A Control Method for Precise Positioning of Lifting Mechanism of Container Straddle Carrier
A lifting mechanism and control method technology, which is applied in the field of precise positioning control of the lifting mechanism of container straddle carriers, can solve the problem of discontinuous sampling time, etc., and achieve the effects of low cost, high reliability, and simple structure
Active Publication Date: 2020-10-02
SHANGHAI ZHENHUA HEAVY IND
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However, since the sampling time of the sensor is discontinuous, in actual operation, the target speed curve 1 will form an area with the speed 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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[0028] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0029] Please combine figure 2 As shown, 1 is the target speed curve, 2 is the initial sampling value of the speed sensor, 3 is the second sampling value of the speed sensor, 4 is the speed change curve after the first sampling, and 5 is the speed change curve after the second sampling. The slope of the connecting line between the initial sampling value 2 and the second sampling value 3 of the speed sensor is the actual acceleration value, and the hoisting mechanism performs uniform acceleration motion based on this acceleration value, but this movement will have a certain deviation from the target speed curve (than the target speed curve too large), so the actual movement distance of the lifting mechanism will be too large, resulting in overshoot of the lifting mechanism.
[0030] Please combine image 3 As shown, a contro...
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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...
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IPC IPC(8): B66C13/46B66C13/48B66C13/40
CPCB66C13/40B66C13/46B66C13/48
Inventor 邵诚佳李凯王勇倪齐靓
Owner SHANGHAI ZHENHUA HEAVY IND