CN204138189U - The quick accurate positioning device of grab crane based on fuzzy neuron PID controller - Google Patents
The quick accurate positioning device of grab crane based on fuzzy neuron PID controller Download PDFInfo
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- CN204138189U CN204138189U CN201420412316.7U CN201420412316U CN204138189U CN 204138189 U CN204138189 U CN 204138189U CN 201420412316 U CN201420412316 U CN 201420412316U CN 204138189 U CN204138189 U CN 204138189U
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Abstract
Based on a grab crane accurate positioning device for fuzzy neuron PID controller, comprise coder, fuzzy neuron PID controller, frequency converter, ultrasonic transduter, Programmable Logic Controller and touch-screen.Coder is arranged on the motor slow-speed shaft of cart, dolly respectively, on rotating shaft and hoisting drum.Coder is connected with Programmable Logic Controller by Profibus bus with frequency converter.Ultrasonic transduter is arranged on two ends, left and right on front side of hoisting crane, is connected with Programmable Logic Controller by A/D converter.Touch-screen is connected with Programmable Logic Controller by RS-485 bus.Achieve accurate positioning requirements fast.Can also realize, with the communication of industrial computer, reaching and monitoring object in real time by Industrial Ethernet simultaneously.Have autonomous location, location is accurate fast, advantage easy for installation.
Description
Technical field
The utility model relates to grab crane registration device, particularly the quick accurate positioning device of a kind of grab crane based on fuzzy neuron PID controller.
Background technology
Along with automatic control technology is in the application of crane field, transporter grab crane has progressively developed into the important component part of automation, Flexible Production from single handbarrow.Hoisting crane is towards intelligent development, and the core of crane intelligent embodies the autonomous location will grabbed bucket exactly.Traditional control method just simply by each mechanism motor rotating speed of control, thus completes corresponding actions, and control accuracy is poor, locates inaccurate, causes the operating efficiency of hoisting crane low.
There is a kind of laser locating apparatus for hoisting crane at present, laser rangefinder is arranged on end carriage, support rail beam installs reflecting plate, by transmitting measured values to control system, thus control the start and stop of motor, and then realize the location of hoisting crane.This kind of registration device is not only confined to the location in cart, dolly direction, and installs difficulty, and the maintenance cost of device is higher.
Simultaneously, on the hoisting crane that degree of automation is higher, also motor speed is regulated to realize hoisting crane location by PID controller (Proportion Integration Differentiation. proportional-integral derivative controller) or neuron PID controller.The locating point of grab crane is dynamic, according to job requirements real-time change.But traditional PID controller in use, controling parameters KP, KI, KD just immobilize, and the phenomenons such as overshoot, easily vibration easily appear in system.And neuron PID controller realizes the automatic adjustment to controling parameters, improve stability and the control accuracy of controller to a certain extent, but its neural gain K is changeless, therefore system robustness and control accuracy still have deficiency.
Summary of the invention
The purpose of this utility model is to provide and a kind ofly can realizes the quick accurate positioning device of grab crane based on fuzzy neuron PID controller, and can independently locate, location is fast accurately, easy for installation.
Taked for achieving the above object technical scheme of the utility model is: comprise coder, fuzzy neuron PID controller, frequency converter, ultrasonic transduter, Programmable Logic Controller and touch-screen.Coder is arranged on the motor slow-speed shaft of cart, dolly respectively, on rotating shaft and hoisting drum.Coder is connected with Programmable Logic Controller by Profibus bus with frequency converter.Ultrasonic transduter is arranged on two ends, left and right on front side of hoisting crane, is connected with Programmable Logic Controller by A/D converter.Touch-screen is connected with Programmable Logic Controller by RS-485 bus.
By such scheme, described fuzzy neuron PID controller is a kind of intelligent controller that can carry out controller parameter self aligning and adaptation function, particularly Neuro Controller, PID controller and fuzzy controller are cascaded, with the input that the deviation e of the coordinate preset value of grab crane and actual value is Neuro Controller, using deviation e and deviation variation rate ec as the input of fuzzy controller, adjust the controling parameter K of PID in real time with Neuro Controller
p, K
i, K
d, the controling parameter K of Neuro Controller is adjusted in real time with fuzzy controller.
By such scheme, described coder adopts the absolute value encoder being used for position measurement, and quantity is determined according to the number of motors of grab crane and reel quantity.
By such scheme, described touch-screen is connected with alarm module, has real-time display and the sound and light of alarm of grab crane running state.
The utility model compared with prior art, due to the registration device adopting fuzzy neuron PID controller to be combined with coder on grab crane, utilize ultrasonic detection device to the manual calibration of hoisting crane real-world operation position simultaneously, achieve accurate positioning requirements fast.Simultaneously touch-screen is by the communication of RS-485 bus and Programmable Logic Controller, reaches and monitors object in real time.Have autonomous location, location is accurate fast, advantage easy for installation.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model embodiment.
Fig. 2 is the control principle drawing of the utility model embodiment.
Fig. 3 is that the grab bucket of the utility model embodiment runs schematic diagram.
In figure: 1. actual position of grabbing bucket, 2. grab bucket object point, 3. cart, 4. dolly, 5. grab bucket, 6. coder, 7. fuzzy neuron PID controller, 8. ultrasonic transduter, 9. Programmable Logic Controller, 10. frequency converter, 11. motors, 12. touch-screens, 13. state converters, 14. fuzzy controllers
Detailed description of the invention
By reference to the accompanying drawings, concrete enforcement of the present utility model is further illustrated.
As shown in Figure 1, coder 6, fuzzy neuron PID controller 7, frequency converter 10, ultrasonic transduter 8, Programmable Logic Controller 9 and touch-screen 12 is comprised.Coder 6 is arranged on the electrical motor slow-speed shaft of cart 3, dolly 4 respectively, on rotating shaft and hoisting drum.Coder 6 is connected with Programmable Logic Controller 9 by Profibus bus with frequency converter 10.Ultrasonic transduter 8 is arranged on two ends, left and right on front side of hoisting crane, is connected with Programmable Logic Controller 9 by A/D converter.On front side of hoisting crane for hoisting crane run to the right time on the right side of.Touch-screen 12 is connected with Programmable Logic Controller 9 by RS-485 bus.
Detected the real-world operation position of grab crane by coder 6 in real time, utilize Profibus bus that observed reading is sent to Programmable Logic Controller 9.Location information is sent to fuzzy neuron PID controller 7 and positions by Programmable Logic Controller 9.Programmable Logic Controller 9, to frequency converter 10 sending controling instruction, realizes the speeds control to motor 11.Programmable Logic Controller 9 is communicated with touch-screen 12 by RS-485 bus, reaches the object of monitoring in real time.Touch-screen 12 is also connected with alarm module simultaneously.When hoisting crane running state occurs abnormal, can automatic alarm.The manual calibration that ultrasonic transduter 8 is located for hoisting crane.The application of Profibus bus and RS-485 bus, improves the speed of data transmission, achieves the quick position of hoisting crane.
As shown in Figure 2, the reel of the motor 11 of the utility model on cart 3, the motor 11 on dolly 4 and lifting mechanism is all provided with coder 6, after the location information that coder 6 gathers is sent to Programmable Logic Controller 9 by Profibus bus, data demonstrate the position coordinate of grab bucket 5 after treatment at touch-screen 12.Code device signal is converted into the signal that fuzzy neuron PID controller 7 can identify by utilization state conv 13 simultaneously, and fuzzy neuron PID controller 7 according to incoming signal, and changes K in real time according to signal intensity
p, K
i, K
dwith controling parameters such as neural gain K.Utilize frequency converter 10 to regulate motor 11 speed simultaneously, and then realize position control.
As shown in Figure 3, grab crane in the course of the work, walk on girder by dolly 4, and cart 3 track is vertical with girder.With cart 3 direction of travel for x direction, dolly 4 direction of travel is y direction, and grab bucket 5 direction that hoists is that system of axes is set up in z direction.In diagram, 1 is the real-world operation point of grab bucket 5, and coordinate is (x, y, z); 2 is the goal-selling point of grab bucket 5, and coordinate is (x
0, y
0, z
0).The present embodiment utilizes the state converter 13 in fuzzy neuron PID controller 7 to be compared with preset value 2 by the actual coordinate 1 of grab bucket P, obtain deviation e and deviation variation rate ec, using the two input as fuzzy neuron PID controller 7, through the process of controller, obtain exporting u (k), and utilize the value of u (k) to regulate the output of frequency converter 10, and then control the rotating speed of motor 11, thus realize hoisting crane from (x, y, z) to (x
0, y
0, z
0) autonomous, quick, accurately locate.This fuzzy neuron PID controller 7 overcomes conventional PID controllers controling parameters cannot self-adjusting shortcoming, fuzzy control is utilized to carry out Automatic adjusument to neuron gain K, reach controller parameter automatically to adjust and the object adapted to outside input change, there is good robustness and particularity.
Claims (4)
1. based on a grab crane accurate positioning device for fuzzy neuron PID controller, it is characterized in that: comprise coder (6), fuzzy neuron PID controller (7), frequency converter (10), ultrasonic transduter (8), Programmable Logic Controller (9) and touch-screen (12); Coder (6) is arranged on the motor slow-speed shaft of cart (3), dolly (4) respectively, on rotating shaft and hoisting drum; Coder (6) is connected with Programmable Logic Controller (9) by Profibus bus with frequency converter (10); Ultrasonic transduter (8) is arranged on two ends, left and right on front side of hoisting crane, is connected with Programmable Logic Controller (9) by A/D converter; Touch-screen (12) is connected with Programmable Logic Controller (9) by RS-485 bus.
2. the grab crane accurate positioning device based on fuzzy neuron PID controller according to claim 1, it is characterized in that: described fuzzy neuron PID controller (7) is a kind of intelligent controller that can carry out controller parameter self aligning and adaptation function, particularly Neuro Controller, PID controller and fuzzy controller is cascaded; With the input that the deviation e of the coordinate preset value of grab crane and actual value is Neuro Controller, using deviation e and deviation variation rate ec as the input of fuzzy controller, adjust the controling parameter K of PID in real time with Neuro Controller
p, K
i, K
d, the controling parameter K of Neuro Controller is adjusted in real time with fuzzy controller.
3. the grab crane accurate positioning device based on fuzzy neuron PID controller according to claim 1 and 2, it is characterized in that: described coder (6) adopts the absolute value encoder being used for position measurement, and quantity is determined according to motor (11) quantity of grab crane and reel quantity.
4. the grab crane accurate positioning device based on fuzzy neuron PID controller according to claim 3, it is characterized in that: described touch-screen (12) is connected with alarm module, there is real-time display and the sound and light of alarm of grab crane running state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420412316.7U CN204138189U (en) | 2014-07-25 | 2014-07-25 | The quick accurate positioning device of grab crane based on fuzzy neuron PID controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420412316.7U CN204138189U (en) | 2014-07-25 | 2014-07-25 | The quick accurate positioning device of grab crane based on fuzzy neuron PID controller |
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| Publication Number | Publication Date |
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| CN204138189U true CN204138189U (en) | 2015-02-04 |
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| CN201420412316.7U Expired - Fee Related CN204138189U (en) | 2014-07-25 | 2014-07-25 | The quick accurate positioning device of grab crane based on fuzzy neuron PID controller |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106966296A (en) * | 2017-05-24 | 2017-07-21 | 安徽科恩新能源有限公司 | tower crane monitoring system based on fuzzy controller |
| CN107487717A (en) * | 2017-07-31 | 2017-12-19 | 武汉理工大学 | Intelligent swing-proof control system of crane and method based on fuzzy-adaptation PID control |
| CN107804791A (en) * | 2017-11-01 | 2018-03-16 | 德马科起重机械有限公司 | A kind of gantry crane frequency-converting speed-governing control system |
| CN108423574A (en) * | 2018-05-10 | 2018-08-21 | 浙江虎霸建设机械有限公司 | A kind of Lift Mechanism in Power Hoist set a distance grade Precise Position System |
| CN109399465A (en) * | 2017-10-31 | 2019-03-01 | 河南卫华机械工程研究院有限公司 | It is a kind of completely to struggle against the electric control method of operation suitable for electronic four rope grab crane |
| CN113816270A (en) * | 2021-09-18 | 2021-12-21 | 法兰泰克重工股份有限公司 | Control method for cleaning pit by grab bucket |
| CN114407679A (en) * | 2022-03-04 | 2022-04-29 | 浙江理工大学 | Expansion bracket butt joint control method and mobile charging method |
-
2014
- 2014-07-25 CN CN201420412316.7U patent/CN204138189U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106966296A (en) * | 2017-05-24 | 2017-07-21 | 安徽科恩新能源有限公司 | tower crane monitoring system based on fuzzy controller |
| CN107487717A (en) * | 2017-07-31 | 2017-12-19 | 武汉理工大学 | Intelligent swing-proof control system of crane and method based on fuzzy-adaptation PID control |
| CN107487717B (en) * | 2017-07-31 | 2019-05-24 | 武汉理工大学 | Intelligent swing-proof control system of crane and method based on fuzzy-adaptation PID control |
| CN109399465A (en) * | 2017-10-31 | 2019-03-01 | 河南卫华机械工程研究院有限公司 | It is a kind of completely to struggle against the electric control method of operation suitable for electronic four rope grab crane |
| CN109399465B (en) * | 2017-10-31 | 2020-10-09 | 河南卫华重型机械股份有限公司 | Electrical control method suitable for full-bucket operation of electric four-rope grab crane |
| CN107804791A (en) * | 2017-11-01 | 2018-03-16 | 德马科起重机械有限公司 | A kind of gantry crane frequency-converting speed-governing control system |
| CN108423574A (en) * | 2018-05-10 | 2018-08-21 | 浙江虎霸建设机械有限公司 | A kind of Lift Mechanism in Power Hoist set a distance grade Precise Position System |
| CN108423574B (en) * | 2018-05-10 | 2024-05-28 | 浙江虎霸建设机械有限公司 | Tower crane hoisting mechanism distance millimeter-level accurate positioning system |
| CN113816270A (en) * | 2021-09-18 | 2021-12-21 | 法兰泰克重工股份有限公司 | Control method for cleaning pit by grab bucket |
| CN113816270B (en) * | 2021-09-18 | 2024-05-10 | 法兰泰克重工股份有限公司 | Control method for cleaning pit of grab bucket |
| CN114407679A (en) * | 2022-03-04 | 2022-04-29 | 浙江理工大学 | Expansion bracket butt joint control method and mobile charging method |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150204 Termination date: 20150725 |
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| EXPY | Termination of patent right or utility model |