Horizontal dual-drive control method and device of stacking machine

Abstract

The invention provides a horizontal dual-drive control method and device of a stacking machine, computing equipment and a computer readable medium. The method comprises the following steps: acquiring respective current torques of two horizontal driving mechanisms of the stacking machine; the two horizontal driving mechanisms are elastically connected with each other; according to the respective current torques of the two horizontal driving mechanisms, calculating the current average torque of the two horizontal driving mechanisms, and calculating a torque difference value between each current torque and the current average torque; and if the torque difference value corresponding to any horizontal driving mechanism is not in the preset range, rotating speed compensation is carried out on the horizontal driving mechanism with the torque difference value not in the preset range, so that the corresponding torque difference value is in the preset range. Reasonable load distribution can be achieved, stable operation of the stacking machine is kept, the replacement frequency of the rubber wheels can be reduced, and the failure rate of the stacking machine is reduced.

Description

technical field [0001] The invention relates to the technical field of stackers, in particular to a method and device for controlling horizontal dual drives of a stacker, computing equipment, and a computer-readable medium. Background technique [0002] At present, the horizontal drive part of the high-speed stacker generally adopts a double drive mode. The driving mechanism on one side is the main drive, and the driving mechanism on the other side is the slave drive. The main drive and the slave drive drive the corresponding rubber wheels through gears. This method has extremely high requirements on the control of the two driving mechanisms. During normal operation, the output of the two driving mechanisms is basically the same, so that the two sides can achieve basically the same load distribution. However, in some cases, there will be a large difference in the output of the two driving mechanisms, so that the two sides cannot achieve proper load distribution, which will l...

AI Technical Summary

Problems solved by technology

However, in some cases, there will be a large difference in the output of the two drive mechanisms, so that the proper load distribution on both sides cannot be achieved, which will lead to accelerated wear of the rubber wheel on one side

At the same time, due to the large gap between the motor torques in the drive mechanisms on both sides, it will cause the stacker body to vibrate, thus affecting the stability of the mechanical structure and positioning accuracy

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