CN101419764A - Automatic experiment system for bridge type crane - Google Patents

Abstract

The invention discloses an automatic control experiment system of a bridge crane, which includes an actual bridge crane simulation device, a crane state measurement device and a crane control device, wherein the bridge crane simulation device is used to simulate the structure of the actual bridge crane system , which is the control object of the entire experimental system; the crane state measurement device is used to measure the state quantity information of the bridge crane simulation device in real time and sends it to the crane control device; the crane control device is used to receive the information from the crane state measurement device Measure the state quantity information of the bridge crane simulation device, and according to the state quantity information, calculate the corresponding control signal in real time according to the predetermined control method, and then send the control signal to the bridge crane simulation device, so that the control bridge crane The operation of the crane simulator is as scheduled. The invention truly reflects the kinematics and dynamic characteristics of the bridge crane, and can verify the actual effects of different existing crane control methods.

Description

Automatic Control Experiment System of Bridge Crane

technical field

The invention relates to the technical field of automatic control of nonlinear underactuated systems, in particular to an automatic control experiment system for bridge cranes.

Background technique

As we all know, an overhead crane is a very common assembly transportation tool. It uses ropes to connect the load to the trolley on the crane, and transports the load to the designated location through the movement of the trolley. The overhead crane is used in ports, warehouses, etc. , Construction sites and other places have been widely used.

In view of the fact that when the bridge crane is running, the movement of the trolley on the crane will cause the load to swing, so that the load may collide with the surrounding operators or other objects, resulting in damage to the load and even casualties, especially when the trolley After arriving at the designated position and stopping operation, the load suspended by the crane will have a relatively strong residual swing, which will not only bring a greater safety hazard, but also seriously affect the working efficiency of the crane. Therefore, in order to effectively avoid potential safety hazards and improve the working efficiency of the crane, when operating the crane, on the one hand, it is necessary to realize the rapid and accurate positioning of the trolley to meet the requirements of accurately transporting the load; on the other hand, it is necessary to effectively suppress the swing of the load, Realize the "no swing" or "micro swing" operation of the load. Especially when the trolley reaches the designated position, the load must stop swinging quickly in order to improve the working efficiency of the crane.

At present, in order to meet the crane operation requirements of fast and accurate positioning of the trolley and effectively suppressing the swing of the load, it is generally achieved by experienced workers operating the crane. Specifically, during the operation, workers need to use their experience and Estimate the position and swing angle of the trolley through the observation of its eyes, and then choose a reasonable action sequence to effectively suppress the swing of the load and transport it to the designated position as soon as possible. Therefore, a worker can only work with cranes for many years. And only after mastering the skilled crane operation skills can the crane be used to quickly transport the load to the designated position and effectively restrain the swing of the load.

Generally speaking, in order to realize the safe operation of the crane system, the crane operators need to receive a long period of training, and constantly sum up experience and learn various lessons during the operation process. The requirements are too high, and the general crane operators cannot realize the safe operation of the crane system. In addition, due to the high labor intensity of the crane operator during the crane operation, the work efficiency of the crane is relatively low, and the accuracy of the crane operation is sometimes difficult to meet the requirements.

Although many scholars in the field of automation at home and abroad have carried out a lot of research on the bridge crane system, and proposed a variety of different control methods for this underactuated system, trying to realize the safe and efficient transportation of the bridge crane, but there is no developed system yet. A convenient and reliable overhead crane automatic control experimental system, which can truly reflect the kinematics and dynamics characteristics of the overhead crane, verify the actual control effects of these different crane control methods, and promote these crane control methods in actual production Popular applications in daily life.

Contents of the invention

In view of this, the purpose of the present invention is to provide an automatic control experiment system for bridge cranes, which can truly reflect the kinematics and dynamic characteristics of bridge cranes, and facilitate the replacement of controllers, and can be used for various existing The actual effect of the crane control method is verified to promote the popularization and application of the crane control method in actual production and life.

For this reason, the present invention provides a kind of overhead crane automatic control experimental system, including actual overhead crane simulation device, crane state measurement device and crane control device, wherein:

The bridge crane simulation device is used to simulate the structure of the actual bridge crane system, which is the control object of the whole experimental system;

The crane state measurement device is used to measure the state quantity information of the bridge crane simulation device in real time and send it to the crane control device;

The crane control device is used to receive the state quantity information of the bridge crane simulation device measured by the crane state measurement device, calculate the corresponding control signal in real time according to the predetermined control method according to the state quantity information, and then send the control signal to To the bridge crane simulation device, so as to control the operation of the bridge crane simulation device according to the predetermined requirements.

Preferably, the bridge crane simulation device includes a crane simulation mechanical main body and a driving device, wherein,

The main body of the crane simulation machine is used to simulate the specific structure of the actual bridge crane system to operate in various control modes of the crane; The main body of the machine performs various control modes of the crane to provide driving force.

Preferably, the main body of the crane simulation machine includes: a support frame 1, a bridge frame 2, a first slide rail 31, a second slide rail 32, a trolley 4, a reel 5 arranged on the trolley 4, a support foot 6 and a load 7. The support frame 1 is a hollow cuboid welded by 12 hard metal pipes, the support feet 6 are installed on the bottom four corners of the support frame 1, and the upper support frame of the support frame 1 Two parallel first sliding rails 31 are installed in the y direction, the bridge frame 2 is slidably installed on the first sliding rails 31, and two parallel second sliding rails are installed in the x direction of the bridge frame 2 rail 32, the trolley 4 is slidably installed on the second slide rail 32, the trolley 4 is equipped with a wire rope reel 5 for lifting the load 7, the first slide rail 31 and/or the second slide rail 31 The second slide rail 32 is a suspension wheel slide rail, and the bridge frame 2 and the trolley 4 are made of light aluminum alloy materials.

Preferably, the reel 5 includes: a transmission inner shaft 51, a pin 52, a transmission sleeve 53, a capstan 54, a lead screw 55, a support bearing 56, a support bearing frame 57, a wire rope 58, and the transmission sleeve 53 1. The winch 54 and the lead screw 55 are fixedly connected together, the steel wire suspension rope 58 is coiled in a single layer on the winch 54 and the load 7 is suspended at one end, and the support bearing frame 57 is used to support the support bearing 56, the support bearing 56 is threadedly connected with the lead screw 55, the pin 52 passes through the holes 59 on both sides of the transmission inner shaft 51 and the transmission sleeve 53, the transmission inner shaft 51 is connected with a motor, and the transmission The two side holes 59 on the axle sleeve 53 are two horizontal long holes.

Preferably, the state quantity information includes: the position of the trolley 4 in the x and y directions, the length l of the suspension rope 58 , and the two-dimensional swing angles θ _x , θ _y of the suspension rope 58 .

Preferably, the crane control device judges the swing state of the crane load 7 according to the two-dimensional swing angles θ _x , θ _y of the suspension rope 58 detected by the crane state measuring device.

Preferably, the driving device includes three servo motors, three servo motor drivers, and two sets of transmission devices, and the three servo motors are respectively used to provide the driving force for the movement of the trolley 4 along the x direction, and the movement of the trolley 4 and the bridge frame 2. The driving force moving along the y direction and the driving force of the reel that lifts the load 7, the three servo motor drivers are drivers that are matched with the three servo motors, and have a torque control mode, which is used to make the supporting motors according to the size of the control voltage. The motor outputs the corresponding torque. The two sets of transmissions include a transmission in the x direction and a transmission in the y direction. The transmission in the x direction includes two synchronous wheels and a closed-loop synchronous belt. The y The transmission device in the direction includes four synchronous wheels, two synchronous shafts and two closed-loop synchronous belts, and the trolley 4 and bridge frame 2 are fixed on the synchronous belts.

Preferably, the crane state measuring device includes: a position encoder installed on three servo motors, a two-dimensional swing angle measuring device and a limit device, and the two-dimensional swing angle measuring device includes two semicircular arcs swing frame, the outer diameter of the inner semicircle arc swing frame 61 is slightly smaller than the inner diameter of the outer semicircle arc swing frame 62, and the inner semicircle arc swing frame 61 and the outer semicircle arc swing frame 62 rotate around their respective rotation axes, The rotation axes of the two semicircle-arc pendulums are all located on the same plane parallel to the horizontal plane, and are orthogonal to each other. The intersection point coincides with the center of the two semicircle arcs, and coincides with the positioning hole 63 of the pendulum point of the suspension rope. Two rotary encoders 64 are respectively installed at one end of the two rotating shafts, and the rotary encoders are used to measure the rotation angle value of the semicircular arc pendulum. The smooth slit 65 of the rope, the limiting device is installed on the two ends of the first slide rail 31 and the second slide rail 32, and a counterweight 66 is installed on the axisymmetric ends of the two semicircular arc-shaped pendulums, The position encoder is a hollow/blind hole incremental photoelectric encoder.

Preferably, the crane control device includes a PC installed with a real-time environment and a data acquisition card, the data acquisition card can collect five-way encoder signals and four-way limit switch signals, and can output three-way analog signals at the same time, The crane control device adopts a real-time environment based on MATLAB RTW, calculates corresponding control signals in real time according to a predetermined control method and sends them to the bridge crane simulation device, so that the control bridge crane simulation device operates according to predetermined requirements.

Preferably, the control signal is a corresponding control signal calculated in real time according to a predetermined control method, and the predetermined control method may be any one of various existing control methods.

It can be seen from the above technical solutions provided by the present invention that the bridge crane automatic control experiment system provided by the present invention can truly reflect the kinematics and dynamic characteristics of the bridge crane, and can easily replace the controller, so that the existing Various overhead crane control methods are verified, and further research and design of the controller can be carried out to promote the practical research of crane control methods. In addition, as a typical nonlinear underactuated system, the system can also be used as an experimental platform for verifying and explaining different control methods in teaching. Compared with the previous swing angle measuring device, the two-dimensional swing angle measuring device used for measuring the swing angle of the hanging rope has the advantages of low price, convenient data processing, large measuring range and high sensitivity.

Description of drawings

Fig. 1 is the composition structural representation of a kind of overhead crane automatic control experiment system provided by the present invention;

Fig. 2 is the structural representation of the main body of the crane simulation machine of the present invention;

Fig. 3 is the schematic diagram of the reel device in the main body of the crane simulation machine of the present invention;

Fig. 4 is a schematic diagram of a two-dimensional pendulum angle measuring device of the present invention;

Fig. 5 is a top view of the two-dimensional pendulum angle measuring device of the present invention;

Fig. 6 is a schematic diagram of the transmission of the drive device of the present invention to the bridge;

Fig. 7 is a schematic diagram of the measurement angle conversion relationship of the present invention;

Fig. 8 is a structural schematic diagram of the crane control device in the overhead crane automatic control experimental system provided by the present invention.

Detailed ways

In order to enable those skilled in the art to better understand the solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

In recent years, many scholars in the field of automation at home and abroad have carried out a lot of research on the overhead crane system, and proposed a variety of control methods, trying to realize the safe and efficient transportation of the overhead crane. However, most of these control methods use linearized or simplified system models, and the actual crane system is a strongly nonlinear system, and there are still interference factors such as friction and wind during operation, so if applied to the actual system However, the reliability of these methods is difficult to guarantee. In order to better study the dynamic characteristics of overhead cranes, verify the control effects of various control methods, and further propose more effective overhead crane control strategies, the present invention provides the following three-dimensional overhead crane automatic control experimental system.

Fig. 1 is a composition structure schematic diagram of a kind of overhead crane automatic control experimental system provided by the present invention, as shown in Fig. 1, a kind of overhead crane automatic control experimental system provided by the present invention comprises: actual overhead crane simulation device 101 , crane state measuring device 102 and crane control device 103, wherein:

The bridge crane simulator 101 is used to simulate the structure of the actual bridge crane system, and it is the control object of the whole experimental system;

The crane state measurement device 102 is connected with the bridge crane simulation device 101, and is used to measure the state quantity information of the bridge crane simulation device 101 in real time, and send it to the crane control device 103;

The crane control device 103 is connected with the bridge crane simulation device 101 and the crane state measurement device 102, and is used to receive the state quantity information of the bridge crane simulation device 101 measured by the crane state measurement device 102, and according to the state quantity information, Calculate the corresponding control signal in real time according to the predetermined control method, and then send the control signal to the bridge crane simulation device, so as to control the operation of the bridge crane simulation device according to the predetermined requirements.

In the present invention, the crane control device 103 controls the specific operation of the bridge crane simulator 101 by sending a predetermined control signal to the bridge crane simulator 101, so that the bridge crane simulator 101 runs a specific crane control mode.

In the present invention, the control signal is a corresponding control signal calculated in real time according to a predetermined control method, and the predetermined control method may be any one of various existing control methods.

It should be pointed out that the overhead crane is a complex nonlinear controlled object, in which the control quantity is the motor torque in each direction, and the degree of freedom of the system includes both the displacement vector of the trolley and the length of the suspension rope, and at the same time Including the swing of the load in all directions, the dimension of the system degrees of freedom is larger than that of the control vector, so it is a typical underactuated system. For this typical underactuated system, how to realize high-performance control is still a technical problem that needs to be solved urgently. Therefore, the bridge crane automatic control experiment system provided by the present invention can also be used as a teaching and research platform for automatic control of underactuated systems.

In the present invention, the bridge crane simulation device 101 includes: a crane simulation machine body 1011 and a driving device 1012, wherein the crane simulation machine body 1011 is used to simulate the specific structure of the actual bridge crane system, so as to perform various tasks of the crane. The driving device 1012 is used to receive the control signal sent by the crane control device 103 and provide driving force for the crane simulation machine main body 1011 to operate in various control modes of the crane.

In the bridge crane automatic control experiment system of the present invention, the crane simulation machine body 1011 part is the skeleton of the whole experiment system, as shown in Figure 2, mainly includes support frame 1, bridge frame 2, first slide rail 31, second slide rail Rail 32, trolley 4, reel 5 and support foot 6 that are arranged on the trolley 4, wherein, described support frame 1 is the hollow cuboid that is welded by 12 hard metal tubes, in described support frame 1 The four corners of the bottom are provided with rotating and height-adjustable supporting feet 6. When the ground is not flat, by adjusting the four rotating supporting feet 6 at the bottom of the supporting frame 1, it can be ensured that the upper plane of the supporting frame 1 is parallel to the horizontal plane. The support frame 1 can be stably placed on uneven ground.

In addition, in order to strengthen the stability of the main body 1011 of the crane simulation machine of the present invention and avoid shaking when the load 7 of the simulated crane is moving, the present invention uses triangle irons to reinforce the lower part of the support frame 1 at right angles.

It should be noted that the supporting frame 1 is mainly used to support the working space of the crane, and the hollow cuboid surrounded by the supporting frame 1 is the working space of the crane simulation device of the present invention. In the present invention, two parallel first sliding rails 31 are installed in the y direction of the upper supporting frame of the supporting frame 1 , and the bridge frame 2 can slide along the first sliding rails 31 . In addition, in the present invention, the bridge frame 2 is made of metal with light weight and good rigidity, and is a rectangular frame, and two parallel second slide rails 32 are installed on its x direction, and the trolley 4 can slide along the second slide rail 32 . In the present invention, the trolley 4 is a light metal plate on which a wire rope reel 5 (as shown in FIG. 3 ) for lifting loads is installed.

In view of the above, both the trolley 4 and the bridge frame 2 can move along the slide rails (ie, the first slide rail 31 or the second slide rail 32 ) on the horizontal plane above the support frame 1, so that the load 7 can be moved by the movement of the trolley 4 And the movement of the reel 5 can reach any position in the working space defined by the support frame 1 .

In the present invention, the above-mentioned trolley 4 and the slide rail on which the bridge frame 2 moves (i.e. the first slide rail 31 or the second slide rail 32) adopt the suspension wheel slide rail, and both the bridge frame 2 and the trolley 4 adopt Made of lightweight aluminum alloy material.

As shown in Figure 3, in the main body 1011 of the crane simulation machine of the present invention, the reel 5 for lifting the load 7 installed on the trolley 4 includes: a transmission inner shaft 51, a pin 52, a transmission sleeve 53, a winch 54, leading screw 55, support bearing 56, support bearing frame 57, steel wire suspension rope 58. Wherein, the transmission sleeve 53, the capstan 54 and the lead screw 55 are fixedly connected together.

In the present invention, the steel wire rope 58 is preferably a multi-strand steel wire rope with a diameter of 1mm (millimeter). The positioning hole for the pivot point of the two-dimensional angle measuring device.

In the present invention, the support bearing frame 57 plays a supporting role on the support bearing 56, and the support bearing 56 is threadedly connected with the lead screw 55, so that the lead screw 55 also undergoes horizontal displacement while rotating. In the present invention Among them, the lead screw 55 is horizontally displaced by 1mm (millimeter) every time it rotates once.

The transmission inner shaft 51 is connected with the rotating shaft on the motor 50 through a coupling. The pin 52 is a metal rod passing through the holes 59 on both sides of the transmission inner shaft 51 and the transmission sleeve 53 . When the motor 50 rotated, the transmission inner shaft 51 and the pin 52 drove the transmission sleeve 53 to rotate together, thereby driving the winch 54 and the leading screw 55 to rotate together.

Because the side holes 59 on the drive shaft sleeve 53 of the present invention are long holes in two horizontal directions, the drive shaft sleeve 53 can also move freely in the horizontal direction while rotating, so it will not affect the leading screw 55, The winch 54 fixedly connected with the lead screw 55 moves in the horizontal direction.

In summary, when the motor 50 rotates, it will drive the winch 54 to rotate. In view of the fact that the steel wire rope 58 is coiled on the winch 54 and the load 7 is suspended at one end, the lifting of the load 7 can be realized. At the same time, because the winch 54 When rotating once a week, the distance moved in the horizontal direction is equal to the diameter of the steel wire rope, that is, 1mm (millimeter), so it can be guaranteed that the steel wire suspension rope 58 passes through the swing point positioning hole 63 vertically all the time. In this way, on the one hand, the frictional force between the steel wire rope 58 and the positioning hole of the swing point can be reduced; Changes in the length of the sling. For example, when the capstan 54 lowers the load 7 and rotates downwards for one revolution, the lead screw 55 connected together with the capstan 54 also rotates for one revolution and moves horizontally by 1mm toward the support bearing 56. 58 retreats the distance of a diameter toward the direction of transmission inner shaft 51 on winch 54, therefore, can guarantee that steel wire rope 58 always vertically passes through swing point positioning hole 63.

In the present invention, as shown in FIG. 6 , the driving device 1012 includes: three servo motors, three servo motor drivers, and two sets of transmission devices. It is mainly responsible for providing the driving force for the main body 1011 of the crane simulation machine, including: the driving force for the movement of the trolley 4 in the x direction, the driving force for the movement of the trolley 4 and the bridge frame 2 in the y direction, and the driving force for the reel to lift the load 7 . Wherein, in view of the driving force in the x and y directions, the torque of the motor needs to be converted into the force in the horizontal direction, so the present invention transmits through the synchronous wheel 91 and the synchronous belt 92 to realize the conversion of the torque of the motor into the horizontal direction. on the force.

In the present invention, the torque output by the motor can be controlled through the torque control mode of the servo motor.

In order to better study and control the dynamic performance of the overhead crane during its operation, it is necessary to analyze the dynamics of the crane, that is to say, the force control of the system is required. Specifically, in view of the fact that servo motors can be divided into two types, DC and AC, among which the output torque of AC motors is larger, AC servo motors are selected in the examples of the present invention.

The invention can control the torque output by the motor through the torque control mode of the AC servo motor. Wherein, the torque required by the motor supporting the bridge frame 2 and the trolley 4 is relatively large, so the present invention selects to use an AC servo motor 81 with a power of 200W, a rated torque of 6.4Nm, and a rated speed of 3000rpm. Need too high speed, so, the present invention can also install the speed reducer of 10:1, can increase the output torque of motor like this.

The motor that drives the reel 5 requires a relatively small quality, and in view of the fact that the load 7 adopted by the present invention is not large and light, the present invention can choose to use an AC servo motor 82 with a power of 100W, and assemble a 9:1 reducer simultaneously.

In the example of the present invention, three servo motor drivers are selected as the drivers that are matched with each motor, they have a torque control mode, and can make the matching motors output the corresponding torque according to the size of the control voltage. Therefore, the crane of the present invention The control device 103 can control the motor to output the corresponding torque by sending an analog control quantity electrical signal to the servo motor driver in the drive device 1022. It should be noted that the control quantity is the motor torque in each direction.

In the main body 1011 of the crane simulation machine of the present invention, the two support powers in the horizontal direction are transmitted through two sets of synchronous devices, and the trolley 4 and the bridge frame 2 are fixed on the corresponding synchronous belt 92, and the motor 81 can be realized. Its horizontal support. In the y direction, due to the large length of the bridge 2, supporting only on one side will cause the bridge 2 to twist and affect the normal operation of the crane. To this end, the present invention also installs a synchronous wheel 91 and a synchronous belt 92 on the other side of the bridge frame 2, and the corresponding synchronous wheels 91 on both sides are connected by a synchronous shaft 93 to realize synchronous rotation, as shown in FIG. 6 .

In the present invention, the crane state measurement device 102 is used to measure five state quantities of the bridge crane simulator 101 (simulating a three-dimensional bridge crane system), namely, the position of the trolley 4 in the x and y directions, the length of the suspension rope 1 , and the two-dimensional swing angles θ _x , θ _y of the hanging rope, including: a position encoder 1021 installed on three servo motors, a two-dimensional swing angle measuring device 1022 and a limit device 1023 .

In the present invention, the crane control device 103 can judge the swing state of the crane load according to the two-dimensional swing angles θ _x and θ _y of the suspension rope detected by the crane state measuring device 102 .

Wherein, the variation of the position quantities x, y and l can be calculated through the readings of the position encoders 1021 of the three AC servo motors.

The specific formula is as follows:

In the present invention, the above two position encoders are hollow/blind hole incremental photoelectric encoders, and the output mode is long-line drive.

The two-dimensional swing angle of the sling can be calculated from the measured values of the device shown in Figure 4. In the dynamic model of the overhead crane, for the convenience of mathematical expression, θ _x and θ _y are generally defined to represent the size of the load swing angle, while the measuring device shown in Figure 4 can only measure the angles θ ₁ and θ ₂ , so it is necessary Establish the relationship between θ _x , θ _y and θ ₁ , θ ₂ . According to Figure 6, we can get:

θ _x = θ ₁

$\mathrm{<span\; class="notranslate">\; the\; tan</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; xz</span>}}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; the\; tan</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}{{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; the\; tan</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ,</span>$

Among them, l _y and l _z are the projections of l on the y-axis and z respectively, and l _xz is the projection of l on the xz plane. According to the actual situation, we can assume that the load swing angle does not exceed 90 degrees, that is:

$<span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; <</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; <</span>\frac{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; ,</span>$ $<span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; <</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; <</span>\frac{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; ,</span>$

Then the expressions of θ _x and θ _y can be obtained as follows:

θ _x = θ ₁

θ _y = arctan(tan(θ ₂ )cos(θ ₁ ))'

The measured angle θ ₁ and θ ₂ can be calculated by the encoder reading:

As shown in Fig. 4 and Fig. 5, the two-dimensional pendulum angle measuring device 1022 includes two semi-arc pendulums, the outer diameter of the inner semi-arc pendulum 61 is slightly smaller than the inner diameter of the outer semi-arc pendulum 62, They can rotate around their respective rotating shafts 67. The rotating shafts 67 of these two semicircular arc pendulums are all located on the same plane parallel to the horizontal plane, and are orthogonal to each other. The positioning holes 63 of the pendulum point coincide with each other. Two rotary encoders 64 are respectively installed at one end of the two rotating shafts for measuring the rotation angle value of the semi-arc pendulum. There is a smooth slit 65 in the middle of each semi-arc pendulum. See Figure 5. The width of the slit is slightly larger than the diameter of the sling. String the sling through the two half-arc slits so that when the sling swings It will drive the rotation of the two semicircular arcs, so that the swing angles θ ₁ and θ ₂ of the hanging rope on the two perpendicular vertical planes can be obtained. Because what the two-dimensional pendulum angle measuring device 1022 in the present invention adopts is this semicircle-arc pendulum, the two pendulums can be in a wide range (-85 ° ~ 85 °, with the pendulum rope vertically downward as 0 ° Angle) free swing does not interfere with each other, so it can measure the swing angle range up to -85 ° ~ 85 °, this large-scale two-dimensional swing angle measurement device can greatly facilitate the analysis of the state of the overhead crane in various extreme conditions Variety.

In addition, the two-dimensional pendulum angle measuring device 1022 of the present invention also installs a counterweight 66 on the axisymmetric end of the semicircular arc pendulum for counterweight, so that the suspension rope will not be bent due to the self-weight of the semicircular arc, Thereby improving the sensitivity of the measurement.

The crane state measuring device 102 includes a limit device 1023 installed at both ends of the first slide rail 31 and the second slide rail 32 in the x and y directions. The limit device 1023 is a limit switch, which is used to prevent accidents when the bridge frame 2 or the platform 4 vehicles rush out of the track when the control fails or is misoperated.

In the example of the present invention, a small travel switch can be installed at both ends of a track in the x and y directions for position limitation.

In view of the fact that the control system in a three-dimensional bridge crane experimental platform needs to be able to read the current system information fed back by the sensor in real time, and calculate and send the appropriate control signal to achieve the expected control purpose. Therefore, a real-time environment is required to accomplish the required control tasks.

For this reason, the crane control device 103 in the present invention is preferably a real-time control device based on a PC. This method is simple in controller programming, easy to replace, and easy to perform algorithm testing, and is suitable for use in research and teaching. As shown in Figure 8, the crane control device 103 of the present invention is except the PC machine 1031 that real-time environment is installed, and the crane control device 103 of the present invention also includes a data acquisition card 1032, referring to shown in Figure 8, wherein, the data acquisition card is used It is responsible for collecting information from the position sensor and angle sensor and sending the information to the PC, and is also responsible for converting the control command sent by the PC into a suitable electrical signal and sending it to the corresponding servo motor driver in the driving device 1012.

In the present invention, the control signal is a corresponding control signal calculated in real time according to a predetermined control method. To verify the control effect of a control method on an overhead crane, only a controller built according to the control algorithm is required. , the controller in the real-time environment PC 1031 in the crane control device 103 is replaced. Because what the present invention adopts is based on the real-time environment of Matlab RTW, it can be seamlessly connected with Matlab/Simulink, so can utilize the module in each toolbox of Simulink to finish controller building conveniently. The controller can use the data acquisition card to send the state quantity information of the bridge crane system in the PC, and can also send real-time control commands to the motor driver through the data acquisition card.

For the real-time control device based on PC in the control system in the three-dimensional bridge crane experimental platform provided by the present invention, that is, the crane control device 103, the present invention uses a real-time environment based on MATLAB RTW, which has the following advantages:

Can automatically generate high-efficiency executable code for different object platforms;

Provides a fast and direct path from design to application;

Seamlessly connected with MATLAM and Simulink, various control algorithms can be realized conveniently, and the controllers that pass the test in the simulation can be conveniently applied to the control of the experimental platform.

Simple graphical user interface;

The open body system structure and extensible compilation process can easily transplant the developed program to various single-chip computers.

It should be noted that SIMULINK is an extension of MATLAB software, which is a software package for dynamic system modeling and simulation.

As said above, MATLAB RTW supports multiple object platforms, and the example of the present invention selects the real-time control platform RealTime Windows Target (RTWT) under Window, and it only needs a PC, can realize the real-time control of the system, and the minimum control period can reach 1ms or so.

In the present invention, the crane control device 103 needs to control the torques of the three servo motors in the drive device 1012 through three analog quantities. In addition, in view of the encoder output signals of five state quantities measured in the crane state measuring device 102 They are all differential incremental signals. Therefore, the data acquisition card in the crane control device 103 needs to be able to read 5 channels of encoder signals and simultaneously output 3 channels of analog signals, with a sampling frequency greater than 1KHz. When the crane state measuring device 102 also includes a limit device, the data acquisition card is also used to collect 4 limit switch signals. Therefore, the present invention selects the Googao GT-400SV board.

A three-dimensional bridge crane automatic control experiment system provided by the present invention can truly reflect the kinematics and dynamic characteristics of the bridge crane, and can easily replace the controller, so that it can be used for various existing bridge cranes. The control method of the crane can be verified, and the controller can be further researched and designed to promote the practical research of the crane control method. In addition, as a typical nonlinear underactuated system, the system can also be used as an experimental platform for verifying and explaining different control methods in teaching. The two-dimensional swing angle measuring device 1022 used for measuring the swing angle of the hanging rope in the present invention has the advantages of low price, convenient data processing, large measuring range and high sensitivity compared with the previous swing angle measuring devices.

The above is only a preferred embodiment of the present invention, it should be pointed out that, for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications can also be made. It should be regarded as the protection scope of the present invention.

Claims (10)

1, a kind of automatic experiment system for bridge type crane is characterized in that, includes actual overhead crane analogue means, crane state measuring device and overhead crane control device, wherein:

The overhead crane analogue means is used to simulate the structure of actual bridge type crane system, and it is the controlling object of whole experimental system;

The crane state measuring device is used for measuring the quantity of state information of described overhead crane analogue means in real time, and sends to the overhead crane control device;

The overhead crane control device, be used to receive the quantity of state information of the measured overhead crane analogue means of crane state measuring device, and according to this quantity of state information, calculate control signal corresponding in real time according to the expectant control method, then control signal is sent to the overhead crane analogue means, thereby make the pre-provisioning request operation of pressing of control overhead crane analogue means.

2, automatic experiment system for bridge type crane as claimed in claim 1 is characterized in that, described overhead crane analogue means includes crane simulation mechanical body and drive unit, wherein,

Described crane is simulated mechanical body, is used to simulate the concrete structure of actual bridge type crane system, to carry out the various control modes operations of crane; Described drive unit is used to receive the control signal that the overhead crane control device sends, and the various control mode operations of carrying out crane for described crane simulation mechanical body provide driving force.

3, automatic experiment system for bridge type crane as claimed in claim 2, it is characterized in that, described crane simulation mechanical body includes: support frame (1), crane span structure (2), first slide rail (31), second slide rail (32), chassis (4), be arranged on the spool (5) on the chassis (4), feet (6) and load (7), described support frame (1) is the hollow rectangular parallelepiped that is welded by 12 hard metal pipes, described feet (6) is installed in four angles, bottom of described support frame (1), two parallel first slide rails (31) are installed on the y direction of the upper support frame of described support frame (1), described crane span structure (2) is slidably mounted on described first slide rail (31), two parallel second slide rails (32) are installed on the x direction of described crane span structure (2), described chassis (4) is slidably mounted on described second slide rail (32), the wire rope spool (5) that is used for lifting load (7) is installed above the described chassis (4), described first slide rail (31) and/or second slide rail (32) are the hanging wheel slide rail, and described crane span structure (2) and chassis (4) adopt the light aluminum alloy material to make.

4, automatic experiment system for bridge type crane as claimed in claim 3, it is characterized in that, described spool (5) includes: axle (51) in the transmission, pin (52), driving sleeve (53), capstan winch (54), leading screw (55), spring bearing (56), back shaft bolster (57), wire sling (58), described driving sleeve (53), capstan winch (54) and leading screw (55) are fixed together, described wire sling (58) on described capstan winch (54), carry out single-layered disk around and an end be hung with described load (7), described back shaft bolster (57) is used to support described spring bearing (56), described spring bearing (56) is connected with leading screw (55) threaded engagement, described pin (52) runs through the two side holes (59) on interior axle of transmission (51) and the driving sleeve (53), axle (51) is connected with a motor in the described transmission, and the two side holes (59) on the described driving sleeve (53) is the slotted hole of two horizontal directions.

5, automatic experiment system for bridge type crane as claimed in claim 3 is characterized in that, described quantity of state information includes: chassis (4) is at x, the position on the y direction, the length l of lifting rope (58), and the two-dimentional pivot angle θ of lifting rope (58) _x, θ _y

6, automatic experiment system for bridge type crane as claimed in claim 5 is characterized in that, described overhead crane control device is according to the two-dimentional pivot angle θ of the lifting rope (58) of crane acquisition that state measuring device detects _x, θ _ySize judge the swing state of crane load (7).

7, automatic experiment system for bridge type crane as claimed in claim 3, it is characterized in that, described drive unit includes three servomotors, three motor servo drivers, two cover gearings, described three servomotors are respectively applied for provides chassis (4) along the x direction driving force of moving, driving force that chassis (4) and crane span structure (2) move along the y direction and the spool driving force that promotes load (7), described three motor servo drivers are and three drivers that servomotor is supporting, has the Torque Control pattern, be used for size according to control voltage make the corresponding moment of supporting motor output, described two cover gearings include gearing on the x direction and the gearing on the y direction, gearing on the described x direction comprises that two synchronizing wheels and a closed loop be with synchronously, gearing on the described y direction comprises four synchronizing wheels, two synchronizing shafts and two closed loops are with synchronously, and described chassis (4) and crane span structure (2) are fixed on synchronously to be with.

8, automatic experiment system for bridge type crane as claimed in claim 7, it is characterized in that, described crane state measuring device includes: be installed in three position coders on the servomotor, two dimension deflection angle measurement device and stop means, described two-dimentional deflection angle measurement device includes two semicircular arc rockers, the external diameter of interior semi arch rocker (61) is slightly less than the internal diameter of outer semi arch rocker (62), described interior semi arch rocker and outer semi arch rocker rotate around turning axle separately, the turning axle of described two semicircular arc rockers all is positioned on the same plane of parallel and surface level, and it is mutually orthogonal, intersection point overlaps with two semi arch centers of circle, and overlap with pilot hole (63) that lifting rope plays pendulum point, one end of described two turning axles is separately installed with two rotary encoders (64), described rotary encoder is used to measure the rotation angle value of semicircular arc rocker, have smooth the cracking (65) that is used for by lifting rope in the middle of described two semi arch rockers, described stop means is installed in the two ends of first slide rail (31) and second slide rail (32), balancing weight (66) is installed on the rotational symmetry end of described two semicircular arc rockers, and described position coder is hollow/blind hole incremental optical-electricity encoder.

9, automatic experiment system for bridge type crane as claimed in claim 1, it is characterized in that, described overhead crane control device comprises PC and the data collecting card that real time environment is installed, described data collecting card can be gathered five road code device signals and four tunnel limit switch signal, and can export three tunnel simulating signals simultaneously, described overhead crane control device adopts the real time environment based on MATLAB RTW, calculate control signal corresponding in real time and send to the overhead crane analogue means according to the expectant control method, thereby make control overhead crane analogue means by pre-provisioning request operation.

10, as each described automatic experiment system for bridge type crane in the claim 1 to 9, it is characterized in that, the control signal corresponding of described control signal for calculating in real time according to the expectant control method, described expectant control method can be any one in the existing various control methods.

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