Automatic deviation correction control method and system for preventing rail gnawing of container quay crane cart

Abstract

The invention relates to the technical field of cranes, in particular to a rail gnawing prevention automatic deviation correction system for a container quay crane cart and a control method. The invention provides an automatic deviation correction method for preventing rail gnawing of a container quay crane cart. The method comprises the steps that distance data from cart wheels to the side face of a rail are collected; according to the distance data, calculating an actual deviation value of a center line of a cart pilot wheel relative to a track center line; the actual deviation value is compared with a preset target deviation value, and the speed difference between the sea side motor and the land side motor is calculated through PID control; the rotating speed of the motor is adjusted according to the speed difference, automatic deviation correction of the cart walking direction is achieved, deviation and rail gnawing are prevented, and the service life of a rail and wheels is prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of crane technology, and in particular to a container quay crane trolley anti-rail gnawing automatic deviation correction control method and system. BACKGROUND

[0002] The trolley running mechanism of the container quay crane is a key component for the quay crane to move along the track, which is usually composed of multiple running wheels arranged side by side on the sea side and the land side, and relies on a long track to complete the running action. During the operation of the trolley, "gnawing the rail" is a common and significant fault phenomenon. Once the gnawing problem occurs, it usually means that a large-scale maintenance work needs to be carried out, which has an adverse effect on the normal operation of the equipment and the maintenance cost.

[0003] At present, the causes of trolley gnawing are diverse, which can be mainly summarized as follows:

[0004] First, gnawing caused by initial placement deviation. When the straightness and flatness of the trolley wheels are consistent, and the straightness and parallelism of the track are also in good condition, if the placement of the trolley on the track is deviated, the trolley will first gnaw the rail when walking in a certain direction, and after a certain distance, the other side of the wheel will start to gnaw the rail.

[0005] Second, gnawing caused by wheel precision deviation. If the straightness of the trolley wheels is not consistent, or there is an angle between the wheel surface of some wheels and the track surface, during the operation of the trolley, the wheels with angle deviation will guide the trolley, causing the trolley to deviate from the track direction, and then causing gnawing due to running deviation.

[0006] Third, gnawing caused by operation or working conditions during use. During the use of the equipment, if the trolley wheels slip due to emergency stop and other situations, and the sliding distances of the sea side and land side wheels are not equal, the multi-wheel structure of the trolley will be placed on the track, causing the trolley to gnaw the rail.

[0007] To prevent the trolley from running deviation due to driving error, the existing technology usually adopts the following arrangement and control mode: two sets of motor drivers (or frequency converters) are configured for the trolley, and the sea side and land side motors are staggered in driving arrangement, that is, one set of driver drives about half of the sea side motors and about half of the land side motors; due to the staggered driving structure, the single motor cannot be individually speed-regulated, so the whole torque control acceleration tracking control mode based on the handle signal proportion is adopted.

[0008] However, even if the above driving control mode is adopted, the trolley gnawing track problem is still difficult to completely avoid. Because in the mechanical structure of the trolley running mechanism, the parallelism, perpendicularity processing errors of the wheel shaft, trolley pin shaft, middle balance beam pin shaft, large balance beam pin shaft and large span balance beam pin shaft and other components are difficult to completely eliminate, combined with possible cumulative errors, structural deformation and other factors, it is difficult for the trolley composed of multiple wheels to ensure that all the wheels are in the same plane and straight line; when running on a track of thousands of meters for a long time, the above factors are superimposed to easily cause the trolley to deviate, and then cause gnawing track.

[0009] The occurrence of the gnawing track phenomenon not only causes abnormal wear of the wheels, but also produces abnormal noise, affecting the service life and operating environment of the equipment; more importantly, once the gnawing track deviation occurs, it often corresponds to a major maintenance project of the equipment, sometimes even needs to use jacking equipment for adjustment, and in extreme cases, it also needs to rely on gnawing track to perform hard correction, which undoubtedly brings great difficulty to the delivery, daily use and maintenance of the equipment.

[0010] Therefore, the industry urgently needs a container quay crane trolley anti-gnawing track automatic correction device and control method. SUMMARY

[0011] The following gives a brief overview of one or more aspects to provide a basic understanding of these aspects. This summary is not an extensive overview of all contemplated aspects, and is neither intended to identify key or critical elements of all aspects nor to delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description presented later.

[0012] The purpose of the present application is to provide a container quay crane trolley anti-gnawing track automatic correction system and control method, which solves how to realize automatic correction during the operation of the container quay crane trolley driven by multiple wheels, so as to prevent deviation and gnawing track.

[0013] In order to achieve the above purpose, the present application provides a container quay crane trolley anti-gnawing track automatic correction control method, which comprises:

[0014] Collecting distance data of the trolley wheel to the side of the track;

[0015] According to the distance data, the actual deviation value of the trolley pilot wheel center line relative to the track center line is calculated;

[0016] The actual deviation value is compared with the preset target deviation value, and the speed difference of the sea side motor and the land side motor is calculated through PID control;

[0017] According to the speed difference, the motor speed is adjusted to realize the automatic correction of the trolley running direction.

[0018] In an embodiment, the adjusting the motor rotating speed according to the speed difference further comprises:

[0019] When the center line of the leading wheel deviates to the first side, the control system controls the second side driving motor rotating speed to be higher than the first side driving motor rotating speed.

[0020] In an embodiment, the comparing the actual deviation value with the preset target deviation value and calculating the speed difference between the sea side motor and the land side motor by the PID control further comprises:

[0021] The PID control adopts a cascade control structure, including displacement PID control and speed PID control.

[0022] The displacement PID control calculates the speed difference according to the actual deviation value and the preset target deviation value.

[0023] The speed PID control adjusts the actual rotating speed or torque of the two side driving motors according to the speed difference.

[0024] In an embodiment, the parameters of the PID control are adaptively adjusted by an artificial neural network algorithm, and the PID proportional, integral and differential parameters are optimized according to the real-time deviation and change trend.

[0025] In an embodiment, the calculating the actual deviation value of the center line of the leading wheel of the trolley relative to the center line of the track according to the distance data further comprises:

[0026] ;

[0027] Wherein, M is the distance from the trolley wheel to the center line of the trolley wheel, W is the track width, and D is the distance data from the leading wheel of the trolley to the side of the track.

[0028] In order to achieve the above purpose, the application provides a container quay crane trolley anti-rail-biting automatic deviation correction system, which is used to execute the method of any one of the above embodiments, and comprises:

[0029] A plurality of displacement sensors are arranged at the front end and the rear end of the trolley wheel respectively, and are used to collect the distance data of the center line of the trolley wheel to the center line of the track.

[0030] A control system is electrically connected with the displacement sensors, calculates the actual deviation value of the center line of the leading wheel of the trolley relative to the center line of the track according to the distance data, compares the actual deviation value with the preset target deviation value, and calculates the speed difference between the sea side motor and the land side motor by the PID control algorithm.

[0031] The motor driving system is electrically connected with the control system, and comprises a first driving system and a second driving system for driving wheels on the sea side and the land side of the trolley respectively, and is configured to receive the speed difference control signal, adjust the rotating speeds of the motors on the two sides of the trolley, and realize automatic deviation correction of the trolley walking direction.

[0032] In an embodiment, the system further comprises a plurality of motors, a plurality of reduction boxes and an encoder.

[0033] The plurality of motors are mechanically connected with the first driving system and the second driving system respectively, and are configured to provide driving power.

[0034] The reduction boxes are mechanically connected with the motors, and are configured to convert high speed and low torque output by the motors into low speed and high torque.

[0035] The encoder is electrically connected with the trolley wheels, and is configured to provide wheel displacement, speed and direction.

[0036] In an embodiment, the displacement sensor is at least one of an ultrasonic displacement sensor, a laser displacement sensor and a millimeter wave displacement sensor.

[0037] In an embodiment, the ultrasonic displacement sensor is equipped with a sleeve to narrow the beam angle, and is processed by using average filtering and / or Kalman filtering.

[0038] In an embodiment, the control system is configured to control the rotating speed of the driving motor on the second side opposite to the first side to be higher than that of the driving motor on the first side when the center line of the leading wheel deviates to the first side.

[0039] In an embodiment, the control system adopts a cascade PID control structure, and comprises a displacement PID controller and a speed PID controller.

[0040] The displacement PID controller is configured to calculate a speed difference according to the actual deviation value and a preset target deviation value.

[0041] The speed PID controller is configured to adjust the actual rotating speed or torque of the driving motors on the two sides according to the speed difference.

[0042] In order to achieve the above-mentioned purpose, the application further provides a container quay crane, which comprises a track, a multi-wheel trolley on the track, and a trolley anti-rail-biting automatic deviation correction system according to any one of the above-mentioned embodiments, the system being electrically connected with a sea side motor set and a land side motor set of the trolley, and being configured to automatically correct deviation and inhibit rail biting when the trolley walks along the track.

[0043] The application provides a container quay crane trolley anti-rail biting automatic deviation correction control method and system, which automatically detects the trolley operation deviation in real time through a high-precision sensor, realizes trolley steering and automatic deviation correction through motor speed difference adjustment, can effectively prevent rail biting, prolongs the service life of the rail and the wheel, is suitable for various rail conditions, and improves the equipment flexibility and operation reliability. BRIEF DESCRIPTION OF DRAWINGS

[0044] The above features and advantages of the present application can be better understood by reading the following detailed description of embodiments of the present application in conjunction with the drawings, in which the components are not necessarily drawn to scale and components of similar or identical function or structure can have the same or similar reference numbers.

[0045] Figure 1 A container quay crane trolley anti-rail biting automatic deviation correction system block diagram of an embodiment of the application is disclosed;

[0046] Figure 2 A container quay crane trolley anti-rail biting automatic deviation correction method step diagram of an embodiment of the application is disclosed;

[0047] Figure 3 A displacement sensor detection principle schematic diagram of an embodiment of the application is disclosed;

[0048] Figure 4 A container quay crane trolley anti-rail biting automatic deviation correction control principle block diagram of an embodiment of the application is disclosed;

[0049] Figure 5A A first drive system PID control schematic diagram of an embodiment of the application is disclosed;

[0050] Figure 5B A control system schematic diagram of an embodiment of the application is disclosed;

[0051] Figure 5C A second drive system PID control schematic diagram of an embodiment of the application is disclosed.

[0052] For the sake of clarity, a brief description of the reference signs is given below, and the meanings of the reference signs are as follows:

[0053] 100 automatic deviation correction system;

[0054] 10 displacement sensor;

[0055] 11 sea side rail;

[0056] 12 land side rail;

[0057] 13 trolley wheel;

[0058] 20 control system;

[0059] 21 first drive system;

[0060] 22 second drive system;

[0061] 23 motor;

[0062] 24 gearbox;

[0063] 25 encoder;

[0064] 30 wheel direction centerline;

[0065] 31 track centerline. DETAILED DESCRIPTION

[0066] The present application is described herein with reference to particular embodiments for a purpose of illustration only. The present application is not limited in this regard as the concepts of the present application are capable of being employed in various embodiments without departing from the scope of the present application. The descriptions of the embodiments are intended to be coterminous with the patent claims and are not meant to limit or restrict the present application in any way. The following description is provided to enable those skilled in the art to make or use the application. Numerous specific details are described in order to provide a thorough understanding of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced without the specific details. In other instances, well known methods have not been described in order to avoid obscuring the present application. Furthermore, some particular details are omitted in order not to obscure the present application in details that are not related to the principles of the application.

[0067] The present application provides a container quay crane trolley anti-rail biting automatic deviation correction system, which can include: a plurality of displacement sensors, respectively arranged at the front end and the rear end of the trolley wheel, for collecting distance data of the trolley wheel to the track side surface;

[0068] a control system, electrically connected with the displacement sensors, for calculating an actual deviation value of the trolley pilot wheel centerline relative to the track centerline according to the distance data, comparing the actual deviation value with a preset target deviation value, and calculating a speed difference of the sea side and land side motors through a PID control algorithm;

[0069] a motor drive system, electrically connected with the control unit, including a first drive system and a second drive system for driving the sea side and land side wheels of the trolley respectively, for receiving the speed difference control signal, adjusting the rotating speed of the two side motors of the trolley, and realizing automatic deviation correction of the trolley walking direction.

[0070] The present application provides a container quay crane trolley anti-rail biting automatic deviation correction system, which can automatically detect the trolley running deviation in real time through high-precision sensors, realize trolley steering and automatic deviation correction through speed difference adjustment of the motor, effectively prevent rail biting phenomenon, prolong the service life of the track and the wheel, adapt to various track conditions, and improve the flexibility and operation reliability of the equipment.

[0071] Figure 1 A block diagram of a container quay crane trolley anti-rail-biting automatic deviation correction system according to an embodiment of the present application is disclosed, as shown in Figure 1 The container quay crane trolley anti-rail-biting automatic deviation correction system 100 can include a plurality of displacement sensors 10, two motor drive systems, and a control system (not shown in the figure).

[0072] In this embodiment, the trolley runs on a rail, which can include a sea side rail 11 and a land side rail 12. The container quay crane trolley anti-rail-biting automatic deviation correction system can be installed with eight displacement sensors 10, one on each side of the trolley wheels 13, i.e. at the front and rear ends of the wheels on both the sea side and land side of the trolley. The displacement sensors 10 are used to collect the distance data of the trolley wheels to the side of the rail, and to calculate the deviation of the center line of the trolley wheels 13 from the center line of the rail in real time. The detection signal is input to the control system for subsequent deviation correction control.

[0073] It should be noted that the thickness of the trolley wheels 13 along the rail is fixed, and the installation position and number of sensors are the initial calibration accuracy, which can be adjusted according to actual conditions, for example, the original four sensors on each side can be replaced by two sensors.

[0074] The displacement sensors 10 monitor the distance of the trolley wheels 13 to the edge of the rail to calculate the distance data of the trolley wheels 13 to the side of the rail, which is converted into the difference between the center of the wheel tread and the center of the rail. Finally, a control algorithm is used to drive the two sides of the trolley to have a speed difference, thereby achieving trolley steering. With a small steering drive, the direction control and adjustment of the multi-wheel trolley are achieved, thereby achieving trolley deviation correction.

[0075] The displacement sensors 10 can be at least one of an ultrasonic displacement sensor, a laser displacement sensor, and a millimeter wave displacement sensor.

[0076] The ultrasonic displacement sensor can use a sleeve to narrow the beam and use average filtering measures or Kalman filtering measures.

[0077] The distance data of the center line of the trolley wheels to the center line of the rail can not only be detected by displacement sensors, but also can be detected by machine vision, laser radar scanning, millimeter wave radar scanning, and other technologies to detect the relative position and driving trend of the wheels on the rail.

[0078] The motor drive system includes a first drive system 21 and a second drive system 22 for driving the sea side and land side wheels of the trolley, respectively, for controlling the motor groups on both sides of the trolley. The first drive system 21 drives a plurality of motors 23 on the sea side (left side), and the second drive system 22 drives a plurality of motors 23 on the land side (right side).

[0079] Each motor is connected with the cart wheel 13 through a corresponding reduction box 24. Four motors 23 are arranged on the sea side and connected with the corresponding cart wheels through the reduction boxes 24; four motors 23 are also arranged on the land side and connected with the corresponding cart wheels 13 through the reduction boxes 24. Thus, the cart is powered by multi-point driving on both sides of the track.

[0080] The reduction box 24 is used to convert the high speed and low torque output by the motor into low speed and large torque to adapt to the actual load demand and ensure the stability and controllability of the movement.

[0081] Two encoders 25 are respectively installed on the wheels on the sea side and the land side of the cart, which provide displacement, speed and direction feedback of the wheels, so that the control system can realize accurate positioning and stable operation.

[0082] The encoder can be an incremental encoder, and the encoder signal is sent into the control system as a feedback quantity, compared with the target value to form a closed-loop control, so as to accurately adjust the speed and position of the motor and avoid cumulative error and loss of control.

[0083] The control system is electrically connected with the displacement sensor 10, calculates the actual deviation value of the center line of the leading wheel of the cart relative to the center line of the track according to the distance data, compares the actual deviation value with the preset target deviation value, and calculates the speed difference of the motors on the sea side and the land side through the PID control algorithm.

[0084] Specifically, the control system compares the signal collected by the displacement sensor with the position of the center line of the track to obtain the deviation value of the center line of the cart. When the cart is detected to deviate to one side, the control system will adjust the driving speed of the motor on the side and the motor on the opposite side. For example, when the cart deviates to the sea side, the control system relatively reduces the running speed of the motor group on the sea side and relatively increases the running speed of the motor group on the land side, so as to form a correction turning torque to make the cart return to the center line of the track.

[0085] In an embodiment, the control system is configured to control the rotation speed of the driving motor on the second side opposite to the first side to be higher than the rotation speed of the driving motor on the first side when the center line of the leading wheel deviates to the first side. The control system adopts a cascade PID control structure including a displacement PID controller and a speed PID controller.

[0086] The displacement PID controller is used to calculate the speed difference according to the actual deviation value and the preset target deviation value.

[0087] The speed PID controller is used to adjust the actual rotation speed or torque of the driving motors on both sides according to the speed difference.

[0088] The container quay crane trolley anti-rail biting automatic deviation correction system can monitor the trolley deviation in real time, automatically adjust the driving differential of the two sides of the motor according to the deviation, and eliminate the deviation caused by the track unevenness or driving difference, prevent the rail biting phenomenon, and improve the stability of the equipment operation and the track and wheel life.

[0089] Figure 2 A container quay crane trolley anti-rail biting automatic deviation correction method step diagram of an embodiment of the present application is disclosed, as shown in the figure, the present application also provides a container quay crane trolley anti-rail biting automatic deviation correction method, the method comprises the following steps: Figure 2

[0090] S1, collect the distance data of the trolley wheel to the track side surface;

[0091] S2, calculate the actual deviation value of the trolley pilot wheel center line relative to the track center line according to the distance data;

[0092] S3, compare the actual deviation value with the preset target deviation value, and calculate the speed difference of the sea side motor and the land side motor through PID control;

[0093] S4, adjust the motor speed according to the speed difference to realize the automatic deviation correction of the trolley walking direction.

[0094] Each step will be described in detail below.

[0095] S1, collect the distance data of the trolley wheel to the track side surface.

[0096] Figure 3 A displacement sensor detection principle diagram of an embodiment of the present application is disclosed, as shown in the figure, on both sides of the trolley running track, a displacement sensor 10 is installed, which is used to detect the relative position relationship between the trolley wheel direction center line (dashed line) 30 and the track center line (dashed line) 31. Figure 3

[0097] The wheel direction center line 30 represents the geometric center of the wheel tread in the direction of travel, and the track center line 31 represents the geometric center of the track in the direction of travel.

[0098] S2, calculate the actual deviation value of the trolley pilot wheel center line relative to the track center line according to the distance data. Wherein, the pilot wheel refers to the group of wheels located at the front in the walking direction of the quay crane trolley, that is, the wheels located at the front of the sea side track 11 and the wheels located at the front of the land side track 12.

[0099] ​​During the operation of the trolley, the sensor measures the distance between the wheel tread center and the track edge in real time, and the deviation between the wheel center line and the track center line, i.e., the difference CD (absolute value), is obtained through geometric conversion, which represents the deviation between the wheel direction center line and the track center line, and the difference is taken as the reference quantity for correction control.

[0100] Specifically, when the difference is zero, it indicates that the wheel direction center coincides with the track center, and the trolley is kept running in the track center.

[0101] In an embodiment, calculating the actual deviation value of the trolley pilot wheel center line relative to the track center line according to the distance data comprises:

[0102] ;

[0103] Wherein, M is the distance data of the trolley wheel to the trolley wheel center line, W is the track width, and D is the distance data of the trolley pilot wheel to the track side.

[0104] The value of D can be measured by a displacement sensor.

[0105] S3, comparing the actual deviation value with a preset target deviation value, and calculating the speed difference between the sea side motor and the land side motor through a PID control algorithm.

[0106] Each side motor drive adopts a cascade PID control algorithm, and in the driving process, a target value is set, the sea-land side deviation value of the pilot wheel center line and the track center line is the implementation target, and the actual value of the wheel tread center and the track center measured through conversion is taken as the feedback value, the intermediate error is taken as the input of the PID control, and the PID control is performed.

[0107] Figure 4 The automatic anti-rail-biting deviation correction control principle block diagram of the container shore crane trolley of an embodiment of the present application is disclosed, as shown in the figure, an automatic anti-rail-biting deviation correction control system of a container shore crane trolley comprises a first driving system 21, a second driving system 22 and a control system 20, each system is cooperated with each other through sensor detection and control algorithm to realize real-time deviation correction of the trolley. Figure 4

[0108] Figure 5A The first driving system PID control schematic diagram of an embodiment of the present application is disclosed, Figure 5C The second driving system PID control schematic diagram of an embodiment of the present application is disclosed. As shown in the figure, Figure 5A and 5C The first driving system 21 and the second driving system 22 are basically the same in structure, and both adopt a cascade PID control architecture. Taking the first driving system 21 as an example, the cascade PID control is displacement PID control, speed PID control and current PID control. ​

[0109] The displacement PID control is calculated according to the actual deviation value and the preset target deviation value;

[0110] The speed PID control is adjusted according to the speed difference to adjust the actual rotating speed or torque of the two-side driving motor.

[0111] The current PID control is related to the motor current, and does not involve the technical improvement of the present application, and is not described here.

[0112] Specifically, first, the cart speed and displacement are set, the target running speed and position signal input by the upper computer or the operator, the motor rotating speed and the actual position of the cart are collected in real time, the deviation between the target speed and the actual speed is adjusted, the torque control signal is output, the motor current is further adjusted, the accurate control of the motor torque is realized, finally, the motor drives the wheel to run under the action of the speed reducer, and the encoder detects the motor rotating speed and displacement, and feeds back to the control system 20.

[0113] The sea side and land side driving system adopts double-loop control of "speed loop + current loop", ensures the driving stability and rapid response, forms a complete cascade control system, realizes high-precision deviation correction, can realize automatic deviation correction, anti-rail biting and stable operation of the cart on the track without relying on manual intervention, and significantly improves the equipment reliability and service life.

[0114] Figure 5B The control system schematic diagram of an embodiment of the present application is disclosed, as shown in Figure 5B In an embodiment, adjusting the motor rotating speed according to the speed difference further comprises:

[0115] When the center line of the pilot wheel deviates to the first side, the rotating speed of the driving motor on the second side opposite to the first side is controlled to be higher than that of the driving motor on the first side.

[0116] In the embodiment, the first side is the sea side, and the second side is the land side. When the difference deviates to the sea side, it indicates that the cart deviates to the sea side as a whole. At this time, the system controls the running speed of the land side wheel group to be higher than that of the sea side, so that the cart generates a correction steering to the land side;

[0117] When the difference deviates to the land side, the speed of the sea side wheel group is controlled to be higher than that of the land side, so that the cart generates a correction steering to the sea side.

[0118] Specifically, when it is detected that the cart deviates to the sea side, the deviation correction system will output instructions to make the driving speed of the sea side higher than that of the land side by a certain percentage (for example, 2% to 3%), so as to form a steering torque, so that the cart gradually corrects to the land side;

[0119] When it is detected that the cart deviates to the land side, the speed of the land side is controlled to be higher than that of the sea side, so as to correct to the sea side;

[0120] According to the rule of PID control, as the deviation gradually decreases, the output differential speed of the deviation correction control system gradually decreases, and when the deviation is zero, the speeds on both sides are kept synchronous, realizing stable straight driving.

[0121] In this embodiment, the deviation of the cart is detected in real time and continuously through the differential drive mode, the geometric deviation is quantified as a controllable parameter, the difference CD is taken as a control reference, and the PID control algorithm is combined to ensure that the deviation correction is fast and stable, and the deviation correction process does not require manual intervention, so that the cart can run stably along the center line of the track, the track biting phenomenon is effectively avoided, and the automatic deviation correction of the cart along the track direction is realized, so that the center of the pilot wheel direction gradually returns to the center of the track direction.

[0122] S4, the speed difference is adjusted to realize automatic deviation correction of the cart walking direction. In an embodiment, the ideal deviation value (the target value is zero) of the wheel center and the track center is set, the displacement sensor detects the deviation of the wheel tread center point to the track center line in real time to generate an actual deviation signal; the target value and the detection value are compared to obtain a deviation correction error, and the deviation correction PID control system takes the error as an input and outputs a speed difference correction amount, and finally, the correction amount is distributed to the sea side drive and the land side drive to make the driving motors on both sides produce differential speed, thereby realizing the correction of the cart turning.

[0124] The driving deviation correction ability of the cart can be verified by experiments. With two track centers as the turning center lines, the minimum turning radius of the far end center point, the turning radius is too small, and a larger driving ability is required. Because each wheel surface plane of the cart wheel does not have an actual automatic vertical turning ability with the turning center, the speed difference on both sides is realized by a certain amount of radial slip, and general driving ability cannot cause such slip. Therefore, the actual turning radius is physically limited by the driving ability, and a too large turning radius will cause insufficient turning deviation correction ability and greater response lag.

[0125] The minimum turning radius of the cart is determined, and the track and wheel geometric parameters are calculated:

[0126] Wherein, U is the track spacing, V is the total wheel width, and Ω is the total system number, Ω=15~25, and α:β=3:1.

[0127] For example, when the track spacing is 35m and the total wheel width is 25m, the turning radius can be set to 800~1000m, and the speed difference on both sides is about 3%. By adjusting the speed of one side motor to increase by 1.5% and the speed of the other side motor to decrease by 1.5%, deviation correction is realized.

[0128] In an embodiment, the parameters of the PID control are adaptively adjusted by an artificial neural network algorithm, and the proportional, integral and differential parameters of the PID are optimized according to real-time deviation and variation trend.

[0129] To improve the response speed, a one-time overshoot value can be set to make the system quickly converge to the target value, and the PID parameters can be set by a neuron method to enhance the adaptability, the system is first verified at low speed for correction stability, and then the speed is gradually increased to ensure safety.

[0130] The control method provided by the application is not only suitable for the container quay crane, but also can be popularized to all multi-wheel drive vehicles and mechanical systems running along fixed tracks, for example, can be used for quay crane self-driven trolley track running system.

[0131] The application further provides a container quay crane, comprising a track, a multi-wheel trolley on the track, and the trolley anti-rail-biting automatic correction system, the system is electrically connected with the sea side motor set and the land side motor set of the trolley, and is used for automatically correcting deviation and inhibiting rail biting when the trolley runs along the track.

[0132] The system and method described in the application can correspond and learn from each other in features, and the parts not described in detail can be mutually referred to and will not be repeated.

[0133] In the description of the application, it should be noted that, unless otherwise specified and limited, the terms "mounting", "connection" and "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through an intermediate medium, or the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0134] In addition, in the following description, "up", "down", "left", "right", "top", "bottom", "horizontal", "vertical" should be understood as the orientation shown in the paragraph and the related drawings. The relative terms are only used for convenience of description, and do not mean that the device described should be manufactured or operated in a particular orientation, so it should not be understood as a limitation on the application.

[0135] It can be understood that although the terms "first", "second", "third" and the like can be used herein to describe various components, regions, layers and / or parts, these components, regions, layers and / or parts should not be limited by these terms, and these terms are only used to distinguish different components, regions, layers and / or parts. Therefore, the first component, region, layer and / or part discussed below can be referred to as the second component, region, layer and / or part without departing from some embodiments of the application.

[0136] The foregoing description of the present disclosure has been directed to enabling any person skilled in the art to make or use the disclosure. Modifications to, and the genomic principles of, the present disclosure can be employed as would be obvious to those skilled in the art, with the present disclosure intended to be as broad and generalized as where the principles of the disclosure legally permit. Moreover, this disclosure is intended to be accredited with the broadest reasonable scope consistent with the material set forth herein.

Claims

1. A container shore crane trolley anti-rail-biting automatic deviation correction method, characterized in that, The method comprises: Collecting the distance data of the wheel of the trolley to the side of the track; Calculating the actual deviation value of the center line of the leading wheel of the trolley relative to the center line of the track according to the distance data; Comparing the actual deviation value with a preset target deviation value, and calculating the speed difference of the motor on the sea side and the motor on the land side through PID control; Adjusting the motor speed according to the speed difference to realize automatic correction of the walking direction of the trolley.

2. The container quay crane trolley anti-derailing automatic deviation correction method according to claim 1, characterized in that, Adjusting the motor speed according to the speed difference further comprises: When the center line of the leading wheel deviates to the first side, the motor speed on the second side opposite to the first side is controlled to be higher than the motor speed on the first side.

3. The container quay crane trolley anti-derailing automatic deviation correction method according to claim 1, characterized in that, The comparison of the actual deviation value with the preset target deviation value and the calculation of the speed difference of the motor on the sea side and the motor on the land side through PID control further comprises: The PID control adopts a cascade control structure, including displacement PID control and speed PID control; The displacement PID control is to calculate the speed difference according to the actual deviation value and the preset target deviation value; The speed PID control is to adjust the actual speed or torque of the driving motors on both sides according to the speed difference.

4. The container quay crane trolley anti-derailing automatic deviation correction method according to claim 3, characterized in that, The parameters of the PID control are adaptively adjusted by an artificial neural network algorithm, and the PID proportional, integral and differential parameters are optimized according to the real-time deviation and the change trend.

5. The container quay crane trolley anti-derailing automatic deviation correction method according to claim 1, characterized in that, The calculation of the actual deviation value of the center line of the leading wheel of the trolley relative to the center line of the track according to the distance data comprises: ； Wherein, M is the distance from the wheel of the trolley to the center line of the wheel of the trolley, W is the width of the track, and D is the distance data of the leading wheel of the trolley to the side of the track.

6. A container quay crane trolley anti-derailing automatic deviation correction system, characterized in that, The system is used to perform the method of any one of claims 1-5, comprising: A plurality of displacement sensors are arranged at the front end and the rear end of the wheel of the trolley respectively, and are used to collect the distance data of the wheel of the trolley to the side of the track; A control system is electrically connected with the displacement sensors, and is used to calculate the actual deviation value of the center line of the leading wheel of the trolley relative to the center line of the track according to the distance data, compare the actual deviation value with a preset target deviation value, and calculate the speed difference of the motor on the sea side and the motor on the land side through a PID control algorithm; A motor driving system is electrically connected with the control system, and comprises a first driving system and a second driving system for driving the wheels on the sea side and the land side of the trolley respectively, and is used to receive the speed difference control signal, adjust the speed of the motors on both sides of the trolley, and realize automatic correction of the walking direction of the trolley.

7. The container ship-to-shore gantry anti-derailing automatic deviation correction system according to claim 6, wherein, The system further comprises a plurality of motors, a plurality of reduction boxes and encoders; The plurality of motors are mechanically connected with the first driving system and the second driving system respectively, and are used to provide driving power; The reduction boxes are mechanically connected with the motors, and are used to convert the high speed and low torque output by the motors into low speed and large torque; The encoders are electrically connected with the wheels of the trolley, and are used to provide wheel displacement, speed and direction.

8. The container ship-to-shore gantry anti-derailing automatic deviation correction system according to claim 6, wherein, The displacement sensor is at least one of an ultrasonic displacement sensor, a laser displacement sensor and a millimeter wave displacement sensor.

9. The container ship-to-shore gantry anti-derailing automatic deviation correction system according to claim 8, wherein, The ultrasonic displacement sensor is assembled with a sleeve to narrow the beam angle, and average filtering and / or Kalman filtering are used for processing.

10. The container ship-to-shore gantry anti-derailing automatic deviation correction system of claim 6, wherein, The control system is configured to control the second side driving motor to rotate at a higher speed than the first side driving motor when the center line of the leading wheel deviates to the first side.

11. The container ship-to-shore gantry anti-derailing automatic deviation correction system of claim 6, wherein, The control system adopts a cascade PID control structure, including a displacement PID controller and a speed PID controller; The displacement PID controller is configured to calculate a speed difference according to the actual deviation value and a preset target deviation value; The speed PID controller is configured to adjust the actual rotating speed or torque of the driving motors on the two sides according to the speed difference.

12. A container quay crane comprising a track, a multi-wheel trolley on the track, and the trolley anti-rail-biting automatic deviation correction system according to any one of claims 6-11, the system being electrically connected with the sea side motor set and the land side motor set of the trolley, and being configured to automatically correct deviation and suppress rail biting when the trolley runs on the track.

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