Shore crane tilting adjustment control system and shore crane equipment

Abstract

The invention provides a quay crane tilting adjustment control system and quay crane equipment, and relates to the technical field of quay cranes. The quay crane tilting adjustment control system is provided with a far-end host, a position detection piece and a tilting controller, the far-end host is used for transmitting a target position to the tilting controller, and then the tilting controller is used for controlling a driving hydraulic cylinder to move towards the target position according to the target position and position information detected by the position detection piece. As the remote host only adjusts the target position before tilting adjustment, the control process is performed through the tilting controller, and the tilting controller can be directly arranged and mounted on the quay crane; therefore, the technical problems of low control precision and long adjustment time caused by network delay in the control instruction transmission process in the control process are effectively avoided.

Description

Technical Field

[0001] This invention relates to the field of quay crane technology, and more specifically, to a quay crane tilt adjustment control system and quay crane equipment. Background Art

[0002] Quay cranes (hereinafter referred to as quay cranes) are specialized equipment used at the forefront of container terminals for loading and unloading ships. During the use of quay cranes in ports, the tilting of the spreader needs to be controlled according to requirements. There is also the possibility of abnormal tilting of the spreader, which requires adjusting the spreader angle using large hydraulic cylinders to eliminate the tilt.

[0003] When controlling the spreader angle, the target position of the hydraulic cylinder needs to be calculated by comprehensively considering various data information. Therefore, this process is often performed by a remote host. Currently, the tilt control system architecture uses a remote host to implement the motion control algorithm for the hydraulic cylinder, and then sends motion control commands to the universal hydraulic cylinder actuators deployed on the quay crane via the Profinet network to control the movement of the hydraulic cylinders. However, this approach has the following limitations: due to network transmission delays, there is a time difference between the commands transmitted by the remote host to the universal hydraulic valve controller and the hydraulic cylinder position information returned by the hydraulic valve. This can lead to overshoot between the real-time controlled position and the target, resulting in low control accuracy and ultimately affecting the tilt angle accuracy of the spreader. To improve this problem, when designing the remote host control program, especially after the hydraulic cylinder reaches a certain distance from the target position, the output of the hydraulic cylinder actuator is artificially limited to a small value and maintained for a specific time, allowing the hydraulic cylinder to slide to the target area. This method requires a significant amount of time on the quay crane to determine the required duration based on the actual sliding effect of the tilt hydraulic cylinders on each quay crane, increasing debugging costs. Moreover, this method of manually increasing the sliding time in the controller will lead to a situation where the hydraulic cylinder sliding position deviates from the predetermined target area after the quay crane has been in operation for several years due to wear, wire rope elongation, and other factors. This requires manual recalibration and has significant limitations. Summary of the Invention

[0004] The purpose of this invention is to provide a quay crane tilt adjustment control system that can improve the technical problems of low control accuracy and long adjustment time caused by the control delay between the remote host and the hydraulic cylinder in the prior art.

[0005] The present invention also aims to provide a quay crane device that can improve the technical problems of low control accuracy and long adjustment time caused by the control delay between the remote host and the hydraulic cylinder in the prior art.

[0006] Embodiments of the present invention can be implemented in the following ways:

[0007] A quay crane tilt adjustment control system for use in quay crane tilt adjustment control;

[0008] Remote host;

[0009] A tilt controller, the tilt controller being mounted on the quay crane and electrically connected to the remote main engine; and

[0010] A position detection device is used to detect the position information of the drive hydraulic cylinder on the quay crane and to transmit the position information to the tilt controller.

[0011] The remote host is used to transmit the target position of the driving hydraulic cylinder to the tilt controller; the tilt controller is used to control the driving hydraulic cylinder to move toward the target position according to the target position and the position information.

[0012] Optionally, the tilt controller's process of controlling the drive hydraulic cylinder to move towards the target position based on the target position and the position information includes:

[0013] The position information of the driving hydraulic cylinder is periodically acquired to obtain the current periodic position;

[0014] The duty cycle is calculated using a feedforward PID algorithm based on the current cycle position and the target position.

[0015] The movement of the drive hydraulic cylinder is controlled according to the duty cycle until the drive hydraulic cylinder moves to the target position.

[0016] Optionally, the duration of each cycle can range from 10ms to 20ms.

[0017] Optionally, the process by which the feedforward PID algorithm calculates the duty cycle based on the current cycle position and the target position includes the following formula:

[0018] E=SA

[0019] P = Kp * E

[0020] I = Ki*(pI - E*dt)

[0021] D = Kd * (E - PE) / dt

[0022] R = P + I + D + FF

[0023] Where S is the target position; A is the current cycle position; dt is the cycle duration; Kp, Ki, and Kd are preset constant values; R is the duty cycle; FF is the feedforward value; I is the integral value of the current cycle; pI is the integral value of the previous cycle; E is the position difference of the current cycle; and PE is the position difference of the previous cycle.

[0024] Optionally, the feedforward value includes velocity feedforward and acceleration feedforward, and the calculation formula for the feedforward value includes:

[0025] Fs=α*(A ′ / dt)

[0026] Fa=β*(Δ(ΔA) / dt 2 )FF=Fs+Fa

[0027] Where Fs is velocity feedforward; Fa is acceleration feedforward; A ′ Δ is the rate of change of the current position; Δ(ΔA) is the second difference of the current position; dt is the period duration; α and β are preset constant values.

[0028] Optionally, the remote host is further configured to obtain the target location; the steps for the remote host to obtain the target location include:

[0029] The remote host acquires the position information of the driving hydraulic cylinder detected by the position detection device, and calculates the target position of the driving hydraulic cylinder based on the position information; and / or,

[0030] The remote host has an input module, which acquires external instructions, and the remote host obtains the target location based on the external instructions.

[0031] Optionally, the process by which the remote subject acquires the position information of the driving hydraulic cylinder detected by the position detection device includes: the tilt controller acquiring the position information of the driving hydraulic cylinder detected by the position detection device and filtering the position information to obtain a valid position information value; the tilt controller transmitting the valid position information value to the remote subject so that the remote subject can acquire the position information of the driving hydraulic cylinder.

[0032] Optionally, the remote host and the tilt controller transmit data via a Profinet network.

[0033] Optionally, after the tilt controller controls the drive hydraulic cylinder to move to the target position, the tilt controller is also used to transmit the final position information of the drive hydraulic cylinder to the remote host, and the remote host verifies the spreader angle of the quay crane according to the final position.

[0034] A quay crane system includes a quay crane and the aforementioned quay crane tilt adjustment control system; the quay crane has a drive hydraulic cylinder, and the quay crane tilt adjustment control system is used to control the extension and retraction of the drive hydraulic cylinder to adjust the angle of the quay crane.

[0035] The beneficial effects of the quay crane tilt adjustment control system and quay crane equipment provided by the embodiments of the present invention include:

[0036] Embodiments of the present invention provide a quay crane tilt adjustment control system, which includes a remote control unit, a position detection device, and a tilt controller. The remote control unit transmits the target position to the tilt controller, which then controls the hydraulic cylinder to move towards the target position based on the target position and the position information detected by the position detection device. Since the remote control unit only adjusts the target position before tilt adjustment, the control process is carried out through the tilt controller, which can be directly installed on the quay crane. This effectively avoids the technical problems of low control accuracy and long adjustment time caused by network delays during control command transmission.

[0037] Embodiments of the present invention also provide a quay crane device that includes the aforementioned quay crane tilt adjustment control system. Because this quay crane device includes the aforementioned quay crane tilt adjustment control system, it effectively avoids the technical problems of low control accuracy and long adjustment time caused by network latency during control command transmission. Attached Figure Description

[0038] The above-described features and advantages of the present invention will be better understood after reading the following detailed description of embodiments of the present disclosure in conjunction with the accompanying drawings. In the drawings, components are not necessarily drawn to scale, and components having similar related properties or features may have the same or similar reference numerals.

[0039] Figure 1 A schematic diagram of the architecture of a quay crane tilt adjustment control system according to one aspect of the present invention is shown;

[0040] Figure 2 A structural block diagram of a quay crane device according to one aspect of the present invention is shown;

[0041] Figure 3 A flowchart illustrating the tilt adjustment control of a quay crane tilt adjustment control system according to one aspect of the present invention is shown.

[0042] Figure 4 A flowchart illustrating the calculation of the duty cycle using a feedforward PID algorithm in a quay crane tilt adjustment control system provided according to one aspect of the present invention is shown.

[0043] Figure label:

[0044] 10-Shore crane equipment; 100-Shore crane tilt adjustment control system; 111-Remote host; 112-Tilting controller; 113-Position detection component; 200-Shore crane; 211-Drive hydraulic cylinder. Detailed Implementation

[0045] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. It should be noted that the aspects described below with reference to the accompanying drawings and specific embodiments are merely exemplary and should not be construed as limiting the scope of protection of the present invention in any way.

[0046] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," "outer," or "vertical" appear, the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed when in use, and does not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0047] At the same time, it should be noted that the terms "first" and "second" are used only for distinguishing descriptions and should not be interpreted as indicating or implying relative importance.

[0048] In the description of this invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an integral connection, or a detachable connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or a connection within two components, etc. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0049] Figure 1 This diagram illustrates the architecture of the quay crane tilt adjustment control system 100 provided in this embodiment. Figure 2 A structural block diagram of the quay crane equipment 10 provided in this embodiment is shown. Please refer to the reference diagram. Figure 1 and Figure 2 This embodiment provides a quay crane tilt adjustment control system 100, and also provides a quay crane device 10.

[0050] The quay crane equipment 10 includes a quay crane tilt adjustment control system 100 and a quay crane 200. The quay crane tilt adjustment control system 100 is used to control the drive hydraulic cylinder 211 on the quay crane 200, thereby realizing the adjustment of the spreader tilt angle of the quay crane 200.

[0051] The quay crane tilt adjustment control system 100 includes a remote control unit 111, a tilt controller 112, and a position detection unit 113. The tilt controller 112 is mounted on the quay crane 200, positioned closer to the drive hydraulic cylinder 211 or its hydraulic valve than the remote control unit 111. Electrical signal transmission between the two can be achieved via a wire connection. The remote control unit 111 is electrically connected to the tilt controller 112, enabling data transmission between them. The position detection unit 113 detects the position information of the drive hydraulic cylinder 211 and transmits this information to the tilt controller 112. During tilt adjustment control, the remote control unit 111 transmits the target position of the drive hydraulic cylinder 211 to the tilt controller 112. The tilt controller 112 controls the drive hydraulic cylinder 211 to move towards the target position based on the target position and the detected position information, thereby adjusting the spreader angle.

[0052] There are multiple drive hydraulic cylinders 211, and correspondingly, there are multiple position detection elements 113. Each position detection element 113 is used to detect the position data of multiple drive hydraulic cylinders 211. Simultaneously, the remote host 111 sends a target number of drive hydraulic cylinders 211 to the tilt controller 112, which corresponds to the number of drive hydraulic cylinders 211. Thus, the tilt controller 112 simultaneously controls multiple drive hydraulic cylinders 211 to extend and retract, thereby changing the angle of the lifting device. Optionally, in this embodiment, there are four drive hydraulic cylinders 211.

[0053] The following is a further explanation of the quay crane tilt adjustment control system 100:

[0054] Figure 3 The flowchart illustrating the tilt adjustment control process of the quay crane tilt adjustment control system 100 in this embodiment is shown. Please refer to the reference. Figures 1-3 In this embodiment, the remote host 111 is used to acquire the target position and transmit the target position to the tilt controller 112. The steps for the remote host 111 to acquire the target position include:

[0055] The remote host 111 acquires the position information of the drive hydraulic cylinder 211 detected by the position detection component 113, and calculates the target position of the drive hydraulic cylinder 211 based on the position information. Specifically, the remote host 111 obtains the position information of the drive hydraulic cylinder 211 from the tilt controller 112. That is, in addition to realizing the extension and retraction control of the drive hydraulic cylinder 211, the tilt controller 112 also serves as an intermediate component for data transmission between the position detection component 113 and the remote host 111. This process can be used when the spreader experiences abnormal tilting and needs to be adjusted to eliminate the tilt.

[0056] Optionally, during the process of the tilt controller 112 transmitting the position information of the drive hydraulic cylinder 211 detected by the position detection element 113 to the remote host 111, the tilt controller 112 also performs filtering on the position information to eliminate the influence of environmental and sensor noise, thereby obtaining an effective position information value, and then transmits the effective position information value to the remote host. It is understood that in some other embodiments, the tilt controller 112 can also directly transmit the position information before filtering to the remote host 111, and the remote host 111 can perform filtering on the position information.

[0057] In this embodiment, the step of the remote host 111 obtaining the target location can also be carried out in the following manner:

[0058] The remote host 111 has an input module that acquires external commands. Based on these commands, the remote host 111 determines the target position. Specifically, the acquired external command could be, for example, the required tilt angle of the spreader. The remote host 111 calculates the target extension / retraction positions of each drive hydraulic cylinder 211 based on this angle, and then transmits these positions to the tilt controller 112. The tilt controller 112 then controls the movement of multiple drive hydraulic cylinders 211 until they reach the corresponding target positions. This process can be used when the spreader needs to be tilted to meet turning requirements.

[0059] Optionally, data transmission between the remote host 111 and the tilt controller 112 is performed via a Profinet network. It is understood that in other embodiments, other data transmission methods may be used to achieve the electrical connection between the remote host 111 and the tilt controller 112, depending on requirements.

[0060] In this embodiment, the tilt controller 112 can use a high-performance ARM processor with a main frequency of 480MHz and a Flash capacity of 1MByte, and the RAM capacity is also as high as 1MByte.

[0061] In this embodiment, the process by which the tilt controller 112 controls the hydraulic cylinder 211 to move toward the target position based on the target position and position information includes:

[0062] The position information of the driving hydraulic cylinder 211 is acquired periodically, so that the position information of the driving hydraulic cylinder 211 obtained in the current cycle is the position of the current cycle. Optionally, the duration of each cycle can be in the range of 10ms to 20ms, that is, specifically, the duration of each cycle can be set to 10ms, 15ms or 20ms.

[0063] The duty cycle is calculated based on the current cycle position and the target position using a feedforward PID (Proportion Integral Differential) algorithm.

[0064] Figure 4 This document shows a flowchart illustrating the calculation of the duty cycle using a feedforward PID algorithm in the quay crane tilt adjustment control system 100 provided in this embodiment. Please refer to... Figure 4 Specifically, the calculation process using the feedforward PID algorithm includes the following formulas:

[0065] E=SA

[0066] P = Kp * E

[0067] I = Ki*(pI - E*dt)

[0068] D = Kd * (E - PE) / dt

[0069] R = P + I + D + FF

[0070] Where S is the target position; A is the current cycle position; dt is the cycle duration; Kp, Ki, and Kd are preset constant values; R is the duty cycle; FF is the feedforward value; I is the integral value of the current cycle; pI is the integral value of the previous cycle; E is the position difference of the current cycle; and PE is the position difference of the previous cycle.

[0071] Furthermore, the feedforward values ​​include velocity feedforward and acceleration feedforward. The formulas for calculating the feedforward values ​​include:

[0072] Fs=α*(A ′ / dt)

[0073] Fa=β*(Δ(ΔA) / dt 2 )FF=Fs+Fa

[0074] Where Fs is velocity feedforward; Fa is acceleration feedforward; A ′ Δ is the rate of change of the current position; Δ(ΔA) is the second difference of the current position; dt is the period duration; α and β are preset constant values.

[0075] Furthermore, since the current cycle's detection calculation data and the previous cycle's detection calculation data are required when executing the feedforward PID algorithm to calculate the duty cycle, the detection calculation data also needs to be updated during the current cycle's calculation process to prepare for the next cycle's calculation. By periodically transmitting control signals to the drive hydraulic cylinder 211, the target position of the drive hydraulic cylinder 211 is continuously moved. This process is repeated until the difference between the actual position of the drive hydraulic cylinder 211 and the target position is less than a threshold. At this point, the drive hydraulic cylinder 211 can be considered to have reached the target position, and the tilt controller 112 completes the tilt adjustment control.

[0076] Furthermore, in order to ensure the effectiveness of the feedforward PID algorithm calculation, the timer overflow interrupt service of the MUC can also be used in the tilt controller 112 to ensure that the algorithm is called at a fixed period.

[0077] In this embodiment, after the tilt controller 112 controls the drive hydraulic cylinder 211 to move to the target position, the tilt controller 112 is also used to transmit the final position information of the drive hydraulic cylinder 211 to the remote host 111. The remote host 111 can check the spreader angle of the quay crane 200 based on the final position. Since the drive hydraulic cylinder 211 can be considered to have reached the target position when the difference between the actual position and the target position is less than a threshold, the final position of the drive hydraulic cylinder 211 transmitted by the tilt controller 112 to the remote host 111 after the tilt adjustment control is completed is the actual position of each drive hydraulic cylinder 211 when the tilt adjustment control is completed.

[0078] The quay crane tilt adjustment control system 100 and quay crane equipment 10 provided in the embodiments of the present invention have a remote host 111 used to issue target position commands to the drive hydraulic cylinder 211 and read the position information of the drive hydraulic cylinder 211. The extension and retraction adjustment of the drive hydraulic cylinder 211 is controlled by the tilt controller 112. The tilt controller 112 uses a feedforward PID algorithm for closed-loop real-time control. During the entire process of position adjustment of the drive hydraulic cylinder 211, the calculation results of the feedforward PID algorithm are used to achieve full-range output of the hydraulic actuator's driving capability from 0-100%. There is no need to manually reduce the output of the hydraulic actuator, thus fully releasing the actuator's capability. Therefore, under the same conditions, compared with the previous control system, the new system can complete the hydraulic cylinder position adjustment faster and is more efficient.

[0079] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A quay crane tilt adjustment control system, used for quay crane tilt adjustment control; characterized in that, Remote host; A tilt controller, the tilt controller being mounted on the quay crane and electrically connected to the remote main engine; and A position detection device is used to detect the position information of the drive hydraulic cylinder on the quay crane and to transmit the position information to the tilt controller. The remote host is used to transmit the target position of the driving hydraulic cylinder to the tilt controller; the tilt controller is used to control the driving hydraulic cylinder to move toward the target position according to the target position and the position information.

2. The quay crane tilt adjustment control system according to claim 1, characterized in that, The tilt controller controls the drive hydraulic cylinder to move toward the target position based on the target position and the position information, including the following process: The position information of the driving hydraulic cylinder is periodically acquired to obtain the current periodic position; The duty cycle is calculated using a feedforward PID algorithm based on the current cycle position and the target position. The movement of the drive hydraulic cylinder is controlled according to the duty cycle until the drive hydraulic cylinder moves to the target position.

3. The quay crane tilt adjustment control system according to claim 2, characterized in that, The duration of each cycle ranges from 10ms to 20ms.

4. The quay crane tilt adjustment control system according to claim 2, characterized in that, The feedforward PID algorithm calculates the duty cycle based on the current cycle position and the target position using the following formula: E=SA P=Kp * HAVE BEEN I = Ki*(pI - E*dt) D = Kd * (E - PE) / dt R = P + I + D + FF Where S is the target position; A is the current cycle position; dt is the cycle duration; Kp, Ki, and Kd are preset constant values; R is the duty cycle; FF is the feedforward value; I is the integral value of the current cycle; pI is the integral value of the previous cycle; E is the position difference of the current cycle; and PE is the position difference of the previous cycle.

5. The quay crane tilt adjustment control system according to claim 4, characterized in that, The feedforward value includes velocity feedforward and acceleration feedforward, and the calculation formula for the feedforward value includes: Fs=α*(A ′ / dt) Fa=β*(Δ(ΔA) / dt 2 ) FF = Fs + Fa Where Fs is velocity feedforward; Fa is acceleration feedforward; A ′ Δ is the rate of change of the current position; Δ(ΔA) is the second difference of the current position; dt is the period duration; α and β are preset constant values.

6. The quay crane tilt adjustment control system according to claim 1, characterized in that, The remote host is also used to obtain the target location; The steps for the remote host to obtain the target location include: The remote host obtains the position information of the driving hydraulic cylinder detected by the position detection device, and calculates the target position of the driving hydraulic cylinder based on the position information; and / or, The remote host has an input module, which acquires external instructions, and the remote host obtains the target location based on the external instructions.

7. The quay crane tilt adjustment control system according to claim 6, characterized in that, The process by which the remote subject acquires the position information of the driving hydraulic cylinder detected by the position detection device includes: the tilt controller acquires the position information of the driving hydraulic cylinder detected by the position detection device and filters the position information to obtain a valid position information value; the tilt controller transmits the valid position information value to the remote subject so that the remote subject can acquire the position information of the driving hydraulic cylinder.

8. The quay crane tilt adjustment control system according to claim 1, characterized in that, The remote host and the tilt controller transmit data via a Profinet network.

9. The quay crane tilt adjustment control system according to claim 1, characterized in that, After the tilt controller controls the drive hydraulic cylinder to move to the target position, the tilt controller is also used to transmit the final position information of the drive hydraulic cylinder to the remote host, and the remote host verifies the spreader angle of the quay crane according to the final position.

10. A quay crane device, characterized in that, The quay crane equipment includes a quay crane and a quay crane tilt adjustment control system as described in any one of claims 1-9; the quay crane has a drive hydraulic cylinder, and the quay crane tilt adjustment control system is used to control the extension and retraction of the drive hydraulic cylinder to adjust the angle of the quay crane.

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