CN102621991B - Positioning control device, system and method of movement mechanism and engineering machinery - Google Patents
Positioning control device, system and method of movement mechanism and engineering machinery Download PDFInfo
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- CN102621991B CN102621991B CN201210084943.8A CN201210084943A CN102621991B CN 102621991 B CN102621991 B CN 102621991B CN 201210084943 A CN201210084943 A CN 201210084943A CN 102621991 B CN102621991 B CN 102621991B
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Abstract
The invention provides a positioning control device, a positioning control system, a positioning control method and engineering machinery of a movement mechanism. The bit control device includes: the control unit is used for acquiring the current movement position of the movement mechanism and a first signal for indicating the movement mechanism to move to the target position, and when the difference value between the current movement position and the target position is larger than a set value, the control unit controls the movement mechanism to move at a first speed; otherwise, the control unit controls the movement mechanism to move at a second speed which is less than the first speed, and when the control unit receives the first signal, the control unit controls the movement mechanism to stop moving. The invention adopts the real-time position detection unit to detect the current position of the movement mechanism in real time, can control the movement mechanism to move to the target position at a lower second speed, and finally realizes the positioning of the movement mechanism through the first signal sent by the target position detection unit, can achieve higher positioning precision, and prevents the mechanical parts or hydraulic parts of the engineering machinery from being damaged.
Description
Technical field
The present invention relates to engineering machinery field, more specifically, relate to a kind of position control device of motion, system, method and engineering machinery.
Background technology
Can use various motion in engineering machinery, these motions can moving linearly, also can move along a curved path, during use, need to control the motion of motion and locate.Such as, have in the engineering machinery of slew gear at crane, pump truck, high altitude vehicle, high-altitude fire fighting truck etc., after operation completes, only have by slew gear to after jib centering, just can carry out the operation of receiving arm.This is because jib must rotate to and just can put down with on all four direction, axis, chassis, otherwise likely damages mechanical part, even causes serious security incident.
Fig. 1 shows the schematic diagram of a kind of position control device for controlling slew gear of the prior art.As shown in Figure 1, general by control module (such as PLC) in prior art, control slew gear in mode manually or automatically by topworks's (such as proportioning valve, reversal valve etc.) to rotate, and rely on angular transducer or travel switch to detect whether centering.When detecting that angular transducer or travel switch arrive certain threshold values, terminate centering; Otherwise continue to control slew gear revolution.
When only adopting angular transducer to detect, generally all there is the phenomenon (namely deviation appears in centering references angle) of zero drift, this can cause the insecure problem of testing result.In addition, due to the limited precision of angular transducer, centering result is unsatisfactory.Rely on this result to put down jib if long-term, then easily damage chassis overhang or associated components, even occur security incident.Further, when zero drift appears in angular transducer, automatically cannot demarcate, need often manually to demarcate, there is the shortcoming wasted time and energy.
When only adopting travel switch to detect, although more accurately centering can be realized, but cannot the angle of accurately perception current arm support in real time, therefore effectively cannot control the speed of gyration of slew gear, easily because the reasons such as inertia cause the phenomenon of " crossing centering ".
Summary of the invention
The present invention aims to provide a kind of position control device of motion, system, method and engineering machinery, to solve the problem cannot carrying out accurately location in prior art to the motion of motion.
For solving the problems of the technologies described above, according to a first aspect of the invention, provide a kind of position control device of motion, comprise: control module, obtain the current kinetic position of motion and be used to indicate the first signal that motion moves to target location, when difference between current kinetic position and target location is greater than setting value, control module controlled motion mechanism moves with First Speed; Otherwise control module controlled motion mechanism moves with the second speed being less than First Speed, and when control module receives the first signal, the stop motion of controlled motion mechanism.
Further, motion is slew gear.
Further, after the difference between current kinetic position and target location equals setting value, the angle that motion turns over is the first angle; If when the first angle has exceeded setting value, control module has not still received the first signal, then control module judges to break down for generation of the target position detection unit of the first signal.
Further, the value corresponding to current kinetic position obtained when motion navigates to target location is target location value, and control module is demarcated the real time position detecting unit for detecting current kinetic position according to target location value.
According to a second aspect of the invention, provide a kind of positioning control system of motion, comprising: real time position detecting unit, for detecting the current kinetic position of motion; Target position detection unit, for detecting the whether arrival target location of motion, when motion reaches target location, target position detection unit sends the first signal; Position control device, position control device is above-mentioned position control device.
According to a third aspect of the present invention, providing a kind of engineering machinery, comprising motion and the positioning control system for controlling the motion of motion, this positioning control system is above-mentioned positioning control system.
According to a fourth aspect of the present invention, provide a kind of position control method of motion, comprising: obtain the current kinetic position of motion and be used to indicate the first signal that motion moves to target location; When difference between current kinetic position and target location is greater than setting value, controlled motion mechanism moves with First Speed; Otherwise controlled motion mechanism moves with the second speed being less than First Speed, and when the first signal being detected, the stop motion of controlled motion mechanism.
Further, the motion of motion is gyration.
Further, after the difference between current kinetic position and target location equals setting value, the angle that motion turns over is the first angle; If when the first angle has exceeded setting value, still do not receive the first signal, then judged that the target position detection unit for generation of the first signal breaks down.
Further, the value corresponding to current kinetic position obtained when motion navigates to target location is target location value, demarcates the real time position detecting unit for detecting current kinetic position according to target location value.
Position control device in the present invention detects in real time owing to have employed the current location of real time position detecting unit to motion, thus motion can be controlled with lower second speed motion arrival target location, and realize the location to motion eventually through the first signal that target position detection unit sends, higher positioning precision can be reached, prevent mechanical part or the hydraulic unit of spoiled work machinery.
Accompanying drawing explanation
The accompanying drawing forming a application's part is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 diagrammatically illustrates the schematic diagram of a kind of position control device for controlling slew gear of the prior art;
Fig. 2 diagrammatically illustrates the schematic diagram of the position control device in the embodiment of the present invention; And
Fig. 3 diagrammatically illustrates the control flow chart of the position control device in the embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are described in detail, but the multitude of different ways that the present invention can be defined by the claims and cover is implemented.
As a first aspect of the present invention, provide a kind of position control device of motion.As shown in Figure 2, position control device comprises: control module (such as microcontroller, PLC etc.), obtains the current kinetic position of motion and is used to indicate the first signal that motion moves to target location; When difference between current kinetic position and target location is greater than setting value, control module controlled motion mechanism moves with First Speed; Otherwise control module controlled motion mechanism moves with the second speed being less than First Speed, and when control module receives the first signal, the stop motion of controlled motion mechanism.
It should be noted that, motion can moving linearly, also can move along a curved path (such as gyration etc.).Position control device in the present invention, by the motion control to motion, makes motion finally navigate to target location.
Below for slew gear, the course of work of the position control device in the present invention is described.
Please refer to Fig. 2, detect by the current kinetic position of real time position detecting unit to motion, its positional information detected sends to control module, when control module detects that motion also has larger distance from target location (difference between current kinetic position and target location is greater than setting value), control module can control topworks with the motion of higher speed, thus actuation movement mechanism moves with First Speed.Otherwise, when control module detects motion close to (difference between current kinetic position and target location is less than or equal to setting value) during target location, now, need the speed reducing motion, make it with second speed lentamente close to target location.Preferably, when the difference between current kinetic position and target location equals setting value, the direction of motion of control module record motion, and controlled motion mechanism continues to move along this direction of motion, and finally arrive at target location.
Lentamente close in the process of target location, control module detects the first signal whether having and motion can be indicated to move to target location at any time.That is, if receive the first signal, just show that motion arrives target location.Now, control module can control topworks's (such as proportioning valve, reversal valve, motor etc.) stop motion, thus makes motion navigate to target location exactly.
Position control device in the present invention due to can Real-time Obtaining motion current kinetic position and be used to indicate motion motion and reach the first signal of target location, thus motion can be controlled with lower second speed motion arrival target location, and the location finally realized motion, higher positioning precision can be reached, prevent mechanical part or the hydraulic unit of spoiled work machinery.In addition, in the process of location, motion arrives target location with lower speed, therefore, can avoid the inaccurate problem in location because the reasons such as inertia cause.
In a preferred embodiment, motion is slew gear.In the present embodiment, after the difference between current kinetic position and target location equals setting value, the angle that motion turns over is the first angle; If when the first angle has exceeded setting value, control module has not still received the first signal, then control module judges to break down for generation of the target position detection unit of the first signal.Because target position detection unit is after long-term work, may damage, therefore, by the way, just can detect the state of target position detection unit.Further, position control device in the present invention can also comprise alarm unit, and alarm unit is electrically connected with control module, when control module judges that target position detection unit breaks down, control module controls alarm unit and gives the alarm, and notes to remind operating personnel.
Such as, for slew gear, slew gear can move in the both sides of target location.Slew gear both can move from the left side of target location to target location, can also move from the right side of target location to target location.The angle value of hypothetical target position is 0, and the angle value on the left of target location is negative value, the angle value on the right side of target location be on the occasion of, setting value is 5 degree.Like this, when the current kinetic position of motion and the difference of target location are beyond the scope of ± 5 degree, control module controlled motion mechanism moves to target location with First Speed, thus can raise the efficiency, saves time.When motion be positioned at target location ± scope of 5 degree within time, control module controlled motion mechanism moves to target location lentamente with second speed motion.When target position detection unit is working properly, if motion arrives target location, target position detection unit will send the first signal, and the first signal that then control module receives according to it makes motion stop motion, and is positioned at target location.But if target position detection unit breaks down, so after motion exceedes target location, control module can not receive the first signal, motion can continue move along pivotal direction and can not stop.Now, as long as carry out judgement to the transhipment angle of motion can judge whether target position detection unit breaks down.
Preferably, the value corresponding to current kinetic position obtained when motion navigates to target location is target location value, and control module is demarcated the real time position detecting unit for detecting current kinetic position according to target location value.Such as, when zero point drift does not occur, target location value is A; After there is zero point drift, target location value is B, and so, control module can be demarcated target location value according to B, that is, when the value corresponding to the current kinetic position got is B, namely shows to have arrived target location.Therefore, real-time calibration can be carried out to real time position detecting unit, thus overcome the problem needing often to carry out artificial demarcation owing to there is zero drift.
Below in conjunction with Fig. 3, the control flow of the position control device in the present invention is described in detail.
Step 1, control module controlled motion mechanism runs with First Speed;
Step 2, control module obtains the current kinetic position of motion, and whether the difference compared between current kinetic position and target location is less than setting value; If be less than setting value, then perform step 3, otherwise continue to perform step 1;
Step 3, control module controlled motion mechanism moves with second speed;
Step 4, control module detects the first signal whether received from target position detection unit, if do not received, then continues to perform step 3, otherwise performs step 5;
Step 5, the stop motion of control module controlled motion mechanism;
Step 6, the current kinetic position obtained when control module navigates to target location according to motion is demarcated real time position detecting unit.
Step 7, terminates this control flow.
As a second aspect of the present invention, provide a kind of positioning control system of motion, comprising: real time position detecting unit, for detecting the current kinetic position of motion; Target position detection unit, for detecting the whether arrival target location of motion, when motion reaches target location, target position detection unit sends the first signal; Position control device, this position control device is the position control device in the various embodiments described above.
Preferably, real time position detecting unit can be scrambler (such as angular encoder, draw wire encoder etc.) and other sensor (such as angular transducer etc.) that can detect position; Target position detection unit can be travel switch, limit switch, proximity switch etc.Target position detection unit is installed to the position corresponding with target location, and when motion moves to target location, trigger target position detection unit sends the first signal, to show to move to target location.
Owing to have employed real time position detecting unit and target position detection unit, therefore achieve the redundancy of feedback signal, thus improve availability, the reliability of system.In addition, the present invention only relies on real time position detecting unit (such as angular encoder) and realizes coarse adjustment, therefore not high to the accuracy requirement of real time position detecting unit, thus reduces cost; Further, also realize fine setting by target position detection unit, thus can realize disposable fast, high reliability, high-precision location.
As a third aspect of the present invention, providing a kind of engineering machinery, comprising motion and the positioning control system for controlling the motion of motion, this positioning control system is the positioning control system in the various embodiments described above.Preferably, engineering machinery is crane, pump truck, high altitude vehicle, high-altitude fire fighting truck.
On the basis of above-described embodiment, as a fourth aspect of the present invention, provide a kind of position control method of motion.Incorporated by reference to Fig. 2 and Fig. 3, this position control method comprises: obtain the current kinetic position of described motion and be used to indicate the first signal that described motion moves to target location; When difference between current kinetic position and target location is greater than setting value, controlled motion mechanism moves with First Speed; Otherwise controlled motion mechanism moves with the second speed being less than First Speed, and when the first signal being detected, the stop motion of controlled motion mechanism.Preferably, when the difference between current kinetic position and target location equals setting value, the direction of motion of record motion, and controlled motion mechanism continues to move along this direction of motion.
It should be noted that, motion can be rectilinear motion, also can be curvilinear motion (such as gyration etc.).Position control method in the present invention, by the motion control to motion, makes motion finally navigate to target location.Preferably, scrambler (such as angular encoder, draw wire encoder etc.) and other sensor (such as angular transducer etc.) that can detect position can be adopted to detect current kinetic position; Meanwhile, the target position detection unit such as travel switch, limit switch, proximity switch can be adopted to detect target location.Target position detection unit is installed to the position corresponding with target location, and when motion moves to target location, trigger target position detection unit sends the first signal, to show to move to target location.
Position control method in the present invention is owing to detecting in real time the current location of motion, thus motion can be controlled with lower second speed arrival target location, and realize the location to motion by the first signal sent when motion arrives target location, higher positioning precision can be reached, prevent mechanical part or the hydraulic unit of spoiled work machinery.In addition, in the process of location, motion is that lower speed arrives target location, therefore, can avoid the inaccurate problem in location because the reasons such as inertia cause.
Preferably, the motion of motion is gyration.In the present embodiment, after the difference between current kinetic position and target location equals setting value, the angle that motion turns over is the first angle; If when the first angle has exceeded setting value (when such as exceeding the twice of setting value), still do not received the first signal, then judged that the target position detection unit for generation of the first signal breaks down.Because target position detection unit is after long-term work, may damage, therefore, by the way, just can detect the state of this detecting unit.Further, the position control method in the present invention also comprises: when judging that this detecting unit breaks down, give the alarm, and notes to remind operating personnel.
Preferably, the value corresponding to current kinetic position obtained when motion navigates to target location is target location value, demarcates the real time position detecting unit for detecting current kinetic position according to target location value.Like this, real-time calibration can be carried out to the real time position detecting unit for detecting current kinetic position, thus overcome the problem needing often to carry out artificial demarcation owing to there is zero drift.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. a positioning control system for motion, is characterized in that, comprising:
Real time position detecting unit, for detecting the current kinetic position of described motion;
Target position detection unit, for detecting whether arriving target location and being installed to the position corresponding with described target location of described motion, when described motion reaches described target location, described target position detection unit sends the first signal;
Position control device;
Wherein, described position control device comprises: control module, obtain the current kinetic position of described motion and be used to indicate the first signal that described motion moves to target location, when difference between described current kinetic position and described target location is greater than setting value, described control module controls described motion and moves with First Speed; Otherwise described control module controls described motion to be less than the second speed motion of described First Speed, and when described control module receives described first signal, controls described motion stop motion;
Wherein, the value corresponding to described current kinetic position that described motion obtains when navigating to described target location is target location value, described control module carries out real-time calibration according to described target location value to the real time position detecting unit for detecting described current kinetic position, thus avoids because zero drift appears in described real time position detecting unit and manually demarcate.
2. positioning control system according to claim 1, is characterized in that, described motion is slew gear.
3. positioning control system according to claim 2, is characterized in that, after the difference between described current kinetic position and described target location equals described setting value, the angle that described motion turns over is the first angle; If when described first angle has exceeded described setting value, described control module has not still received described first signal, then described control module judges to break down for generation of the target position detection unit of described first signal.
4. an engineering machinery, comprising motion and the positioning control system for controlling the motion of described motion, it is characterized in that, described positioning control system is the positioning control system according to any one of claims 1 to 3.
5. a position control method for motion, is characterized in that, comprising:
Obtain the current kinetic position of described motion and be used to indicate the first signal that described motion moves to target location;
When difference between described current kinetic position and described target location is greater than setting value, controls described motion and move with First Speed; Otherwise, control described motion to be less than the second speed motion of described First Speed, and when described first signal being detected, control described motion stop motion;
The value corresponding to described current kinetic position that described motion obtains when navigating to described target location is target location value, according to described target location value, real-time calibration is carried out to the real time position detecting unit for detecting described current kinetic position, thus avoid because zero drift appears in described real time position detecting unit and manually demarcate.
6. position control method according to claim 5, is characterized in that, the motion of described motion is gyration.
7. position control method according to claim 6, is characterized in that, after the difference between described current kinetic position and described target location equals described setting value, the angle that described motion turns over is the first angle; If when described first angle has exceeded described setting value, still do not receive described first signal, then judged that the target position detection unit for generation of described first signal breaks down.
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| CN103031958B (en) * | 2012-12-14 | 2015-04-15 | 中联重科股份有限公司 | Control system and method for controlling expansion and contraction of arm support and concrete pumping equipment |
| TWI592265B (en) * | 2014-06-25 | 2017-07-21 | Hiwin Tech Corp | Safety control method of mechanical arm |
| CN105353776B (en) * | 2014-08-20 | 2018-04-13 | 湖南中联重科智能技术有限公司 | Control system, method and device of arm support and engineering machinery |
| CN105174141B (en) * | 2015-10-23 | 2019-01-08 | 徐州重型机械有限公司 | Door frame mechanism localization method, controller and system |
| CN105836623B (en) * | 2016-06-14 | 2018-06-26 | 徐州重型机械有限公司 | Crane quantitative control methodin, device and system |
| CN106740417B (en) * | 2016-12-13 | 2019-04-09 | 湖南汽车制造有限责任公司 | The control method and system of capacity of the tipping body tarpaulin mechanism |
| CN107447992A (en) * | 2017-08-01 | 2017-12-08 | 贺州学院 | Building board installing method and system |
| CN109445472B (en) * | 2018-12-10 | 2021-11-23 | 三一汽车制造有限公司 | Boom slewing centering device and boom slewing centering control method |
| CN110333740B (en) * | 2019-06-10 | 2020-10-27 | 中联重科股份有限公司 | Automatic positioning method, device and system for engineering machinery and engineering machinery |
| CN110592560B (en) * | 2019-10-18 | 2022-02-22 | 北京北方华创微电子装备有限公司 | Process disc alignment method, process disc alignment device and semiconductor processing equipment |
| CN111208849A (en) * | 2019-12-30 | 2020-05-29 | 南京工程学院 | High-precision positioning control system and method based on motor speed reducer drive |
| CN111285253B (en) * | 2020-01-22 | 2022-02-11 | 中联重科建筑起重机械有限责任公司 | Engineering machinery control method and control device |
| CN111348555B (en) * | 2020-01-22 | 2022-02-15 | 中联重科建筑起重机械有限责任公司 | Engineering machinery control method and control device |
| CN112564585B (en) * | 2020-11-12 | 2023-05-09 | 华帝股份有限公司 | Control method of disinfection cabinet and disinfection cabinet using same |
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