisms, and calculating a torque difference value between each current torque and the current average torque;
and if the torque difference value corresponding to any one horizontal driving mechanism is not in a preset range, carrying out rotation speed compensation on the horizontal driving mechanism of which the torque difference value is not in the preset range so as to enable the corresponding torque difference value to be in the preset range.
Optionally, the performing rotation speed compensation on the horizontal driving mechanism whose torque difference value does not fall within the preset range includes:
converting the torque difference value which does not fall within the preset range into a corresponding rotating speed difference value;
determining a corresponding rotation speed compensation value according to the rotation speed difference value;
superposing the given rotating speed value of the horizontal driving mechanism and the rotating speed compensation value of which the torque difference value does not fall within the preset range to obtain a compensated rotating speed;
controlling the horizontal driving mechanism of which the torque difference value does not fall within the preset range according to the compensated rotating speed;
if the current torque of the horizontal driving mechanism, of which the torque difference value does not fall within the preset range, is greater than the current average torque, the corresponding rotation speed compensation value is a negative value, and if the current torque of the horizontal driving mechanism, of which the torque difference value does not fall within the preset range, is less than the current average torque, the corresponding rotation speed compensation value is a positive value.
Optionally, before acquiring the current torque of each of the two horizontal driving mechanisms of the stacker, the method further includes: and adjusting the rotating speed and the position of the horizontal driving mechanism serving as a main drive in the two horizontal driving mechanisms so as to realize a speed closed loop and a position closed loop.
Further, the adjusting the rotation speed of the horizontal driving mechanism as the main driving of the two horizontal driving mechanisms includes:
configuring the two horizontal drive mechanisms to be electronically geared synchronously;
acquiring a theoretical rotating speed corresponding to a horizontal driving mechanism serving as a main drive;
acquiring the actual rotating speed of a motor of a horizontal driving mechanism serving as a main drive;
calculating the rotating speed deviation between the actual rotating speed and the theoretical rotating speed of the motor;
and adjusting the rotating speed of the horizontal driving mechanism serving as the main drive according to the rotating speed deviation so as to realize speed closed loop.
Further, the adjusting the position of the horizontal driving mechanism as the main driving of the two horizontal driving mechanisms includes:
acquiring a theoretical position corresponding to a horizontal driving mechanism as a main drive;
acquiring an actual position of a horizontal driving mechanism as a main drive;
calculating a position deviation between the actual position and the theoretical position;
and adjusting the position of the horizontal driving mechanism as the main drive according to the position deviation so as to realize position closed loop.
On the other hand, an embodiment of the present invention provides a horizontal dual-drive control device for a stacker, including:
the torque acquisition module is used for acquiring respective current torques of two horizontal driving mechanisms of the stacker; the two horizontal driving mechanisms are in an elastic connection mode;
a difference calculation module for calculating the current average torques of the two horizontal driving mechanisms according to the respective current torques of the two horizontal driving mechanisms and calculating the torque difference between each current torque and the current average torque;
and the rotating speed compensation module is used for carrying out rotating speed compensation on the horizontal driving mechanism of which the torque difference value does not fall within the preset range if the torque difference value corresponding to any one horizontal driving mechanism does not fall within the preset range, so that the corresponding torque difference value falls within the preset range.
Optionally, the rotation speed compensation module includes:
the difference value conversion unit is used for converting the torque difference value which does not fall within the preset range into a corresponding rotating speed difference value;
the compensation calculating unit is used for determining a corresponding rotating speed compensation value according to the rotating speed difference value;
the rotating speed superposition unit is used for superposing the given rotating speed value of the horizontal driving mechanism and the rotating speed compensation value of which the torque difference value does not fall within the preset range to obtain the compensated rotating speed;
the rotating speed control unit is used for controlling the horizontal driving mechanism of which the torque difference value does not fall within the preset range according to the compensated rotating speed;
if the current torque of the horizontal driving mechanism, of which the torque difference value does not fall within the preset range, is greater than the current average torque, the corresponding rotation speed compensation value is a negative value, and if the current torque of the horizontal driving mechanism, of which the torque difference value does not fall within the preset range, is less than the current average torque, the corresponding rotation speed compensation value is a positive value.
Optionally, the apparatus further comprises:
and the closed-loop adjusting module is used for adjusting the rotating speed and the position of the horizontal driving mechanism serving as a main drive in the two horizontal driving mechanisms before the torque acquiring module acquires the respective current torques of the two horizontal driving mechanisms of the stacker so as to realize speed closed loop and position closed loop.
Further, the closed-loop adjustment module comprises:
a first adjusting unit for adjusting a rotation speed of a horizontal driving mechanism as a main drive of the two horizontal driving mechanisms; the first adjusting unit includes:
a first configuration subunit for configuring the two horizontal drive mechanisms as electronic gear synchronization;
the first acquisition subunit is used for acquiring a theoretical rotating speed corresponding to a horizontal driving mechanism serving as a main drive;
a second acquiring subunit, configured to acquire an actual motor rotation speed of the horizontal driving mechanism as a main drive;
the first calculating subunit is used for calculating the rotating speed deviation between the actual rotating speed and the theoretical rotating speed of the motor;
and the first adjusting subunit is used for adjusting the rotating speed of the horizontal driving mechanism serving as the main drive according to the rotating speed deviation so as to realize speed closed loop.
Further, the closed-loop adjusting module further comprises:
a second adjustment unit for adjusting a position of a horizontal drive mechanism as a main drive of the two horizontal drive mechanisms, the second adjustment unit including:
the third acquisition subunit is used for acquiring a theoretical position corresponding to the horizontal driving mechanism as the main drive;
a fourth acquiring subunit for acquiring an actual position of the horizontal driving mechanism as the main drive;
a second calculating subunit, configured to calculate a position deviation between the actual position and the theoretical position;
and the second adjusting subunit is used for adjusting the position of the horizontal driving mechanism as the main drive according to the position deviation so as to realize position closed loop.
In yet another aspect, an embodiment of the present invention provides a computing device, including: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor is used for calling the machine readable program to execute the horizontal dual drive control method.
In yet another aspect, an embodiment of the present invention provides a computer-readable medium, where computer instructions are stored, and when executed by a processor, cause the processor to execute the above-mentioned horizontal dual-drive control method.
According to the horizontal dual-drive control method and device, the computing device and the computer readable medium of the stacker, aiming at two elastically connected horizontal driving mechanisms, the respective current torques of the two horizontal driving mechanisms are firstly obtained, the current average torques of the two horizontal driving mechanisms are calculated, and the torque difference value between each current torque and the current average torque is calculated. And then if the torque difference value does not fall within the preset range, carrying out rotation speed compensation on the corresponding horizontal driving mechanism so as to enable the torque deviation of the horizontal driving mechanism to return to the preset range. This allows the forces exerted by the two horizontal drive mechanisms to be substantially the same, so that substantially the same load distribution can be achieved by the two horizontal drive mechanisms. Reasonable load distribution can not lead to the shaking of the stacker, so that the stacker can be kept to run stably, and mechanical fatigue caused by mechanical shaking is avoided. Moreover, reasonable load distribution greatly reduces unreasonable excessive friction loss of the rubber wheel, and can reduce the replacement frequency of the rubber wheel. Therefore, the failure rate of the stacker is reduced, the stable operation and positioning accuracy of the stacker are improved, and the efficient working state is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a horizontal dual drive control method of a stacker according to an embodiment of the present invention;
fig. 2 is a schematic flow chart illustrating a specific process of performing the rotation speed compensation on the horizontal driving mechanism in which the torque difference value does not fall within the preset range in S130 according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a horizontal dual drive control method of a stacker according to an embodiment of the present invention;
fig. 4 is a schematic flow chart illustrating a specific process of adjusting the rotation speed of the horizontal driving mechanism as the main driving in S100 according to an embodiment of the present invention;
fig. 5 is a schematic flow chart illustrating a specific process of adjusting the position of the horizontal driving mechanism as the main driving in S100 according to an embodiment of the present invention;
FIG. 6 is a block diagram of the horizontal dual drive control of a stacker in one embodiment of the present invention;
FIG. 7 is a block diagram of a speed compensation module according to an embodiment of the present invention;
FIG. 8 is a block diagram of the horizontal dual drive control of a stacker in one embodiment of the present invention;
FIG. 9 is a block diagram of a first adjustment unit in one embodiment of the invention;
fig. 10 is a block diagram of a second adjustment unit according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the scope of the present invention.
In one aspect, the invention provides a horizontal dual drive control method of a stacker. The method is applied to a control scene of a horizontal driving mechanism of the stacker.
The stacker can be understood as storage and taking equipment in an automatic stereoscopic warehouse, complete the integral use requirement through mechanisms such as horizontal walking and vertical lifting, and can be matched with bar code ranging or laser ranging to realize high-precision operation.
The stacker driving system at least comprises a horizontal driving part and a vertical driving part, and the method provided by the embodiment of the invention only aims at the horizontal driving part which comprises two horizontal driving mechanisms.
It can be seen that, under normal conditions, the output conditions of the two horizontal driving mechanisms are substantially the same, and the two sides can achieve substantially the same load distribution, so that the stacker can move smoothly, but under some special conditions, for example, after long-time work, the two horizontal driving mechanisms have different tensities, or due to other reasons, the output conditions of the two horizontal driving mechanisms have a large difference, and at this time, the two sides cannot achieve proper load distribution, so that the wear of the rubber wheel on one side is accelerated. Moreover, the torque difference of the two horizontal driving mechanisms is increased, so that the stacker shakes, the stability and the positioning precision of the whole stacker are not facilitated, and the stacker can be damaged.
To this end, an embodiment of the present invention provides a horizontal dual-drive control method, and referring to fig. 1, the horizontal dual-drive control method provided in the embodiment of the present invention includes the following steps S110 to S130:
s110, acquiring respective current torques of two horizontal driving mechanisms of the stacker; the two horizontal driving mechanisms are in an elastic connection mode;
the horizontal driving part of the stacker is realized by two horizontal driving mechanisms, and the two horizontal driving mechanisms can be in rigid connection, flexible connection and elastic connection. The elastic connection mode brings shaft torsional vibration, so that the stability of the stacker is influenced, the stacker shakes, and even the stacker damages machinery, and the elastic influence brought by the elastic connection mode cannot be ignored. Therefore, the method provided by the embodiment of the invention is directed to the control process when the two horizontal driving mechanisms are in the elastic connection mode.
The current torque may be obtained from the respective drives of the two horizontal drive mechanisms.
In a specific implementation, an additional message 750 may be added first, and the current torque is read through the additional message 750, so that the torque data is periodically and quickly read.
S120, calculating current average torques of the two horizontal driving mechanisms according to the respective current torques of the two horizontal driving mechanisms, and calculating a torque difference value between each current torque and the current average torque;
it is understood that after obtaining the respective current torques of the two horizontal driving mechanisms, the average of the two current torques is calculated to obtain a current average torque, and then the difference between each current torque and the current average torque is calculated to obtain two torque differences.
And S130, if the torque difference value corresponding to any one horizontal driving mechanism is not in a preset range, carrying out rotation speed compensation on the horizontal driving mechanism of which the torque difference value is not in the preset range so as to enable the corresponding torque difference value to be in the preset range.
It can be understood that the two torque difference values are respectively compared with the preset range, and whether the torque difference value which does not fall within the preset range exists is judged.
The preset range may be set according to specific conditions, for example, within ± 5, and the preset range is generally set based on the average torque of the two horizontal driving mechanisms under normal conditions. The size of the preset range is not limited in the embodiments of the present invention.
It will be appreciated that if the median of the preset range and the current average torque are equal, then a situation may arise where neither torque difference is within the preset range, or where both torque differences are within the preset range. If the median of the preset range and the current average torque are not equal but differ by a small amount, a situation may also occur in which one of the torque difference values is within the preset range and the other torque difference value is not within the preset range.
In either case, for each horizontal drive mechanism whose torque difference value does not fall within the preset range, the rotational speed compensation is performed so that the torque difference value of the horizontal drive mechanism returns to the preset range. When the torque difference values of the two horizontal driving mechanisms both return to the preset range, the output levels of the two horizontal driving mechanisms are not much different, namely equivalent output levels.
In practical implementation, referring to fig. 2, the specific process of compensating the rotation speed of the horizontal driving mechanism in which the torque difference value does not fall within the preset range in S130 may include the following steps S131 to S133:
s131, converting the torque difference value which does not fall within the preset range into a corresponding rotating speed difference value;
it will be appreciated that the torque difference is converted to a rotational speed difference here, since the adjustment of the torque of the horizontal drive is ultimately effected by the adjustment of the rotational speed. The larger the torque, the larger the rotation speed, and therefore the larger the torque difference, the larger the rotation speed difference.
In a specific implementation, the torque difference may be multiplied by a preset scaling factor in S131, so as to obtain a corresponding rotation speed difference. The magnitude of the specific preset proportionality coefficient can be determined according to the conversion relation between the torque and the rotating speed, and the proportionality coefficient can also be understood as the conversion coefficient between the torque and the rotating speed. For a horizontal drive, the relationship between torque and speed is known, so the scaling factor is also known.
S132, determining a corresponding rotation speed compensation value according to the rotation speed difference value;
in a specific implementation, the magnitude of the rotation speed difference determined in S131 may be directly used as the magnitude of the rotation speed compensation value in S132. Certainly, a certain adjustment may also be performed on the basis of the rotation speed difference, for example, the rotation speed difference is multiplied by a coefficient slightly larger than 1 to obtain a rotation speed compensation value larger than the rotation speed difference, so that the effect of fast compensation can be achieved. For another example, the rotation speed difference is multiplied by a coefficient slightly smaller than 1 to obtain a rotation speed compensation value smaller than the rotation speed difference, so that the effect of smooth compensation can be achieved. Therefore, how to determine the magnitude of the corresponding speed compensation value according to the speed difference in S132 needs to be determined according to the desired compensation effect.
Of course, in addition to determining the magnitude of the speed compensation value, it is also necessary to determine the positive or negative of the speed compensation value.
In specific implementation, if the current torque of the horizontal driving mechanism, of which the torque difference value does not fall within the preset range, is greater than the current average torque, the corresponding rotation speed compensation value is a negative value, and if the current torque of the horizontal driving mechanism, of which the torque difference value does not fall within the preset range, is less than the current average torque, the corresponding rotation speed compensation value is a positive value.
That is, if the current torque is greater than the current average torque, the current torque needs to be reduced, and thus the corresponding rotational speed compensation value is a negative value. If the current torque is smaller than the current average torque, the current torque needs to be increased, so the corresponding rotation speed compensation value is a positive value.
S133, superposing the given rotating speed value of the horizontal driving mechanism and the rotating speed compensation value of which the torque difference value does not fall in the preset range to obtain a compensated rotating speed; controlling the horizontal driving mechanism of which the torque difference value does not fall within the preset range according to the compensated rotating speed;
it will be appreciated that in normal conditions, the motor of the horizontal drive mechanism is speed controlled at a given speed value. However, when the output forces of the two horizontal driving mechanisms are uneven, the rotation speed compensation needs to be performed, and at this time, a rotation speed compensation value needs to be superimposed on a given rotation speed value, so that the rotation speed of the horizontal driving mechanism is adjusted. Therefore, the given rotating speed value and the corresponding rotating speed compensation value are superposed, and the rotating speed of the horizontal driving mechanism is controlled by the compensated rotating speed, so that the torque difference value of the horizontal driving mechanism returns to the preset range.
Therefore, the rotation speed of each horizontal driving mechanism with overlarge torque deviation is adjusted through the steps from S131 to S133, so that the torque is in a normal range, and the output of the two horizontal driving mechanisms is equivalent.
In the stacker crane, two horizontal driving mechanisms can actually achieve a certain torsional vibration suppression capability through the rotating speed balancing system, but the torque suppression capability of the rotating speed balancing system depends on relevant parameters of the rotating speed regulator, such as gain parameters and the like. The related parameters of the rotating speed regulator are selected according to the speed regulation requirement and are not necessarily suitable for the requirement of inhibiting torsional vibration, so the embodiment of the invention provides the measures of inhibiting the torque provided by S110-S130, namely, a compensation link is added, thereby controlling the torque difference of the master-slave driving within a certain range.
In a specific implementation, referring to fig. 3, before performing S110 to S130, the following steps may be performed:
and S100, adjusting the rotating speed and the position of the horizontal driving mechanism serving as the main driving mechanism in the two horizontal driving mechanisms to realize a speed closed loop and a position closed loop.
The two horizontal driving mechanisms comprise a horizontal driving motor used as a main driving mechanism and a horizontal driving motor used as a slave driving mechanism. The two horizontal driving mechanisms are kept in synchronous relation, for example, electronic gear synchronous relation is kept between the two horizontal driving mechanisms. The rubber wheel of each horizontal driving motor is driven by the horizontal driving mechanism to horizontally move through friction force.
It is understood that by closed speed loop is meant that the theoretical and actual rotational speeds of the horizontal drive mechanism are made equal or comparable. In actual operation, only the rotation speed of the horizontal driving mechanism serving as the main drive needs to be adjusted, and the main drive drives the auxiliary drive to adjust the rotation speed, so that the speed closed loop of the main drive and the auxiliary drive is completely realized.
It will be understood that by closed loop of position is meant that the theoretical and actual positions of the horizontal drive mechanism are equal or comparable. In actual operation, only the position of the horizontal driving mechanism serving as the main drive needs to be adjusted, and the main drive drives the auxiliary drive to adjust the position, so that the main drive and the auxiliary drive are ensured to realize position closed loop.
It can be understood that in an actual scene, the speed closed loop of the horizontal driving mechanism is ensured, so that the horizontal driving mechanism can achieve the expected speed effect, and a good speed control precision is ensured. On the basis of reaching the speed closed loop, special conditions may occur, for example, the rubber wheel slips and idles, and at this time, a theoretical position obtained according to information such as the rotating speed of the motor of the horizontal driving mechanism, the number of turns and the like does not accord with an actual position of the horizontal driving motor, so that on the basis of the speed closed loop, position adjustment is also carried out to realize the position closed loop.
In specific implementation, the speed closed loop and the position closed loop can be realized through a process object model. In the process object model, an electronic gear synchronization relationship between the master and slave drives may be configured. The process object model can calculate the theoretical rotating speed and the theoretical position of the horizontal driving motor at each moment according to the operation parameters of the horizontal driving mechanism in the working process of the stacker, so that the speed closed loop and the position closed loop can be conveniently realized.
In specific implementation, referring to fig. 4, the specific process of adjusting the rotation speed of the horizontal driving mechanism as the main driving mechanism in S100 may include the following steps:
s101, configuring two horizontal driving mechanisms into electronic gear synchronization;
it will be appreciated that so-called electronic gear synchronisation is a linear synchronisation relationship. That is, the two horizontal driving mechanisms can maintain a linear synchronous motion relationship by this configuration. Among them, the electronic gear can greatly simplify the mechanical design, and can realize many functions that the mechanical gear is difficult to realize. The electronic gear can realize synchronous movement of a plurality of movement shafts according to a set gear ratio. The electronic gear function also enables one axis of motion to follow a function at a set gear ratio, with the function being determined by the motion of the other axes of motion. One axis of motion may also follow the combined speed of the other two axes in a set ratio.
In specific implementation, an electronic gear synchronous relationship between the two horizontal driving mechanisms can be configured in the process object model.
S102, acquiring a theoretical rotating speed corresponding to a horizontal driving mechanism serving as a main drive;
in specific implementation, the theoretical rotating speed corresponding to the horizontal driving mechanism serving as the main driving can be calculated through the process object model. For example, the process object model calculates a theoretical rotation speed value according to information such as an acceleration parameter and a time parameter.
S103, acquiring the actual rotating speed of a motor of the horizontal driving mechanism serving as the main drive;
in an actual scene, the motor encoder can record a real-time rotating speed value of a motor of the horizontal driving mechanism in the working process, so that the actual rotating speed can be obtained from the motor encoder of the horizontal driving mechanism serving as the main driving.
S104, calculating the rotating speed deviation between the actual rotating speed and the theoretical rotating speed of the motor;
and S105, adjusting the rotating speed of the horizontal driving mechanism serving as the main driving according to the rotating speed deviation so as to realize speed closed loop.
It will be appreciated that if the actual and theoretical rotational speeds are equal, no rotational speed adjustment is required at this time. If there is a deviation between the actual rotational speed and the theoretical rotational speed, a rotational speed adjustment is required, so that the deviation between the theoretical rotational speed and the actual rotational speed is eliminated. In the rotation speed adjustment, it is only necessary to adjust the horizontal driving mechanism as the main drive.
For example, if the actual rotation speed is greater than the theoretical rotation speed, the rotation speed of the horizontal drive mechanism as the main drive is adjusted to be small. If the actual rotational speed is less than the theoretical rotational speed, the rotational speed of the horizontal drive mechanism as the main drive is adjusted to be large.
Through the steps from S101 to S105, the speed closed loop of the horizontal driving mechanism is realized, the actual rotating speed and the theoretical rotating speed are ensured to be in the same level, and the control accuracy of the rotating speed can be realized.
In a specific implementation, referring to fig. 5, the adjusting the position of the horizontal driving mechanism as the main driving in S100 includes:
s106, acquiring a theoretical position corresponding to a horizontal driving mechanism serving as a main drive;
in specific implementation, the theoretical position corresponding to the horizontal driving mechanism as the main driving can be calculated through the process object model. Specifically, the theoretical position where the horizontal driving motor should be located can be determined according to information such as the rotating speed of the motor and the number of turns.
S107, acquiring the actual position of the horizontal driving mechanism as the main driving;
in particular implementations, the actual position of the horizontal drive mechanism may be measured by an external laser ranging device. The actual position of the horizontal drive motor can also be determined by an external barcode scanning device. I.e. the actual position of the horizontal drive mechanism as the main drive can be detected by an external additional device.
S108, calculating the position deviation between the actual position and the theoretical position;
and S109, adjusting the position of the horizontal driving mechanism as the main driving according to the position deviation so as to realize position closed loop.
It will be appreciated that if the actual and theoretical positions are the same, no position adjustment is required at this time. If there is a deviation between the actual position and the theoretical position, position adjustment is required to eliminate the deviation between the theoretical position and the actual position. In the position adjustment, it is only necessary to adjust the horizontal driving mechanism as the main drive.
For example, if the actual position is larger than the theoretical position, the position of the horizontal drive mechanism as the main drive is adjusted backward so that the horizontal drive mechanism as the main drive is slightly backward. If the actual position is smaller than the theoretical position, the position of the horizontal driving mechanism as the main drive is adjusted forward so that the horizontal driving mechanism as the main drive goes forward a little. Therefore, the actual position is the same as the theoretical position, and the position closed loop is realized.
If the high-speed stacker is applied, the horizontal driving part of the stacker adopts double drives, and the control requirement of the double drives is high. In order to realize double closed loops of speed and position, a process object model can be adopted to realize master-slave gear synchronization, the process object model can acquire related data through a 105 message, and the 105 message can realize high-speed response, so that the process object model can realize quick speed closed loop and position closed loop, and the response speed is improved.
It can be seen that here the synchronization of the two horizontal drive mechanisms can be achieved by a closed speed loop and a closed position loop. In actual operation, the process object model can be configured in the logic control module S7-1500, and the process object model is used to realize a speed closed loop and a position closed loop, thereby improving the positioning accuracy and ensuring the accuracy of final positioning.
It is understood that the steps S106 to S109 are executed on the basis of S101, and there is no sequence between the steps S106 to S109 and the steps S102 to S105.
It can be understood that even if the speed closed loop and the position closed loop are realized by the method, in an actual scene, due to the influence of some factors, the output forces of the two horizontal driving mechanisms may be unequal, and at this time, the torque difference value needs to be controlled within a preset range through the steps S110 to S130, so that reasonable load distribution of the two horizontal driving mechanisms can be realized.
In the implementation process of the speed closed loop and the position closed loop, only the main drive is controlled, and the main drive drives the auxiliary drive to implement the speed and position closed loop. However, in the process of equalizing the output forces of the two horizontal driving mechanisms according to the above-mentioned S110 to S130, it is necessary to perform processing for each horizontal driving mechanism, and the compensation operation for the master driving does not affect the compensation operation for the slave driving, and the compensation operation for the slave driving does not affect the compensation operation for the master driving.
According to the horizontal dual-drive control method of the stacker, provided by the embodiment of the invention, aiming at two horizontal driving mechanisms which are elastically connected, the respective current torques of the two horizontal driving mechanisms are firstly obtained, the current average torques of the two horizontal driving mechanisms are calculated, and the torque difference between each current torque and the current average torque is calculated. And then if the torque difference value does not fall within the preset range, carrying out rotation speed compensation on the corresponding horizontal driving mechanism so as to enable the torque deviation of the horizontal driving mechanism to return to the preset range. This allows the forces exerted by the two horizontal drive mechanisms to be substantially the same, so that substantially the same load distribution can be achieved by the two horizontal drive mechanisms. Reasonable load distribution can not lead to the shaking of the stacker, so that the stacker can be kept to run stably, and mechanical fatigue caused by mechanical shaking is avoided. Moreover, reasonable load distribution greatly reduces unreasonable excessive friction loss of the rubber wheel, and can reduce the replacement frequency of the rubber wheel. Therefore, the failure rate of the stacker is reduced, the stable operation and positioning accuracy of the stacker are improved, and the efficient working state is realized.
Therefore, the method provided by the embodiment of the invention is particularly suitable for a high-speed stacker, and the speed of the high-speed stacker is generally 3-6 meters per second.
The following describes the above method provided by the embodiment of the present invention with respect to a specific scenario:
firstly, the pain points of the customers in the process of using the stacker are collected, and the total pain points are found to be 5: pain point 1: at present, the stacker has no way to realize high-speed goods taking and stacking operation, and the working efficiency is lower; pain point 2: the rubber wheel is worn greatly, so the replacement frequency of the rubber wheel is high; pain point 3: the stacker shakes greatly; pain point 4: the stacker cannot perform dynamic response in time; pain point 5: the stacker has high failure rate.
Then, the five pain points of the client are analyzed one by one, and the pain points are found to appear because the reason is that the stacker generally runs devices, the motor has uneven output to cause shaking and vibration, the mechanical stability of the equipment is reduced, and the failure rate is higher; the efficiency of operation is lower due to higher failure rates and higher rubber wheel replacement frequency. In summary, the root cause is: the two motors have unbalanced output force, and the load distribution is unreasonable.
Then, the load type in the stacker is analyzed. Common load types include rigid load, flexible load, and elastic load, and different load types refer to a connection mode between two horizontal driving mechanisms. For the rigid load type, a direct speed control of the main drive is generally adopted. For flexible loads, a load balancing mode of a speed ring is generally adopted for control. Aiming at the elastic load, the embodiment of the invention provides a speed ring load balancing mode with rotation speed deviation compensation for controlling. The three control modes are mutually exclusive and need to be selected according to the connection mode between the two horizontal driving mechanisms.
And aiming at the elastic connection, selecting a speed ring load balancing mode with rotation speed deviation compensation to control. The specific process of the control mode can roughly comprise the following steps:
adding 750 additional messages, and reading actual torque values, namely current torques, of the motors of the two horizontal driving mechanisms through the 750 additional messages; calculating the average value of the two current torques to serve as the current average torque; then, calculating the difference between each current torque and the current average torque to obtain the corresponding torque deviation; multiplying the torque deviation by a preset proportionality coefficient to obtain a corresponding rotating speed deviation; taking the rotation speed deviation as a rotation speed compensation value; and superposing the rotation speed compensation value on the given rotation speed value of the corresponding horizontal driving mechanism, wherein if the current torque is larger than the current average torque, the negative rotation speed compensation value is superposed on the given rotation speed value of the corresponding horizontal driving mechanism, and if the current torque is smaller than the current average torque, the positive rotation speed compensation value is superposed on the given rotation speed value of the corresponding horizontal driving mechanism. And then, acquiring the current torque again, calculating the current average torque, calculating the torque deviation between the current torque and the current average torque, and if the torque deviation is not in the preset range, continuing the compensation process until the torque deviation is kept in the preset range.
The 750 additional message is a torque control message, which can be used for conveniently and periodically reading the real-time torque of the horizontal driving mechanism, is much more convenient than a non-periodic acquisition mode, and can also be used for carrying out amplitude limiting on the torque of the horizontal driving mechanism without calling a torque acquisition instruction in a program.
It can be understood that when the torque deviation is kept within the preset range, the torque difference of the two horizontal driving mechanisms is not much and is at the equivalent level, so that the output levels of the two horizontal driving mechanisms are equivalent, the stable operation of the stacker can be kept, the shaking of the stacker cannot be caused, and the mechanical stability of the stacker is ensured. Meanwhile, the rubber wheel on one side cannot be seriously abraded, and the replacement frequency of the rubber wheel is reduced. Because the stable operation of the stacker and the replacement frequency of the rubber wheels are reduced, the failure rate can be reduced, the working efficiency of the stacker is improved, the high-speed working state is kept, and the control instruction sent by a worker is responded in time.
Practice proves that the method provided by the invention can enable the stacker to run more stably, has less shake and low failure rate, can save the maintenance cost by 5-8%, can improve the horizontal speed from 2.5m/s to 4.5m/s, and can prolong the service life of the rubber wheel by 3-4 months. In recent years, with the rapid development of logistics industry, the demand is increased more rapidly, the intelligent warehouse presents a explosive growth situation, and the implementation of the method provided by the invention has a great positive effect on the application of driving products in a high-speed stacker.
On the other hand, one embodiment of the invention provides a horizontal double-driving control device of a stacker, which corresponds to the method, and the execution main body of the control device is a controller of a horizontal driving mechanism.
Referring to fig. 6, a horizontal dual-drive control device 10 of a stacker crane according to an embodiment of the present invention includes the following modules:
a torque obtaining module 110, configured to obtain respective current torques of two horizontal driving mechanisms of the stacker; the two horizontal driving mechanisms are in an elastic connection mode;
a difference calculation module 120, configured to calculate current average torques of the two horizontal driving mechanisms according to respective current torques of the two horizontal driving mechanisms, and calculate a torque difference between each of the current torques and the current average torque;
a rotation speed compensation module 130, configured to perform rotation speed compensation on the horizontal driving mechanism whose torque difference value does not fall within the preset range if the torque difference value corresponding to any one of the horizontal driving mechanisms is not within the preset range, so that the corresponding torque difference value falls within the preset range.
In some embodiments, referring to fig. 7, the rotation speed compensation module 130 may include:
a difference conversion unit 131, configured to convert the torque difference that does not fall within the preset range into a corresponding rotation speed difference;
the compensation calculating unit 132 is configured to determine a corresponding rotation speed compensation value according to the rotation speed difference;
a rotation speed superimposing unit 133, configured to superimpose the given rotation speed value of the horizontal driving mechanism and the rotation speed compensation value, where the torque difference value does not fall within the preset range, so as to obtain a compensated rotation speed; controlling the horizontal driving mechanism of which the torque difference value does not fall within the preset range according to the compensated rotating speed;
if the current torque of the horizontal driving mechanism, of which the torque difference value does not fall within the preset range, is greater than the current average torque, the corresponding rotation speed compensation value is a negative value, and if the current torque of the horizontal driving mechanism, of which the torque difference value does not fall within the preset range, is less than the current average torque, the corresponding rotation speed compensation value is a positive value.
In some embodiments, referring to fig. 8, the apparatus 10 may further comprise:
and a closed loop adjusting module 100, configured to adjust a rotation speed and a position of a horizontal driving mechanism serving as a main drive in the two horizontal driving mechanisms before the torque acquiring module acquires respective current torques of the two horizontal driving mechanisms of the stacker, so as to implement a speed closed loop and a position closed loop.
Further, the closed-loop adjustment module 100 includes:
a first adjusting unit for adjusting a rotation speed of a horizontal driving mechanism as a main drive of the two horizontal driving mechanisms; referring to fig. 9, the first adjusting unit includes:
a first configuration subunit 101 for configuring the two horizontal drive mechanisms as electronic gear synchronization;
a first acquiring subunit 102, configured to acquire a theoretical rotation speed corresponding to a horizontal driving mechanism as a main drive;
a second acquiring subunit 103 configured to acquire an actual motor rotation speed of the horizontal driving mechanism as a main drive;
a first calculating subunit 104, configured to calculate a rotational speed deviation between the actual rotational speed of the motor and the theoretical rotational speed;
and a first adjusting subunit 105, configured to perform rotation speed adjustment on the horizontal driving mechanism as the main driving according to the rotation speed deviation to realize a speed closed loop.
Further, the closed-loop adjustment module 100 further includes:
a second adjusting unit for adjusting a position of a horizontal driving mechanism as a main drive of the two horizontal driving mechanisms, referring to fig. 10, the second adjusting unit including:
a third acquiring subunit 106, configured to acquire a theoretical position corresponding to the horizontal driving mechanism as the main drive;
a fourth acquisition subunit 107 for acquiring an actual position of the horizontal drive mechanism as the main drive;
a second calculating subunit 108, configured to calculate a position deviation between the actual position and the theoretical position;
and a second adjusting subunit 109, configured to adjust the position of the horizontal driving mechanism as the main drive according to the position deviation, so as to implement a position closed loop.
In yet another aspect, an embodiment of the present invention provides a computing device, including: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor is used for calling the machine readable program and executing the horizontal dual-drive control method of the stacker.
In another aspect, an embodiment of the present invention provides a computer-readable medium, where computer instructions are stored on the computer-readable medium, and when the computer instructions are executed by a processor, the processor is configured to execute the method for horizontal dual-drive control of a stacker described above.
Specifically, a system or an apparatus equipped with a storage medium on which software program codes that realize the functions of any of the above-described embodiments are stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program codes stored in the storage medium.
In this case, the program code itself read from the storage medium can realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.
Examples of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer via a communications network.
Further, it should be clear that the functions of any one of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform a part or all of the actual operations based on instructions of the program code.
Further, it is to be understood that the program code read out from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then causes a CPU or the like mounted on the expansion board or the expansion module to perform part or all of the actual operations based on instructions of the program code, thereby realizing the functions of any of the above-described embodiments.
It is to be understood that for the explanation, the detailed description, the beneficial effects, the examples and the like of the related contents in the apparatus, the computing device and the computer readable medium provided by the embodiment of the present invention, reference may be made to the corresponding parts in the above method, and details are not described herein again.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
Those skilled in the art will recognize that, in one or more of the examples described above, the functions described in this disclosure may be implemented in hardware, software, hardware, or any combination thereof. When implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made on the basis of the technical solutions of the present invention should be included in the scope of the present invention.
Claims (12)
1. A horizontal dual-drive control method of a stacker is characterized by comprising the following steps:
acquiring respective current torques of two horizontal driving mechanisms of the stacker; the two horizontal driving mechanisms are in an elastic connection mode;
calculating current average torques of the two horizontal driving mechanisms according to the respective current torques of the two horizontal driving mechanisms, and calculating a torque difference value between each current torque and the current average torque;
and if the torque difference value corresponding to any one horizontal driving mechanism is not in a preset range, carrying out rotation speed compensation on the horizontal driving mechanism of which the torque difference value is not in the preset range so as to enable the corresponding torque difference value to be in the preset range.
2. The method of claim 1, wherein the speed compensating the horizontal drive mechanism for which the torque difference does not fall within the preset range comprises:
converting the torque difference value which does not fall within the preset range into a corresponding rotating speed difference value;
determining a corresponding rotation speed compensation value according to the rotation speed difference value;
superposing the given rotating speed value of the horizontal driving mechanism and the rotating speed compensation value of which the torque difference value does not fall within the preset range to obtain a compensated rotating speed;
controlling the horizontal driving mechanism of which the torque difference value does not fall within the preset range according to the compensated rotating speed;
if the current torque of the horizontal driving mechanism, of which the torque difference value does not fall within the preset range, is greater than the current average torque, the corresponding rotation speed compensation value is a negative value, and if the current torque of the horizontal driving mechanism, of which the torque difference value does not fall within the preset range, is less than the current average torque, the corresponding rotation speed compensation value is a positive value.
3. The method of claim 1, wherein prior to obtaining the current torque of each of the two horizontal drive mechanisms of the stacker, the method further comprises:
and adjusting the rotating speed and the position of the horizontal driving mechanism serving as a main drive in the two horizontal driving mechanisms so as to realize a speed closed loop and a position closed loop.
4. The method of claim 3, wherein said adjusting the rotational speed of the horizontal drive mechanism as the primary drive of the two horizontal drive mechanisms comprises:
configuring the two horizontal drive mechanisms to be electronically geared synchronously;
acquiring a theoretical rotating speed corresponding to a horizontal driving mechanism serving as a main drive;
acquiring the actual rotating speed of a motor of a horizontal driving mechanism serving as a main drive;
calculating the rotating speed deviation between the actual rotating speed and the theoretical rotating speed of the motor;
and adjusting the rotating speed of the horizontal driving mechanism serving as the main drive according to the rotating speed deviation so as to realize speed closed loop.
5. The method of claim 4, wherein said adjusting the position of the horizontal drive mechanism that is the primary drive of the two horizontal drive mechanisms comprises:
acquiring a theoretical position corresponding to a horizontal driving mechanism as a main drive;
acquiring an actual position of a horizontal driving mechanism as a main drive;
calculating a position deviation between the actual position and the theoretical position;
and adjusting the position of the horizontal driving mechanism as the main drive according to the position deviation so as to realize position closed loop.
6. A horizontal dual drive control device (10) of a stacker crane, comprising:
the torque acquisition module (110) is used for acquiring the respective current torque of two horizontal driving mechanisms of the stacker; the two horizontal driving mechanisms are in an elastic connection mode;
a difference calculation module (120) for calculating current average torques of the two horizontal drive mechanisms based on respective current torques of the two horizontal drive mechanisms and calculating a torque difference between each of the current torques and the current average torque;
and the rotating speed compensation module (130) is used for carrying out rotating speed compensation on the horizontal driving mechanism of which the torque difference value does not fall within the preset range if the torque difference value corresponding to any one horizontal driving mechanism does not fall within the preset range, so that the corresponding torque difference value falls within the preset range.
7. The apparatus of claim 6, wherein the speed compensation module (130) comprises:
a difference value conversion unit (131) for converting the torque difference value not falling within the preset range into a corresponding rotation speed difference value;
the compensation calculation unit (132) is used for determining a corresponding rotation speed compensation value according to the rotation speed difference value;
the rotating speed superposition unit (133) is used for superposing the given rotating speed value of the horizontal driving mechanism and the rotating speed compensation value of which the torque difference value does not fall within the preset range to obtain the compensated rotating speed;
the rotating speed control unit is used for controlling the horizontal driving mechanism of which the torque difference value does not fall within the preset range according to the compensated rotating speed;
if the current torque of the horizontal driving mechanism, of which the torque difference value does not fall within the preset range, is greater than the current average torque, the corresponding rotation speed compensation value is a negative value, and if the current torque of the horizontal driving mechanism, of which the torque difference value does not fall within the preset range, is less than the current average torque, the corresponding rotation speed compensation value is a positive value.
8. The apparatus of claim 6, further comprising:
and the closed loop adjusting module (100) is used for adjusting the rotating speed and the position of the horizontal driving mechanism serving as a main drive in the two horizontal driving mechanisms before the torque acquiring module (110) acquires the current torque of each of the two horizontal driving mechanisms of the stacker so as to realize speed closed loop and position closed loop.
9. The apparatus of claim 8, wherein the closed loop adjustment module (100) comprises:
a first adjusting unit for adjusting a rotation speed of a horizontal driving mechanism as a main drive of the two horizontal driving mechanisms; the first adjusting unit includes:
a first configuration subunit (101) for configuring the two horizontal drive mechanisms as electronic gear synchronizations;
a first acquisition subunit (102) for acquiring a theoretical rotational speed corresponding to a horizontal drive mechanism as a main drive;
a second acquisition subunit (103) for acquiring the actual rotational speed of the motor of the horizontal drive mechanism as the main drive;
a first calculation subunit (104) for calculating a rotational speed deviation between the actual rotational speed of the motor and the theoretical rotational speed;
and a first adjusting subunit (105) for adjusting the rotation speed of the horizontal driving mechanism as the main drive according to the rotation speed deviation to realize speed closed loop.
10. The apparatus of claim 9, wherein the closed-loop adjustment module (100) further comprises:
a second adjustment unit for adjusting a position of a horizontal drive mechanism as a main drive of the two horizontal drive mechanisms, the second adjustment unit including:
a third acquisition subunit (106) for acquiring a theoretical position corresponding to the horizontal drive mechanism as the main drive;
a fourth acquisition subunit (107) for acquiring an actual position of the horizontal drive mechanism as a main drive;
a second calculation subunit (108) for calculating a position deviation between the actual position and the theoretical position;
and a second adjusting subunit (109) for adjusting the position of the horizontal driving mechanism as the main drive according to the position deviation to realize position closed loop.
11. A computing device, comprising: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor, configured to invoke the machine readable program, to perform the method of any of claims 1 to 5.
12. A computer readable medium having stored thereon computer instructions which, when executed by a processor, cause the processor to perform the method of any of claims 1 to 5.
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