WO2023179583A1 - 一种抑制抓斗摇摆的控制方法、装置、设备及存储介质 - Google Patents
一种抑制抓斗摇摆的控制方法、装置、设备及存储介质 Download PDFInfo
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- WO2023179583A1 WO2023179583A1 PCT/CN2023/082673 CN2023082673W WO2023179583A1 WO 2023179583 A1 WO2023179583 A1 WO 2023179583A1 CN 2023082673 W CN2023082673 W CN 2023082673W WO 2023179583 A1 WO2023179583 A1 WO 2023179583A1
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- information
- grab
- swing
- speed
- grab bucket
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000002401 inhibitory effect Effects 0.000 title 1
- 230000033001 locomotion Effects 0.000 claims description 44
- 238000006073 displacement reaction Methods 0.000 claims description 28
- 238000004364 calculation method Methods 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 description 18
- 230000000694 effects Effects 0.000 description 16
- 238000010586 diagram Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 241000406668 Loxodonta cyclotis Species 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
Definitions
- the present application relates to the technical field of portal cranes, and in particular to a control method, device, equipment and storage medium for suppressing grab swing.
- the working system of the portal crane is mainly composed of a slewing mechanism, a luffing mechanism, a hoisting mechanism and an electrical control system; the wire rope is led from the pulley at the end of the trunk beam and connected to the grab body.
- the grab bucket will swing.
- the distance from the end of the trunk bridge to the center of gravity of the grab bucket is the equivalent pendulum length information of the wire rope.
- An absolute value encoder is installed on the motor shaft of the traction wire rope, which can measure the wire rope.
- the telescopic distance based on the length of the reference wire rope, plus the telescopic distance of the wire rope, can calculate the real-time distance between the end of the elephant trunk bridge and the grab bucket.
- the existing gantry crane uses a frequency converter to adjust the swing of the grab through stepless speed regulation when the crane is accelerating, braking, starting and stopping, so that the swing of the gantry crane is limited to a preset value. within the angle range.
- the inventor found that there are at least the following problems: when the gantry crane adjusts the swing of the grab through stepless speed regulation, the adjustment process of the stepless speed adjustment is slow, resulting in the gantry crane's angle adjustment. The problem of reduced crane working efficiency.
- this application provides a control method for suppressing grab swing, adopting the following technical solution: the method includes:
- the equivalent pendulum length information is obtained according to the swing amplitude of the grab bucket, and the equivalent pendulum length information is the length value corresponding to the swing motion of the grab bucket when it is at the highest position;
- the time values corresponding to the first deceleration time point information and the deceleration time information are controlled to be the same.
- the equivalent pendulum length information is the corresponding length value when the grab swings at the highest position and the swing amplitude is maximum.
- the average swing period is calculated based on the equivalent pendulum length information, and the speed theory curve is generated based on the average swing period. According to the speed The theoretical curve obtains the first deceleration point information and the second deceleration point information, calculates the difference between the average swing period and the second deceleration point and sets the difference as deceleration time information, and performs the first deceleration point information and deceleration time information.
- the grab is divided into three forms of motion: acceleration, uniform speed and deceleration.
- acceleration and deceleration time are the same, the anti-sway effect of the grab is It is best to reduce the shaking amplitude of the grab during operation, resulting in the possibility that the grab is still shaking significantly after the grab is in place, so that the grab can directly carry out grabbing operations after moving to the target position. , thereby improving the grabbing efficiency of the grab.
- obtaining the equivalent pendulum length information based on the swing amplitude of the grab bucket includes:
- Control the grab bucket to perform a swing operation which specifically includes:
- the grab is controlled to rise to the highest position until the grab cannot be raised, the grab is controlled to move at full speed, and after the grab reaches the maximum operating speed, the force driving the grab to move is canceled so that the grab moves in the inertial position.
- the swinging motion with the largest swing amplitude is carried out under the action, and the swing period of the grab bucket is counted.
- the swing period of the grab bucket is the time elapsed when the grab reaches the position with the largest swing amplitude in the same direction twice. Repeat the counting of the swing swing period of the grab bucket until the preset number is obtained. Calculate the average value of the preset number of grab swing periods and set the average value as the average swing period.
- generating a theoretical speed curve based on equivalent pendulum length information includes:
- the motor output value is set to the minimum anti-sway speed.
- the product value between the preset low-speed buffer adjustment coefficient and the anti-sway maximum speed is calculated and the product value is set as the position compensation information.
- the preset proportion coefficient is obtained according to the anti-sway maximum speed to calculate and generate the minimum anti-sway speed.
- calculate and obtain the first deceleration point position information and the second deceleration point position information based on the system theoretical curve information, anti-sway maximum speed, minimum anti-sway speed, position compensation information and actual swing period calculate the preset low-speed buffer adjustment coefficient and Calculate the product value between the anti-sway minimum speed and set the product value as the low-speed buffer displacement information.
- the preset theoretical operating trajectory range of the grab is obtained
- the door operator is controlled to move until the actual operating trajectory of the grab bucket is within the preset theoretical operating trajectory range.
- the preset theoretical operating trajectory range is obtained, the actual operating trajectory of the grab is obtained in real time, and the actual operating trajectory is compared with the preset theoretical operating trajectory range. If the actual operating trajectory is outside the theoretical operating trajectory range, Then the door operator is controlled to move until the actual operating trajectory of the grab bucket is within the preset theoretical operating trajectory range; this allows the door operator to adjust the position of the grab bucket in real time, reducing the deviation of the grab bucket relative to the theoretical operating trajectory range under the action of external forces. , resulting in the possibility that the grab bucket cannot move to the target position information, thus improving the accuracy of the grab bucket during movement.
- the theoretical end point coordinate information corresponding to the grab is obtained
- the door operator is controlled to drive the grab bucket to move until the grab bucket moves to the theoretical end point coordinates.
- the theoretical end point coordinate information corresponding to the grab is obtained, the actual grab coordinate information corresponding to the grab is obtained in real time, and the actual grab distance is calculated in real time.
- the actual grab distance is the combination of the theoretical end point coordinate information and the actual grab coordinate information. distance between each other, calculate the actual grab time based on the speed theoretical curve, and determine whether the actual grab time is within the preset standard grab time range; if so, control the door operator to drive the grab to move until the theoretical end coordinate of the movement; so that the door
- the machine only needs to consider the theoretical end point coordinates of the grab bucket without considering the grab running trajectory, so that the grab bucket can move to the theoretical end point coordinates quickly and conveniently, thereby improving the mobile efficiency of the grab bucket.
- control door machine to drive the grab bucket to move until the grab bucket moves to the theoretical end coordinate includes:
- the standard operating route of the grab bucket is changed until the obstacle coordinate information does not exist on the standard operating route of the grab bucket.
- the obstacle coordinate information in the preset obstacle database obtain the standard operating route of the grab, and determine whether the obstacle coordinate information exists in the standard operating route of the grab; if so, change the standard of the grab The running route until the obstacle coordinate information does not exist on the grab's standard running route; this allows the grab to select the best running route based on the obstacle coordinate information during movement, reducing the grab's contact with obstacles during movement. It may affect the operation of the grab, thereby improving the safety during the movement of the grab.
- this application provides a control device for suppressing the swing of a grab bucket, adopting the following technical solution: the device includes:
- the equivalent pendulum length acquisition module is used to obtain equivalent pendulum length information based on the swing amplitude of the grab bucket.
- the equivalent pendulum length information is the length value corresponding to the swing motion of the grab bucket when it is at the highest position;
- the swing period acquisition module is used to generate the average swing period based on the equivalent pendulum length information
- the speed curve generation module is used to generate the speed theoretical curve based on the average swing period
- the deceleration information acquisition module is used to obtain the first deceleration point information and the second deceleration point information according to the speed theoretical curve;
- Deceleration time calculation module used to calculate the difference between the average swing period and the second deceleration point information and set the difference as deceleration time information
- the equivalent swing length information corresponds to the swing motion of the grab bucket at the highest position and the maximum swing amplitude.
- Length value calculate the average swing period based on the equivalent pendulum length information, generate a speed theory curve based on the average swing period, obtain the first deceleration point information and the second deceleration point information based on the speed theory curve, and calculate the average swing period and the second deceleration point. and set the difference as deceleration time information. Adjust the first deceleration point information and deceleration time information until the first deceleration point information and deceleration time information are the same.
- the grab is divided into acceleration, uniform speed and There are three forms of deceleration movement. Among them, when the acceleration and deceleration time are the same, the anti-sway effect of the grab is the best, which reduces the shaking amplitude of the grab during operation, causing the grab to move after it is in place. The possibility that the grab bucket is still in a large shaking state allows the grab bucket to directly carry out grabbing operations after moving to the target position, thereby improving the grabbing efficiency of the grab bucket.
- the present application provides a computer device that adopts the following technical solution: including a memory and a processor.
- the memory stores a computer that can be loaded by the processor and execute any of the above control methods for suppressing grab swing. program.
- the equivalent swing length information corresponds to the swing motion of the grab bucket at the highest position and the maximum swing amplitude.
- Length value calculate the average swing period based on the equivalent pendulum length information, generate a speed theory curve based on the average swing period, obtain the first deceleration point information and the second deceleration point information based on the speed theory curve, and calculate the average swing period and the second deceleration point. and set the difference as deceleration time information. Adjust the first deceleration point information and deceleration time information until the first deceleration point information and deceleration time information are the same.
- the present application provides a computer-readable storage medium that adopts the following technical solution: storing a computer program that can be loaded by a processor and execute any of the above control methods for suppressing grab swing.
- the equivalent swing length information corresponds to the swing motion of the grab bucket at the highest position and the maximum swing amplitude.
- Length value calculate the average swing period based on the equivalent pendulum length information, generate a speed theory curve based on the average swing period, obtain the first deceleration point information and the second deceleration point information based on the speed theory curve, and calculate the average swing period and the second deceleration point. and set the difference as deceleration time information. Adjust the first deceleration point information and deceleration time information until the first deceleration point information and deceleration time information are the same.
- the grab is divided into acceleration, uniform speed and There are three forms of deceleration movement. Among them, when the acceleration and deceleration time are the same, the anti-sway effect of the grab is the best, which reduces the shaking amplitude of the grab during operation, causing the grab to move after it is in place. The possibility that the grab bucket is still in a large shaking state allows the grab bucket to directly carry out grabbing operations after moving to the target position, thereby improving the grabbing efficiency of the grab bucket.
- the equivalent swing length information is the length value corresponding to the swing motion of the grab bucket at the highest position and the maximum swing amplitude.
- Calculate the average swing period based on the equivalent pendulum length information generate a speed theory curve based on the average swing period, obtain the first deceleration point information and the second deceleration point information based on the speed theory curve, and calculate the difference between the average swing period and the second deceleration point value and set the difference as deceleration time information. Adjust the first deceleration point information and deceleration time information until the first deceleration point information and deceleration time information are the same.
- the grab is divided into three types: acceleration, uniform speed and deceleration during movement.
- acceleration when the acceleration and deceleration time are the same, the anti-sway effect of the grab is the best, which reduces the shaking amplitude of the grab during operation, resulting in the grab still moving after the grab is in place.
- the possibility of being in a large shaking state allows the grab to directly carry out grabbing operations after moving to the target position, thus improving the grabbing efficiency of the grab;
- the height position information is the current distance between the grab bucket and the highest position of the grab bucket.
- Figure 1 is a flow chart of a control method for suppressing grab swing in an embodiment of the present application.
- Figure 2 is a schematic diagram of the theoretical speed curve in the embodiment of the present application.
- Figure 4 is a structural block diagram of a control device for suppressing grab swing in the embodiment of the present application.
- the embodiment of the present application discloses a control method for suppressing the swing of a grab bucket.
- the method is based on a gantry crane control system.
- the gantry crane controls the grab bucket to move it is generally divided into three types: acceleration movement, uniform movement and deceleration movement.
- acceleration movement uniform movement
- deceleration movement During the moving process, when the time of acceleration movement and deceleration movement are the same, the anti-sway effect of the grab will be better.
- the method includes the following steps:
- the equivalent swing length information is the length value corresponding to the swing movement of the grab when it is at the highest position. If the grab is at other positions, the distance between the current position of the grab and the highest position can be obtained through the system encoder, and the highest position can be calculated. The sum value between the length value of the position and the maximum distance from the current position of the grab is set as the equivalent pendulum length information. For example, when the grab is at its highest position, the corresponding equivalent pendulum length information is r, and the distance between the current position of the grab and the highest position is h, then the current equivalent pendulum length information is r+h.
- the swing period T is calculated according to the formula, where r is the equivalent pendulum length, g is the gravity acceleration, when the grab When it is at other positions, obtain the distance between the current position of the grab and the highest position. According to the variant, where h is the distance between the current position of the grab and the highest position, calculate and generate the swing period T of the current grab position.
- the calculated swing period is used as the total time for the grab to run to the theoretical end point coordinate information, the theoretical running speed generated by the system and the distance between the grab and the theoretical end point coordinate information are obtained, and the theoretical operation
- the speed is set to the speed when the grab moves at a constant speed, and the acceleration time and deceleration time are controlled to be the same, and a theoretical speed curve is generated. For example, if the swing period is 10s, the theoretical operating speed is 5m/s, and the distance between the grab bucket and the theoretical end point is 40m, then it is calculated that the anti-sway effect is best when the acceleration time and deceleration time are 2s.
- the first deceleration point information is the time point corresponding to the transition of the grab bucket from accelerated motion to uniform motion
- the second deceleration point information is the time point corresponding to the transition of the grab bucket from uniform motion to deceleration motion.
- the deceleration time information is the difference between the advance swing period and the second deceleration point information.
- the first deceleration point information corresponds to the acceleration time information of the grab.
- the control system regenerates the theoretical speed curve until the first deceleration time point information is the same as the deceleration time; when the theoretical operating speed received by the system is greater than the maximum speed that the door operator can achieve , control the door machine output maximum speed. For example, if the maximum speed output by the door operator is 5m/s and the theoretical operating speed received is 8m/s, then the final speed at which the door operator controls the grab bucket movement is 5m/s.
- obtaining the swing amplitude of the grab bucket and obtaining the equivalent swing length information includes controlling the grab bucket to perform an ascending operation until the grab bucket cannot continue to perform the ascending operation.
- the bucket performs a swing operation, which specifically includes controlling the rocker to drive the grab to move until it reaches the maximum speed of the grab, and then releasing the rocker so that the grab is not stressed, causing the grab to swing at the maximum amplitude, and counting the grab swing.
- the grab swing period is the time it takes for the grab to reach the position with the largest swing in the same direction twice. Repeat the above steps until the preset number of grab swing cycles is obtained, and average the preset number of grab swing cycles.
- T is the average swing period
- r is the equivalent pendulum length
- g is the gravity acceleration.
- the equivalent pendulum length information is calculated and generated; by obtaining the grasp multiple times
- the method of bucket swing period improves the matching degree between the average swing period and the grab bucket, and improves the matching degree between the equivalent swing length and the grab bucket, thereby improving the accuracy of the anti-sway setting of the grab bucket.
- the acquired swing periods of multiple grab buckets are 10s, 8s, and 9s, and the average swing period is calculated to be 9s. Calculate based on the period
- the formula yields that the equivalent pendulum length is 0.2m.
- the current height position information of the grab is obtained.
- the height position information is the distance between the current grab and the highest position of the grab, according to
- the pendulum period calculation formula obtains the actual swing period, obtains the starting position information, target position information and real-time position information of the grab, calculates the difference between the starting position information and the target position information and sets the difference as the theoretical distance of the system information, obtain the preset buffer displacement information, calculate the difference between the system theoretical distance information and the buffer displacement information and set the difference as the system theoretical curve information, calculate the ratio between the system theoretical curve information and the actual swing period and set The ratio is set to the anti-sway maximum speed, and the system generates a speed theoretical curve based on the anti-sway maximum speed and the actual swing period; making the generated speed theoretical curve more closely match the actual motion trajectory of the grab, thus improving the anti-sway effect of the grab.
- the actual swing period is 10s
- the starting position information of the grab is 0m
- the target position information is 40m
- the preset buffer displacement information is 0.5m
- the calculated system theoretical distance information is 40m
- the system theoretical curve information is 39.5 m
- the final calculation shows that the maximum anti-sway speed is 3.95m/s.
- the compensation value needs to be calculated for the grab bucket. After the system generates a speed theoretical curve based on the anti-sway maximum speed and the actual swing period, the predetermined value is calculated. Set the product value between the low-speed buffer adjustment coefficient and the anti-sway maximum speed and set the product value as the position compensation information. Calculate the minimum anti-sway speed based on the anti-sway maximum speed.
- the door operator control grab considering that the door operator control grab only needs to move to the theoretical end point coordinate information during operation, obtain the theoretical end point coordinate information corresponding to the grab, obtain the actual grab coordinate information corresponding to the grab in real time, and calculate in real time Actual grab distance.
- the actual grab distance is the distance between the theoretical end point coordinate information and the actual grab coordinate information.
- the actual grab time is calculated based on the speed theoretical curve to determine whether the actual grab time is within the preset standard grab time range.
- the door operator is controlled to drive the grab bucket to move until it moves to the theoretical end point coordinates, so that the grab bucket does not need to move according to the theoretical running trajectory during the movement, and only needs to control the grab bucket to finally move to the theoretical end point coordinate information, so that During the movement of the grab bucket, it can be adjusted in real time according to the actual situation, which improves the efficiency of moving the grab bucket to the theoretical end point coordinate information.
- the theoretical end point coordinate is (0, 10)
- the actual grab coordinate information corresponding to the grab is (0, 0)
- the real-time position information of the grab is (5, 5).
- Controlling the door operator to drive the grab bucket to move until it moves to the theoretical end point coordinate includes obtaining Obstacle coordinate information in the preset obstacle database.
- the obstacle database stores obstacles within the moving range of the grab and obstacle coordinate information corresponding to the obstacles.
- the obstacle coordinate information coincides with the standard operating route of the grab bucket, it is judged that the obstacle coordinate information exists on the standard operating route of the grab bucket; if so, replace the grab bucket's standard operating route.
- the standard operating route until the obstacle coordinate information does not exist on the standard operating route of the grab; it reduces the possibility of damage to the grab due to collision with obstacles during operation, thus improving the safety performance of the grab during operation.
- the implementation principle of the embodiment of this application is: when setting the anti-sway of the grab bucket, first obtain the equivalent swing length information based on the swing amplitude of the grab bucket.
- the equivalent swing length information is the swing motion and swing amplitude of the grab bucket when it is at the highest position.
- the length value corresponding to the maximum value calculate the average swing period based on the equivalent pendulum length information, generate a speed theory curve based on the average swing period, obtain the first deceleration point information and the second deceleration point information based on the speed theory curve, calculate the average swing period and the second deceleration point information.
- the difference between the two deceleration points is set as deceleration time information, and the first deceleration point information and deceleration time information are adjusted until the first deceleration point information and deceleration time information are the same.
- an embodiment of the present application also discloses a control device for suppressing the swing of the grab bucket.
- the device includes the following modules:
- the equivalent pendulum length acquisition module 401 is used to obtain equivalent pendulum length information based on the swing amplitude of the grab bucket.
- the equivalent pendulum length information is the length value corresponding to the swing motion of the grab bucket when it is at the highest position;
- the swing period acquisition module 402 is used to generate an average swing period based on the equivalent swing length information
- the speed curve generation module 403 is used to generate a speed theoretical curve based on the average swing period
- the deceleration information acquisition module 404 is used to obtain the first deceleration point information and the second deceleration point information according to the speed theoretical curve;
- Deceleration time calculation module 405 used to calculate the difference between the average swing period and the second deceleration point information and set the difference as deceleration time information
- the deceleration time control module 406 is used to control the first deceleration time point to be the same as the deceleration time information.
- the equivalent pendulum length acquisition module 401 is also used to obtain the swing amplitude of the grab bucket.
- Obtaining the equivalent pendulum length information includes: controlling the grab bucket to rise to the highest position until the grab bucket cannot continue the lifting operation; controlling the grab bucket to move upward. Swing operation until the swing amplitude of the grab reaches the maximum; count the swing period of the grab, which is the time it takes for the grab to reach the position with the largest swing in the same direction twice; repeat the above steps until the preset number of grabs is obtained Swing period; calculate the average value of the preset number of grab bucket swing periods and set the average value as the average swing period; obtain the equivalent pendulum length information according to the simple pendulum period calculation formula.
- the speed curve generation module 403 is also used to calculate the relationship between the preset low-speed buffer adjustment coefficient and the maximum anti-sway speed after the system generates a theoretical speed curve based on the maximum anti-sway speed and the actual sway cycle. product value and set the product value as position compensation information;
- the grab curve correction device 407 is also used to obtain the theoretical end point coordinate information corresponding to the grab; obtain the actual grab coordinate information corresponding to the grab in real time; and calculate the actual grab distance in real time, and the actual grab distance is The distance between the theoretical end point coordinate information and the actual grab coordinate information; calculate the actual grab time based on the speed theoretical curve; determine whether the actual grab time is within the preset standard grab time range; if so, control the door operator to drive the grab bucket moves until it moves Move to the theoretical end point coordinates.
- the grab movement judgment device 408 is also used to obtain the theoretical end point coordinate information corresponding to the grab; obtain the actual grab coordinate information corresponding to the grab in real time; and calculate the actual grab distance in real time, and the actual grab distance is The distance between the theoretical end point coordinate information and the actual grab coordinate information; calculate the actual grab time based on the speed theoretical curve; determine whether the actual grab time is within the preset standard grab time range; if so, control the door operator to drive the grab The bucket moves until it reaches the theoretical end point coordinates.
- the grab movement judgment device 408 is also used to control the door operator to drive the grab to move until it reaches the theoretical end coordinate, including: obtaining the obstacle coordinate information in the preset obstacle database; obtaining the standard of the grab Operation route; determine whether the obstacle coordinate information exists on the grab bucket's standard operation route; if so, change the grab bucket's standard operation route until the obstacle coordinate information does not exist on the grab bucket's standard operation route.
- An embodiment of the present application also discloses a computer device.
- the computer device includes a memory and a processor, and the memory stores a computer program that can be loaded by the processor and execute the above control method for suppressing grab swing.
- the computer-readable storage medium stores a computer program that can be loaded by the processor and execute the above-mentioned control method for suppressing grab swing.
- the computer-readable storage medium includes, for example: a U disk, a mobile hard disk, and a portable computer.
- Various media that can store program code include Read-Only Memory (ROM), Random Access Memory (Random Access Memory, RAM), magnetic disks or optical disks.
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Abstract
一种自动化门机抑制抓斗摇摆的控制方法、装置、设备及存储介质,其中方法包括:根据抓斗摆动幅度获取等效摆长信息,等效摆长信息为抓斗在最高位置时进行摆动运动对应的长度值;根据等效摆长信息生成平均摆动周期;根据平均摆动周期生成速度理论曲线;根据速度理论曲线获取第一减速点信息和第二减速点信息;计算平均摆动周期与第二减速点信息之间的差值并将差值设置为减速时间信息;控制第一减速时间点信息和减速时间信息对应的时间值相同。该自动化门机抑制抓斗摇摆的控制方法能够使得抓斗在移动到目标位置后可以直接进行抓取操作,从而提升抓斗的抓取效率。
Description
本申请涉及门座式起重机的技术领域,尤其是涉及一种抑制抓斗摇摆的控制方法、装置、设备及存储介质。
对于门座式起重机工作***主要由回转机构、变幅机构、起升机构以及电气控制***组成;其中钢丝绳从象鼻梁端部的滑轮引出,连接至抓斗本体,在装卸作业过程中,当有回转或者变幅运动时,抓斗会出现摆动,从象鼻梁端部到抓斗重心之间距离即为钢丝绳等效摆长信息;牵引钢丝绳的电机轴上安装有绝对值编码器,可以测算钢丝绳伸缩的距离,在基准钢丝绳长度的基础上,加上钢丝绳伸缩的距离,可以计算出象鼻梁端部距离抓斗之间的实时距离。
现有的门座式起重机通过变频器在起重机进行加速、制动、启动和停止操作时,通过无级调速对抓斗的摆幅进行调整,使得门座式起重机的摆幅限制在预设的角度范围内。
在门座式起重机进行角度调节的过程中,发明人发现至少存在以下问题:门座式起重机通过无级调速对抓斗进行摆幅调整时,无级调速的调整过程缓慢导致门座式起重机工作效率降低的问题。
发明内容
为了改善门座式起重机采用无级调速导致的工作效率降低的问题,本申请提供的一种抑制抓斗摇摆的控制方法、装置、设备及存储介质。
第一方面,本申请提供一种抑制抓斗摇摆的控制方法,采用如下的技术方案:所述方法包括:
根据抓斗摆动幅度获取等效摆长信息,所述等效摆长信息为抓斗在最高位置时进行摆动运动对应的长度值;
根据等效摆长信息生成平均摆动周期;
根据平均摆动周期生成速度理论曲线;
根据速度理论曲线获取第一减速点信息和第二减速点信息;
计算平均摆动周期与第二减速点信息之间的差值并将所述差值设置为减速时间信息;
控制第一减速时间点信息和减速时间信息对应的时间值相同。
通过上述技术方案,在对抓斗进行防摇设置时,首先根据抓斗摆动幅度获取等效摆
长信息,等效摆长信息为抓斗在最高位置时进行摆动运动且摆动幅度最大时对应的长度值,根据等效摆长信息计算平均摆动周期,根据平均摆动周期生成速度理论曲线,根据速度理论曲线获取第一减速点信息和第二减速点信息,计算平均摆动周期和第二减速点之间的差值并将差值设置为减速时间信息,对第一减速点信息和减速时间信息进行调整直至第一减速点信息和减速时间信息相同,抓斗在运动过程中分为加速、匀速和减速三种形式的运动,其中在加速和减速经历的时间相同时,对抓斗的防摇效果最好,使得抓斗在运行过程中减少了抓斗的晃动幅度,导致抓斗在运行到位后抓斗仍处于大幅晃动状态的可能,使得抓斗在移动到目标位置后可以直接进行抓取操作,从而提升了抓斗的抓取效率。
在一个具体的可实施方案中,所述根据抓斗摆动幅度获取等效摆长信息包括:
控制抓斗进行摆幅操作,所述摆幅操作具体包括:
控制抓斗进行上升操作直至抓斗无法继续进行上升操作;
控制抓斗进行摆动操作直至抓斗的摆动幅度达到最大;
统计抓斗摆动周期,所述抓斗摆动周期为抓斗两次到达同一方向上摆幅最大的位置经过的时间;
控制抓斗重复进行摆幅操作直至获取预设数量的抓斗摆动周期;
对预设数量的抓斗摆动周期进行平均值计算并将所述平均值设置为平均摆动周期;
根据平均摆动周期和单摆周期计算公式获取等效摆长信息。
通过上述技术方案,控制抓斗上升至最高位置直至抓斗无法进行上升操作,控制抓斗进行全速运动并在抓斗达到最大运行速度后,撤销驱动抓斗进行运动的力使得抓斗在惯性的作用下进行摆动幅度最大的摆动运动,统计抓斗摆动周期,抓斗摆动周期为抓斗两次到达同一方向上摆幅最大的位置经过的时间,重复统计抓斗摆动周期直至获取到预设数量的抓斗摆动周期,对预设数量的抓斗摆动周期进行平均值计算并将平均值设置为平均摆动周期,根据单摆周期计算公式获取等效摆长信息,通过重复统计抓斗摆动周期的方式,提升了平均摆动周期与抓斗之间的匹配程度,从而提升了等效摆长信息与抓斗之间的匹配程度。
在一个具体的可实施方案中,所述根据等效摆长信息生成速度理论曲线包括:
获取抓斗当前的高度位置信息,所述高度位置信息为当前抓斗距离抓斗最高位置的高度;
根据单摆周期计算公式获取实际摇摆周期;
获取抓斗的起始位置信息和目标位置信息;
计算起始位置信息和目标位置信息之间的差值并将所述差值设置为***理论距离信息;
获取预设的缓冲位移信息;
计算***理论距离信息与缓冲位移信息之间的差值并将所述差值设置为***理论曲线信息;计算***理论曲线信息与实际摇摆周期之间的比值并将所述比值设置为防摇最大速度;
根据防摇最大速度和实际摇摆周期生成速度理论曲线。
通过上述技术方案,根据起升***编码器获取抓斗当前的高度位置信息,高度位置信息为抓斗当前距离抓斗最高位置的距离,根据挡板周期计算公式获取实际摇摆周期,获取抓斗的起始位置信息、目标位置信息和实时位置信息,计算起始位置信息和目标位置信息之间的差值并将差值设置为***理论距离信息,获取预设的缓冲位移信息,计算***理论距离信息和缓冲位移信息之间的差值并将差值设置为***理论曲线信息,计算***理论曲线信息与实际摇摆周期之间的比值并将比值设置为防摇最大速度,***根据防摇最大速度和实际摇摆周期生成速度理论曲线;提升了速度理论曲线生成的精准程度,使得***可以通过防摇最大速度和实际摇摆周期计算出最符合防摇效果的速度理论曲线,从而提升了抓斗的防摇效果。
在一个具体的可实施方案中,在所述根据防摇最大速度和实际摇摆周期生成速度理论曲线之后,还包括:
计算预设的低速缓冲调整系数与防摇最大速度之间的积值并将所述积值设置为位置补偿信息;计算防摇最大速度与预设的最小系数之间的积值并将所述积值设置为防摇最小速度;
根据***理论曲线信息、防摇最大速度、防摇最小速度、位置补偿信息和实际摆动周期计算并获取第一减速点位置信息和第二减速点位置信息;
计算预设的低速缓冲调整系数与防摇最小速度之间的积值并将所述积值设置为低速缓冲位移信息;
计算第二减速点位置信息与低速缓冲位移信息之间的和值并将所述和值设置为滞后位移信息;若抓斗的起始位置信息对应的高度值大于零且不大于第一减速点位置信息,则将预设的电机输出值设置为防摇最大速度;
若抓斗的目标位置信息大于第二减速点位置信息且大于第一减速点位置信息,则将电机输出值设置为最小防摇速度。
通过上述技术方案,计算预设的低速缓冲调整系数与防摇最大速度之间的积值并将积值设置为位置补偿信息,根据防摇最大速度获取预设的比例系数计算生成最小防摇速度,根据***理论曲线信息、防摇最大速度、最小防摇速度、位置补偿信息和实际摆动周期计算并获取第一减速点位置信息和第二减速点位置信息,计算预设的低速缓冲调整系数与防摇最小速度之间的积值并将积值设置为低速缓冲位移信息,计算第二减速点位置信息与低速缓冲位移信息之间的和值并将和值设置为滞后位移信息,若抓斗的初始位置信息大于0且小于等
于第一减速点位置信息,则将电机输出值设置为防摇最大速度,若抓斗的目标位置信息大于第二减速点位置信息且大于第一减速点位置信息时,则将电机输出值设置为最小防摇速度;通过添加校正值的方式,使得对抓斗的防摇设置更加匹配实际情况,进一步提升了抓斗的防摇效果。
在一个具体的可实施方案中,获取抓斗预设的理论运行轨迹范围;
实时获取抓斗的实际运行轨迹;
将实际运行轨迹与理论运行轨迹范围进行比对;
若实际运行轨迹位于理论运行轨迹范围外,则控制门机进行移动直至抓斗的实际运行轨迹位于预设的理论运行轨迹范围内。
通过上述技术方案,获取预设的理论运行轨迹范围,实时获取抓斗的实际运行轨迹,将实际运行轨迹与预设的理论运行轨迹范围进行比对,若实际运行轨迹位于理论运行轨迹范围外,则控制门机移动直至抓斗的实际运行轨迹位于预设的理论运行轨迹范围内;使得门机可以实时调节抓斗的位置,减少了抓斗在外力作用下产生相对理论运行轨迹范围的偏移,导致抓斗无法移动至目标位置信息的可能,从而提升了抓斗在移动过程中的精度。
在一个具体的可实施方案中,获取抓斗对应的理论终点坐标信息;
实时获取抓斗对应的实际抓斗坐标信息;
实时计算实际抓斗距离,所述实际抓斗距离为理论终点坐标信息与实际抓斗坐标信息之间的轨迹距离;
根据速度理论曲线计算实际抓斗时间;
判断实际抓斗时间是否位于预设的标准抓斗时间范围内;
若是,则控制门机带动抓斗进行移动直至抓斗移动至理论终点坐标。
通过上述技术方案,获取抓斗对应的理论终点坐标信息,实时获取抓斗对应的实际抓斗坐标信息,实时计算实际抓斗距离,实际抓斗距离为理论终点坐标信息与实际抓斗坐标信息之间的距离,根据速度理论曲线计算实际抓斗时间,判断实际抓斗时间是否位于预设的标准抓斗时间范围内;若是,则控制门机带动抓斗进行移动直至移动理论终点坐标;使得门机只需要考虑抓斗的理论终点坐标而无需考虑抓斗运行轨迹的问题,使得抓斗可以快速便捷的移动至理论终点坐标,从而提升了抓斗的移动效率。
在一个具体的可实施方案中,所述控制门机带动抓斗进行移动直至抓斗移动至理论终点坐标包括:
获取预设的障碍物数据库中的障碍物坐标信息;
获取抓斗的标准运行路线;
判断障碍物坐标信息是否存在在抓斗的标准运行路线;
若是,则更换抓斗的标准运行路线直至障碍物坐标信息不存在在抓斗的标准运行路线上。
通过上述技术方案,获取预设的障碍物数据库中的障碍物坐标信息,获取抓斗的标准运行路线,判断障碍物坐标信息是否存在在抓斗的标准运行路线;若是,则更换抓斗的标准运行路线直至障碍物坐标信息不存在在抓斗的标准运行路线上;使得抓斗在移动的过程中根据障碍物坐标信息选择最佳的运行路线,减少了抓斗在移动过程中触碰障碍物影响抓斗运行的可能,从而提升了抓斗移动过程中的安全程度。
第二方面,本申请提供一种抑制抓斗摇摆的控制装置,采用如下技术方案:所述装置包括:
等效摆长获取模块,用于根据抓斗摆动幅度获取等效摆长信息,所述等效摆长信息为抓斗在最高位置时进行摆动运动对应的长度值;
摆动周期获取模块,用于根据等效摆长信息生成平均摆动周期;
速度曲线生成模块,用于根据平均摆动周期生成速度理论曲线;
减速信息获取模块,用于根据速度理论曲线获取第一减速点信息和第二减速点信息;
减速时间计算模块;用于计算平均摆动周期与第二减速点信息之间的差值并将所述差值设置为减速时间信息;
减速时间控制模块,用于控制第一减速时间点和减速时间信息相同。
通过上述技术方案,在对抓斗进行防摇设置时,首先根据抓斗摆动幅度获取等效摆长信息,等效摆长信息为抓斗在最高位置时进行摆动运动且摆动幅度最大时对应的长度值,根据等效摆长信息计算平均摆动周期,根据平均摆动周期生成速度理论曲线,根据速度理论曲线获取第一减速点信息和第二减速点信息,计算平均摆动周期和第二减速点之间的差值并将差值设置为减速时间信息,对第一减速点信息和减速时间信息进行调整直至第一减速点信息和减速时间信息相同,抓斗在运动过程中分为加速、匀速和减速三种形式的运动,其中在加速和减速经历的时间相同时,对抓斗的防摇效果最好,使得抓斗在运行过程中减少了抓斗的晃动幅度,导致抓斗在运行到位后抓斗仍处于大幅晃动状态的可能,使得抓斗在移动到目标位置后可以直接进行抓取操作,从而提升了抓斗的抓取效率。
第三方面,本申请提供一种计算机设备,采用如下技术方案:包括存储器和处理器,所述存储器上存储有能够被处理器加载并执行如上述任一种抑制抓斗摇摆的控制方法的计算机程序。
通过上述技术方案,在对抓斗进行防摇设置时,首先根据抓斗摆动幅度获取等效摆长信息,等效摆长信息为抓斗在最高位置时进行摆动运动且摆动幅度最大时对应的长度值,根据等效摆长信息计算平均摆动周期,根据平均摆动周期生成速度理论曲线,根据速度理论曲线获取第一减速点信息和第二减速点信息,计算平均摆动周期和第二减速点之间的差值并将差值设置为减速时间信息,对第一减速点信息和减速时间信息进行调整直至第一减速点信息和减速时间信息相同,抓斗在运动过程中分为加速、匀速和减速三种形式的运动,其中在加速和减速经历的时间相同时,对抓斗的防摇效果最好,使得抓斗在运行过程中减少了抓斗的晃动幅度,导致抓斗在运行到位后抓斗仍处于大幅晃动状态的可能,使得抓斗在移动到目标位置后可以直接进行抓取操作,从而提升了抓斗的抓取效率。
第四方面,本申请提供一种计算机可读存储介质,采用如下技术方案:存储有能够被处理器加载并执行上述任一种抑制抓斗摇摆的控制方法的计算机程序。
通过上述技术方案,在对抓斗进行防摇设置时,首先根据抓斗摆动幅度获取等效摆长信息,等效摆长信息为抓斗在最高位置时进行摆动运动且摆动幅度最大时对应的长度值,根据等效摆长信息计算平均摆动周期,根据平均摆动周期生成速度理论曲线,根据速度理论曲线获取第一减速点信息和第二减速点信息,计算平均摆动周期和第二减速点之间的差值并将差值设置为减速时间信息,对第一减速点信息和减速时间信息进行调整直至第一减速点信息和减速时间信息相同,抓斗在运动过程中分为加速、匀速和减速三种形式的运动,其中在加速和减速经历的时间相同时,对抓斗的防摇效果最好,使得抓斗在运行过程中减少了抓斗的晃动幅度,导致抓斗在运行到位后抓斗仍处于大幅晃动状态的可能,使得抓斗在移动到目标位置后可以直接进行抓取操作,从而提升了抓斗的抓取效率。
综上所述,本申请包括以下至少一种有益技术效果:
1.在对抓斗进行防摇设置时,首先根据抓斗摆动幅度获取等效摆长信息,等效摆长信息为抓斗在最高位置时进行摆动运动且摆动幅度最大时对应的长度值,根据等效摆长信息计算平均摆动周期,根据平均摆动周期生成速度理论曲线,根据速度理论曲线获取第一减速点信息和第二减速点信息,计算平均摆动周期和第二减速点之间的差值并将差值设置为减速时间信息,对第一减速点信息和减速时间信息进行调整直至第一减速点信息和减速时间信息相同,抓斗在运动过程中分为加速、匀速和减速三种形式的运动,其中在加速和减速经历的时间相同时,对抓斗的防摇效果最好,使得抓斗在运行过程中减少了抓斗的晃动幅度,导致抓斗在运行到位后抓斗仍处于大幅晃动状态的可能,使得抓斗在移动到目标位置后可以直接进行抓取操作,从而提升了抓斗的抓取效率;
2.根据起升***编码器获取抓斗当前的高度位置信息,高度位置信息为抓斗当前距离抓斗最高位置的距离,根据挡板周期计算公式获取实际摇摆周期,获取抓斗的起始位置信息、目标位置信息和实时位置信息,计算起始位置信息和目标位置信息之间的差值并将差值设置为***理论距离信息,获取预设的缓冲位移信息,计算***理论距离信息和缓冲位移信息之间的差值并将差值设置为***理论曲线信息,计算***理论曲线信息与实际摇摆周期之间的比值并将比值设置为防摇最大速度,***根据防摇最大速度和实际摇摆周期生成速度理论曲线;提升了速度理论曲线生成的精准程度,使得***可以通过防摇最大速度和实际摇摆周期计算出最符合防摇效果的速度理论曲线,从而提升了抓斗的防摇效果。
图1是本申请实施例中抑制抓斗摇摆的控制方法的流程图。
图2是本申请实施例中速度理论曲线的示意图。
图3是本申请实施例中理论运行轨迹和实际运行轨迹的示意图。
图4是本申请实施例中抑制抓斗摇摆的控制装置的结构框图。
附图标记:401、等效摆长获取模块;402、摆动周期获取模块;403、速度曲线生成模块;404、减速信息获取模块;405、减速时间计算模块;406、减速时间控制模块;407、抓斗曲线校正装置;408、抓斗移动判断装置。
以下结合附图1-4对本申请作进一步详细说明。
本申请实施例公开一种抑制抓斗摇摆的控制方法,该方法基于门座式起重机控制***,门座式起重机在控制抓斗进行移动时,一般分为加速移动、匀速移动和减速移动三个移动过程,在进行加速运动的时间和减速运动的时间相同时,对抓斗的防摇效果越好。
如图1所示,该方法包括以下步骤:
S10,根据抓斗摆动幅度获取等效摆长信息。
其中,等效摆长信息为抓斗在最高位置时进行摆动运动对应的长度值,若抓斗位于其他位置时,可以通过***编码器获取抓斗当前位置到最高位置之间的距离,计算最高位置的长度值与抓斗当前位置距离最高位置之间的和值并将和值设置为等效摆长信息。例如,抓斗在最高位置时对应的等效摆长信息为r,抓斗当前位置距离最高位置之间的距离为h,则当前的等效摆长信息为r+h。
S11,根据等效摆长信息生成平均摆动周期。
其中,根据公式计算生成摆动周期T,其中r为等效摆长,g为重力加速度,当抓斗
位于其他位置时,获取抓斗当前位置距离最高位置之间的距离,根据变式其中h为抓斗当前位置距离最高位置之间的距离,计算生成当前抓斗位置的摆动周期T。
S12,根据平均摆动周期生成速度理论曲线。
其中,如图2所示,将计算生成的摆动周期作为抓斗运行至理论终点坐标信息的总时间,获取***生成的理论运行速度和抓斗与理论终点坐标信息之间的距离,将理论运行速度设置为抓斗匀速移动时的速度,并控制加速时间和减速时间相同,并生成速度理论曲线。例如,摆动周期为10s,理论运行速度为5m/s,抓斗距离理论终点距离为40m,则计算得出加速时间和减速时间为2s时,防摇效果最好。
S13,获取第一减速点信息和第二减速点信息。
其中,第一减速点信息为抓斗由加速运动转换成匀速运动对应的时间点,第二减速点信息为抓斗由匀速运动转换成减速运动对应的时间点。
S14,获取减速时间信息。
其中,减速时间信息为进军摆动周期与第二减速点信息之间的差值,第一减速点信息对应的为抓斗的加速时间信息,通过获取加速时间信息与减速时间信息并控制两者的对应值相同时,对抓斗的防摇效果最好。
S15,控制第一减速时间点信息和减速时间相同。
其中,第一减速时间点信息与减速时间不同时,控制***重新生成速度理论曲线直至第一减速时间点信息与减速时间相同;当***接收到的理论运行速度大于门机能够达到的最大速度时,控制门机输出最大速度。例如,门机输出的最大速度为5m/s,接收到理论运行速度为8m/s,则最终门机控制抓斗移动的速度为5m/s。
在一个实施例中,考虑到单次测量难以获取精确的抓斗摆动周期,在获取抓斗摆动幅度获取等效摆长信息包括控制抓斗进行上升操作直至抓斗无法继续进行上升操作,控制抓斗进行摆动操作,具体包括控制摇杆带动抓斗进行移动直至达到抓斗移动的最大速度,继而松开摇杆使得抓斗不受力,使得抓斗进行幅度最大的摆动运动,统计抓斗摆动周期,抓斗摆动周期为抓斗两次到达同一方向上摆幅最大的位置经过的时间,重复上述步骤直至获取预设数量的抓斗摆动周期,对预设数量的抓斗摆动周期进行平均值计算并将平均值设置为平均摆动周期,根据单摆周期计算公式其中,T为平均摆动周期,r为等效摆长,g为重力加速度,计算生成等效摆长信息;通过多次获取抓斗摆动周期的方式提升了平均摆动周期和抓斗之间的匹配程度,提升了等效摆长与抓斗的匹配程度,从而提升了抓斗防摇设置的精准程度。例如,获取的多个抓斗摆动周期为10s,8s,9s,计算得出平均摆动周期为9s,根据周期计算
公式得出等效摆长为0.2m。
在一个实施例中,考虑到抓斗在移动过程中抓斗实际移动距离与理论移动距离不同,获取抓斗当前的高度位置信息,高度位置信息为当前抓斗距离抓斗最高位置的距离,根据单摆周期计算公式获取实际摇摆周期,获取抓斗的起始位置信息、目标位置信息以及实时位置信息,计算起始位置信息和目标位置信息之间的差值并将差值设置为***理论距离信息,获取预设的缓冲位移信息,计算***理论距离信息与缓冲位移信息之间的差值并将差值设置为***理论曲线信息,计算***理论曲线信息与实际摇摆周期之间的比值并将比值设置为防摇最大速度,***根据防摇最大速度和实际摇摆周期生成速度理论曲线;使得生成的速度理论曲线更加匹配抓斗实际运动轨迹,从而提升了抓斗的防摇效果。例如,实际摇摆周期为10s,抓斗的起始位置信息为0m,目标位置信息为40m,预设的缓冲位移信息为0.5m,计算得出***理论距离信息为40m,***理论曲线信息为39.5m,最终计算得出防摇最大速度为3.95m/s。
在一个实施例中,考虑到抓斗在运动过程中风力等其他因素的影响,需要对抓斗进行补偿值的计算,在***根据防摇最大速度和实际摇摆周期生成速度理论曲线之后,计算预设的低速缓冲调整系数与防摇最大速度之间的积值并将积值设置为位置补偿信息,根据防摇最大速度计算最小防摇速度,根据公式S=T0-0.5*(Vt
2-V0
2)*T1/Vt-D*Vt,其中,S为第一减速点位置信息,T0为实际摇摆周期,Vt为最大防摇速度,V0为最小防摇速度,T1为抓斗摆动周期,D为低速缓冲调整系数;计算终点低速缓冲区域位移=低速缓冲调整系数*防摇最小速度,S2=0.5*VMIN
2*T1/Vt,其中,S2为第二减速点位置信息,VMIN为防摇最小速度,T1为抓斗摆动周期,Vt为防摇最大速度;计算滞后位移=第二减速点位置信息+终点低速缓冲区位移,使得抓斗在移动过程中与抓斗实际受力情况更加匹配,进一步提升了抓斗的防摇效果。
在一个实施例中,如图3所示,考虑到风力等外界因素对抓斗的运行轨迹产生影响,需要对抓斗运行的轨迹进行实时的监测,获取抓斗预设的了理论运行轨迹范围,实时获取抓斗的实际运行轨迹,将实际运行轨迹与理论运行轨迹进行比对,若实际运行轨迹位于理论运行轨迹范围外,则控制门机进行移动直至抓斗的实际运行轨迹位于预设的理论运行轨迹范围内,使得控制***可以根据预设的理论运行轨迹自动的对实际运行轨迹进行及时的调整,从而提升了抓斗在运行过程中的与理论运行轨迹的匹配程度。
在一个实施例中,考虑到门机控制抓斗在运行过程中只需要移动至理论终点坐标信息,获取抓斗对应的理论终点坐标信息,实时获取抓斗对应的实际抓斗坐标信息,实时计算
实际抓斗距离,实际抓斗距离为理论终点坐标信息与实际抓斗坐标信息之间的距离,根据速度理论曲线计算实际抓斗时间,判断实际抓斗时间是否位于预设的标准抓斗时间范围内,若是,则控制门机带动抓斗进行移动直至移动至理论终点坐标,使得抓斗在移动过程中无需进行按照理论运行轨迹进行移动,只需要控制抓斗最终移动至理论终点坐标信息,使得抓斗在移动过程中可以根据实际情况进行实时的调节,提升了抓斗移动至理论终点坐标信息的效率。例如,理论终点坐标为(0,10),抓斗对应的实际抓斗坐标信息为(0,0),在一段时间后,抓斗的实时位置信息为(5,5),计算实时抓斗位置信息移动至理论终点坐标时间为5s,预设的标准抓斗时间范围为5s,则控制门机带动抓斗直至实际抓斗坐标信息在预设的标准抓斗时间范围内移动至理论终点坐标(0,10)。
在一个实施例中,考虑到抓斗只需要移动至理论终点坐标信息,需要对抓斗移动过程中的障碍物坐标信息进行监测,控制门机带动抓斗进行移动直至移动至理论终点坐标包括获取预设的障碍物数据库中的障碍物坐标信息,障碍物数据库中储存有抓斗移动范围内障碍物以及与障碍物相对应的障碍物坐标信息,获取抓斗当前选择的标准运行路线,判断障碍物坐标信息是否存在抓斗的标准运行路线,当障碍物坐标信息与抓斗的标准运行路线相重合时,判断障碍物坐标信息存在在抓斗的标准运行路线上;若是,则更换抓斗的标准运行路线直至障碍物坐标信息不存在抓斗的标准运行路线上;减少了抓斗在运行过程中与障碍物碰撞导致抓斗损坏的可能,从而提升了抓斗运行过程中的安全性能。
本申请实施例的实施原理为:在对抓斗进行防摇设置时,首先根据抓斗摆动幅度获取等效摆长信息,等效摆长信息为抓斗在最高位置时进行摆动运动且摆动幅度最大时对应的长度值,根据等效摆长信息计算平均摆动周期,根据平均摆动周期生成速度理论曲线,根据速度理论曲线获取第一减速点信息和第二减速点信息,计算平均摆动周期和第二减速点之间的差值并将差值设置为减速时间信息,对第一减速点信息和减速时间信息进行调整直至第一减速点信息和减速时间信息相同。
基于上述方法,本申请实施例还公开一种抑制抓斗摇摆的控制装置。
如图4所示,该装置包括以下模块:
等效摆长获取模块401,用于根据抓斗摆动幅度获取等效摆长信息,等效摆长信息为抓斗在最高位置时进行摆动运动对应的长度值;
摆动周期获取模块402,用于根据等效摆长信息生成平均摆动周期;
速度曲线生成模块403,用于根据平均摆动周期生成速度理论曲线;
减速信息获取模块404,用于根据速度理论曲线获取第一减速点信息和第二减速点信息;
减速时间计算模块405;用于计算平均摆动周期与第二减速点信息之间的差值并将差值设置为减速时间信息;
减速时间控制模块406,用于控制第一减速时间点和减速时间信息相同。
在一个实施例中,等效摆长获取模块401,还用于获取抓斗摆动幅度获取等效摆长信息包括:控制抓斗上升至最高位置直至抓斗无法继续进行上升操作;控制抓斗进行摆动操作直至抓斗的摆动幅度达到最大;统计抓斗摆动周期,抓斗摆动周期为抓斗两次到达同一方向上摆幅最大的位置经过的时间;重复上述步骤直至获取预设数量的抓斗摆动周期;对预设数量的抓斗摆动周期进行平均值计算并将平均值设置为平均摆动周期;根据单摆周期计算公式获取等效摆长信息。
在一个实施例中,速度曲线生成模块403,还用于根据等效摆长信息生成速度理论曲线包括:获取抓斗当前的高度位置信息,高度位置信息为当前抓斗距离抓斗最高位置的距离;根据单摆周期计算公式获取实际摇摆周期;获取抓斗的起始位置信息、目标位置信息以及实时位置信息;计算起始位置信息和目标位置信息之间的差值并将差值设置为***理论距离信息;获取预设的缓冲位移信息;计算***理论距离信息与缓冲位移信息之间的差值并将差值设置为***理论曲线信息;计算***理论曲线信息与实际摇摆周期之间的比值并将比值设置为最大防摇速度;***根据最大防摇速度和实际摇摆周期生成速度理论曲线。
在一个实施例中,速度曲线生成模块403,还用于在***根据最大防摇速度和实际摇摆周期生成速度理论曲线之后,还包括:计算预设的低速缓冲调整系数与防摇最大速度之间的积值并将积值设置为位置补偿信息;
根据最大防摇速度计算防摇最小速度;根据***理论曲线信息、最大防摇速度、防摇最小速度、位置补偿信息和实际摆动周期计算并获取第一减速点位置信息和第二减速点位置信息;计算预设的低速缓冲调整系数与防摇最小速度之间的积值并将积值设置为低速缓冲位移信息;计算第二减速点位置信息与低速缓冲位移信息之间的和值并将和值设置为滞后位移信息;若抓斗的起始位置信息大于0且小于等于第一减速点位置信息,则将电机输出值设置为最大防摇速度;若抓斗的目标位置信息大于第二减速点位置信息且大于第一减速点位置信息时,则将电机输出值设置为最小防摇速度。
在一个实施例中,抓斗曲线校正装置407,还用于获取抓斗对应的理论终点坐标信息;实时获取抓斗对应的实际抓斗坐标信息;实时计算实际抓斗距离,实际抓斗距离为理论终点坐标信息与实际抓斗坐标信息之间的距离;根据速度理论曲线计算实际抓斗时间;判断实际抓斗时间是否位于预设的标准抓斗时间范围内;若是,则控制门机带动抓斗进行移动直至移
动至理论终点坐标。
在一个实施例中,抓斗移动判断装置408,还用于获取抓斗对应的理论终点坐标信息;实时获取抓斗对应的实际抓斗坐标信息;实时计算实际抓斗距离,实际抓斗距离为理论终点坐标信息与实际抓斗坐标信息之间的距离;根据速度理论曲线计算实际抓斗时间;判断实际抓斗时间是否位于预设的标准抓斗时间范围内;若是,则控制门机带动抓斗进行移动直至移动至理论终点坐标。
在一个实施例,抓斗移动判断装置408,还用于控制门机带动抓斗进行移动直至移动至理论终点坐标包括:获取预设的障碍物数据库中的障碍物坐标信息;获取抓斗的标准运行路线;判断障碍物坐标信息是否存在在抓斗的标准运行路线;若是,则更换抓斗的标准运行路线直至障碍物坐标信息不存在在抓斗的标准运行路线上。
本申请实施例还公开一种计算机设备。
具体来说,该计算机设备包括存储器和处理器,存储器上存储有能够被处理器加载并执行上述抑制抓斗摇摆的控制方法的计算机程序。
本申请实施例还公开一种计算机可读存储介质。
具体来说,该计算机可读存储介质,其存储有能够被处理器加载并执行如上述抑制抓斗摇摆的控制方法的计算机程序,该计算机可读存储介质例如包括:U盘、移动硬盘、只读存储器(Read-Only Memory,ROM)、随机存取存储器(Random Access Memory,RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本具体实施例仅仅是对本发明的解释,其并不是对本发明的限制,本领域技术人员在阅读完本说明书后可以根据需要对本实施例做出没有创造性贡献的修改,但只要在本发明的权利要求范围内都受到专利法的保护。
Claims (10)
- 一种自动化门机抑制抓斗摇摆的控制方法,其特征在于,所述方法包括:根据抓斗摆动幅度获取等效摆长信息,所述等效摆长信息为抓斗在最高位置时进行摆动运动对应的长度值;根据等效摆长信息生成平均摆动周期;根据平均摆动周期生成速度理论曲线;根据速度理论曲线获取第一减速点信息和第二减速点信息;计算平均摆动周期与第二减速点信息之间的差值并将所述差值设置为减速时间信息;控制第一减速时间点信息和减速时间信息对应的时间值相同。
- 根据权利要求1所述的方法,其特征在于,所述根据抓斗摆动幅度获取等效摆长信息包括:控制抓斗进行摆幅操作,所述摆幅操作具体包括:控制抓斗进行上升操作直至抓斗无法继续进行上升操作;控制抓斗进行摆动操作直至抓斗的摆动幅度达到最大;统计抓斗摆动周期,所述抓斗摆动周期为抓斗两次到达同一方向上摆幅最大的位置经过的时间;控制抓斗重复进行摆幅操作直至获取预设数量的抓斗摆动周期;对预设数量的抓斗摆动周期进行平均值计算并将所述平均值设置为平均摆动周期;根据平均摆动周期和单摆周期计算公式获取等效摆长信息。
- 根据权利要求1所述的方法,其特征在于,所述根据等效摆长信息生成速度理论曲线包括:获取抓斗当前的高度位置信息,所述高度位置信息为当前抓斗距离抓斗最高位置的高度;根据单摆周期计算公式获取实际摇摆周期;获取抓斗的起始位置信息和目标位置信息;计算起始位置信息和目标位置信息之间的差值并将所述差值设置为***理论距离信息;获取预设的缓冲位移信息;计算***理论距离信息与缓冲位移信息之间的差值并将所述差值设置为***理论曲线信息;计算***理论曲线信息与实际摇摆周期之间的比值并将所述比值设置为防摇最大速度;根据防摇最大速度和实际摇摆周期生成速度理论曲线。
- 根据权利要求3所述的方法,其特征在于,在所述根据防摇最大速度和实际摇摆周期生成速度理论曲线之后,还包括:计算预设的低速缓冲调整系数与防摇最大速度之间的积值并将所述积值设置为位置补偿信息;计算防摇最大速度与预设的最小系数之间的积值并将所述积值设置为防摇最小速度;根据***理论曲线信息、防摇最大速度、防摇最小速度、位置补偿信息和实际摆动周期计算并获取第一减速点位置信息和第二减速点位置信息;计算预设的低速缓冲调整系数与防摇最小速度之间的积值并将所述积值设置为低速缓冲位移信息;计算第二减速点位置信息与低速缓冲位移信息之间的和值并将所述和值设置为滞后位移信息;若抓斗的起始位置信息对应的高度值大于零且不大于第一减速点位置信息,则将预设的电机输出值设置为防摇最大速度;若抓斗的目标位置信息大于第二减速点位置信息且大于第一减速点位置信息,则将电机输出值设置为最小防摇速度。
- 根据权利要求1所述的方法,其特征在于,所述方法还包括:获取抓斗预设的理论运行轨迹范围;实时获取抓斗的实际运行轨迹;将实际运行轨迹与理论运行轨迹范围进行比对;若实际运行轨迹位于理论运行轨迹范围外,则控制门机进行移动直至抓斗的实际运行轨迹位于预设的理论运行轨迹范围内。
- 根据权利要求1所述的方法,其特征在于,所述方法还包括:获取抓斗对应的理论终点坐标信息;实时获取抓斗对应的实际抓斗坐标信息;实时计算实际抓斗距离,所述实际抓斗距离为理论终点坐标信息与实际抓斗坐标信息之间的轨迹距离;根据速度理论曲线计算实际抓斗时间;判断实际抓斗时间是否位于预设的标准抓斗时间范围内;若是,则控制门机带动抓斗进行移动直至抓斗移动至理论终点坐标。
- 根据权利要求6所述的方法,其特征在于,所述控制门机带动抓斗进行移动直至抓斗移动至理论终点坐标包括:获取预设的障碍物数据库中的障碍物坐标信息;获取抓斗的标准运行路线;判断障碍物坐标信息是否存在在抓斗的标准运行路线上;若是,则更换抓斗的标准运行路线直至障碍物坐标信息不存在在抓斗的标准运行路线上。
- 一种自动化门机抑制抓斗摇摆的控制装置,其特征在于,所述装置包括:等效摆长获取模块(401),用于根据抓斗摆动幅度获取等效摆长信息,所述等效摆长信息为抓斗在最高位置时进行摆动运动对应的长度值;摆动周期获取模块(402),用于根据等效摆长信息生成平均摆动周期;速度曲线生成模块(403),用于根据平均摆动周期生成速度理论曲线;减速信息获取模块(404),用于根据速度理论曲线获取第一减速点信息和第二减速点信息;减速时间计算模块(405),用于计算平均摆动周期与第二减速点信息之间的差值并将所述差值设置为减速时间信息;减速时间控制模块(406),用于控制第一减速时间点和减速时间信息相同。
- 一种计算机设备,其特征在于,包括存储器和处理器,所述存储器上存储有能够被处理器加载并执行如权利要求1至7中任一种方法的计算机程序。
- 一种计算机可读存储介质,其特征在于,存储有能够被处理器加载并执行如权利要求1至7中任一种方法的计算机程序。
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