CN108127096A - A kind of transverse-moving trolley localization method and system - Google Patents
A kind of transverse-moving trolley localization method and system Download PDFInfo
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- CN108127096A CN108127096A CN201810144015.3A CN201810144015A CN108127096A CN 108127096 A CN108127096 A CN 108127096A CN 201810144015 A CN201810144015 A CN 201810144015A CN 108127096 A CN108127096 A CN 108127096A
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000004807 localization Effects 0.000 title claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims abstract description 28
- 238000009628 steelmaking Methods 0.000 claims abstract description 18
- 238000006073 displacement reaction Methods 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 7
- 238000009749 continuous casting Methods 0.000 claims description 21
- 238000012546 transfer Methods 0.000 claims description 14
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 3
- 239000000725 suspension Substances 0.000 description 18
- 230000008569 process Effects 0.000 description 15
- 238000011065 in-situ storage Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
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- 238000003860 storage Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
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- 238000007796 conventional method Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/16—Controlling or regulating processes or operations
- B22D11/20—Controlling or regulating processes or operations for removing cast stock
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/12—Accessories for subsequent treating or working cast stock in situ
- B22D11/128—Accessories for subsequent treating or working cast stock in situ for removing
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Abstract
This application provides a kind of transverse-moving trolley localization methods and system, method to include：The rotational parameters of transverse-moving trolley motor are obtained using the frequency converter for being arranged far from steel-making scene, rotational parameters include motor speed, decelerating through motor ratio and speed reducer diameter；The instantaneous movement speed of transverse-moving trolley is calculated according to rotational parameters；Real-time displacement distance of the transverse-moving trolley in acquisition time section is calculated according to instantaneous movement speed；The sum of the real-time displacement distance in multiple acquisition time sections is calculated, obtains the mobile total distance of transverse-moving trolley.System includes：PLC control devices, transmission device and frequency converter.Transmission device is arranged on transverse-moving trolley, and frequency converter is arranged in electromagnetism station, and frequency converter obtains the rotational parameters of motor, and rotational parameters are sent to PLC control devices；PLC control devices calculate the position of transverse-moving trolley according to rotational parameters.The application realizes the real-time positioning to transverse-moving trolley, and location accuracy is high.
Description
Technical field
This application involves transverse-moving trolley technical field more particularly to a kind of transverse-moving trolley localization method and systems.
Background technology
Conticaster is the core equipment of steelmaking system, for being continuously cast into high-temperature molten steel with certain section
The continuous casting billet of shape and certain size specification.The configured rear portion roller-way in conticaster output terminal of continuous casting billet is sent to hot sending roller
Road.When conticaster is provided with two or more rear portion rollers being mutually parallel for machine double fluid or multiple streams, i.e. conticaster output terminal
It during road, needs that the continuous casting billet on the roller-way of conticaster rear portion is transferred to hot sending roller-way in time using transverse-moving trolley, if transfer is not
In time, the safety accidents such as roller, sleeping base will be fallen, influence conticaster continuous production.Transverse-moving trolley is transversely arranged on conticaster
Slideway walking above rear portion roller-way and hot sending roller-way, after reaching above rear portion roller-way or hot sending roller-way, the suspension hook of transverse-moving trolley
It drops to after certain altitude slings continuous casting billet and rises to certain altitude again.To transverse-moving trolley in the position of slideway and the height of suspension hook
Degree carries out timely, safety and accurately positioning, is the timely important prerequisite for transferring continuous casting billet.
In the prior art, the common method positioned to transverse-moving trolley is laser detection method.Laser detection method is utilized and is set
It puts the laser detector at transverse-moving trolley suspension hook and sends laser signal, swashed using what is set by slideway end or rear portion roller-way
Light reflecting board reflected laser signals are to laser detector, according to reflection interval to position of the transverse-moving trolley on slideway and suspension hook
Highly positioned.
However, shake when transverse-moving trolley is run is very big, laser detector is easily made to send malfunction signal, causes to swash
Light reflecting board cannot accurately receive laser signal, and stability is poor.In addition, since steelmaking system site environment temperature reaches seven or eight
Ten degree, prolonged baking can lead to the detecting elements lost of life such as laser detector, cause transverse-moving trolley that can not be accurately positioned,
Conticaster drop pulling rate or sleeping base is caused to stop pouring.
Invention content
This application provides a kind of transverse-moving trolley localization method and system, to solve the problem of transverse-moving trolley positions.
In a first aspect, this application provides a kind of transverse-moving trolley localization method, this method includes：
The rotational parameters of transverse-moving trolley motor, the rotational parameters are obtained using the frequency converter for being arranged far from steel-making scene
Including motor speed, decelerating through motor ratio and speed reducer diameter；
The instantaneous movement speed of transverse-moving trolley is calculated according to the rotational parameters；
Real-time displacement distance of the transverse-moving trolley in acquisition time section is calculated according to the instantaneous movement speed；
Calculate the sum of the real-time displacement distance in all acquisition time sections, obtain the movement of the transverse-moving trolley always away from
From.
Preferably, before obtaining the rotational parameters of transverse-moving trolley motor using the frequency converter for being arranged far from steel-making scene,
It further includes:
The average startup speed of transverse-moving trolley is calculated respectively, the average speed of travel, averagely leans on base speed and average return speed
Degree；
Setting is corresponding respectively averagely starts speed, the averagely average speed of travel, adopting by base speed and average return speed
Collect the length of period.
Preferably, it before the rotational parameters that transverse-moving trolley motor is remotely obtained using frequency converter, further includes:To frequency converter into
Row fault detect.
Preferably, the method further includes：According to the mobile total distance and the difference of pre-determined distance, control is described traversing
Trolley moves.
Second aspect, present invention also provides a kind of transverse-moving trolley alignment system, the transverse-moving trolley alignment system includes
For performing the device of method and step in the various realization methods of first aspect.
The transverse-moving trolley alignment system that the application provides includes：PLC control devices, transmission device and frequency converter, wherein,
The transmission device is arranged on transverse-moving trolley, and the transmission device includes motor；
The frequency converter is arranged in electromagnetism station, has certain distance, the change between the electromagnetism station and rear portion roller-way
Frequency device is connect with motor, and the frequency converter is used to obtain the rotational parameters of the motor, the rotational parameters is sent to described
PLC control devices；
The PLC control devices are arranged in the electromagnetism station, and the PLC device includes acquisition module and CPU module, institute
Acquisition module is stated to connect with the frequency converter, for the rotational parameters to be sent to the CPU module, the CPU module with
The acquisition module connection, for calculating the position of the transverse-moving trolley according to the rotational parameters.
Preferably, the frequency converter includes walking frequency converter and lifting frequency converter, and the motor includes movable motor and liter
Motor drops, and the walking frequency converter is connected with movable motor, and the lifting frequency converter is connected with lifting motor.
Preferably, the transverse-moving trolley alignment system is included close to switch, described to be arranged on rear portion roller-way close to switch
End, described to be communicated to connect close to switch and the PLC control devices, for detecting, there are continuous casting billets on the rear portion roller-way
When, transfer signal is sent to the PLC control devices；
The PLC control devices include digital quantity input/output module, the digital quantity input/output module and the CPU
Module connects, and for receiving the transfer signal, the transfer signal is sent to the CPU module, the CPU module is used for
According to the transfer signal, the transverse-moving trolley is controlled to be moved at the rear portion roller-way.
Preferably, the transverse-moving trolley alignment system includes host computer, and the host computer is connect with the PLC device, uses
In the pre-determined distance for setting the transverse-moving trolley movement.
The transverse-moving trolley localization method and the advantageous effect of system that the application provides include：
The transverse-moving trolley localization method that the application provides obtains traversing using the frequency converter for being arranged far from steel-making scene
The rotational parameters of vehicle motor, the instantaneous movement speed of transverse-moving trolley is calculated according to rotational parameters, then is calculated transverse-moving trolley and acquired
Real-time displacement distance in period, adds up to real-time displacement distance, obtains mobile total distance, realizes to transverse-moving trolley
Positioning in real time.It is positioned according to the rotational parameters of motor, avoids influence of the transverse-moving trolley shake to position stability.Frequency conversion
Device is far from steel-making scene, and the hot environment for avoiding steel-making scene shortens the working life, and reliability is high.The application provides traversing
Trolley positioning system, including PLC control devices, transmission device and frequency converter, PLC control devices and frequency converter are arranged at electromagnetism
It in standing, facilitates staff and is detected and controls, be conducive to improve transverse-moving trolley positioning accuracy.
Description of the drawings
In order to illustrate more clearly of the technical solution of the application, letter will be made to attached drawing needed in the embodiment below
Singly introduce, it should be apparent that, for those of ordinary skills, without having to pay creative labor,
It can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is a kind of flow diagram of transverse-moving trolley localization method provided by the embodiments of the present application；
Fig. 2 is a kind of transverse-moving trolley walking schematic diagram provided by the embodiments of the present application；
Fig. 3 is the structure diagram of transverse-moving trolley alignment system provided by the embodiments of the present application.
Specific embodiment
In order to make those skilled in the art better understand the technical solutions in the application, below in conjunction with the application reality
The attached drawing in example is applied, the technical solution in the embodiment of the present application is clearly and completely described, it is clear that described implementation
Example is only some embodiments of the present application rather than whole embodiments.Based on the embodiment in the application, the common skill in this field
Art personnel all other embodiments obtained without making creative work should all belong to the application protection
Range.
The embodiment of the present application provides a kind of transverse-moving trolley localization method, suitable for transverse-moving trolley in walking in a horizontal state process
It is a kind of flow of transverse-moving trolley localization method provided by the embodiments of the present application referring to Fig. 1 with the positioning during vertical lift
Schematic diagram, as shown in Figure 1, transverse-moving trolley localization method provided by the embodiments of the present application, specifically includes following steps：
Step S110：The rotational parameters of transverse-moving trolley motor are obtained using the frequency converter for being arranged far from steel-making scene, are turned
Dynamic parameter includes motor speed, decelerating through motor ratio and speed reducer diameter.
Specifically, in the present embodiment, steel-making scene refers to the transverse-moving trolleys such as the rear portion roller-way for placing continuous casting billet and hot sending roller-way
Working region.Frequency converter is arranged in electromagnetism station, has certain distance between electromagnetism station and steel-making scene, in specific embodiment
In, electromagnetism station and the distance at steel-making scene may be configured as 30 meters or more.Frequency converter and steel-making scene are distant, avoid steel-making
The high temperature damage frequency converter at scene leads to the frequency converter lost of life.
Suspension hook and motor are provided on transverse-moving trolley, suspension hook is arranged on the bottom of transverse-moving trolley, for handling continuous casting billet, electricity
Machine includes lifting motor and movable motor.Lifting motor and movable motor are arranged above suspension hook, have one with suspension hook lower part
Set a distance, since the specific installation position of lifting motor and movable motor influences not the lifting of suspension hook and the walking of transverse-moving trolley
Greatly, it therefore can be lifted by improving the height or increase suspension hook length of lifting motor and movable motor on transverse-moving trolley to increase
Motor and the distance between movable motor and suspension hook end.
When suspension hook slings continuous casting billet, since continuous casting blank temperature is very high, suspension hook terminal temperature is also very high, in the prior art for
Guarantee height under hook positional accuracy, needs detection and localization equipment being positioned close at suspension hook terminal position, causes to detect
Element is easily damaged by high temperature, does not set detection and localization equipment, and the lifting electricity on transverse-moving trolley in the present embodiment in suspension hook end
Machine and the distance between movable motor and suspension hook end relatively far away from, are not easy to be damaged by high temperature.
Frequency converter includes lifting frequency converter and walking frequency converter, and lifting frequency converter is connect by cable with lifting motor, row
Frequency converter is walked to connect with movable motor by cable.Due to the lifting motor on transverse-moving trolley and movable motor and suspension hook end it
Between distance relatively far away from, therefore the cable between motor and frequency converter is not easy to be damaged by high temperatures.
Before transverse-moving trolley movement, carry out fault detect is carried out to frequency converter first, it is ensured that frequency converter is working properly.This reality
It applies in example, the walking of mobile finger transverse-moving trolley or lifting of transverse-moving trolley.
When transverse-moving trolley walking in a horizontal state, the rotational parameters of movable motor are obtained using frequency converter of walking；Work as transverse-moving trolley
During vertical lift, the rotational parameters for lifting frequency converter acquisition lifting motor are utilized.Rotational parameters include motor speed N, motor subtracts
Speed than S and speed reducer diameter d, wherein, the unit of motor speed N is revolutions per minute.The present embodiment is with transverse-moving trolley horizontal line
It describing in detail for positioning when walking, the localization method during being vertically moved up or down is identical with localization method during walking in a horizontal state,
It for details, reference can be made to localization method during walking in a horizontal state.
In the present embodiment, the control device of the walking of control transverse-moving trolley, lifting and handling continuous casting billet is PLC
(Programmable Logic Controller, programmable logic controller (PLC)) control device, PLC control devices can pass through
The communication modes of Profibus-DP (fieldbus) or Profibus-NET (fieldbus network) acquire frequency converter and are connected in real time
The rotational parameters of motor, and be stored into the CPU of PLC control devices, it can specifically store DB (Data Block, data block
In), for subsequently calculating calling.
Step S120：The instantaneous movement speed of transverse-moving trolley is calculated according to rotational parameters.
Specifically, the calculation formula that PLC control devices calculate the instantaneous movement speed of transverse-moving trolley is：
V=N*S* π * d (1)
Further, when transverse-moving trolley advances, instantaneous movement speed is positive value；It is instantaneous to move when transverse-moving trolley retreats
Dynamic speed is negative value, wherein, the movable motor of transverse-moving trolley or lifting motor is rotate forward during advance, the row of transverse-moving trolley during retrogressing
Motor or lifting motor are walked as reversion, the motor of transverse-moving trolley rotates and reverse the frequency that frequency converter is adjusted by PLC control devices
To realize.
Step S130：Real-time displacement distance of the transverse-moving trolley in acquisition time section is calculated according to instantaneous movement speed.
Specifically, the process of transverse-moving trolley handling continuous casting billet can be divided into multiple motion processes, such as start-up course was walked
Journey, by base process and return course, the movement speed of each motion process differs, and pre-sets adopting for different motion process
Collect the period, the accuracy of transverse-moving trolley positioning can be improved.
Fig. 2 is participated in, is a kind of transverse-moving trolley walking schematic diagram provided by the embodiments of the present application, as shown in Fig. 2, transverse-moving trolley
6 are located at before activation in situ, i.e. at M points.When transverse-moving trolley 6 is walked, slided on slideway 10 using movable motor 8.It is horizontal
When moving stage vehicle 6 lifts, the height of suspension hook 9 is lifted using lifting motor 7.The quantity of conticaster rear portion roller-way is three,
Respectively first-class roller-way 1, second roller-way 2 and third stream roller-way 3, transverse-moving trolley 6 are needed the continuous casting billet on the roller-way of rear portion
Or it in the continuous casting billet handling to hot sending roller-way 4 on strand storage position 5, returns again to original position or designated position.Transverse-moving trolley 6 is from original
Position walking to third stream roller-way 3 distance for L1, L1=20 meters；Distance of the transverse-moving trolley 6 from walking in situ to second roller-way 2
For L2, L2=30 meters；Distance of the transverse-moving trolley 6 from walking in situ to first-class roller-way 1 is L3, L3=40 meters；Transverse-moving trolley 6 from
The distance of walking in situ to hot sending roller-way 4 is L4, L4=50 meters；Distance of the transverse-moving trolley 6 from walking in situ to first-class roller-way 1
For L3, L3=40 meters；Transverse-moving trolley 6 is L5 from walking in situ to the distance of strand storage position 5, L5=65 meters.
Continuous casting billet on third stream roller-way 3 is hoisted to by hot sending roller-way 4 with transverse-moving trolley 6, is returned again to original position, it is horizontal
For moving stage vehicle 6 when walking in situ, the speed of travel of transverse-moving trolley 6, specifically can be by will be traversing to start speed (0-1 meters)
The predetermined frequency of the walking frequency converter of trolley 6 is controlled for the 20% of rated frequency；When the walking of transverse-moving trolley 6 reaches 1 meter,
The speed of travel of transverse-moving trolley 6 is normal speed (1-19 meters), and the frequency for presetting walking frequency converter is specified 60%；When traversing
When the walking of trolley 6 reaches 19.1 meters, to lean on base speed (19.1-20.9 meters), the frequency for presetting walking frequency converter is specified
10%；It is normal speed (21-49 meters) when walking reaches 21 meters, the frequency for presetting walking frequency converter is specified 60%；When
When walking reaches 49.1 meters, to lean on base speed (49.1-50 meters), the frequency for presetting walking frequency converter is specified 10%；Work as horizontal stroke
It is high speed return speed (50-1 meters) when the walking of moving stage vehicle 6 needs to return in situ, the frequency for presetting walking frequency converter is specified
80%, it is to start speed (1-0 meters) when transverse-moving trolley 6 is back to original position, the frequency for presetting walking frequency converter is specified
20%.
The speed of travel of the transverse-moving trolley 6 in start-up course is starts speed, and walking process is normal speed, by base process
To lean on base speed, return course is high speed return speed, and transverse-moving trolley 6 is different in the average speed of different motion process, in advance
The average speed of each motion process is calculated, i.e., averagely starts speed, the average speed of travel, averagely lean on base speed and average return
Speed.Since transverse-moving trolley 6 is different in the run time of different motion process, velocity variations are also different, for example, in start-up course
Velocity variations are larger, smaller in walking process velocity variations, and therefore, setting is corresponding respectively averagely starts speed, average row walking speed
Degree, the length for averagely leaning on base speed and the acquisition time section of average return speed, for example, setting is corresponded to averagely by base speed, put down
The length for starting the acquisition time section of speed, the average speed of travel and average return speed is sequentially increased, and can be improved to traversing
The efficiency and accuracy of 6 location Calculation of trolley.
After the instantaneous movement speed of transverse-moving trolley 6 is calculated according to step S12O, by instantaneous movement speed with averagely opening
Dynamic speed, is averagely compared the average speed of travel by base speed and average return speed, judges the operation shape of transverse-moving trolley 6
State, for example, then judging that transverse-moving trolley 6 be in walking states, selection closest to the average speed of travel according to, instantaneous movement speed
The corresponding acquisition time section of the average speed of travel calculates the real-time displacement distance of transverse-moving trolley 6.
In the present embodiment, the acquisition time section of walking process is preset as 100ms, then calculates primary shifting in real time every 100ms
Dynamic distance：
S1=100/60000*V1
S2=100/60000*V2
S3=100/60000*V3
…
Sn=100/60000*Vn (2)
Multiple real-time displacement distances are obtained according to formula (2)：S1, S2, S3 ..., Sn.
Step S140：The sum of the real-time displacement distance in whole acquisition time sections is calculated, the movement for obtaining transverse-moving trolley is total
Distance.
Specifically, if acquisition time section is walking process, the calculation formula for moving total distance is：
L=S1+S2+S3+ ...+Sn (3)
If acquisition time section further includes other motion processes, such as start-up course, then when calculating mobile total distance L, also need
The real-time displacement distance of acquisition time section is each acquired in cumulative start-up course.
Since each rear portion roller-way and the distance for being heat-fed roller-way 4 are fixed, so the continuous casting on the roller-way of each rear portion
The distance of base to hot sending roller-way 4 is changeless, thus calculate real-time displacement distance and can obtain transverse-moving trolley 6
To the distance each flowed
Further, according to mobile total distance and the difference of pre-determined distance, control transverse-moving trolley 6 moves.Specially：According to
Mobile total distance is less than pre-determined distance, and control transverse-moving trolley 6 advances；Pre-determined distance is less than according to mobile total distance, control is traversing
Trolley 6 retreats.
To be described further to transverse-moving trolley localization method provided in this embodiment, the embodiment of the present application additionally provides one
Kind transverse-moving trolley alignment system, transverse-moving trolley alignment system include performing in the various realization methods of transverse-moving trolley localization method
The device of method and step.
Fig. 3 is participated in, is the structure diagram of transverse-moving trolley alignment system provided by the embodiments of the present application, as shown in figure 3, this
The transverse-moving trolley alignment system that application embodiment provides includes：Host computer 11, PLC control devices 12, transmission device 14 and frequency conversion
Device 13.
Specifically, host computer 11, PLC control devices 12 and frequency converter 13 are arranged in electromagnetism station, electromagnetism station and rear portion
There is certain distance between roller-way.Host computer 11 includes display and processor, and host computer passes through ether with PLC control devices 12
Network Communication connects, and the PLC of modular construction, such as Siemens S7-300 PLC specifically can be selected in PLC control devices 12.PLC control dresses
It puts 12 to connect with frequency converter including acquisition module, CPU module and digital quantity input/output module, acquisition module, for that will rotate
Parameter is sent to CPU module, and CPU module is connect with acquisition module, for calculating the position of transverse-moving trolley 6 according to rotational parameters.
Further, acquisition module includes Profibus-DP fieldbus, is acquired using Profibus-DP fieldbus
The rotational parameters that frequency converter obtains, rotational parameters include motor speed N, decelerating through motor than S and speed reducer diameter d, wherein, electricity
The unit of machine rotating speed N is revolutions per minute.
CPU module is provided with DP (DisplayPort, display) interface, and DP interfaces are connect with digital quantity input/output module,
For reading roller-way strand signal and the function that transverse-moving trolley 6 is controlled to walk, lift.
Transmission device 14 is arranged on transverse-moving trolley 6, transmission device 14 including motor and speed reducer etc., wherein, motor is
Three-phase asynchronous Ac motor, the quantity of motor is two, respectively movable motor 8 and lifting motor 7, and movable motor 8 is with walking
Frequency converter is connected by cable, and lifting motor 7 is connect with lifting frequency converter by cable.
In the present embodiment, transverse-moving trolley alignment system is further included close to switch 15, after being arranged on each close to switch 15
The end of portion's roller-way and hot sending roller-way 4, close to the digital quantity input/output module communication link of switch 15 and PLC control devices 12
It connects.Be arranged on rear portion roller-way end is used to detect on the roller-way of rear portion that there are during continuous casting billet, send transfer letter close to switch 15
Number to PLC control devices 12, the digital quantity input/output module of PLC control devices 12 receives transfer signal, will transfer signal hair
CPU module is sent to, CPU module is used to, according to transfer signal, communicate by PROFIBUS control word being assigned to walking frequency converter,
By existing VVVF (Variable Voltage and Variable Frequency, frequency conversion speed-adjusting system) control technology,
Control walking frequency converter, control movable motor 8 rotating speed, make transverse-moving trolley 6 start to walk or CPU module be used for according to transfer
Signal is communicated by PROFIBUS control word being assigned to lifting frequency converter, passes through existing VVVF (Variable Voltage
And Variable Frequency, frequency conversion speed-adjusting system) control technology, control lifting frequency converter, turn of control lifting motor 7
Speed makes transverse-moving trolley 6 begin to ramp up or decline, and transverse-moving trolley 6 is made to reach at the rear portion roller-way for needing handling continuous casting billet.It is arranged on
Hot sending roller-way 4 end close to switch 15 have continuous casting billet on hot sending roller-way 4 for detecting when, send pause handling signal to
PLC control devices 12 make PLC control devices 12 control 6 pause of transverse-moving trolley action.
Since the program scanning period of PLC and revolutional slip have a certain impact to length measurement precision, thus can by with reality
Public condition finely compares the penalty coefficient that obtains to reduce error, meets the precision needed for production.It is managed according to formula as follows：
L'=q*L (4)
In formula, L' is the 6 practical travel distance of transverse-moving trolley after compensating coefficient；L is 6 orientation distance of transverse-moving trolley；Q is horizontal stroke
6 orientation distance of moving stage vehicle and practical public condition finely compared with the penalty coefficient that obtains, q values take 1 in this example.
The display of host computer is right for the pre-determined distance that transverse-moving trolley 6 is set to move for showing human-machine interaction picture
Transverse-moving trolley 6 carries out real-time tracking, constantly shows the data of 6 travel distance of transverse-moving trolley.The row of frequency converter connection is adjusted at any time
The rotating speed size of motor 8 and lifting motor 7 is walked, to adapt to the handling of continuous casting billet.
As seen from the above-described embodiment, the transverse-moving trolley localization method that the application provides, it is live using steel-making is arranged far from
Frequency converter obtain transverse-moving trolley motor rotational parameters, according to rotational parameters calculate transverse-moving trolley instantaneous movement speed, then
Calculate real-time displacement distance of the transverse-moving trolley in acquisition time section, add up to real-time displacement distance, obtain it is mobile always away from
From realizing the real-time positioning to transverse-moving trolley.It is positioned according to the rotational parameters of motor, avoids transverse-moving trolley shake to fixed
The influence of position stability.Frequency converter is far from steel-making scene, and the hot environment for avoiding steel-making scene shortens the working life, reliability
It is high.The transverse-moving trolley alignment system that the application provides, including PLC control devices, transmission device and frequency converter, PLC control devices
It is arranged in electromagnetism station with frequency converter, facilitates staff and be detected and control, be conducive to improve transverse-moving trolley positioning
Accuracy.
Since embodiment of above is that reference combination illustrates on other modes, have between different embodiments
There is an identical part, just to refer each other for part identical, similar between each embodiment in this specification.Herein no longer in detail
It illustrates.
It should be noted that in the present specification, the relational terms of such as " first " and " second " or the like are used merely to
It distinguishes one entity or operation from another entity or operation, and not necessarily requires or imply these entities or operation
Between there are any this practical relationships or sequence.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Cover non-exclusive inclusion, so that circuit structure, article or equipment including a series of elements not only include those
Element, but also including other elements that are not explicitly listed or further include as this circuit structure, article or equipment
Intrinsic element.In the absence of more restrictions, there is the element that sentence "including a ..." limits, it is not excluded that
Also there are other identical elements in circuit structure, article or equipment including the element.
Those skilled in the art will readily occur to the application its after considering specification and putting into practice the disclosure invented here
His embodiment.This application is intended to cover the present invention any variations, uses, or adaptations, these modifications, purposes or
Person's adaptive change follows the general principle of the application and including the undocumented common knowledge in the art of the application
Or conventional techniques.Description and embodiments are considered only as illustratively, and the true scope and spirit of the application will by right
The content asked is pointed out.
Above-described the application embodiment does not form the restriction to the application protection domain.
Claims (9)
1. a kind of transverse-moving trolley localization method, which is characterized in that including：
The rotational parameters of transverse-moving trolley motor are obtained using the frequency converter for being arranged far from steel-making scene, the rotational parameters include
Motor speed, decelerating through motor ratio and speed reducer diameter；
The instantaneous movement speed of transverse-moving trolley is calculated according to the rotational parameters；
Real-time displacement distance of the transverse-moving trolley in acquisition time section is calculated according to the instantaneous movement speed；
The sum of the real-time displacement distance in all acquisition time sections is calculated, obtains the mobile total distance of the transverse-moving trolley.
2. transverse-moving trolley localization method as described in claim 1, which is characterized in that institute is calculated according to the instantaneous movement speed
Before stating real-time displacement distance of the transverse-moving trolley in acquisition time section, further include:
The average startup speed of transverse-moving trolley is calculated respectively, the average speed of travel, averagely leans on base speed and average return speed；
When corresponding averagely startup speed, the average speed of travel being set respectively, averagely leaning on base speed and the averagely acquisition of return speed
Between section length.
3. transverse-moving trolley localization method as described in claim 1, which is characterized in that setting corresponds to averagely by base speed, averagely
The length for starting the acquisition time section of speed, the average speed of travel and average return speed is sequentially increased.
4. transverse-moving trolley localization method as described in claim 1, which is characterized in that remotely obtain transverse-moving trolley using frequency converter
Before the rotational parameters of motor, further include:Fault detect is carried out to frequency converter.
5. transverse-moving trolley localization method as described in claim 1, which is characterized in that the method further includes：According to the shifting
The difference of dynamic total distance and pre-determined distance, controls the transverse-moving trolley to move.
6. a kind of transverse-moving trolley alignment system, which is characterized in that including：PLC control devices (12), transmission device (14) and frequency conversion
Device (13), wherein,
The transmission device (14) is arranged on transverse-moving trolley (6), and the transmission device (14) is including motor；
The frequency converter (13) is arranged in electromagnetism station, has certain distance, the change between the electromagnetism station and rear portion roller-way
Frequency device (13) is electrically connected with motor, and the frequency converter (13) is for obtaining the rotational parameters of the motor, by the rotational parameters
It is sent to the PLC control devices (12)；
The PLC control devices (12) are arranged in the electromagnetism station, the PLC control devices (12) including acquisition module and
CPU module, the acquisition module is connect with the frequency converter (13), for the rotational parameters to be sent to the CPU module,
The CPU module is connect with the acquisition module, for calculating the position of the transverse-moving trolley (6) according to the rotational parameters.
7. transverse-moving trolley alignment system as claimed in claim 6, which is characterized in that the frequency converter (13) includes frequency conversion of walking
Device and lifting frequency converter, the motor include movable motor (8) and lifting motor (7), the walking frequency converter and movable motor
(8) it connects, the lifting frequency converter and lifting motor (7) connection.
8. transverse-moving trolley alignment system as claimed in claim 6, which is characterized in that
Transverse-moving trolley (6) alignment system is included close to switch (15), described to be arranged on rear portion roller-way close to switch (15)
End, it is described to be communicated to connect close to switch (15) and the PLC control devices (12), it is deposited on the rear portion roller-way for detecting
In continuous casting billet, transfer signal is sent to the PLC control devices；
The PLC control devices (12) include digital quantity input/output module, the digital quantity input/output module and the CPU
Module connects, and for receiving the transfer signal, the transfer signal is sent to the CPU module, the CPU module is used for
According to the transfer signal, the transverse-moving trolley (6) is controlled to be moved at the rear portion roller-way.
9. transverse-moving trolley alignment system as claimed in claim 6, which is characterized in that transverse-moving trolley (6) the alignment system packet
Host computer (11) is included, the host computer (11) connect with the PLC control devices (12), for setting the transverse-moving trolley (6)
Mobile pre-determined distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810144015.3A CN108127096A (en) | 2018-02-12 | 2018-02-12 | A kind of transverse-moving trolley localization method and system |
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| CN201810144015.3A CN108127096A (en) | 2018-02-12 | 2018-02-12 | A kind of transverse-moving trolley localization method and system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109290542A (en) * | 2018-12-12 | 2019-02-01 | 山东钢铁股份有限公司 | A kind of lift control method and device of continuous casting tundish vehicle |
| CN110039036A (en) * | 2019-04-19 | 2019-07-23 | 山信软件股份有限公司 | A kind of converter buggy ladle, the slag car are anti-to open overtravel technology |
| CN110303132A (en) * | 2019-07-18 | 2019-10-08 | 首钢京唐钢铁联合有限责任公司 | Resetting device for transverse moving vehicle of continuous casting machine and control system and method thereof |
| CN112974789A (en) * | 2021-02-08 | 2021-06-18 | 广东韶钢松山股份有限公司 | Refining furnace buggy ladle positioning method |
| CN113050104A (en) * | 2021-04-02 | 2021-06-29 | 中冶南方工程技术有限公司 | Vehicle position measuring method based on position estimation, terminal equipment and storage medium |
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| CN113050104A (en) * | 2021-04-02 | 2021-06-29 | 中冶南方工程技术有限公司 | Vehicle position measuring method based on position estimation, terminal equipment and storage medium |
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