A control method for trolley position following in girder translation

Abstract

This invention discloses a control method for trolley position following during beam translation, comprising the following steps: S1, the crane's PLC controller sends a translation command to the beam mechanism and sets a moving speed for the beam mechanism; the beam mechanism's frequency converter and beam motor operate, and the drum wire rope pulls the beam mechanism to begin telescopic translation; S2, when the beam mechanism begins telescopic translation, the PLC controller sends a reverse translation command to the trolley mechanism and sets a moving speed for the trolley mechanism; the trolley mechanism's frequency converter and trolley motor operate, and the drum wire rope pulls the trolley mechanism to perform translation. The trolley mechanism maintains the same moving speed as the beam mechanism, but in the opposite direction of translation, to ensure that the driver's cab remains at the designated stopping position throughout the beam translation process. This invention ensures that the driver's cab remains at the designated stopping position throughout the beam mechanism's movement, is convenient to use, and is simple and feasible.

Description

Technical Field

[0001] This invention relates to crane technology, and more specifically, to a control method for the position tracking of a trolley during beam translation. Background Technology

[0002] With the booming shipping industry, many countries and regions have built ports in specific geographical locations, such as near airports, to accelerate economic development. To ensure safety, these port cranes utilize non-traditional telescopic girder cranes. Therefore, optimizing the operational process has become a pressing research topic. Traditional telescopic cranes, during operation, have a trolley mechanism that remains stationary while the girder mechanism moves, causing the operator's cab to move with the girder. This results in the operator's cab being off-center when the girder mechanism stops, requiring the operator to spend extra time returning to the parking position before starting work, thus causing inconvenience.

[0003] Therefore, there is an urgent need to develop a method that allows the driver's cab to remain at a designated parking position during the translation of the main beam, thereby reducing unnecessary operation time during the operation of the quay crane. Summary of the Invention

[0004] To address the aforementioned deficiencies in the existing technology, the purpose of this invention is to provide a control method for the trolley position following during the horizontal movement of the main beam. During the horizontal movement of the main beam mechanism, the trolley mechanism is controlled to move in the opposite direction at the same speed as the main beam mechanism, ensuring that the driver's cab can accurately stop at the designated parking position during the movement of the main beam mechanism. This satisfies the requirements for high-precision trolley position control, optimizes the operation process of telescopic beam quay cranes, and reduces unnecessary operation time.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] This invention provides a control method for the position tracking of a trolley during beam translation, comprising the following steps:

[0007] S1, the crane's PLC controller sends a translation command to the main beam mechanism, the frequency converter and main beam motor of the main beam mechanism start running, and the drum wire rope pulls the main beam mechanism to start telescopic translation;

[0008] S2, when the main beam mechanism begins to extend and retract, the PLC controller sends a reverse translation command to the trolley mechanism. The frequency converter and trolley motor of the trolley mechanism run, and the drum wire rope pulls the trolley mechanism to translate. The trolley mechanism maintains the same moving speed as the main beam mechanism, but in the opposite direction of translation, so as to ensure that the driver's cab stays at the designated parking position during the translation of the main beam.

[0009] Preferably, in step S1, the translation command includes the rated moving speed, moving direction, and target position of the main beam mechanism.

[0010] Preferably, in step S1, during the telescopic translation of the main beam mechanism, the PLC controller monitors the real-time moving speed of the main beam mechanism in real time through the encoder on the main beam motor.

[0011] Preferably, in step S2, the reverse translation command includes a designated parking position in the driver's cab of the trolley mechanism, the rated moving speed of the trolley mechanism, and the real-time moving speed of the trolley mechanism.

[0012] Preferably, in step S2, the PLC controller monitors the real-time position of the driver's cab on the trolley mechanism through the encoder on the trolley motor, and dynamically compensates the moving speed of the trolley mechanism to ensure that the driver's cab remains at the designated stopping position during the beam translation process.

[0013] Preferably, in step S2, the real-time moving speed of the trolley mechanism after dynamic compensation is:

[0014] TrollySpdRf=-BoomSpdRf×BoomTopSpd / TrollyTopSpd+PosErrRf

[0015] Where TrollySpdRf is the real-time moving speed of the trolley mechanism after dynamic compensation, in m / min;

[0016] TrollyTopSpd is the rated moving speed of the trolley mechanism, in m / min;

[0017] BoomSpdRf is the real-time moving speed of the main beam mechanism, in m / min;

[0018] BoomTopSpd is the rated moving speed of the main beam mechanism, in m / min;

[0019] PosErrRf is the dynamic compensation speed, in m / min.

[0020] Preferably, the dynamic compensation speed is:

[0021] PosErrRf=(TrollyParkPos-TrollyPositionFb)×10

[0022] Where PosErrRf is the dynamic compensation speed, in m / min;

[0023] TrollyParkPos is the designated parking location for the driver's cab of the trolley mechanism;

[0024] TrollyPositionFb represents the real-time parking position of the driver's cab of the trolley mechanism.

[0025] Preferably, in step S2, when the inductive limit switch set at the designated parking position in the driver's cab fails to detect the driver's cab during the movement of the trolley mechanism, the main beam mechanism and the trolley mechanism stop moving.

[0026] The control method for trolley position following during beam translation provided by this invention has the following advantages:

[0027] 1. The control method for trolley position following during the horizontal movement of the main beam of the present invention controls the trolley mechanism to move in the opposite direction at the same speed as the main beam mechanism during the horizontal movement of the main beam mechanism, so as to ensure that the driver's cab can accurately stop at the designated parking position during the movement of the main beam mechanism, thereby meeting the requirements of high-precision trolley position control, optimizing the operation process of telescopic beam quay bridge and reducing unnecessary operation time.

[0028] 2. The control method for the trolley position following the beam translation of the present invention ensures that the driver's cab remains at the designated parking position during the beam extension and retraction process through a dual design combining software and hardware. It is convenient, practical, simple and feasible.

[0029] 3. The control method for the trolley position following the beam translation of the present invention has high control accuracy, simple and clear process, can save operation time, facilitate operators to enter and exit the driver's cab, and involves few additional hardware devices, and is also easier to add later for some old telescopic cranes. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the specific structure of the control method for the position following of the trolley during beam translation in this invention;

[0031] Figure 2 This is a diagram showing the actual operating state of the trolley mechanism during the beam translation process in the control method for trolley position following during beam translation of the present invention;

[0032] Figure 3 This is a control flowchart of the control method for the trolley position following during beam translation according to the present invention;

[0033] Figure 4 This is a schematic diagram of the calculation program of the PLC controller in the control method for trolley position following during beam translation of the present invention. Detailed Implementation

[0034] To better understand the above-mentioned technical solutions of the present invention, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0035] The layout of the crane's main beam mechanism and trolley mechanism is as follows: Figure 1 As shown, the main components involved in the movement of the main beam mechanism and the trolley mechanism are the crane's PLC controller, I / O module, main beam mechanism 1, main beam mechanism frequency converter, main beam motor 2, main beam mechanism encoder, trolley mechanism 3, trolley mechanism frequency converter, trolley mechanism encoder, trolley motor 4, and sensor limit switch.

[0036] Combination Figure 1 As shown, the telescopic and translational movement of the crane beam mechanism is achieved by rotating the steel wire rope on the drum of the beam motor to pull the beam mechanism 1 forward and backward. The trolley mechanism 3 is the same. In order for the driver's cab 5 to stay in the designated parking position during the telescopic and translational movement of the beam, the trolley mechanism 3 needs to maintain the same speed as the beam mechanism 1, but the speed direction must be opposite. In order to ensure that the trolley position does not deviate unexpectedly during operation, i.e., the trolley position is lost due to the failure of the encoder of the trolley mechanism, a sensor limit switch is installed at the designated parking position in the driver's cab 5 as a protection in emergency situations.

[0037] Combination Figure 3 As shown, the control method for trolley position following during beam translation provided by the present invention includes the following steps:

[0038] S1, the crane's PLC controller sends a translation command to the main beam mechanism, the main beam mechanism's frequency converter and main beam motor run, and the drum wire rope pulls the main beam mechanism to start telescopic translation;

[0039] Specifically, the relevant parameters are first defined in the PLC. The real-time moving speed of the main beam mechanism is defined as BoomSpdRf, and the rated moving speed is BoomTopSpd (which can generally be set to 25m / min according to previous projects). The real-time moving speed of the trolley mechanism is defined as TrollySpdRf, and the rated moving speed is TrollyTopSpd (which can generally be set to 250m / min according to previous projects). The rated moving speed is the speed when the motor is at full speed.

[0040] Combination Figure 3 As shown, the crane's PLC controller sends a translation command (including the rated speed, direction, and target position of the girder mechanism) to the frequency converter of the main beam mechanism. Given the rated speed, the frequency converter drives the main beam motor to rotate, and the drum wire rope pulls the main beam mechanism to begin its telescopic translation. During this telescopic translation, the PLC controller monitors the real-time speed of the main beam mechanism via the encoder on the main beam motor.

[0041] S2, when the main beam mechanism begins to extend and retract, the PLC controller sends a reverse translation command to the trolley mechanism. The frequency converter and trolley motor of the trolley mechanism run, and the drum wire rope pulls the trolley mechanism to translate. The trolley mechanism maintains the same moving speed as the main beam mechanism, but in the opposite direction of translation, so as to ensure that the driver's cab stays at the designated parking position during the translation of the main beam.

[0042] Specifically, after the main beam mechanism begins translation, the PLC controller sends a reverse translation command to the trolley mechanism (including the designated stopping position of the trolley mechanism's driver's cab, the rated moving speed of the trolley mechanism, and the real-time moving speed of the trolley mechanism). Given the real-time moving speed of the trolley mechanism, the frequency converter and trolley motor of the trolley mechanism start running, and the drum wire rope pulls the trolley mechanism to begin translation as well. The trolley mechanism maintains the same moving speed as the main beam mechanism, but in the opposite direction of translation, to ensure that the driver's cab remains at the designated stopping position throughout the main beam translation process (see...). Figure 2 (As shown).

[0043] During the linkage between the trolley mechanism and the main beam mechanism, the actual running deviation must be considered. Even if the trolley mechanism and the main beam mechanism are given the same running speed in the PLC controller, due to the inertial deviation of the main beam mechanism and the translational deviation caused by the wire rope process, a dynamic compensation PosErrRf needs to be calculated based on the designated parking position TrollyParkPos in the driver's cab and the real-time position TrollyPositionFb monitored by the encoder on the trolley motor. This compensation is then used as a gain in the control of the trolley mechanism's moving speed to ensure that the driver's cab remains at the designated parking position during the translation of the main beam.

[0044] Combination Figure 4 As shown in (b), the real-time moving speed of the trolley mechanism after dynamic compensation is:

[0045] TrollySpdRf=-BoomSpdRf×BoomTopSpd / TrollyTopSpd+PosErrRf

[0046] Wherein, TrollySpdRf is the real-time moving speed of the trolley mechanism after dynamic compensation, in m / min; TrollyTopSpd is the rated moving speed of the trolley mechanism, in m / min; BoomSpdRf is the real-time moving speed of the main beam mechanism, in m / min; BoomTopSpd is the rated moving speed of the main beam mechanism, in m / min; and PosErrRf is the dynamic compensation speed, in m / min.

[0047] Combination Figure 4 As shown in (a), the combined dynamic compensation speed is:

[0048] PosErrRf=(TrollyParkPos-TrollyPositionFb)×10

[0049] Where PosErrRf is the dynamic compensation speed, in m / min; TrollyParkPos is the designated parking position of the trolley mechanism driver's cab; and TrollyPositionFb is the real-time parking position of the trolley mechanism driver's cab.

[0050] During the movement of the trolley mechanism described above, when the sensor limit switch located at the designated parking position in the driver's cab fails to detect the driver's cab, the main beam mechanism and the trolley mechanism stop moving.

[0051] When the main beam mechanism begins to decelerate and is about to move into position, the trolley mechanism also begins to decelerate in the opposite direction. When the main beam mechanism stops, the trolley mechanism also stops. This ensures that the driver's cab on the trolley remains at the designated parking position during the translation of the main beam. This method is convenient, practical, simple, and feasible.

[0052] Those skilled in the art should recognize that the above embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Any variations or modifications to the above embodiments that are within the spirit and essence of the present invention will fall within the scope of the claims of the present invention.

Claims

1. A control method for the position following of a trolley during beam translation, characterized in that, Includes the following steps: S1, the crane's PLC controller sends a translation command to the main beam mechanism. The frequency converter and main beam motor of the main beam mechanism start operating, and the drum wire rope pulls the main beam mechanism to begin telescopic translation. The translation command includes the rated moving speed, moving direction, and target position of the main beam mechanism; S2, when the main beam mechanism begins its telescopic translation, the PLC controller sends a reverse translation command to the trolley mechanism. The frequency converter and trolley motor of the trolley mechanism operate, and the drum wire rope pulls the trolley mechanism to translate. The trolley mechanism maintains the same moving speed as the main beam mechanism, but in the opposite direction of translation, to ensure that the driver's cab remains at the designated stopping position during the translation of the main beam. The reverse translation command includes the designated stopping position of the trolley mechanism's driver's cab, the rated moving speed of the trolley mechanism, and the real-time moving speed of the trolley mechanism. The PLC controller monitors the real-time position of the driver's cab on the trolley mechanism through the encoder on the trolley motor, and dynamically compensates for the real-time moving speed of the trolley mechanism to ensure that the driver's cab remains at the designated stopping position during the beam translation process.

2. The control method for the position following of the trolley during beam translation according to claim 1, characterized in that: In step S1, during the telescopic and translational movement of the main beam mechanism, the PLC controller monitors the real-time moving speed of the main beam mechanism in real time through the encoder on the main beam motor.

3. The control method for the position following of the trolley during beam translation according to claim 1, characterized in that: In step S2, the real-time moving speed of the trolley mechanism after dynamic compensation is: TrollySpdRf=-BoomSpdRf×BoomTopSpd / TrollyTopSpd+PosErrRf Where TrollySpdRf is the real-time moving speed of the trolley mechanism after dynamic compensation, in m / min; TrollyTopSpd is the rated moving speed of the trolley mechanism, in m / min; BoomSpdRf is the real-time moving speed of the main beam mechanism, in m / min; BoomTopSpd is the rated moving speed of the main beam mechanism, in m / min; PosErrRf is the dynamic compensation speed, in m / min.

4. The control method for the position following of the trolley during beam translation according to claim 3, characterized in that: The dynamic compensation speed is: PosErrRf=(TrollyParkPos-TrollyPositionFb)×10 Where PosErrRf is the dynamic compensation speed, in m / min; TrollyParkPos is the designated parking location for the driver's cab of the trolley mechanism; TrollyPositionFb represents the real-time parking position of the driver's cab of the trolley mechanism.

5. The control method for the position following of the trolley during beam translation according to claim 1, characterized in that: In step S2, during the movement of the trolley mechanism, when the sensor limit set at the designated parking position in the driver's cab can no longer sense the driver's cab, the main beam mechanism and the trolley mechanism stop moving.

Images