CN105776027B - Correction control method and system in bridge crane walking process - Google Patents

Abstract

The invention discloses a deviation correction control method and system during the traveling process of a bridge crane cart. The method comprises the steps of: detecting the real-time displacement signals on both sides of the cart in real time during the traveling process of the cart; Comparing the displacement signals, the displacement difference will be obtained; the displacement difference is used as a control signal to control the traveling speed and displacement on both sides of the cart to adjust the deviation on both sides. The system includes: the detection module is used to detect the real-time displacement signals on both sides of the cart in real time during the traveling process of the cart; the comparison module is used to compare the real-time displacement signals on both sides of the cart to obtain the displacement difference; Therefore, the displacement difference is used as the control signal to control the traveling speed and displacement on both sides of the cart so that the deviation on both sides can be adjusted. The invention can effectively solve the deviation problem of the traveling bridge crane cart, improve the running stability of the bridge crane, reduce the maintenance cost and improve the production efficiency.

Description

Deviation correction control method and system during traveling of bridge crane cart

technical field

The invention relates to the safety control of the cart in the technical field of bridge cranes, in particular to a deviation correction control method and system during the traveling process of the cart of the bridge crane.

Background technique

Bridge crane is a kind of lifting and transportation device erected inside or outside the factory building. It is shaped like a bridge and is also called a crane. In modern large-scale production, bridge cranes have become indispensable production equipment for many industrial and mining enterprises. It consists of one or two main girders and two end girders. It runs on the track laid on the bearing girder. It is generally equipped with 4 wheels (6 or 8 wheels when the load is large) ). Bridge cranes have been widely used in industrial production, and are the most widely used and most numerous hoisting machinery.

Due to the characteristics of large span, low horizontal rigidity, many parts, and complicated installation process during the use of bridge cranes, and the installation accuracy of the transmission mechanism is difficult to fully guarantee, especially for cranes that operate frequently, the cumulative error of the transmission mechanism is greater , plus various complex situations will be encountered during actual work, so it is inevitable that the bridge crane will have different degrees of deviation or rail gnawing during operation. In severe cases, the wheel rim and track of the bridge crane will be Make contact, squeeze each other and rub against each other.

There are several main reasons for the deviation phenomenon of bridge cranes: Considering the error of the cart body, there are errors in wheel processing and manufacturing, wheel diameter errors caused by wear, installation errors and speed errors of transmission mechanisms, bridge deviations caused by large spans, and horizontal rigidity Insufficient; From the perspective of the track structure, the linearity and flatness of the track are insufficient, and the rigidity of the track support is insufficient; in addition, during operation, inconsistent loads on both sides of the cart or inconsistent loads on both sides due to the movement of the trolley will lead to deviations. The deviation of the cart will cause great harm to the bridge crane, which greatly threatens the safe operation of the crane and increases the operation and maintenance costs. Therefore, it is very necessary to implement deviation correction control for the bridge crane cart.

In the production of many large-scale industrial and mining enterprises, the use of bridge cranes is very common. It is the most critical part in the production process. The frequency of deviation phenomenon in the production process is also very high, which seriously affects the production safety of its production. performance and productivity. To sum up, the deviation phenomenon of the crane operating mechanism cannot be ignored, and it is of great practical significance to conduct in-depth research on the deviation correction control of the bridge crane.

Contents of the invention

The purpose of the present invention is to provide a deviation correction control method and system during the traveling process of a bridge crane cart, so as to solve the technical problem that the deviation of the existing crane operating mechanism endangers the bridge crane.

In order to achieve the above object, the present invention provides a deviation correction control method during the traveling process of a bridge crane cart, comprising the following steps:

S1: Real-time detection of real-time displacement signals on both sides of the cart during the traveling of the cart;

S2: Comparing the real-time displacement signals on both sides of the cart, the displacement difference will be obtained;

S4: Use the displacement difference as a control signal to control the traveling speed and displacement on both sides of the cart to adjust the deviation on both sides.

As a further improvement of the present invention:

After step S2 is completed, before step S4 is performed, the method further includes:

Step S3: Judging whether the change of the displacement difference exceeds the preset difference range, and if it exceeds the difference preset range, go to step S4.

Step S4 comprises the following steps:

S401: The displacement difference is used as a control signal, and input to a deviation correction controller, and the deviation correction controller uses a neural network adaptive optimization control algorithm to optimize parameters;

S402: Send the output obtained by the deviation correction controller to the inverters on both sides of the cart, adjust the frequency of the inverters on both sides, change the speed of the motors on both sides, and then adjust the traveling speed and displacement on both sides of the cart to adjust the deviation on both sides.

After step S402 is completed, step S4 also includes:

S403: The controller performs real-time circular deviation correction adjustment, so that the speed difference and displacement difference on both sides of the cart are controlled within the preset difference range.

The controller performs real-time loop correction adjustment, including real-time speed detection of the left motor and the right motor, and the detection results are returned to the deviation correction controller, which is used as the speed basis for the loop correction adjustment.

As a general technical idea, the present invention also provides a deviation correction control system during the traveling process of the bridge crane cart, including:

The detection module is used for real-time detection of real-time displacement signals on both sides of the cart during the traveling process of the cart;

The comparison module is used to compare the real-time displacement signals on both sides of the cart to obtain the displacement difference;

The deviation correction controller is used to use the displacement difference as a control signal to control the traveling speed and displacement on both sides of the cart so that the deviation on both sides can be adjusted.

As a further improvement of the system of the present invention:

The system also includes:

The judging module is used to judge whether the change of the displacement difference exceeds the preset difference range, and when it exceeds the preset difference range, the displacement difference is input into the deviation correction controller as a control signal.

The present invention has the following beneficial effects:

1. The deviation correction control method and system during the traveling process of the bridge crane cart of the present invention directly obtains the real-time displacement on both sides of the cart, and performs deviation correction control by calculating the displacement difference on both sides to change the speed of the wheels on both sides, and finally realizes the control of both sides. The purpose of the lateral displacement difference is to avoid the problem of serious deviation of the bridge crane during walking. It can effectively solve the deviation problem of the bridge crane when the cart is traveling, improve the stability of the bridge crane during operation, reduce maintenance costs, and improve production efficiency.

2. In the preferred solution, the deviation correction control method in the traveling process of the bridge crane cart of the present invention, on the basis of a deep understanding of the operating mechanism of the bridge crane cart, is based on the idea of cross-coupling control, and uses neural network self-adaptive optimization The control algorithm controls the deviation correction process to achieve the purpose of controlling the displacement difference on both sides within the preset range.

In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. The present invention will be described in further detail below with reference to the accompanying drawings.

Description of drawings

The accompanying drawings constituting a part of this application are used to provide further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

Fig. 1 is the schematic flow chart of the deviation correction control method in the traveling process of the bridge crane cart of the preferred embodiment of the present invention;

Fig. 2 is the functional block diagram of the deviation correction control system of the preferred embodiment of the present invention;

Fig. 3 is a schematic diagram of the principle of cross-coupling control in a preferred embodiment of the present invention;

Fig. 4 is a schematic diagram of the variation curve of the displacement difference under the action of the deviation correction control system according to the preferred embodiment of the present invention;

Fig. 5 is a schematic diagram of the change curve of the speed difference under the action of the deviation correction control system according to the preferred embodiment of the present invention.

Detailed ways

The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways defined and covered by the claims.

Referring to Fig. 1, the deviation correction control method in the traveling process of bridge crane cart of the present invention comprises the following steps:

S1: Real-time detection of real-time displacement signals on both sides of the cart during the traveling of the cart;

S2: Comparing the real-time displacement signals on both sides of the cart, the displacement difference will be obtained;

S4: Use the displacement difference as a control signal to control the traveling speed and displacement on both sides of the cart to adjust the deviation on both sides.

Directly obtain the real-time displacement of both sides of the gantry, and perform deviation correction control by calculating the displacement difference on both sides to change the speed of the wheels on both sides, and finally achieve the purpose of controlling the displacement difference on both sides, so as to avoid serious deviation of the overhead traveling crane The problem. It can effectively solve the deviation problem of the bridge crane when the cart is traveling, improve the stability of the bridge crane during operation, reduce maintenance costs, and improve production efficiency.

In actual application, on the basis of the above steps, the present invention can also add the following steps for optimization, and an optimized embodiment is described below:

Referring to Fig. 1, the deviation correction control method during the traveling process of the bridge crane cart of the present embodiment includes the following steps:

S1: During the traveling process of the cart, real-time detection of the real-time displacement signals X ₁ and X ₂ on both sides of the cart.

S2: Comparing the real-time displacement signals on both sides of the cart, the displacement difference ΔX will be obtained.

S3: Determine whether the change of the displacement difference exceeds the preset difference range, and if it exceeds the preset difference range, go to step S4; otherwise, it does not work, and continues to detect the change of the displacement difference in real time.

S4: When the deviation correction control starts to work, the displacement difference ΔX is used as the control signal, and the neural network adaptive optimization control algorithm is used to optimize the parameters, and the speed and displacement on both sides of the cart are controlled to adjust the deviation on both sides. details as follows:

S401: Using the displacement difference as a control signal, input it to the deviation correction controller, and the deviation correction controller uses the neural network adaptive optimization control algorithm to optimize the parameters; the neural network adaptive control algorithm is embodied in: the present invention adopts the neural network adaptive controller, the neural network The network control algorithm used in the nonlinear control system can optimize its control parameters well, and continuously optimize calculation and adjustment online to achieve the best control effect.

The specific implementation process of neural network adaptive control is as follows:

1) Reversely process the incoming displacement difference signal ΔX first to get the error error, then integrate it to get error_1, and then integrate it again to get error_2, where the three error variables will be used in the parameter self-tuning calculation among;

2) Use the error variable to tune the 3 parameters of PID respectively. In the tuning process, the output parameter u_1 is used, which is the integral of the output parameter out. Therefore, this is an online loop tuning process, and the controller is constantly adjusted output, so that the control effect is better;

3) Add the 3 PID parameters after tuning to get the operation parameter w_add, which will be used in the next calculation;

4) Use the adjusted PID3 parameters, w_add, error, error_1, error_2 to calculate the output parameter out;

5) Finally, calculate the output parameter out and the set frequency adjustment freq_cmd to obtain the final output value.

S402: Send the output obtained by the deviation correction controller to the inverters on both sides of the cart, adjust the frequency of the inverters on both sides, change the speed of the motors on both sides, and then adjust the traveling speed and displacement on both sides of the cart to adjust the deviation on both sides.

S403: The controller performs real-time loop correction adjustment (see Figure 2, the controller performs real-time loop correction adjustment, including real-time speed detection of the left motor and the right motor, and the detection results are returned to the correction controller for use as a loop correction adjustment Speed basis.), so that the speed difference and displacement difference on both sides of the cart are controlled within the preset difference range.

According to the control requirements and control strategy, the control block diagram of the deviation correction control system is shown in Figure 2. Referring to Fig. 2, the deviation correction control system of the bridge crane cart in this embodiment includes a detection module, a comparison module and a deviation correction controller. displacement signal; the comparison module is used to compare the real-time displacement signals on both sides of the cart to obtain the displacement difference; Bias is adjusted. This embodiment adopts the cross-coupling control strategy, which is embodied in: the cross-coupling control method realizes synchronous control on both sides of the cart, uses the displacement difference as the input signal of the deviation correction controller, and the output of the controller simultaneously controls the variation of the deviation on both sides of the cart , to achieve good synchronization and real-time performance on both sides of the cart. The schematic diagram of the cross-coupling control is shown in Figure 3.

In this embodiment, a judging module is also connected between the deviation correction controller and the comparison module. The judging module is used to judge whether the change of the displacement difference exceeds the preset difference range. As a control signal input to the correction controller.

Example of deviation correction control using this embodiment: During the walking process of the bridge crane, the load torque changes from 200Nm to 180Nm when walking for 1 second, and this disturbance factor changes the speed and displacement on both sides. Under the action of the deviation correction control system, the change curves of the controller parameters and the change curves of speed difference and displacement difference are shown in Fig. 4 and Fig. 5.

It can be seen from Figure 4 and Figure 5 that the control response speed is fast, the speed fluctuation on both sides of the crane is very small, very stable, and the displacement adjustment time on both sides is reduced, which can be completed in only about 5 seconds, and the control effect is good. Using this deviation correction control method effectively solves the deviation problem of the bridge crane during operation, improves the stability of the bridge crane during operation, reduces maintenance costs, and improves production efficiency.

In summary, it can be seen that the deviation correction control method in the traveling process of the bridge crane cart of the present invention is based on a deep understanding of the operating mechanism of the bridge crane cart, based on the idea of cross-coupling control, and using the neural network adaptive optimization control algorithm to control The deviation correction process is controlled to achieve the purpose of controlling the displacement difference on both sides within the preset range.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (2)

1. A deviation correction control method in the traveling process of a bridge crane cart is characterized in that, comprising the following steps: S1: Real-time detection of real-time displacement signals on both sides of the cart during the traveling of the cart; S2: Comparing the real-time displacement signals on both sides of the cart, the displacement difference will be obtained; S3: judging whether the change of the displacement difference exceeds the preset difference range, and if it exceeds the difference preset range, go to step S4; S4: using the displacement difference as a control signal to control the traveling speed and displacement on both sides of the cart to adjust the deviation on both sides; the step S4 includes the following steps: S401: The displacement difference is used as a control signal, and input to a deviation correction controller, and the deviation correction controller uses a neural network adaptive optimization control algorithm to optimize parameters; the neural network adaptive control implementation process is as follows: S4011: first reversely process the incoming displacement difference to obtain the deviation error, and integrate it on this basis to obtain error_1, and then integrate to obtain error_2, that is, to obtain 3 deviation variables; S4012: Use the error variable to adjust the three parameters of the PID respectively. During the adjustment process, the output parameter u_1 is used, which is the integral of the output parameter out; S4013: Add the 3 parameters of PID after tuning to obtain the operation parameter w_add; S4014: use the adjusted PID3 parameters, w_add, error, error_1 and error_2 to calculate the output parameter out; S4015: Finally, calculate the output parameter out and the set frequency adjustment amount freq_cmd to obtain the final output value; S402: Send the output obtained by the deviation correction controller to the inverters on both sides of the cart, adjust the frequency of the inverters on both sides, change the speed of the motors on both sides, and then adjust the traveling speed and displacement on both sides of the cart to adjust the deviation on both sides; S403: The controller performs real-time circular deviation correction adjustment, so that the speed difference and displacement difference on both sides of the cart are controlled within the preset difference range. 2. The deviation correction control method during the traveling process of the bridge crane cart according to claim 1, wherein the controller performs real-time loop deviation correction adjustment, including performing real-time speed detection on the left motor and the right motor, The detection result is returned to the deviation correction controller, which is used as the speed basis for circular deviation correction adjustment.