Method for controlling accurate location of container straddle carrier hoisting mechanism

Abstract

The invention discloses a method for controlling accurate location of a container straddle carrier hoisting mechanism. The method for controlling accurate location of the container straddle carrier hoisting mechanism comprises the steps that 1) a position sensor and a speed sensor are utilized to collect the current position and speed of the hoisting mechanism in real time, and the current position and speed of the hoisting mechanism are fed back to a controller; 2) displacement of movement to reach the ultimate speed at the speed is calculated by the controller according to the actual speed and compared with target displacement; 3) after the sampling speed value is taken into first order lag filtering algorithm, the filtering coefficient value and the initial value of last filtering valueare read in, and the sampling speed value is taken into first order lag filtering algorithm and operation is conducted, the current filtering value is acquired; 4) last filtering value is replaced bythe current filtering value, the current filtering value is stored in arrays so that displacement of movement at the speed is equal to target displacement; and 5) the above-mentioned four steps are cycled reciprocatingly so that preset motion can be finished accurately by the hoisting mechanism and the hoisting mechanism can reach a designated position. By means of the method for controlling accurate location of the container straddle carrier hoisting mechanism, location precision when operation is carried out by the hoisting mechanism in a container straddle carrier can be improved, and working efficiency of the hoisting mechanism can be improved.

Description

technical field [0001] The invention relates to a position control technology of a hoisting mechanism of a straddle carrier for a container, more specifically, a control method for precise positioning of the hoisting mechanism of a straddle carrier for a container. Background technique [0002] The container straddle carrier is a kind of container handling equipment. It usually undertakes the horizontal transportation from the front of the wharf to the storage yard or the container stacking work in the storage yard. It straddles the container with a portal frame and is equipped with a container spreader. The advanced hydraulic lifting system lifts the container for handling, and can stack the container two or three layers high. Because the container straddle carrier has the characteristics of flexible maneuverability, high efficiency, good stability, and low wheel pressure, it has been widely used, and the operation of the container straddle carrier is very beneficial to imp...

AI Technical Summary

Problems solved by technology

However, since the sampling time of the sensor is discontinuous, in actual operation, the target velocity curve 1 will form an area with the velocity change curve 4 after the initial sampling, that is, the difference between the target displacement and the actual displacement of the hoisting mechanism

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