Container quay crane TLS function control method and system

Abstract

The invention provides a control method and system for a TLS function of a container quay crane, and belongs to the technical field of container quay crane control. Actual positions of the electric push rods TLS1, TLS2 and TLS3 are obtained; calculating the zero calibration position of the TLS system by using the actual positions of the lifting pulley, the TLS1, the TLS2 and the TLS3; according to the actual positions of the TLS1, the TLS2 and the TLS3 and rope difference compensation of the lifting steel wire, the actual tilting angle of left-right tilting and the actual tilting angle of front-back tilting are obtained, and left-right tilting and front-back action control strategies of the TLS function of the container quay crane are executed; according to the actual positions of the electric push rods TLS1 and TLS2 and rope difference compensation of the position of the lifting steel wire pulley, the actual rotation angle of left-right rotation is obtained, and a left-right rotation action control strategy of the TLS function of the container quay crane is executed. Accurate calculation of the TLS angle can be completed through the means, and therefore a driver can conveniently grab and release the container.

Description

Technical Field

[0001] The present invention belongs to the technical field of container quay crane control, and in particular relates to a control method and system for a TLS function of a container quay crane. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] In the field of port mechanical loading and unloading, the micro-motion of container quay crane hoist mainly includes three basic forms: left and right tilting, front and back tilting, and left and right rotation, which are the TLS system functions of container quay cranes. The control of TLS system functions will directly affect the driver's efficiency in grabbing and releasing containers, and then affect the overall operation efficiency of the terminal. Therefore, it is of great significance to study the control method and system of TLS function of container quay cranes.

[0004] Due to the special mechanical properties of container quay cranes, the TLS system function of conventional quay cranes is currently realized by controlling the extension and retraction of the wire rope by the hydraulic push rod of the multifunctional hydraulic station of the rear beam of the quay crane. However, the push rod of the multifunctional hydraulic station of the rear beam not only needs to realize the TLS system function, but also needs to realize functions such as tensioning during the operation of the mechanism, which will directly affect the control effect. In addition, with the development trend of remote automated control of container quay cranes, the control accuracy requirements of TLS system functions are getting higher and higher, and independent control of TLS system functions is imminent. Summary of the invention

[0005] In order to overcome the deficiencies of the above-mentioned prior art, the present invention provides a control method and system for the TLS function of a container quay crane. Based on the three electric push rod motor mechanisms of the front beam, each mechanism is equipped with an absolute value encoder. Combined with the wire rope winding of the lifting mechanism, a high-precision control strategy of the electric push rod action combination is gradually analyzed to realize the TLS function of the container quay crane. Combined with the wire rope difference compensation calculation of the TLS push rod action, the accurate calculation of the TLS angle is completed, thereby facilitating the driver to grab and release the container.

[0006] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions:

[0007] A first aspect of the present invention provides a method for controlling a TLS function of a container quay crane;

[0008] A method for controlling a TLS function of a container quay crane, comprising:

[0009] Get the actual positions of the three electric push rods TLS1, TLS2, and TLS3 in the TLS system;

[0010] The zero calibration position of the TLS system is calculated using the actual positions of the lifting pulley and the three electric push rods TLS1, TLS2, and TLS3;

[0011] According to the actual position of electric push rods TLS1, TLS2, TLS3 and the rope difference compensation of the lifting wire, the actual tilt angle of left and right tilt is obtained, and the left and right tilt action control strategy of the container quay crane TLS function is executed;

[0012] According to the actual position of the electric push rods TLS1, TLS2, TLS3 and the rope difference compensation of the lifting wire pulley position, the actual tilting angle of the front and rear tilting is obtained, and the front and rear tilting action control strategy of the container quay crane TLS function is executed;

[0013] According to the actual position of the electric push rods TLS1 and TLS2 and the rope difference compensation of the lifting wire pulley position, the actual rotation angle of left and right rotation is obtained, and the left and right rotation action control strategy of the container quay crane TLS function is executed.

[0014] As a further technical solution, four lifting pulleys are provided, namely a first lifting pulley, a second lifting pulley, a third lifting pulley and a fourth lifting pulley.

[0015] As a further technical solution, when the left and right tilting, front and back tilting, and left and right rotation reach the target angle, the limit position allowed by the electric push rod is obtained as the end position.

[0016] As a further technical solution, the process of obtaining the actual tilt angle of left and right tilt and executing the left and right tilt action control strategy of the container quay crane TLS function is as follows:

[0017] Take the characteristic value of the encoder position of the lifting pulley and limit the range. The formula is:

[0018] Sheave1_Pos=Eig(-Max_Pos,-TLS3_Pos,Max_Pos);

[0019] Sheave2_Pos=Eig(-Max_Pos, TLS1_Pos, Max_Pos);

[0020] Sheave3_Pos=Eig(-Max_Pos,-TLS2_Pos,Max_Pos);

[0021] Sheave4_Pos=Eig(-Max_Pos,-TLS1_Pos,Max_Pos);

[0022] Where, Sheave1_Pos, Sheave2_Pos, Sheave3_Pos, Sheave4_Pos, respectively represent the position of the lifting pulley; TLS1_Pos, TLS2_Pos, TLS3_Pos, respectively represent the telescopic position of the TLS push rod; Max_Pos represents the maximum telescopic position of the TLS push rod;

[0023] Take the maximum value of the eigenvalues ​​of left and right tilt,

[0024] Trim_Left_Pos=MAX(Sheave_1_Pos, Sheave_4_Pos);

[0025] Trim_Right_Pos=MAX(Sheave_2_Pos, Sheave_3_Pos);

[0026] In the formula, Trim_Left_Pos and Trim_Right_Pos represent the push rod positions corresponding to left and right tilt respectively;

[0027] Combined with wire position compensation, calculation of left and right tilt angles:

[0028] Trim_Angle1=Trim_Max_Degree / ABS(Trim_Max_Pos)*(Trim_Left_Pos

[0029] -Trim_Right_Pos)*ABS((Sheave_2_Pos

[0030] -Sheave_4_Pos) / (Sheave_(1_Pos)-Sheave_(3_Pos)+1))*0.5;

[0031] Where Trim_Angle1 represents the left and right tilt angles; take the accurate value of Trim_Angle2 within the limit range for the left and right tilt angles:

[0032] Trim_Angle2

[0033] =Limit(-Trim_(Max_Degree), Trim_Angle1, Trim_(Max_Degree)).

[0034] Where Trim_(Max_Degree) represents the maximum angle allowed for left and right tilt.

[0035] As a further technical solution, the process of obtaining the actual tilting angle of the forward and backward tilting and executing the forward and backward tilting action control strategy of the container quay crane TLS function is as follows:

[0036] Take the maximum value of the encoder position for the forward and backward tilt:

[0037] List_Forward_Pos=MAX(Sheave_1_Pos, Sheave_2_Pos);

[0038] List_Backward_Pos=MAX(Sheave_3_Pos, Sheave_4_Pos);

[0039] In the formula, List_Forward_Poss and List_Backward_Pos respectively represent the push rod positions corresponding to forward tilt and backward tilt;

[0040] Combined with wire position compensation, the calculation and angle value limit of the front and rear tilt angle List_Angle1 are as follows:

[0041] List_Angle1=List_Max_Degree / ABS(List_Max_Pos)*(List_Forward_Pos

[0042] -List_Backward_Pos)*ABS((Sheave_2_Pos

[0043] -Sheave_4_Pos) / (Sheave_1_Pos-Sheave_3_Pos+1))*0.5;

[0044] Take the accurate value List_Angle2 for the front and rear tilt angle within the limit range:

[0045] List_Angle2=Limit(-List_(Max_Degree), List_Angle1, List_(Max_Degree)).

[0046] As a further technical solution, the process of obtaining the actual rotation angle of left and right rotation and executing the left and right rotation action control strategy of the container quay crane TLS function is as follows:

[0047] Take the absolute value of the relative position between the first lifting pulley and the third lifting pulley, and the absolute value of the relative position between the second lifting pulley and the fourth lifting pulley:

[0048] Skew_13=ABS(Sheave_1_Pos-Sheave_3_Pos);

[0049] Skew_24=ABS(Sheave_2_Pos-Sheave_4_Pos);

[0050] According to the position of the lifting pulley, calculate the left and right rotation angles and the angle value limits:

[0051] When the position of the fourth pulley is greater than the position of the first pulley and the position of the third pulley is less than the position of the second pulley, the rotation angle Skew_Angle1 is calculated as follows:

[0052] Skew_Angle1=Skew_Max_Degree / ABS(Skew_Max_Pos)*(Sheave_4_Pos

[0053] -Sheave_1_Pos);

[0054] When the position of the fourth pulley is less than the position of the first pulley and the position of the third pulley is greater than the position of the second pulley, the rotation angle Skew_Angle2 is calculated as follows:

[0055] Skew_Angle2=Skew_Max_Degree / ABS(Skew_Max_Pos)*(Sheave_3_Pos

[0056] -Sheave_2_Pos);

[0057] Take the exact value of the rotation angle within the limit range Skew_Angle 3:

[0058] Skew_Angle 3

[0059] =Limit(-Skew_(Max_Degree),Skew_Angle1,Skew_(Max_Degree)).

[0060] A second aspect of the present invention provides a control system for the TLS function of a container quay crane.

[0061] A control system for TLS function of a container quay crane, comprising:

[0062] The position determination module is configured to: obtain the actual positions of three electric push rods TLS1, TLS2, and TLS3 in the TLS system;

[0063] The zero calibration position determination module is configured to: calculate the zero calibration position of the TLS system using the actual positions of the lifting pulley and the three electric push rods TLS1, TLS2, and TLS3;

[0064] The left and right tilt angle calculation module is configured to obtain the actual tilt angle of the left and right tilt according to the actual position of the electric push rods TLS1, TLS2, and TLS3 and the rope difference compensation of the lifting wire, and execute the left and right tilt action control strategy of the container quay crane TLS function;

[0065] The forward and backward tilt angle calculation module is configured to obtain the actual forward and backward tilt angle according to the actual position of the electric push rods TLS1, TLS2, TLS3 and the rope difference compensation of the lifting wire pulley position, and execute the forward and backward tilt action control strategy of the container quay crane TLS function;

[0066] The left and right rotation angle calculation module is configured to obtain the actual rotation angle of the left and right rotation according to the actual position of the electric push rods TLS1 and TLS2 and the rope difference compensation of the lifting wire pulley position, and execute the left and right rotation action control strategy of the container quay crane TLS function.

[0067] A third aspect of the present invention provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps in a method for controlling a TLS function of a container quay crane as described in the first aspect of the present invention.

[0068] The fourth aspect of the present invention provides an electronic device, including a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in the method for controlling the TLS function of a container quay crane as described in the first aspect of the present invention are implemented.

[0069] One or more of the above technical solutions have the following beneficial effects:

[0070] The present invention is based on three electric push rod motor mechanisms on the front beam, each of which is equipped with an absolute value encoder. Combined with the wire rope winding of the lifting mechanism, the high-precision control strategy of the electric push rod action combination is gradually analyzed to realize the TLS function of the container quay crane, and combined with the wire rope difference compensation calculation of the TLS push rod action, the accurate calculation of the TLS angle is completed, thereby facilitating the driver to grab and release the container.

[0071] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0073] Figure 1 This is a flow chart of the method of the first embodiment.

[0074] Figure 2 It is a schematic diagram of the wire rope winding of the container quay crane TLS tilting mechanism in the first embodiment.

[0075] Figure 3 It is a system structure diagram of the second embodiment.

[0076] In the figure, 1 is the first lifting pulley; 2 is the second lifting pulley; 3 is the third lifting pulley; 4 is the fourth lifting pulley DETAILED DESCRIPTION

[0077] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0078] It should be noted that the terms used herein are for describing specific embodiments only and are not intended to be limiting of exemplary embodiments according to the present invention.

[0079] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0080] Embodiment 1

[0081] This embodiment discloses a method for controlling the TLS function of a container quay crane;

[0082] like Figure 1 As shown, a method for controlling the TLS function of a container quay crane includes:

[0083] Get the actual position of the absolute encoders in the three electric push rods TLS1, TLS2, and TLS3 in the TLS system;

[0084] By using the actual positions of the lifting pulley and the three electric push rods TLS1, TLS2, and TLS3, and the absolute value encoder installed at the tail of the three electric push rods TLS1, TLS2, and TLS3 at the head of the front beam of the container quay crane, when the electric push rod moves, the TLS1, TLS2, and TLS3 encoder pulses can be obtained, and then the actual position of the push rod when it is extended and retracted can be obtained by calculating the encoder pulses; further, when the zero-position calibration position of the TLS system is calculated, after the horizontal adjustment of the lifting wire rope is completed, the height of the four corners of the sling is kept consistent, and the TLS push rods are all in the middle position as the zero-position calibration position, and then the combined action of the TLS push rods is controlled to the target position to realize the TLS function of the equipment. In addition, the zero-position calibration can also clear the cumulative error of the encoder. Among them, the lifting pulleys are set to four, namely the first lifting pulley 1, the second lifting pulley 2, the third lifting pulley 3, and the fourth lifting pulley 4.

[0085] Since the lifting wire will produce elastic strain when the equipment is hoisted, a more accurate tilting angle can be obtained by performing rope difference compensation on the lifting wire. According to the actual position of the electric push rods TLS1, TLS2, and TLS3 and the rope difference compensation of the lifting wire, the actual tilting angle of left and right tilting is obtained, and the left and right tilting action control strategy of the container quay crane TLS function is executed;

[0086] As a further technical solution, when the left and right tilting, front and back tilting, and left and right rotation reach the target angle, the limit position allowed by the electric push rod is obtained as the end position.

[0087] According to the actual position of the electric push rods TLS1, TLS2, TLS3 and the rope difference compensation of the lifting wire pulley position, the actual tilting angle of the front and rear tilting is obtained, and the front and rear tilting action control strategy of the container quay crane TLS function is executed;

[0088] According to the actual position of the electric push rods TLS1 and TLS2 and the rope difference compensation of the lifting wire pulley position, the actual rotation angle of left and right rotation is obtained, and the left and right rotation action control strategy of the container quay crane TLS function is executed.

[0089] Specifically, in the above process, in the process of obtaining the left and right tilt angles, the positions of the absolute encoders of the three push rods of the container quay crane TLS system are first obtained;

[0090] Limit the range of the four lifting pulley position values;

[0091] Sheave1_Pos=Eig(-Max_Pos,-TLS3_Pos,Max_Pos)

[0092] Sheave2_Pos=Eig(-Max_Pos, TLS1_Pos, Max_Pos)

[0093] Sheave3_Pos=Eig(-Max_Pos,-TLS2_Pos,Max_Pos)

[0094] Sheave4_Pos=Eig(-Max_Pos,-TLS1_Pos,Max_Pos)

[0095] Where, Sheave1_Pos, Sheave2_Pos, Sheave3_Pos, Sheave4_Pos respectively represent the position of the lifting pulley; TLS1_Pos, TLS2_Pos, TLS3_Pos respectively represent the telescopic position of the TLS push rod; Max_Pos represents the maximum telescopic position of the TLS push rod;

[0096] According to the positions of the first lifting pulley 1 and the fourth lifting pulley 4, the larger value is taken as the left-leaning height characteristic value; according to the positions of the second lifting pulley 2 and the third lifting pulley 3, the larger value is taken as the right-leaning height characteristic value;

[0097] Trim_Left_Pos=MAX(Sheave_1_Pos, Sheave_4_Pos)

[0098] Trim_Right_Pos=MAX(Sheave_2_Pos, Sheave_3_Pos)

[0099] In the formula, Trim_Left_Pos and Trim_Right_Pos represent the push rod positions corresponding to left and right tilt respectively;

[0100] According to the algorithm formula, the left and right tilt angles are obtained;

[0101] Trim_Angle1=Trim_Max_Degree / ABS(Trim_Max_Pos)*(Trim_Left_Pos

[0102] -Trim_Right_Pos)*ABS((Sheave_2_Pos

[0103] -#Sheave_4_Pos) / (#Sheave_(1_Pos)-#Sheave_(3_Pos)+1))*0.5

[0104] Where Trim_Angle1 represents the left and right tilt angles; the left and right tilt angles are taken to have accurate values ​​within the limit range:

[0105] After compensating the obtained left and right tilt angles, the actual left and right tilt angles can be obtained. Trim_Angle2 = Limit (-Trim_(Max_Degree), Trim_Angle1, Trim_(Max_Degree))

[0106] Where Trim_(Max_Degree) represents the maximum angle allowed for left and right tilt.

[0107] In the process of obtaining the forward and backward tilt angles, the positions of the absolute encoders of the three push rods of the container quay crane TLS system are obtained;

[0108] Limiting the range of the position values ​​of the first lifting pulley 1, the second lifting pulley 2, the third lifting pulley 3 and the fourth lifting pulley 4;

[0109] According to the positions of the first lifting pulley 1 and the second lifting pulley 2, the larger value is taken as the forward tilt height characteristic value; according to the positions of the third lifting pulley 3 and the fourth lifting pulley 4, the larger value is taken as the backward tilt height characteristic value;

[0110] List_Forward_Pos=MAX(Sheave_1_Pos, Sheave_2_Pos)

[0111] List_Backward_Pos=MAX(Sheave_3_Pos, Sheave_4_Pos)

[0112] In the formula, List_Forward_Poss and List_Backward_Pos respectively represent the push rod positions corresponding to forward tilt and backward tilt;

[0113] According to the algorithm formula, the front and rear tilt angles are obtained;

[0114] List_Angle1=List_Max_Degree / ABS(List_Max_Pos)*(List_Forward_Pos

[0115] -List_Backward_Pos)*ABS((Sheave_2_Pos

[0116] -Sheave_4_Pos) / (Sheave_1_Pos-Sheave_3_Pos+1))*0.5

[0117] In the formula, List_Angle 1 represents the front and rear tilt angle; List_Max_Degree represents the maximum angle allowed for the front and rear tilt;

[0118] After compensating the obtained front and rear tilt angles, the actual front and rear tilt angles can be obtained;

[0119] List_Angle2=Limit(-List_(Max_Degree), List_Angle1, List_(Max_Degree))

[0120] In the process of obtaining the left and right rotation angles, the positions of the absolute encoders of the three push rods of the container quay crane TLS system are obtained;

[0121] Limiting the range of the position values ​​of the first lifting pulley 1, the second lifting pulley 2, the third lifting pulley 3 and the fourth lifting pulley 4;

[0122] Obtain the position difference between the first lifting pulley 1 and the third lifting pulley 3; obtain the position difference between the second lifting pulley 2 and the fourth lifting pulley 4;

[0123] Skew_13=ABS(Sheave_1_Pos-Sheave_3_Pos)

[0124] Skew_24=ABS(Sheave_2_Pos-Sheave_4_Pos)

[0125] Wherein, Skew_13 represents the relative position difference between the first lifting pulley 1 and the third lifting pulley 3; Skew_24 represents the relative position difference between the second lifting pulley 2 and the fourth lifting pulley 4.

[0126] According to the algorithm calculation, the front and left rotation angles are obtained; when the position of the fourth lifting pulley 4 is greater than the position of the first lifting pulley 1 and the position of the third lifting pulley 3 is less than the position of the second lifting pulley 2, the rotation angle is calculated as follows:

[0127] Skew_Angle1=Skew_Max_Degree / ABS(Skew_Max_Pos)*(Sheave_4_Pos

[0128] -Sheave_1_Pos);

[0129] When the position of the fourth lifting pulley 4 is less than the position of the first lifting pulley 1 and the position of the third lifting pulley 3 is greater than the position of the second lifting pulley 2, the rotation angle is calculated as follows:

[0130] Skew_Angle 2

[0131] =Skew_Max_Degree / ABS(Skew_Max_Pos)

[0132] *(Sheave_3_Pos-Sheave_2_Pos);

[0133] Where Skew_Max_Degree represents the maximum angle allowed for left and right rotation.

[0134] After the obtained left and right rotation angles are range-limited, the actual left and right rotation angles can be obtained.

[0135] Skew_Angle 3

[0136] =Limit(-Skew_(Max_Degree),Skew_Angle1,Skew_(Max_Degree))

[0137] Combination Figure 1The control strategy of the TLS function of the container quay crane proposed in this embodiment is implemented based on the front beam electric push rod device. The front beam electric push rod device includes a TLS motor push rod (including a position encoder); A, B, C, D, E, and F respectively represent the directions in which the electric push rod TLS moves, and the wire rope winding system of the four lifting pulleys is as shown in the attached figure. Figure 1 shown.

[0138] Please see attached Figure 1 and attached Figure 2 The control strategy of the TLS function of the container quay crane includes the following steps:

[0139] Get the actual positions of electric push rods TLS1, TLS2, and TLS3 respectively, and calibrate their zero positions;

[0140] The electric push rod TLS1 moves in the direction of A, the electric push rod TLS2 moves in the direction of C, and the electric push rod TLS3 moves in the direction of E. Combined with the required position of the absolute encoder corresponding to the maximum right tilt angle of 5° in the mechanical calculation, limiting protection is performed to realize the right tilt function of the container quay crane spreader.

[0141] The electric push rod TLS1 moves in the direction of B, the electric push rod TLS2 moves in the direction of D, and the electric push rod TLS3 moves in the direction of F. Combined with the required position of the absolute encoder corresponding to the maximum right tilt angle of 5° in the mechanical calculation, the left tilt function of the container quay crane spreader can be realized.

[0142] The electric push rod TLS1 moves in the direction of A, the electric push rod TLS2 moves in the direction of C, and the electric push rod TLS3 moves in the direction of F. Combined with the required position of the absolute encoder corresponding to the maximum right tilt angle of 3° in the mechanical calculation, the backward tilt function of the container quay crane spreader can be realized.

[0143] The electric push rod TLS1 moves in the direction of B, the electric push rod TLS2 moves in the direction of D, and the electric push rod TLS3 moves in the direction of E. Combined with the required position of the absolute encoder corresponding to the maximum right tilt angle of 3° in the mechanical calculation, the forward tilt function of the container quay crane spreader can be realized.

[0144] The electric push rod TLS1 moves in the direction of A, the electric push rod TLS2 moves in the direction of D, and the electric push rod TLS3 remains stationary. Combined with the required position of the absolute encoder corresponding to the maximum right tilt angle of 5° in the mechanical calculation, limit protection is performed to realize the right rotation function of the container quay crane spreader.

[0145] The electric push rod TLS1 moves in the direction of B, the electric push rod TLS2 moves in the direction of C, and the electric push rod TLS3 does not move. Combined with the required position of the absolute encoder corresponding to the maximum right tilt angle of 5° in the mechanical calculation, the left rotation function of the container quay crane spreader can be realized.

[0146] Embodiment 2

[0147] This embodiment discloses a control system for the TLS function of a container quay crane;

[0148] like Figure 3 As shown, a control system for the TLS function of a container quay crane includes:

[0149] The position determination module is configured to: obtain the actual positions of the absolute encoders in the three electric push rods TLS1, TLS2, and TLS3 in the TLS system;

[0150] The zero calibration position determination module is configured to: calculate the zero calibration position of the TLS system using the actual positions of the lifting pulley and the three electric push rods TLS1, TLS2, and TLS3;

[0151] The left and right tilt angle calculation module is configured to obtain the actual tilt angle of the left and right tilt according to the actual position of the electric push rods TLS1, TLS2, and TLS3 and the rope difference compensation of the lifting wire, and execute the left and right tilt action control strategy of the container quay crane TLS function;

[0152] The forward and backward tilt angle calculation module is configured to obtain the actual forward and backward tilt angle according to the actual position of the electric push rods TLS1, TLS2, TLS3 and the rope difference compensation of the lifting wire pulley position, and execute the forward and backward tilt action control strategy of the container quay crane TLS function;

[0153] The left and right rotation angle calculation module is configured to obtain the actual rotation angle of the left and right rotation according to the actual position of the electric push rods TLS1 and TLS2 and the rope difference compensation of the lifting wire pulley position, and execute the left and right rotation action control strategy of the container quay crane TLS function.

[0154] Embodiment 3

[0155] The purpose of this embodiment is to provide a computer-readable storage medium.

[0156] A computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps in a method for controlling a TLS function of a container quay crane as described in Example 1 of the present disclosure.

[0157] Embodiment 4

[0158] The purpose of this embodiment is to provide an electronic device.

[0159] An electronic device comprises a memory, a processor and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in a method for controlling a TLS function of a container quay crane as described in Example 1 of the present disclosure are implemented.

[0160] The steps involved in the apparatuses of the above embodiments 2, 3 and 4 correspond to the method embodiment 1, and the specific implementation methods can refer to the relevant description part of embodiment 1. The term "computer-readable storage medium" should be understood as a single medium or multiple media including one or more instruction sets; it should also be understood to include any medium that can store, encode or carry an instruction set for execution by a processor and enable the processor to execute any method in the present invention.

[0161] Those skilled in the art should understand that the modules or steps of the present invention described above can be implemented by a general-purpose computer device, or alternatively, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. The present invention is not limited to any specific combination of hardware and software.

[0162] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A method for controlling the TLS function of a container quay crane, characterized in that: include: Get the actual positions of the three electric push rods TLS1, TLS2, and TLS3 in the TLS system; The zero calibration position of the TLS system is calculated using the actual positions of the lifting pulley and the three electric push rods TLS1, TLS2, and TLS3; According to the actual position of electric push rods TLS1, TLS2, TLS3 and the rope difference compensation of the lifting wire, the actual tilt angle of left and right tilt is obtained, and the left and right tilt action control strategy of the container quay crane TLS function is executed; According to the actual position of the electric push rods TLS1, TLS2, TLS3 and the rope difference compensation of the lifting wire pulley position, the actual tilting angle of the front and rear tilting is obtained, and the front and rear tilting action control strategy of the container quay crane TLS function is executed; According to the actual position of the electric push rods TLS1 and TLS2 and the rope difference compensation of the lifting wire pulley position, the actual rotation angle of left and right rotation is obtained, and the left and right rotation action control strategy of the container quay crane TLS function is executed.

2. A method for controlling the TLS function of a container quay crane according to claim 1, characterized in that: The four lifting pulleys are respectively a first lifting pulley, a second lifting pulley, a third lifting pulley and a fourth lifting pulley.

3. A method for controlling the TLS function of a container quay crane according to claim 1, characterized in that: When the left and right tilt, front and back tilt, and left and right rotation reach the target angle, the limit position allowed by the electric push rod is obtained as the end position.

4. A method for controlling the TLS function of a container quay crane according to claim 1, characterized in that: The process of obtaining the actual tilt angle of left and right tilt and executing the left and right tilt action control strategy of the container quay crane TLS function is as follows: Take the characteristic value of the encoder position of the lifting pulley and limit the range. The formula is: Sheave1_Pos=Eig(-Max_Pos,-TLS3_Pos,Max_Pos); Sheave2_Pos=Eig(-Max_Pos, TLS1_Pos, Max_Pos); Sheave3_Pos=Eig(-Max_Pos,-TLS2_Pos,Max_Pos); Sheave4_Pos=Eig(-Max_Pos,-TLS1_Pos,Max_Pos); Where, Sheave1_Pos, Sheave2_Pos, Sheave3_Pos, Sheave4_Pos, respectively represent the position of the lifting pulley; TLS1_Pos, TLS2_Pos, TLS3_Pos, respectively represent the telescopic position of the TLS push rod; Max_Pos represents the maximum telescopic position of the TLS push rod; Take the maximum value of the eigenvalues ​​of left and right tilt, Trim_Left_Pos=MAX(Sheave_1_Pos, Sheave_4_Pos); Trim_Right_Pos=MAX(Sheave_2_Pos, Sheave_3_Pos); In the formula, Trim_Left_Pos and Trim_Right_Pos represent the push rod positions corresponding to left and right tilt respectively; Combined with wire position compensation, calculation of left and right tilt angles: Trim_Angle1=Trim_Max_Degree / ABS(Trim_Max_Pos)*(Trim_Left_Pos -Trim_Right_Pos)*ABS((Sheave_2_Pos -Sheave_4_Pos) / (Sheave_(1_Pos)-Sheave_(3_Pos)+1))*0.5; Where Trim_Angle1 represents the left and right tilt angles; take the accurate value of Trim_Angle2 within the limit range for the left and right tilt angles: Trim_Angle2 =Limit(-Trim_(Max_Degree), Trim_Angle1, Trim_(Max_Degree)). Where Trim_(Max_Degree) represents the maximum angle allowed for left and right tilt.

5. A method for controlling the TLS function of a container quay crane according to claim 1, characterized in that: The process of obtaining the actual tilting angle of the forward and backward tilting and executing the forward and backward tilting action control strategy of the container quay crane TLS function is as follows: Take the maximum value of the encoder position for the forward and backward tilt: List_Forward_Pos=MAX(Sheave_1_Pos, Sheave_2_Pos); List_Backward_Pos=MAX(Sheave_3_Pos, Sheave_4_Pos); In the formula, List_Forward_Poss and List_Backward_Pos respectively represent the push rod positions corresponding to forward tilt and backward tilt; Combined with wire position compensation, the calculation and angle value limit of the front and rear tilt angle List_Angle1 are as follows: List_Angle1=List_Max_Degree / ABS(List_Max_Pos)*(List_Forward_Pos -List_Backward_Pos)*ABS((Sheave_2_Pos -Sheave_4_Pos) / (Sheave_1_Pos-Sheave_3_Pos+1))*0.5; For the front and rear tilt angles, take the accurate value List_Angle2 within the limit range, List_Angle2 = Limit (-List_(Max_Degree), List_Angle1, List_(Max_Degree)).

6. A method for controlling the TLS function of a container quay crane according to claim 1, characterized in that: The process of obtaining the actual rotation angle of left and right rotation and executing the left and right rotation action control strategy of the container quay crane TLS function is as follows: Take the absolute value of the relative position between the first lifting pulley and the third lifting pulley, and the absolute value of the relative position between the second lifting pulley and the fourth lifting pulley: Skew_13=ABS(Sheave_1_Pos-Sheave_3_Pos); Skew_24=ABS(Sheave_2_Pos-Sheave_4_Pos); According to the position of the lifting pulley, calculate the left and right rotation angles and the angle value limits: When the position of the fourth pulley is greater than the position of the first pulley and the position of the third pulley is less than the position of the second pulley, the rotation angle Skew_Angle1 is calculated as follows: Skew_Angle1=Skew_Max_Degree / ABS(Skew_Max_Pos)*(Sheave_4_Pos -Sheave_1_Pos); When the position of the fourth pulley is less than the position of the first pulley and the position of the third pulley is greater than the position of the second pulley, the rotation angle Skew_Angle2 is calculated as follows: Skew_Angle2=Skew_Max_Degree / ABS(Skew_Max_Pos)*(Sheave_3_Pos -Sheave_2_Pos); The rotation angle is within the limit range and takes the exact value Skew_Angle 3, Skew_Angle 3 =Limit(-Skew_(Max_Degree),Skew_Angle1,Skew_(Max_Degree)).

7. A control system for TLS function of a container quay crane, characterized in that: include: The position determination module is configured to: obtain the actual positions of three electric push rods TLS1, TLS2, and TLS3 in the TLS system; The zero calibration position determination module is configured to: calculate the zero calibration position of the TLS system using the actual positions of the lifting pulley and the three electric push rods TLS1, TLS2, and TLS3; The left and right tilt angle calculation module is configured to obtain the actual tilt angle of the left and right tilt according to the actual position of the electric push rods TLS1, TLS2, and TLS3 and the rope difference compensation of the lifting wire, and execute the left and right tilt action control strategy of the container quay crane TLS function; The forward and backward tilt angle calculation module is configured to obtain the actual forward and backward tilt angle according to the actual position of the electric push rods TLS1, TLS2, TLS3 and the rope difference compensation of the lifting wire pulley position, and execute the forward and backward tilt action control strategy of the container quay crane TLS function; The left and right rotation angle calculation module is configured to obtain the actual rotation angle of the left and right rotation according to the actual position of the electric push rods TLS1 and TLS2 and the rope difference compensation of the lifting wire pulley position, and execute the left and right rotation action control strategy of the container quay crane TLS function.

8. A control system for TLS function of a container quay crane as claimed in claim 7, characterized in that: The four lifting pulleys are respectively a first lifting pulley, a second lifting pulley, a third lifting pulley and a fourth lifting pulley.

9. A computer-readable storage medium having a program stored thereon, characterized in that: When the program is executed by a processor, the steps in the method for controlling the TLS function of a container quay crane as described in any one of claims 1 to 6 are implemented.

10. An electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps in the method for controlling the TLS function of a container quay crane as described in any one of claims 1 to 6 are implemented.

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