CN106401239B - The traveling control method and device of comb teeth carrier in stereo garage - Google Patents
The traveling control method and device of comb teeth carrier in stereo garage Download PDFInfo
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- CN106401239B CN106401239B CN201610798877.9A CN201610798877A CN106401239B CN 106401239 B CN106401239 B CN 106401239B CN 201610798877 A CN201610798877 A CN 201610798877A CN 106401239 B CN106401239 B CN 106401239B
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- 244000126211 Hericium coralloides Species 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 description 13
- 230000003028 elevating effect Effects 0.000 description 13
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Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/185—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions using comb-type transfer means
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
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- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a kind of traveling control method and device of comb teeth carrier in stereo garage, belong to machine control techniques field.This method includes the code value m for obtaining the encoder of walking variable-frequency motorx；According to mxDemarcate the position zero point of comb teeth carrier；Comb teeth carrier is into warehouse compartment walking process, according to mx, control the speed-change process of comb teeth carrier；After comb teeth carrier reaches parking stall, according to mx, control the position fixing process of comb teeth carrier；Comb teeth carrier is into shuttle back off procedure, according to mx, control the speed-change process of comb teeth carrier；After comb teeth carrier reaches shuttle, according to mx, control the position fixing process of comb teeth carrier.The device can be realized this method.This method and device, which can be realized, realizes accurate positioning in the comb teeth carrier walking process in stereo garage.
Description
Technical field
The present invention relates to machine control techniques fields, more particularly to a kind of traveling control of comb teeth carrier in stereo garage
Method and device processed.
Background technique
Stereo garage reasonable, intelligence can solve the problems, such as parking difficulty.Stereo garage operational process is, driver when bicycle parking
By vehicle parking into elevator, vehicle is raised to designated floor by elevator, and tunnel shuttle is responsible for transporting comb teeth carrier；Comb
Tooth carrier is by the vehicle conveying on elevator to tunnel shuttle, when shuttle moves to reach target parking stall, then by vehicle
It is transported on parking stall.Comb teeth carrier is by the vehicle conveying on target parking position to tunnel shuttle when pick-up, wait wear
It, will be on vehicle conveying to elevator when shuttle car and elevator are to good position；Vehicle is dropped to one layer by elevator, opens vehicle to driver
It walks.
Comb teeth carrier is responsible for the vehicles drive between warehouse compartment and shuttle, is entire storage vehicle control important composition
Part.If comb teeth carrier position inaccurate, the equipment collision between comb teeth and warehouse compartment will lead to；If ensureing accurate positioning
And the speed of travel is reduced, it will affect the speed of entire garage storage/access vehicle process.It is quickly fixed how on the basis of guaranteeing precision
Position becomes comb teeth carrier problem to be solved.
Summary of the invention
In view of this, the present invention provides a kind of traveling control method and device of comb teeth carrier in stereo garage,
It can be realized and realize accurate positioning in the comb teeth carrier walking process in stereo garage, thus more suitable for practical.
In order to reach above-mentioned first purpose, the traveling control method of comb teeth carrier in stereo garage provided by the invention
Technical solution it is as follows:
The traveling control method of comb teeth carrier in stereo garage provided by the invention, applied to no precise distance measurement instrument
The walking process of comb teeth carrier is fixed with walking variable-frequency motor, limit switch, the stereoscopic vehicle on the comb teeth carrier
In library comb teeth carrier traveling control method the following steps are included:
Obtain the code value m of the encoder of the walking variable-frequency motorx,
According to the mxDemarcate the position zero point of comb teeth carrier；
Comb teeth carrier is into warehouse compartment walking process, according to the mx, control the speed-change process of the comb teeth carrier；
After comb teeth carrier reaches parking stall, according to the mx, control the position fixing process of the comb teeth carrier；
Comb teeth carrier is into shuttle back off procedure, according to the mx, control the speed-change process of the comb teeth carrier；
After comb teeth carrier reaches shuttle, according to the mx, control the position fixing process of the comb teeth carrier.
In stereo garage provided by the invention the traveling control method of comb teeth carrier also can be used following technical measures into
One step is realized.
Preferably, described according to the mxDemarcate comb teeth carrier position zero point the following steps are included:
Obtain the signal of the limit switch；
When limit switch no signal simultaneously, it is demarcated as the position zero point of the comb teeth carrier；
According to the position zero point of the comb teeth carrier, the code value of the encoder of the walking variable-frequency motor is reset, and
And the code value of the encoder of the walking variable-frequency motor is reset.
Preferably, the comb teeth carrier is into warehouse compartment walking process, according to the mx, control the comb teeth carrier
Speed-change process include the following steps；
The comb teeth carrier is controlled to run with First Speed；
As the mxWhen increasing to first threshold, the speed for controlling the comb teeth carrier is reduced to second from First Speed
Speed；
As the mxWhen increasing to second threshold, the speed for controlling the comb teeth carrier is reduced to first from second speed
Locating speed.
Preferably, after the comb teeth carrier reaches parking stall, according to the mx, control determining for the comb teeth carrier
Position process the following steps are included:
As the mxWhen increasing to third threshold value, the speed for controlling the comb teeth carrier is reduced to from the first locating speed
0。
Preferably, the comb teeth carrier is into shuttle back off procedure, according to the mx, control the comb teeth and carry
The speed-change process of vehicle the following steps are included:
Control comb teeth carrier is run with third speed；
As the mxWhen being reduced to third threshold value, the speed for controlling the comb teeth carrier is reduced to the 4th from third speed
Speed；
As the mxWhen being reduced to four threshold values, the speed for controlling the comb teeth carrier is reduced to second from fourth speed
Locating speed.
Preferably, after the comb teeth carrier reaches shuttle, according to the mx, control determining for the comb teeth carrier
Position process the following steps are included:
As the mxWhen being reduced to 0, the speed for controlling the comb teeth carrier is reduced to 0 from the second locating speed.
In order to reach above-mentioned second purpose, the traveling control device of comb teeth carrier in stereo garage provided by the invention
Technical solution it is as follows:
The traveling control device of comb teeth carrier in stereo garage provided by the invention, applied to no precise distance measurement instrument
The walking process of comb teeth carrier is fixed with walking variable-frequency motor, limit switch, the stereoscopic vehicle on the comb teeth carrier
The traveling control device of comb teeth carrier includes walking variable-frequency motor code value acquiring unit, speed control unit in library,
The walking variable-frequency motor code value acquiring unit is used to obtain the code value m of the encoder of the walking variable-frequency motorx；
Comb teeth carrier is into warehouse compartment walking process, and the speed control unit is according to the mx, control the comb teeth and remove
Transport the speed-change process of vehicle；
After comb teeth carrier reaches parking stall, the speed control unit is according to the mx, control the comb teeth carrier
Position fixing process；
Comb teeth carrier is into shuttle back off procedure, and the speed control unit is according to the mx, control the comb teeth
The speed-change process of carrier；
After comb teeth carrier reaches shuttle, the speed control unit is according to the mx, control the comb teeth carrier
Position fixing process.
In stereo garage provided by the invention the traveling control device of comb teeth carrier also can be used following technical measures into
One step is realized.
Preferably, the traveling control device of comb teeth carrier further includes that limit switch signal obtains in the stereo garage
Unit, code value resetting unit,
The limit switch signal acquiring unit is used to obtain the signal of the limit switch；
When limit switch no signal simultaneously, the code value resetting unit is used for the volume of the walking variable-frequency motor
The code value of code device is reset, also, the code value of the encoder is reset.
Preferably, the comb teeth carrier is into warehouse compartment walking process, the speed control unit is according to the mx, control
The speed-change process for making the comb teeth carrier includes:
The comb teeth carrier is controlled to run with First Speed；
As the mxWhen increasing to first threshold, the speed for controlling the comb teeth carrier is reduced to second from First Speed
Speed；
When the x increases to second threshold, the speed for controlling the comb teeth carrier is reduced to first from second speed
Locating speed.
Preferably, the speed control unit is according to the m after the comb teeth carrier reaches parking stallx, control institute
The position fixing process for stating comb teeth carrier includes:
As the mxWhen increasing to third threshold value, the speed for controlling the comb teeth carrier is reduced to from the first locating speed
0。
Preferably, the comb teeth carrier is into shuttle back off procedure, the speed control unit is according to the mx,
The speed-change process for controlling the comb teeth carrier includes:
Control comb teeth carrier is run with third speed；
As the mxWhen being reduced to third threshold value, the speed for controlling the comb teeth carrier is reduced to the 4th from third speed
Speed；
As the mxWhen being reduced to four threshold values, the speed for controlling the comb teeth carrier is reduced to second from fourth speed
Locating speed.
Preferably, the speed control unit is according to the m after the comb teeth carrier reaches shuttlex, control institute
The position fixing process for stating comb teeth carrier includes:
As the mxWhen being reduced to 0, the speed for controlling the comb teeth carrier is reduced to 0 from the second locating speed.
The ambulation control method of comb teeth carrier and device using comb teeth by being walked in stereo garage provided by the invention
Limit switch and walking variable-frequency motor encoder code value, the walking of double control comb teeth carrier, High-speed Control carried
The time of journey, low speed guarantee that moderating process, locating speed guarantee positioning accuracy.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 is the step flow chart of the traveling control method of comb teeth carrier in stereo garage；
Fig. 2 is the signal flow relationship in stereo garage in the traveling control device of comb teeth carrier between each functional module
Schematic diagram；
Fig. 3 is the movement of the first variable-frequency motor, the second variable-frequency motor that the embodiment of the present invention one or embodiment two are related to
Process schematic.
Specific embodiment
The present invention in order to solve the problems existing in the prior art, provides a kind of traveling control of comb teeth carrier in stereo garage
Method and device can be realized and realize accurate positioning in the comb teeth carrier walking process in stereo garage, thus more suitable
In practical.
It is of the invention to reach the technical means and efficacy that predetermined goal of the invention is taken further to illustrate, below in conjunction with
Attached drawing and preferred embodiment, to the traveling control method and device of comb teeth carrier in stereo garage proposed according to the present invention,
Its specific embodiment, structure, feature and its effect, detailed description is as follows.In the following description, different " embodiment " or
What " embodiment " referred to is not necessarily the same embodiment.In addition, the special characteristic, structure or feature in one or more embodiments can
It is combined by any suitable form.
The terms "and/or", only a kind of incidence relation for describing affiliated partner, indicates that there may be three kinds of passes
System, it is specific to understand for example, A and/or B are as follows: it can simultaneously include A and B, can be with individualism A, it can also be with individualism
B can have above-mentioned three kinds of any case.
Embodiment one
The traveling control method of comb teeth carrier in the stereo garage provided referring to attached drawing 1, the embodiment of the present invention one, application
In be fixed on the walking process of the comb teeth carrier of no precise distance measurement instrument, comb teeth carrier walking variable-frequency motor, limit
Switch, in stereo garage comb teeth carrier traveling control method the following steps are included:
Step 101: obtaining the code value m of the encoder of walking variable-frequency motorx,
Step 102: according to mxDemarcate the position zero point of comb teeth carrier；
Step 103: comb teeth carrier is into warehouse compartment walking process, according to mx, control the speed-change process of comb teeth carrier；
Step 104: after comb teeth carrier reaches parking stall, according to mx, control the position fixing process of comb teeth carrier；
Step 105: comb teeth carrier is into shuttle back off procedure, according to mx, control the speed-change process of comb teeth carrier；
Step 106: after comb teeth carrier reaches shuttle, according to mx, control the position fixing process of comb teeth carrier.
Wherein, according to mxDemarcate comb teeth carrier position zero point the following steps are included:
Obtain the signal of limit switch；
When limit switch no signal simultaneously, it is demarcated as the position zero point of comb teeth carrier；
According to the position zero point of comb teeth carrier, the code value of the encoder for variable-frequency motor of walking is reset, also, will walking
The code value of the encoder of variable-frequency motor is reset.
In the present embodiment, comb teeth carrier is initial position on the shuttle of tunnel, and when tunnel, shuttle is navigated to a certain
A warehouse compartment, comb teeth carrier initially move off tunnel shuttle, for detection comb positioning shuttle two limit switches (PS5,
PS6) no signal resets comb teeth walking code value then as code value calibration point simultaneously.
Wherein, comb teeth carrier is into warehouse compartment walking process, according to mx, control comb teeth carrier speed-change process include with
Lower step；
Control comb teeth carrier is run with First Speed；
Work as mxWhen increasing to first threshold, the speed of control comb teeth carrier is reduced to second speed from First Speed；
Work as mxWhen increasing to second threshold, the speed for controlling comb teeth carrier is reduced to the first positioning speed from second speed
Degree.
In the present embodiment, comb teeth carrier is into warehouse compartment traveling process, and the code value of encoder is added to 30000, carrier
Speed is kept to low speed 800rpm by high speed 1400rpm, and deceleration position is close with the limit switch position (PS7), and the two can be used in combination
Guarantee the moderating process of carrier；Code value adds up 34000 again, carries vehicle speed and by low speed 800rpm is kept to locating speed 70rpm.
Wherein, after comb teeth carrier reaches parking stall, according to mx, the position fixing process of control comb teeth carrier includes following step
It is rapid:
Work as mxWhen increasing to third threshold value, the speed of control comb teeth carrier is reduced to 0 from the first locating speed.
In the present embodiment, when the code value of comb teeth carrier is finally added to 35500, carrying vehicle speed is kept to by locating speed
0 speed, parking, position is close with the second limit switch position (PS8), the two can and with guarantee carrier docking process.
Wherein, comb teeth carrier is into shuttle back off procedure, according to mx, control comb teeth carrier speed-change process include
Following steps:
Control comb teeth carrier is run with third speed；
Work as mxWhen being reduced to third threshold value, the speed of control comb teeth carrier is reduced to fourth speed from third speed；
Work as mxWhen being reduced to four threshold values, the speed for controlling comb teeth carrier is reduced to the second positioning speed from fourth speed
Degree.
In the present embodiment, into shuttle back off procedure, the code value of encoder successively decreases comb teeth carrier, when being decremented to
2300, vehicle speed, which to be carried, by high speed 1400rpm is kept to low speed 800rpm, deceleration position is close with the limit switch position (PS5),
The two can and with guarantee carrier moderating process；Code value is decremented to 1200 again, carries vehicle speed and is kept to determine by low speed 800rpm
Bit rate 70rpm.
Wherein, after comb teeth carrier reaches shuttle, according to mx, the position fixing process of control comb teeth carrier includes following step
It is rapid:
Work as mxWhen being reduced to 0, the speed of control comb teeth carrier is reduced to 0 from the second locating speed.
In the present embodiment, when the code value of comb teeth carrier is finally decremented to 0, carrying vehicle speed is kept to 0 speed by locating speed,
Parking, position is close with the second limit switch position (PS6), the two can and with guarantee carrier docking process.
Embodiment two
Referring to attached drawing 2, the traveling control device of comb teeth carrier in stereo garage provided by Embodiment 2 of the present invention, application
In be fixed on the walking process of the comb teeth carrier of no precise distance measurement instrument, comb teeth carrier walking variable-frequency motor, limit
It switchs, the traveling control device of comb teeth carrier includes walking variable-frequency motor code value acquiring unit, speed control in stereo garage
Unit,
Walking variable-frequency motor code value acquiring unit is used to obtain the code value m of the encoder of walking variable-frequency motorx；
Comb teeth carrier is into warehouse compartment walking process, and speed control unit is according to mx, control the speed change mistake of comb teeth carrier
Journey；
After comb teeth carrier reaches parking stall, speed control unit is according to mx, control the position fixing process of comb teeth carrier；
Comb teeth carrier is into shuttle back off procedure, and speed control unit is according to mx, control the speed change of comb teeth carrier
Process；
After comb teeth carrier reaches shuttle, speed control unit is according to mx, control the position fixing process of comb teeth carrier.
Wherein, the traveling control device of comb teeth carrier further includes limit switch signal acquiring unit, code in stereo garage
It is worth resetting unit,
Limit switch signal acquiring unit is used to obtain the signal of limit switch；
When limit switch no signal simultaneously, code value of the code value resetting unit for the encoder for the variable-frequency motor that will walk is clear
Zero, also, by encoder code value reset.
Wherein, comb teeth carrier is into warehouse compartment walking process, and speed control unit is according to mx, control the change of comb teeth carrier
Fast process includes:
Control comb teeth carrier is run with First Speed；
Work as mxWhen increasing to first threshold, the speed of control comb teeth carrier is reduced to second speed from First Speed；
Work as mxWhen increasing to second threshold, the speed for controlling comb teeth carrier is reduced to the first positioning speed from second speed
Degree.
Wherein, after comb teeth carrier reaches parking stall, speed control unit is according to mx, control the positioning of comb teeth carrier
Journey includes:
Work as mxWhen increasing to third threshold value, the speed of control comb teeth carrier is reduced to 0 from the first locating speed.
Wherein, comb teeth carrier is into shuttle back off procedure, and speed control unit is according to mx, control comb teeth carrier
Speed-change process includes:
Control comb teeth carrier is run with third speed；
Work as mxWhen being reduced to third threshold value, the speed of control comb teeth carrier is reduced to fourth speed from third speed；
Work as mxWhen being reduced to four threshold values, the speed for controlling comb teeth carrier is reduced to the second positioning speed from fourth speed
Degree.
Wherein, after comb teeth carrier reaches shuttle, speed control unit is according to mx, control the positioning of comb teeth carrier
Journey includes:
Work as mxWhen being reduced to 0, the speed of control comb teeth carrier is reduced to 0 from the second locating speed.
The ambulation control method of comb teeth carrier and device using comb teeth by being walked in stereo garage provided by the invention
Limit switch and walking variable-frequency motor encoder code value, the walking of double control comb teeth carrier, High-speed Control carried
The time of journey, low speed guarantee that moderating process, locating speed guarantee positioning accuracy.
It, can also be using in following two mode in order to guarantee that comb teeth carrier can be synchronized from beginning to end, smoothly be gone up and down
Any mode realize the synchronization of the first variable-frequency motor, the second variable-frequency motor:
First way:
Step 1101: first variable-frequency motor, the second variable-frequency motor receive start command simultaneously；
Step 1102: in first variable-frequency motor, the second variable-frequency motor operational process, acquiring described first in real time and become
The speed data v of frequency motor1, the second variable-frequency motor speed data v2；
Step 1103: obtaining | v1-v2| numerical value；
Step 1104: described in control | v1-v2| numerical value value range so that first variable-frequency motor, the second frequency conversion
The terrain clearance of motor is identical.
In the control method of elevating mechanism provided by the invention, elevating mechanism includes the first variable-frequency motor, the second frequency conversion
Motor.In this case, the sharing of load of object will can be loaded to the first variable-frequency motor, the second variable-frequency motor, at this point, by
The load of first variable-frequency motor and the second variable-frequency motor alone bear is minimized, even if the weight for being loaded object is very big, also can
Enough loads for guaranteeing the first variable-frequency motor, the second variable-frequency motor alone bear as far as possible.
In addition, also directed to the speed data v of the first variable-frequency motor1, the second variable-frequency motor speed data v2Obtain | v1-v2
| numerical value, described in control | v1-v2| numerical value value range so that first variable-frequency motor, the second variable-frequency motor from
Ground height is identical, thereby it is ensured that being loaded, object head and the tail are synchronous, are smoothly gone up and down.In fig. 3, label 201 indicates the
The initial position of one variable-frequency motor, label 301 indicate that the initial position of the second variable-frequency motor, label 401 indicate to become in first
The initial position of steelframe between frequency motor and the second variable-frequency motor, right | v1-v2| numerical value limited in the case where,
One variable-frequency motor should be the location of label 203 at the location of T moment, and become in the first variable-frequency motor and second
Steelframe between frequency motor should be the location of label 403 at the location of T moment, and if do not limited | v1-v2|
Numerical value, the speed difference increase of the first variable-frequency motor of leaving, the second variable-frequency motor, will lead to the first variable-frequency motor, the second frequency conversion
There is deviation in the stroke of motor, and in fig. 3, the first variable-frequency motor of expression of label 202 is the location of in moment T, label
302 indicate the second variable-frequency motors in moment T described in position, label 402 indicate be in the first variable-frequency motor and the second frequency conversion
Steelframe between the motor state in which in moment T, according to Pythagorean theorem, at this point, bidding number 402 corresponding length are L2,
The corresponding length of label 403 is L3, the corresponding length of label 404 is L4, then at this point,I.e. to making first
Spacing L between the output shaft of variable-frequency motor and the output shaft of the second variable-frequency motor2Increase, when the output shaft of the first variable-frequency motor
Spacing L between the output shaft of the second variable-frequency motor2Increase above in the first variable-frequency motor and the second variable-frequency motor it
Between steelframe be able to bear pulling force when, will lead between the first variable-frequency motor and the second variable-frequency motor steelframe fracture,
And the first variable-frequency motor, the second variable-frequency motor between the first variable-frequency motor and the second variable-frequency motor steelframe fracture after just
It can not be contacted by the way that the steelframe guarantee being between the first variable-frequency motor and the second variable-frequency motor is mutual, to can not protect
Card is loaded object head and the tail and synchronizes, smoothly gone up and down.
Wherein, elevating mechanism further includes connecting shaft, and one end of connecting shaft is fixedly connected on the output shaft of the first variable-frequency motor,
The other end of connecting shaft is fixedly connected on the output shaft of the second variable-frequency motor.In this case, connecting shaft is in the first variable-frequency electric
First class of protection is increased between machine and the second variable-frequency motor, with the steelframe being between the first variable-frequency motor, the second variable-frequency motor
Second class protection is collectively formed, the coupling stiffness between the first variable-frequency motor, the second variable-frequency motor can be increased, reduces due to first
It is asynchronous between variable-frequency motor, the second variable-frequency motor to cause to break in the steelframe between the first variable-frequency motor, the second variable-frequency motor
A possibility that splitting.
Wherein, as | v1-v2| numerical value≤first threshold when, the first variable-frequency motor and the second variable-frequency electric described in continuous service
Machine.Such case indicates, the velocity deviation very little between the first variable-frequency motor and the second variable-frequency motor at this time, is being in the always
Within the weight range that steelframe between one variable-frequency motor, the second variable-frequency motor is able to bear, it not will lead in the first frequency conversion
Steelframe fracture between motor, the second variable-frequency motor.In the present embodiment, first threshold be can be | v1-v2| numerical value=0.1m/
s。
Wherein, as first threshold < | v1-v2| numerical value≤second threshold when, to v1、v2In the corresponding change of lesser numerical value
The control circuit of frequency motor sends control command, increases v1、v2In the corresponding variable-frequency motor of lesser numerical value power, until |
v1-v2| numerical value≤first threshold, the first variable-frequency motor of continuous service, the second variable-frequency motor.Such case indicates, at this point, working as
L2When being forced to elongate, in the weight range that connecting shaft is born, in such a case, it is possible to utilize the drawing of connecting shaft itself
Effect and control command make this | v1-v2| numerical value revert in first threshold range again, in the present embodiment, second threshold
It can be set to 0.2m/s.
Wherein, as | v1-v2| numerical value > second threshold when, while to the first variable-frequency motor, the second variable-frequency motor send control
System order makes the control circuit, the control circuit of the second variable-frequency motor while power loss of the first variable-frequency motor.In this case,
It is considered that the first variable-frequency motor and/or the second variable-frequency motor break down, the final result continued to run down is exactly to cause
The pulling force that connecting shaft is born is more than its tolerance range and is broken.Therefore, it is necessary to become the control circuit of the first variable-frequency motor, second
The control circuit while power loss of frequency motor, stop it and continue to run.
Wherein, | v1-v2| numerical value > second threshold when, triggering warning device sound an alarm.In this case, work as phase
After pass staff perceives associated alarm, it can be on the scene in time to the first variable-frequency motor and/or the second variable-frequency motor hair
Raw failure is handled, so as to debug in a relatively short period of time.The feelings of failure are especially issued in control command
Under condition, the control circuit, the control circuit of the second variable-frequency motor while power loss of the first variable-frequency motor can be artificially controlled.
Wherein, alarm is selected from one of buzzer, flashing lamp, qq message, SMS, wechat message, speech message
Or it is several.
The second way:
Step 2101: first variable-frequency motor, the second variable-frequency motor receive start command simultaneously；
Step 2102: in first variable-frequency motor, the second variable-frequency motor operational process, acquiring described first in real time and become
The code value data m of the encoder of frequency motor1, the second variable-frequency motor encoder code value data m2；
Step 2103: obtaining | m1-m2| numerical value；
Step 2104: described in control | m1-m2| numerical value value range so that first variable-frequency motor, the second frequency conversion
The terrain clearance of motor is identical.
In the present embodiment, the code value m of the first variable-frequency motor1Value range be that 0~6700 (corresponding stroke is
520mm), the code value m of the second variable-frequency motor2Value range be 0~6700 (corresponding stroke is 520mm).It is signified herein
Code value be bidirectional accumulating value.When elevating mechanism rises, corresponding code value increases；When elevating mechanism declines, corresponding code value subtracts
It is few.
In the dicode value stroke amplitude limit method of elevating mechanism provided by the invention, elevating mechanism includes the first variable-frequency electric
Machine, the second variable-frequency motor.In this case, the sharing of load of object will can be loaded to the first variable-frequency motor, the second frequency conversion
Motor, at this point, being minimized by the load of the first variable-frequency motor and the second variable-frequency motor alone bear, even if being loaded the weight of object
Amount is very big, can also guarantee the load of the first variable-frequency motor, the second variable-frequency motor alone bear as far as possible.
In addition, in the dicode value stroke amplitude limit method and device of elevating mechanism provided by the invention, also directed to the first frequency conversion
The code value data m of the encoder of motor1, the second variable-frequency motor encoder code value data m2Obtain | m1-m2| numerical value, control
Described in system | m1-m2| numerical value value range so that first variable-frequency motor, the terrain clearance of the second variable-frequency motor are identical,
Thereby it is ensured that being loaded, object head and the tail are synchronous, are smoothly gone up and down.In fig. 3, label 201 indicates the first variable-frequency motor
Initial position, label 301 indicates that the initial position of the second variable-frequency motor, label 401 are indicated in the first variable-frequency motor and the
The initial position of steelframe between two variable-frequency motors, right | m1-m2| numerical value limited in the case where, the first variable-frequency motor
It should be the location of label 203 at the location of T moment, and between the first variable-frequency motor and the second variable-frequency motor
Steelframe at the location of T moment should be the location of label 403, and if do not limited | m1-m2| numerical value, leave
First variable-frequency motor, the second variable-frequency motor encoder code value difference increase, will lead to the first variable-frequency motor, the second variable-frequency electric
There is deviation in the stroke of machine, and in fig. 3, the first variable-frequency motor of expression of label 202 is the location of in moment T, label 302
Position described in indicating the second variable-frequency motor in moment T, label 402 indicate to be in the first variable-frequency motor and the second variable-frequency motor
Between steelframe in moment T state in which, according to Pythagorean theorem, at this point, bidding number 402 corresponding length are L2, label
403 corresponding length are L3, the corresponding length of label 404 is L4, then at this point,I.e. to making the first frequency conversion
Spacing L between the output shaft of motor and the output shaft of the second variable-frequency motor2Increase, when the output shaft of the first variable-frequency motor and the
Spacing L between the output shaft of two variable-frequency motors2It increases above between the first variable-frequency motor and the second variable-frequency motor
When the pulling force that steelframe is able to bear, the steelframe that will lead between the first variable-frequency motor and the second variable-frequency motor is broken, and the
One variable-frequency motor, the second variable-frequency motor just can not after the steelframe fracture between the first variable-frequency motor and the second variable-frequency motor
By in the steelframe between the first variable-frequency motor and the second variable-frequency motor guarantee it is mutual contact, thus not can guarantee by
Load head and the tail are synchronous, are smoothly gone up and down.
Wherein, elevating mechanism further includes connecting shaft, and one end of connecting shaft is fixedly connected on the output shaft of the first variable-frequency motor,
The other end of connecting shaft is fixedly connected on the output shaft of the second variable-frequency motor.In this case, connecting shaft is in the first variable-frequency electric
First class of protection is increased between machine and the second variable-frequency motor, with the steelframe being between the first variable-frequency motor, the second variable-frequency motor
Second class protection is collectively formed, the coupling stiffness between the first variable-frequency motor, the second variable-frequency motor can be increased, reduces due to first
It is asynchronous between variable-frequency motor, the second variable-frequency motor to cause to break in the steelframe between the first variable-frequency motor, the second variable-frequency motor
A possibility that splitting.
Wherein, as | m1-m2| numerical value≤first threshold when, the first variable-frequency motor and the second variable-frequency electric described in continuous service
Machine.Such case indicates, the code value deviation very little of the encoder between the first variable-frequency motor and the second variable-frequency motor at this time, always
Within the weight range that the steelframe between the first variable-frequency motor, the second variable-frequency motor is able to bear, it not will lead to and be in
Steelframe fracture between first variable-frequency motor, the second variable-frequency motor.In the present embodiment, first threshold be can be | m1-m2| numerical value
=32 (2.5mm).
Wherein, as first threshold < | m1-m2| numerical value≤second threshold when, to m1、m2In the corresponding change of lesser numerical value
The control circuit of frequency motor sends control command, increases m1、m2In the corresponding variable-frequency motor of lesser numerical value power, or drop
Low m1、m2In the corresponding variable-frequency motor of biggish numerical value power, until | m1-m2| numerical value≤first threshold, continuous service
One variable-frequency motor, the second variable-frequency motor.Such case indicates, at this point, working as L2When being forced to elongate, the pulling force in connecting shaft receiving
In range, in such a case, it is possible to which the traction action and control command using connecting shaft itself make this | m1-m2| numerical value
Again it revert in first threshold range, in the present embodiment, second threshold can be set to 64 (5mm).In addition, at this time can be with
By manually reducing the higher variable-frequency motor of code value in the first variable-frequency motor and the second variable-frequency motor, alternatively, by the first frequency conversion
Code value is told somebody what one's real intentions are in motor and the second variable-frequency motor variable-frequency motor increases, with to the first variable-frequency motor, the second variable-frequency motor from
Ground height is calibrated, and keeps their terrain clearances identical.
Wherein, as | m1-m2| numerical value > second threshold when, while to the first variable-frequency motor, the second variable-frequency motor send control
System order makes the control circuit, the control circuit of the second variable-frequency motor while power loss of the first variable-frequency motor.In this case,
It is considered that the first variable-frequency motor and/or the second variable-frequency motor break down, the final result continued to run down is exactly to cause
The pulling force that connecting shaft is born is more than its tolerance range and is broken.Therefore, it is necessary to become the control circuit of the first variable-frequency motor, second
The control circuit while power loss of frequency motor, stop it and continue to run.
Wherein, | m1-m2| numerical value > second threshold when, triggering warning device sound an alarm.In this case, work as phase
After pass staff perceives associated alarm, it can be on the scene in time to the first variable-frequency motor and/or the second variable-frequency motor hair
Raw failure is handled, so as to debug in a relatively short period of time.The feelings of failure are especially issued in control command
Under condition, the control circuit, the control circuit of the second variable-frequency motor while power loss of the first variable-frequency motor can be artificially controlled.
Wherein, alarm is selected from one of buzzer, flashing lamp, qq message, SMS, wechat message, speech message
Or it is several.
Furthermore it is also possible to calculate liter according to the actual speed and runing time of the first variable-frequency motor, the second variable-frequency motor
The actual range of drop, but speed code-disc is to be calculated, and precision is not high, can only be used as auxiliary judgment condition, provides alarm to behaviour
Make personnel.After two stroke distances that same motor calculation goes out are converted to same dimension, compare two deviation of stroke, more than setting
Definite value is then alarmed is not allowed for code value, and operator is needed to calibrate.
The third mode:
Step 3101: first variable-frequency motor, the second variable-frequency motor receive start command simultaneously；
Step 3102: in first variable-frequency motor, the second variable-frequency motor operational process, acquiring described first in real time and become
The angle-data α of frequency motor1, the second variable-frequency motor angle-data α2；
Step 3103: obtaining | α1-α2| numerical value；
Step 3104: described in control | α1-α2| numerical value value range so that the output shaft of first variable-frequency motor,
The output shaft of second variable-frequency motor is on same straight line.In the anti-torsion control method of elevating mechanism provided by the invention,
Elevating mechanism includes the first variable-frequency motor, the second variable-frequency motor.In this case, the sharing of load for being loaded object can be arrived
First variable-frequency motor, the second variable-frequency motor, at this point, being able to by the load of the first variable-frequency motor and the second variable-frequency motor alone bear
It reduces, even if the weight for being loaded object is very big, can also guarantee the first variable-frequency motor, the second variable-frequency motor alone bear as far as possible
Load.
In addition, in the anti-torsion control method and device of elevating mechanism provided by the invention, also directed to the first variable-frequency motor
Angle-data α1, the second variable-frequency motor angle-data α2Obtain | α1-α2| numerical value, described in control | α1-α2| numerical value
Value range, so that the output shaft of the output shaft of first variable-frequency motor, the second variable-frequency motor is on same straight line, it can
It avoids being loaded object the torsion even generation of phenomenon of rupture.And if do not limited | α1-α2| numerical value, the first variable-frequency motor of leaving,
The angle difference of second variable-frequency motor increases, and will lead to the first variable-frequency motor, the angle difference of the second variable-frequency motor increases, when the
Angle difference between the output shaft of one variable-frequency motor and the output shaft of the second variable-frequency motor is increased above in the first frequency conversion
When the pulling force that the steelframe between motor and the second variable-frequency motor is able to bear, it will lead in the first variable-frequency motor and the second frequency conversion
Steelframe torsion between motor, or even fracture.
Wherein, elevating mechanism further includes connecting shaft, and one end of connecting shaft is fixedly connected on the output shaft of the first variable-frequency motor,
The other end of connecting shaft is fixedly connected on the output shaft of the second variable-frequency motor.In this case, connecting shaft is in the first variable-frequency electric
First class of protection is increased between machine and the second variable-frequency motor, with the steelframe being between the first variable-frequency motor, the second variable-frequency motor
Second class protection is collectively formed, the coupling stiffness between the first variable-frequency motor, the second variable-frequency motor can be increased, reduces due to first
Differential seat angle causes to turn round in the steelframe between the first variable-frequency motor, the second variable-frequency motor between variable-frequency motor, the second variable-frequency motor
Turn a possibility that being even broken.
Wherein, α1、α2Respectively space angle.Since the first variable-frequency motor, the second variable-frequency motor are all to rise in space
Or decline, therefore, as soon as their torsion may be have the space windup-degree of projection in x, y, z axis direction, at this point,
It is required that in a step 102, the data of the space angle can be obtained.
Wherein, as | α1-α2| numerical value≤first threshold when, the first variable-frequency motor and the second variable-frequency electric described in continuous service
Machine.Such case indicates, the angular deviation very little between the first variable-frequency motor and the second variable-frequency motor at this time, is being in the always
Within the weight range that steelframe between one variable-frequency motor, the second variable-frequency motor is able to bear, it not will lead in the first frequency conversion
Steelframe torsion between motor, the second variable-frequency motor.In the present embodiment, first threshold be can be | α1-α2| numerical value=3 °.
Wherein, as first threshold < | α1-α2| numerical value≤second threshold when, to α1、α2In the corresponding change of lesser numerical value
The control circuit of frequency motor sends control command, increases α1、α2In the corresponding variable-frequency motor of lesser numerical value power, until |
α1-α2| numerical value≤first threshold, the first variable-frequency motor of continuous service, the second variable-frequency motor.Such case indicates, can use
The traction action and control command of connecting shaft itself make this | α1-α2| numerical value revert in first threshold range again, this
In embodiment, second threshold can be set to 8 °.
Wherein, as | α1-α2| numerical value > second threshold when, while to the first variable-frequency motor, the second variable-frequency motor send control
System order makes the control circuit, the control circuit of the second variable-frequency motor while power loss of the first variable-frequency motor.In this case,
It is considered that the first variable-frequency motor and/or the torsion of the second variable-frequency motor break down, the final result continued to run down is just
It is that the pulling force for causing connecting shaft to be born is more than its tolerance range and is broken.Therefore, it is necessary to make the control circuit of the first variable-frequency motor,
The control circuit while power loss of second variable-frequency motor, stop it and continue to run.
Wherein, | α1-α2| numerical value > second threshold when, triggering warning device sound an alarm.In this case, work as phase
After pass staff perceives associated alarm, it can be on the scene in time to the first variable-frequency motor and/or the second variable-frequency motor hair
Raw failure is handled, so as to debug in a relatively short period of time.The feelings of failure are especially issued in control command
Under condition, the control circuit, the control circuit of the second variable-frequency motor while power loss of the first variable-frequency motor can be artificially controlled.
Wherein, alarm is selected from one of buzzer, flashing lamp, qq message, SMS, wechat message, speech message
Or it is several.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (8)
1. the traveling control method of comb teeth carrier in a kind of stereo garage, the comb teeth carrier applied to no precise distance measurement instrument
Walking process, walking variable-frequency motor, limit switch are fixed on the comb teeth carrier, which is characterized in that including following
Step:
Obtain the code value m of the encoder of the walking variable-frequency motorx,
According to the mxThe position zero point for demarcating comb teeth carrier, according to the mxCalibration comb teeth carrier position zero point include
Following steps: the signal of the limit switch is obtained；When limit switch no signal simultaneously, it is demarcated as the comb teeth and carries
The position zero point of vehicle；It is according to the position zero point of the comb teeth carrier, the code value of the encoder of the walking variable-frequency motor is clear
Zero；
Comb teeth carrier is into warehouse compartment walking process, according to the mx, control the speed-change process of the comb teeth carrier；
After comb teeth carrier reaches parking stall, according to the mx, control the position fixing process of the comb teeth carrier；
Comb teeth carrier is into shuttle back off procedure, according to the mx, control the speed-change process of the comb teeth carrier；
After comb teeth carrier reaches shuttle, according to the mx, control the position fixing process of the comb teeth carrier；
Wherein, the comb teeth carrier is into warehouse compartment walking process, according to the mx, control the speed change mistake of the comb teeth carrier
Journey includes: that the control comb teeth carrier is run with First Speed；As the mxWhen increasing to first threshold, the comb teeth is controlled
The speed of carrier is reduced to second speed from First Speed；As the mxWhen increasing to second threshold, controls the comb teeth and remove
The speed of fortune vehicle is reduced to the first locating speed from second speed.
2. the traveling control method of comb teeth carrier in stereo garage according to claim 1, which is characterized in that
After the comb teeth carrier reaches parking stall, according to the mx, it includes following for controlling the position fixing process of the comb teeth carrier
Step:
As the mxWhen increasing to third threshold value, the speed for controlling the comb teeth carrier is reduced to 0 from the first locating speed.
3. the traveling control method of comb teeth carrier in stereo garage according to claim 1, which is characterized in that the comb
Tooth carrier is into shuttle back off procedure, according to the mx, the speed-change process for controlling the comb teeth carrier includes following step
It is rapid:
Control comb teeth carrier is run with third speed；
As the mxWhen being reduced to third threshold value, the speed for controlling the comb teeth carrier is reduced to fourth speed from third speed；
As the mxWhen being reduced to four threshold values, the speed for controlling the comb teeth carrier is reduced to the second positioning from fourth speed
Speed.
4. the traveling control method of comb teeth carrier in stereo garage according to claim 1, which is characterized in that the comb
After tooth carrier reaches shuttle, according to the mx, control the position fixing process of the comb teeth carrier the following steps are included:
As the mxWhen being reduced to 0, the speed for controlling the comb teeth carrier is reduced to 0 from the second locating speed.
5. the traveling control device of comb teeth carrier in a kind of stereo garage, the comb teeth carrier applied to no precise distance measurement instrument
Walking process, walking variable-frequency motor, limit switch are fixed on the comb teeth carrier, which is characterized in that including walking
Variable-frequency motor code value acquiring unit, speed control unit, limit switch signal acquiring unit, code value resetting unit,
The walking variable-frequency motor code value acquiring unit is used to obtain the code value m of the encoder of the walking variable-frequency motorx；
The limit switch signal acquiring unit is used to obtain the signal of the limit switch；
When limit switch no signal simultaneously, the code value resetting unit is used for the encoder of the walking variable-frequency motor
Code value reset；
Comb teeth carrier is into warehouse compartment walking process, and the speed control unit is according to the mx, control the comb teeth carrier
Speed-change process；
After comb teeth carrier reaches parking stall, the speed control unit is according to the mx, control the positioning of the comb teeth carrier
Process；
Comb teeth carrier is into shuttle back off procedure, and the speed control unit is according to the mx, control the comb teeth carrier
Speed-change process；
After comb teeth carrier reaches shuttle, the speed control unit is according to the mx, control the positioning of the comb teeth carrier
Process；
Wherein, the comb teeth carrier is into warehouse compartment walking process, and the speed control unit is according to the mx, control the comb
The speed-change process of tooth carrier includes:
The comb teeth carrier is controlled to run with First Speed；
As the mxWhen increasing to first threshold, the speed for controlling the comb teeth carrier is reduced to second speed from First Speed；
As the mxWhen increasing to second threshold, the speed for controlling the comb teeth carrier is reduced to the first positioning from second speed
Speed.
6. the traveling control device of comb teeth carrier in stereo garage according to claim 5, which is characterized in that the comb
After tooth carrier reaches parking stall, the speed control unit is according to the mx, control the position fixing process of the comb teeth carrier
Include:
As the mxWhen increasing to third threshold value, the speed for controlling the comb teeth carrier is reduced to 0 from the first locating speed.
7. the traveling control device of comb teeth carrier in stereo garage according to claim 5, which is characterized in that the comb
Tooth carrier is into shuttle back off procedure, and the speed control unit is according to the mx, control the change of the comb teeth carrier
Fast process includes:
Control comb teeth carrier is run with third speed；
As the mxWhen being reduced to third threshold value, the speed for controlling the comb teeth carrier is reduced to fourth speed from third speed；
As the mxWhen being reduced to four threshold values, the speed for controlling the comb teeth carrier is reduced to the second positioning from fourth speed
Speed.
8. the traveling control device of comb teeth carrier in stereo garage according to claim 5, which is characterized in that the comb
After tooth carrier reaches shuttle, the speed control unit is according to the mx, control the position fixing process of the comb teeth carrier
Include:
As the mxWhen being reduced to 0, the speed for controlling the comb teeth carrier is reduced to 0 from the second locating speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610798877.9A CN106401239B (en) | 2016-08-31 | 2016-08-31 | The traveling control method and device of comb teeth carrier in stereo garage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610798877.9A CN106401239B (en) | 2016-08-31 | 2016-08-31 | The traveling control method and device of comb teeth carrier in stereo garage |
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| Publication Number | Publication Date |
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| CN106401239A CN106401239A (en) | 2017-02-15 |
| CN106401239B true CN106401239B (en) | 2019-04-30 |
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| CN201610798877.9A Active CN106401239B (en) | 2016-08-31 | 2016-08-31 | The traveling control method and device of comb teeth carrier in stereo garage |
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| CN112049490B (en) * | 2019-06-06 | 2021-07-13 | 北京首钢自动化信息技术有限公司 | Multi-motor synchronous control method for lifting mechanism of comb tooth carrier of stereo garage |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2542620Y (en) * | 2002-02-06 | 2003-04-02 | 云南昆船第一机械有限公司 | Single-rail endless shuttle |
| CN102582466A (en) * | 2011-01-11 | 2012-07-18 | 通用汽车环球科技运作有限责任公司 | Wobble compensation of an encoder speed signal for an electric motor |
| CN202508646U (en) * | 2012-02-22 | 2012-10-31 | 河北钢铁股份有限公司唐山分公司 | Car puller walking positioning control device |
| CN103838260A (en) * | 2014-03-26 | 2014-06-04 | 济钢集团有限公司 | Positioning control device and method for asynchronous motor drive device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3923047B2 (en) * | 2003-03-04 | 2007-05-30 | ファナック株式会社 | Synchronous control device |
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2016
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2542620Y (en) * | 2002-02-06 | 2003-04-02 | 云南昆船第一机械有限公司 | Single-rail endless shuttle |
| CN102582466A (en) * | 2011-01-11 | 2012-07-18 | 通用汽车环球科技运作有限责任公司 | Wobble compensation of an encoder speed signal for an electric motor |
| CN202508646U (en) * | 2012-02-22 | 2012-10-31 | 河北钢铁股份有限公司唐山分公司 | Car puller walking positioning control device |
| CN103838260A (en) * | 2014-03-26 | 2014-06-04 | 济钢集团有限公司 | Positioning control device and method for asynchronous motor drive device |
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